diff --git a/buildUML/messaging/bus.puml b/buildUML/messaging/bus.puml
new file mode 100644
index 000000000..6ff5cb66b
--- /dev/null
+++ b/buildUML/messaging/bus.puml
@@ -0,0 +1,15 @@
+@startuml
+hide empty members
+hide circle
+top to bottom direction
+
+:Subscriber:
+(Create connection) as (C)
+note top of (C): Necessary for subscribing
+Subscriber --> C
+
+:Publisher:
+(Publish)
+Publisher --> Publish
+
+@enduml
diff --git a/images/reference_guide/img/bus.png b/images/reference_guide/img/bus.png
deleted file mode 100644
index 25157f0f1..000000000
Binary files a/images/reference_guide/img/bus.png and /dev/null differ
diff --git a/images/reference_guide/img/bus.svg b/images/reference_guide/img/bus.svg
new file mode 100644
index 000000000..ad27dbf7d
--- /dev/null
+++ b/images/reference_guide/img/bus.svg
@@ -0,0 +1,82 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><!-- Copyright 2000-2021 JetBrains s.r.o. and other contributors. Use of this source code is governed by the Apache 2.0 license that can be found in the LICENSE file. -->
+<!-- -->
+
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="194px" preserveAspectRatio="none" style="width:411px;height:194px;background:#FFFFFF;" version="1.1" viewBox="0 0 411 194" width="411px" zoomAndPan="magnify"><defs><filter height="300%" id="f4dq7laej8dis" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><!--MD5=[dffc2048202062908f47a53e24d356df]
+entity Subscriber--><ellipse cx="39.5" cy="14" fill="#F8F8F8" filter="url(#f4dq7laej8dis)" rx="8" ry="8" style="stroke:#383838;stroke-width:1.5;"/><path d="M39.5,22 L39.5,49 M26.5,30 L52.5,30 M39.5,49 L26.5,64 M39.5,49 L52.5,64 " fill="none" filter="url(#f4dq7laej8dis)" style="stroke:#383838;stroke-width:1.5;"/><text fill="#000000" font-family="Roboto Mono" font-size="14" lengthAdjust="spacing" textLength="67" x="6" y="83.4999">Subscriber</text><ellipse cx="119.473" cy="164.3946" fill="#F8F8F8" filter="url(#f4dq7laej8dis)" rx="77.473" ry="17.8946" style="stroke:#383838;stroke-width:1.5;"/><text fill="#000000" font-family="Roboto Mono" font-size="14" lengthAdjust="spacing" textLength="111" x="63.973" y="167.9946">Create connection</text><path d="M108.5,32 L108.5,58.7999 A0,0 0 0 0 108.5,58.7999 L186.94,58.7999 L131.08,146.56 L194.94,58.7999 L290.5,58.7999 A0,0 0 0 0 290.5,58.7999 L290.5,42 L280.5,32 L108.5,32 A0,0 0 0 0 108.5,32 " fill="#EBEBEB" filter="url(#f4dq7laej8dis)" style="stroke:#383838;stroke-width:1.0;"/><path d="M280.5,32 L280.5,42 L290.5,42 L280.5,32 " fill="#EBEBEB" style="stroke:#383838;stroke-width:1.0;"/><text fill="#000000" font-family="Roboto Mono" font-size="14" lengthAdjust="spacing" textLength="161" x="114.5" y="50.9999">Necessary for subscribing</text><!--MD5=[b9060e1352b009711fbb9730f967b58f]
