diff --git a/Cargo.lock b/Cargo.lock
index 689646e..af212f3 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -341,6 +341,15 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "bit-vec"
+version = "0.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b71798fca2c1fe1086445a7258a4bc81e6e49dcd24c8d0dd9a1e57395b603f51"
+dependencies = [
+ "serde",
+]
+
 [[package]]
 name = "bitflags"
 version = "1.3.2"
@@ -417,6 +426,20 @@ name = "bytemuck"
 version = "1.24.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1fbdf580320f38b612e485521afda1ee26d10cc9884efaaa750d383e13e3c5f4"
+dependencies = [
+ "bytemuck_derive",
+]
+
+[[package]]
+name = "bytemuck_derive"
+version = "1.10.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f9abbd1bc6865053c427f7198e6af43bfdedc55ab791faed4fbd361d789575ff"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.114",
+]
 
 [[package]]
 name = "byteorder"
@@ -2112,9 +2135,9 @@ dependencies = [
 
 [[package]]
 name = "lz4_flex"
-version = "0.11.5"
+version = "0.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "08ab2867e3eeeca90e844d1940eab391c9dc5228783db2ed999acbc0a9ed375a"
+checksum = "8b8c72594ac26bfd34f2d99dfced2edfaddfe8a476e3ff2ca0eb293d925c4f83"
 dependencies = [
  "twox-hash",
 ]
@@ -2610,6 +2633,16 @@ version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
+[[package]]
+name = "pem"
+version = "3.0.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d30c53c26bc5b31a98cd02d20f25a7c8567146caf63ed593a9d87b2775291be"
+dependencies = [
+ "base64 0.22.1",
+ "serde_core",
+]
+
 [[package]]
 name = "pem-rfc7468"
 version = "0.7.0"
@@ -3123,6 +3156,20 @@ dependencies = [
  "crossbeam-utils",
 ]
 
+[[package]]
+name = "rcgen"
+version = "0.14.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "57f6d249aad744e274e682777a50283a225a32705394ee6d5fcc01efa25e4055"
+dependencies = [
+ "pem",
+ "ring",
+ "rustls-pki-types",
+ "time",
+ "x509-parser",
+ "yasna",
+]
+
 [[package]]
 name = "redox_syscall"
 version = "0.5.18"
@@ -3322,7 +3369,7 @@ dependencies = [
 [[package]]
 name = "ros-z"
 version = "0.1.0"
-source = "git+https://github.com/ZettaScaleLabs/ros-z.git#e4fdecc8dac71977093ce5ed666dab852789eb1a"
+source = "git+https://github.com/ZettaScaleLabs/ros-z.git?rev=9bb6305#9bb63050e74ff0a27559534255f0508a19491d08"
 dependencies = [
  "byteorder",
  "clap",
@@ -3334,8 +3381,12 @@ dependencies = [
  "parking_lot",
  "paste",
  "ros-z-cdr",
+ "ros-z-derive",
+ "ros-z-protocol",
+ "ros-z-schema",
  "serde",
  "serde_json",
+ "serde_yaml",
  "sha2",
  "slab",
  "strum",
@@ -3351,14 +3402,44 @@ dependencies = [
 [[package]]
 name = "ros-z-cdr"
 version = "0.1.0"
-source = "git+https://github.com/ZettaScaleLabs/ros-z.git#e4fdecc8dac71977093ce5ed666dab852789eb1a"
+source = "git+https://github.com/ZettaScaleLabs/ros-z.git?rev=9bb6305#9bb63050e74ff0a27559534255f0508a19491d08"
 dependencies = [
+ "bytemuck",
  "byteorder",
  "serde",
  "thiserror 1.0.69",
  "zenoh-buffers",
 ]
 
+[[package]]
+name = "ros-z-derive"
+version = "0.1.0"
+source = "git+https://github.com/ZettaScaleLabs/ros-z.git?rev=9bb6305#9bb63050e74ff0a27559534255f0508a19491d08"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.114",
+]
+
+[[package]]
+name = "ros-z-protocol"
+version = "0.1.0"
+source = "git+https://github.com/ZettaScaleLabs/ros-z.git?rev=9bb6305#9bb63050e74ff0a27559534255f0508a19491d08"
+dependencies = [
+ "zenoh",
+]
+
+[[package]]
+name = "ros-z-schema"
+version = "0.1.0"
+source = "git+https://github.com/ZettaScaleLabs/ros-z.git?rev=9bb6305#9bb63050e74ff0a27559534255f0508a19491d08"
+dependencies = [
+ "hex",
+ "serde",
+ "serde_json",
+ "sha2",
+]
+
 [[package]]
 name = "roslibrust"
 version = "0.20.0"
@@ -3987,6 +4068,15 @@ dependencies = [
  "zmij",
 ]
 
