diff --git a/rclrs/minimal_pub_sub/Cargo.toml b/rclrs/minimal_pub_sub/Cargo.toml
index 803f3d8..72a2083 100644
--- a/rclrs/minimal_pub_sub/Cargo.toml
+++ b/rclrs/minimal_pub_sub/Cargo.toml
@@ -30,6 +30,7 @@ anyhow = {version = "1", features = ["backtrace"]}
 rclrs = "0.6"
 rosidl_runtime_rs = "0.5"
 example_interfaces = "*"
+clap = { version = "4.5.51", features = ["derive"] }
 
 # This specific version is compatible with Rust 1.75
 backtrace = "=0.3.74"
diff --git a/rclrs/minimal_pub_sub/src/minimal_publisher.rs b/rclrs/minimal_pub_sub/src/minimal_publisher.rs
index 2eaf409..8c363a9 100644
--- a/rclrs/minimal_pub_sub/src/minimal_publisher.rs
+++ b/rclrs/minimal_pub_sub/src/minimal_publisher.rs
@@ -1,7 +1,20 @@
 use anyhow::{Error, Result};
 use rclrs::*;
 
+use clap::Parser;
+
+/// Simple program to publish ROS 2 messages using clap
+#[derive(Parser, Debug)]
+#[command(long_about = None)]
+struct Args {
+    /// Number of messages to publish
+    #[arg(short, long, default_value_t = u32::MAX)]
+    count: u32,
+}
+
 fn main() -> Result<(), Error> {
+    let args = Args::parse_from(extract_non_ros_args(std::env::args())?);
+
     let context = Context::default_from_env()?;
     let executor = context.create_basic_executor();
 
@@ -13,7 +26,7 @@ fn main() -> Result<(), Error> {
 
     let mut publish_count: u32 = 1;
 
-    while context.ok() {
+    while context.ok() && publish_count <= args.count {
         message.data = format!("Hello, world! {}", publish_count);
         println!("Publishing: [{}]", message.data);
         publisher.publish(&message)?;