+entity Publisher--><ellipse cx="355.5" cy="14" fill="#F8F8F8" filter="url(#f4dq7laej8dis)" rx="8" ry="8" style="stroke:#383838;stroke-width:1.5;"/><path d="M355.5,22 L355.5,49 M342.5,30 L368.5,30 M355.5,49 L342.5,64 M355.5,49 L368.5,64 " fill="none" filter="url(#f4dq7laej8dis)" style="stroke:#383838;stroke-width:1.5;"/><text fill="#000000" font-family="Roboto Mono" font-size="14" lengthAdjust="spacing" textLength="58" x="326.5" y="83.4999">Publisher</text><ellipse cx="355.5122" cy="164.3793" fill="#F8F8F8" filter="url(#f4dq7laej8dis)" rx="44.0122" ry="14.8793" style="stroke:#383838;stroke-width:1.5;"/><text fill="#000000" font-family="Roboto Mono" font-size="14" lengthAdjust="spacing" textLength="46" x="332.5122" y="167.9793">Publish</text><!--MD5=[988ff2512affc8e23f4557d46ed84e0a]
+link Subscriber to C--><path d="M67.03,86.76 C79.84,105.5 94.54,127 105.12,142.47 " fill="none" id="Subscriber-to-C" style="stroke:#383838;stroke-width:1.0;"/><polygon fill="#383838" points="107.99,146.66,106.2259,136.9704,105.1738,142.5286,99.6156,141.4764,107.99,146.66" style="stroke:#383838;stroke-width:1.0;"/><!--MD5=[95e659a114b4b9803e478504399e5690]
+link Publisher to Publish--><path d="M355.5,86.76 C355.5,106.24 355.5,128.72 355.5,144.29 " fill="none" id="Publisher-to-Publish" style="stroke:#383838;stroke-width:1.0;"/><polygon fill="#383838" points="355.5,149.29,359.5,140.29,355.5,144.29,351.5,140.29,355.5,149.29" style="stroke:#383838;stroke-width:1.0;"/><!--MD5=[2c34a8d44b3f35af9a740e44d0399073]
+@startuml
+' https://plantuml-documentation.readthedocs.io/en/latest/formatting/all-skin-params.html
+skinparam monochrome true
+skinparam shadowing true
+
+skinparam DefaultFontName "Roboto Mono"
+skinparam DefaultMonospacedFontName "Roboto Mono"
+
+' https://material.io/design/typography/the-type-system.html
+' Body 2
+skinparam DefaultFontSize 14
+skinparam DefaultTextAlignment center
+skinparam NoteTextAlignment left
+
+' default 1.5
+skinparam ActivityBorderThickness 1
+' default 2
+skinparam PartitionBorderThickness 1.5
+
+hide empty members
+hide circle
+top to bottom direction
+
+'left to right direction
+
+:Subscriber:
+(Create connection) as (C)
+note top of (C): Necessary for subscribing
+Subscriber - -> C
+
+:Publisher:
+(Publish)
+Publisher - -> Publish
+
+@enduml
+
+@startuml
+skinparam monochrome true
+skinparam shadowing true
+
+skinparam DefaultFontName "Roboto Mono"
+skinparam DefaultMonospacedFontName "Roboto Mono"
+
+skinparam DefaultFontSize 14
+skinparam DefaultTextAlignment center
+skinparam NoteTextAlignment left
+
+skinparam ActivityBorderThickness 1
+skinparam PartitionBorderThickness 1.5
+
+hide empty members
+hide circle
+top to bottom direction
+
+
+:Subscriber:
+(Create connection) as (C)
+note top of (C): Necessary for subscribing
+Subscriber - -> C
+
+:Publisher:
+(Publish)
+Publisher - -> Publish
+
+@enduml
+
+PlantUML version 1.2021.8(Sat Jun 26 08:20:59 GMT 2021)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/topics/reference_guide/messaging_infrastructure.md b/topics/reference_guide/messaging_infrastructure.md
index 3106ce142..74714c579 100644
--- a/topics/reference_guide/messaging_infrastructure.md
+++ b/topics/reference_guide/messaging_infrastructure.md
@@ -34,7 +34,7 @@ I.e., clients are allowed to subscribe to a specific topic within a bus and send
 Is the core of the messaging system.
 Is used at the following scenarios:
 
-![Bus](bus.png)
+![Bus](bus.svg)
 
 ### Connection