+[[package]]
+name = "serde_spanned"
+version = "1.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6662b5879511e06e8999a8a235d848113e942c9124f211511b16466ee2995f26"
+dependencies = [
+ "serde_core",
+]
+
 [[package]]
 name = "serde_urlencoded"
 version = "0.7.1"
@@ -4798,6 +4888,21 @@ dependencies = [
  "tokio",
 ]
 
+[[package]]
+name = "toml"
+version = "0.9.12+spec-1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cf92845e79fc2e2def6a5d828f0801e29a2f8acc037becc5ab08595c7d5e9863"
+dependencies = [
+ "indexmap 2.13.0",
+ "serde_core",
+ "serde_spanned",
+ "toml_datetime",
+ "toml_parser",
+ "toml_writer",
+ "winnow 0.7.14",
+]
+
 [[package]]
 name = "toml_datetime"
 version = "0.7.5+spec-1.1.0"
@@ -4816,18 +4921,24 @@ dependencies = [
  "indexmap 2.13.0",
  "toml_datetime",
  "toml_parser",
- "winnow",
+ "winnow 0.7.14",
 ]
 
 [[package]]
 name = "toml_parser"
-version = "1.0.6+spec-1.1.0"
+version = "1.1.2+spec-1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a3198b4b0a8e11f09dd03e133c0280504d0801269e9afa46362ffde1cbeebf44"
+checksum = "a2abe9b86193656635d2411dc43050282ca48aa31c2451210f4202550afb7526"
 dependencies = [
- "winnow",
+ "winnow 1.0.3",
 ]
 
+[[package]]
+name = "toml_writer"
+version = "1.1.1+spec-1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "756daf9b1013ebe47a8776667b466417e2d4c5679d441c26230efd9ef78692db"
+
 [[package]]
 name = "tower-service"
 version = "0.3.3"
@@ -4975,9 +5086,13 @@ dependencies = [
 
 [[package]]
 name = "twox-hash"
-version = "2.1.2"
+version = "1.6.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ea3136b675547379c4bd395ca6b938e5ad3c3d20fad76e7fe85f9e0d011419c"
+checksum = "97fee6b57c6a41524a810daee9286c02d7752c4253064d0b05472833a438f675"
+dependencies = [
+ "cfg-if",
+ "static_assertions",
+]
 
 [[package]]
 name = "typeid"
@@ -5337,7 +5452,7 @@ version = "0.1.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c2a7b1c03c876122aa43f3020e6c3c3ee5c05081c9a00739faf7503aeba10d22"
 dependencies = [
- "windows-sys 0.61.2",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -5745,6 +5860,12 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "winnow"
+version = "1.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0592e1c9d151f854e6fd382574c3a0855250e1d9b2f99d9281c6e6391af352f1"
+
 [[package]]
 name = "winreg"
 version = "0.50.0"
@@ -5779,6 +5900,7 @@ dependencies = [
  "lazy_static",
  "nom 7.1.3",
  "oid-registry",
+ "ring",
  "rusticata-macros",
  "thiserror 2.0.18",
  "time",
@@ -5790,6 +5912,16 @@ version = "0.8.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3ae8337f8a065cfc972643663ea4279e04e7256de865aa66fe25cec5fb912d3f"
 
+[[package]]
+name = "yasna"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b5f6765e852b9b4dc8e2a76843e4d64d1cea8e79bcde0b6901aea8e7c7f08282"
+dependencies = [
+ "bit-vec",
+ "time",
+]
+
 [[package]]
 name = "yoke"
 version = "0.8.1"
@@ -5828,9 +5960,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0f9ff8cb89f5267b8486a69466bc42f240f1ee2d5089e72395a23094e7b74f21"
+checksum = "85e22d7002ac149ef17fe400bb40a267ebbba40a83413bab03da7762256fa94e"
 dependencies = [
  "ahash",
  "arc-swap",
@@ -5849,7 +5981,6 @@ dependencies = [
  "petgraph",
  "phf",
  "rand 0.8.5",
- "ref-cast",
  "rustc_version",
  "serde",
  "serde_json",
@@ -5881,18 +6012,18 @@ dependencies = [
 
 [[package]]
 name = "zenoh-buffers"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bd9216c3d6c84b56f3e3be634e52365022038e1ac1b9f662f10d425cbf6c0fa8"
+checksum = "e89c9e2427102e8efd533716f0935389a3900a818e7334004dd647ac0bd029dc"
 dependencies = [
  "zenoh-collections",
 ]
 
