diff --git a/Cargo.lock b/Cargo.lock
index 4ecf6eb..aeaed20 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -84,15 +84,16 @@ dependencies = [
 
 [[package]]
 name = "ahash"
-version = "0.8.3"
+version = "0.8.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2c99f64d1e06488f620f932677e24bc6e2897582980441ae90a671415bd7ec2f"
+checksum = "77c3a9648d43b9cd48db467b3f87fdd6e146bcc88ab0180006cef2179fe11d01"
 dependencies = [
  "cfg-if 1.0.0",
  "getrandom 0.2.10",
  "once_cell",
  "serde",
  "version_check",
+ "zerocopy",
 ]
 
 [[package]]
@@ -4139,7 +4140,7 @@ dependencies = [
 [[package]]
 name = "zenoh"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-global-executor",
  "async-std",
@@ -4174,6 +4175,7 @@ dependencies = [
  "zenoh-config",
  "zenoh-core",
  "zenoh-crypto",
+ "zenoh-keyexpr",
  "zenoh-link",
  "zenoh-macros",
  "zenoh-plugin-trait",
@@ -4205,7 +4207,7 @@ dependencies = [
 [[package]]
 name = "zenoh-buffers"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "zenoh-collections",
 ]
@@ -4213,7 +4215,7 @@ dependencies = [
 [[package]]
 name = "zenoh-codec"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "log",
  "serde",
@@ -4225,12 +4227,12 @@ dependencies = [
 [[package]]
 name = "zenoh-collections"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 
 [[package]]
 name = "zenoh-config"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "flume",
  "json5",
@@ -4249,7 +4251,7 @@ dependencies = [
 [[package]]
 name = "zenoh-core"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "lazy_static",
@@ -4259,7 +4261,7 @@ dependencies = [
 [[package]]
 name = "zenoh-crypto"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "aes 0.8.3",
  "hmac 0.12.1",
@@ -4272,7 +4274,7 @@ dependencies = [
 [[package]]
 name = "zenoh-ext"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "bincode",
@@ -4292,7 +4294,7 @@ dependencies = [
 [[package]]
 name = "zenoh-keyexpr"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "hashbrown 0.14.0",
  "keyed-set",
@@ -4306,7 +4308,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
@@ -4325,24 +4327,28 @@ dependencies = [
 [[package]]
 name = "zenoh-link-commons"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
  "flume",
+ "log",
  "lz4_flex",
  "serde",
  "typenum",
  "zenoh-buffers",
  "zenoh-codec",
+ "zenoh-core",
  "zenoh-protocol",
  "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
 ]
 
 [[package]]
 name = "zenoh-link-quic"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-rustls",
  "async-std",
@@ -4368,7 +4374,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tcp"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
@@ -4384,7 +4390,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tls"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-rustls",
  "async-std",
@@ -4409,7 +4415,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-udp"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
@@ -4428,7 +4434,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-unixsock_stream"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
@@ -4446,7 +4452,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-ws"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
@@ -4466,7 +4472,7 @@ dependencies = [
 [[package]]
 name = "zenoh-macros"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -4479,7 +4485,7 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-rest"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "anyhow",
  "async-std",
@@ -4537,7 +4543,7 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-trait"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "const_format",
  "libloading",
@@ -4553,7 +4559,7 @@ dependencies = [
 [[package]]
 name = "zenoh-protocol"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "const_format",
  "hex",
@@ -4569,7 +4575,7 @@ dependencies = [
 [[package]]
 name = "zenoh-result"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "anyhow",
 ]
@@ -4577,7 +4583,7 @@ dependencies = [
 [[package]]
 name = "zenoh-sync"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "event-listener 4.0.0",
@@ -4592,7 +4598,7 @@ dependencies = [
 [[package]]
 name = "zenoh-transport"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-executor",
  "async-global-executor",
@@ -4623,7 +4629,7 @@ dependencies = [
 [[package]]
 name = "zenoh-util"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
@@ -4647,6 +4653,26 @@ dependencies = [
  "zenoh-result",
 ]
 
+[[package]]
+name = "zerocopy"
+version = "0.7.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
+dependencies = [
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.7.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.33",
+]
+
 [[package]]
 name = "zeroize"
 version = "1.6.0"
diff --git a/zenoh-plugin-ros2dds/src/route_publisher.rs b/zenoh-plugin-ros2dds/src/route_publisher.rs
index 5932a69..b9c2f6f 100644
--- a/zenoh-plugin-ros2dds/src/route_publisher.rs
+++ b/zenoh-plugin-ros2dds/src/route_publisher.rs
@@ -25,7 +25,7 @@ use zenoh::prelude::r#async::AsyncResolve;
 use zenoh::prelude::*;
 use zenoh::publication::Publisher;
 use zenoh_core::SyncResolve;
-use zenoh_ext::{ArcSessionExt, PublicationCache};
+use zenoh_ext::{PublicationCache, SessionExt};
 
 use crate::dds_types::{DDSRawSample, TypeInfo};
 use crate::dds_utils::{