 [[package]]
 name = "zenoh-codec"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "14bc6747664aa9ecf17becd6e9a29282e535a350cd7c6bd8de7bf2dc662fb93d"
+checksum = "31930531a8e387160bc3680c6d62f80a201020cf4d8aa36bd46988b425a66306"
 dependencies = [
  "tracing",
  "uhlc",
@@ -5903,18 +6034,18 @@ dependencies = [
 
 [[package]]
 name = "zenoh-collections"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d642ecfe0d85f0cd846be9bc92805d926c092a6e6c7a575b6346752f8c3ae16"
+checksum = "6fc5195efe3ad44786275f559bbd6f13c6612470e9706c9a9a8b5b47388d51e1"
 dependencies = [
  "ahash",
 ]
 
 [[package]]
 name = "zenoh-config"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "39765a5f9975aba204c99f2f65308db4952dbea8e5ac79c78ac1eaf5711e970a"
+checksum = "e8672f4eaf88fd486f0503c59d19edfc25e7dd689bccd90d3cb731a5f627e0df"
 dependencies = [
  "json5",
  "nonempty-collections",
@@ -5924,6 +6055,7 @@ dependencies = [
  "serde_json",
  "serde_with",
  "serde_yaml",
+ "toml",
  "tracing",
  "uhlc",
  "validated_struct",
@@ -5937,9 +6069,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-core"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "85c0c1388dccf287aec4e9d5e638630dc9d536db9f1da3522889b42697723b9b"
+checksum = "1525319e4d9ef2af54fc9c74abf419236e32e6535081339321f3f55e2f34ce2f"
 dependencies = [
  "lazy_static",
  "tokio",
@@ -5949,9 +6081,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-crypto"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b433e08df3b03f2af2d23bd29a32aa5f5522c52e66d63e3d135bfa66373736dd"
+checksum = "44b80a042fc71419fc4952a90c9cbcfb323c0ced048125d8b44fd362f184045f"
 dependencies = [
  "aes",
  "hmac",
@@ -5963,9 +6095,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-ext"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fddc96d0b206af968465ca8497cd2f8bab9639bb028391f354b057fc9a1d6b0"
+checksum = "4e4de171bff459816b1ca9e6657c4ae9783d2c1fc569e1721a380521425e897d"
 dependencies = [
  "async-trait",
  "bincode",
@@ -5983,9 +6115,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-keyexpr"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "19a3c47c89cb55ea45a1b3fe7d1fe8682ea93530b1fc5245257812db14b55b3d"
+checksum = "80f04c82f0728f6704a1a397a04b38de5b2fd5a9a886a232cf650c9af294ba5d"
 dependencies = [
  "getrandom 0.2.17",
  "hashbrown 0.16.1",
@@ -5999,9 +6131,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6218cecab58435f31fb8b2e185f74f35af8aedd96e8bdd3557b333206b1acfda"
+checksum = "a71103cfe96a851ef5ff781d64dda95c70e70208f74e186d6d294ba21e89cc64"
 dependencies = [
  "zenoh-config",
  "zenoh-link-commons",
@@ -6019,15 +6151,18 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-commons"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b98adc618f7edb570b9333ce583934a7c63e3a619cb49666515bfc06a000d7b6"
+checksum = "8dc91a5163793f842b4b016b2d50640db5a3533370348eb796e7078c576e87cf"
 dependencies = [
  "async-trait",
  "base64 0.22.1",
+ "bytes",
  "flume",
  "futures",
  "quinn",
+ "quinn-proto",
+ "rcgen",
  "rustls",
  "rustls-pemfile 2.2.0",
  "rustls-pki-types",
@@ -6053,56 +6188,43 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-quic"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2d0c25d681db958b7714370d5e1d72a523129633d9262b098e18d44824d39893"
+checksum = "17d065833147be895b7091cc3e505433c2c8b3172e36c9e06e84a5779a4aa655"
 dependencies = [
  "async-trait",
- "base64 0.22.1",
- "quinn",
- "rustls",
- "rustls-pemfile 2.2.0",
  "rustls-webpki",
- "secrecy",
  "time",
- "tokio",
- "tokio-util",
  "tracing",
- "webpki-roots 1.0.5",
- "zenoh-config",
  "zenoh-core",
  "zenoh-link-commons",
+ "zenoh-link-quic_datagram",
  "zenoh-protocol",
  "zenoh-result",
- "zenoh-util",
 ]
 
 [[package]]
 name = "zenoh-link-quic_datagram"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "30cfb427adbc8d367505b9a62a6614c9d7802e420f03466d98644bb7bf24516f"
+checksum = "e81b15df31a3d0ddde9a4fb3fbc928e9a2a6d6a4de38bcf55badd3a5208947a4"
 dependencies = [
  "async-trait",
- "quinn",
- "rustls",
  "rustls-webpki",
  "time",
- "tokio",
  "tokio-util",
  "tracing",
  "zenoh-core",
  "zenoh-link-commons",
  "zenoh-protocol",
  "zenoh-result",
- "zenoh-util",
 ]
 
 [[package]]
 name = "zenoh-link-serial"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ee91f2e7f7ea44e10e3cdffcda728fcbfcd1d1f9111420164dbfab4c3872c28"
+checksum = "7f46b4d7bb81c60aff1ab7c54c5bd1d63a8a7987112bf3b579b468069cd4bbb3"
 dependencies = [
  "async-trait",
  "tokio",
@@ -6119,9 +6241,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-tcp"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c0f23bd5d06a0014ce5a205961d6d47c8e8d792d9fd050ae9d0c9b609a187995"
+checksum = "4e912ac36902173dfc295317e001dc630e5ac9a70c2780f2d2eac500b205a700"
 dependencies = [
  "async-trait",
  "socket2 0.5.10",
@@ -6137,9 +6259,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-tls"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "17544cde682dbcd2a712114786feee14295c28a9f66fc1021637355511e32fa9"
+checksum = "e6f6b308ae2599f9c1344fbcd3418b2c3a3a9fe287ec39501ba834168493ba37"
 dependencies = [
  "async-trait",
  "base64 0.22.1",
@@ -6167,9 +6289,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-udp"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "587ca1de1caa0b444106d31c26801f4e87b354293d2d37afd8f70d9e793fe35e"
+checksum = "ca106ca8c3b7625e7071b9d7408955726e994c8f35fd68e00de8ac58b185d52d"
 dependencies = [
  "async-trait",
  "libc",
@@ -6181,6 +6303,7 @@ dependencies = [
  "zenoh-buffers",
  "zenoh-core",
  "zenoh-link-commons",
+ "zenoh-link-quic_datagram",
  "zenoh-protocol",
  "zenoh-result",
  "zenoh-sync",
@@ -6189,9 +6312,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-unixsock_stream"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ac46470a17af5861e07ed9d2440277e7a3dea55109b0988866b635f7daf29ac4"
+checksum = "09f2b7f60cdb5ad771d1a4f8e2eda15529e96dbe81c0ad2c1015b4c194347676"
 dependencies = [
  "async-trait",
  "nix 0.29.0",
@@ -6208,9 +6331,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-ws"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e4be09c3e32d510cdddf3289bc333d53471883198fca51d58248458a20df3d51"
+checksum = "9a7fb54899f7fbdfc4fd02e647f9bba0d6e089cca4355acafb9499c510ebea79"
 dependencies = [
  "async-trait",
  "futures-util",
@@ -6229,9 +6352,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-macros"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b760a458cd906ac888b37fd1abdb21a0f58ecc64cc3882f83a976cb5ca8e0632"
+checksum = "9310b02a8f6dc4bd04d9ce6b318b9d00182aeeeeca60410003307d63a2569a3f"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -6241,9 +6364,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-plugin-trait"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7325b773c43a86a94f800cb971ab7e4b7e01ce76819c9c100ea783a47c3a25e4"
+checksum = "e235815d14b22448aa1db948560328761530932fa7a2f9a3c14853b3f0267941"
 dependencies = [
  "git-version",
  "libloading",
@@ -6259,9 +6382,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-protocol"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b4d3dad7aeeea780495692b195cd56515569c32b76b9dd077cc408c3ebca03f"
+checksum = "eeab45020bbecc077f14f06ee8f5aee65ce760af72481e663cac58b5dbfa66dd"
 dependencies = [
  "const_format",
  "rand 0.8.5",
@@ -6269,23 +6392,24 @@ dependencies = [
  "uhlc",
  "zenoh-buffers",
  "zenoh-keyexpr",
+ "zenoh-macros",
  "zenoh-result",
 ]
 
 [[package]]
 name = "zenoh-result"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0b4dbfea68b947a790d5525bcf061e91e2fdc2798bce619851919b353a8580fa"
+checksum = "cca8e65b08f211833fe31cf38d73a48c6e1d6d900914e1ddd8cb176b3355b75b"
 dependencies = [
  "anyhow",
 ]
 
 [[package]]
 name = "zenoh-runtime"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "760a1f7880f98427ad849d600257d1455a18afe981681f362684a3f91042537e"
+checksum = "dd3d0c1558f909c9a74bde5e398c5733f81eb954818451baac2a6c09f48d6a5e"
 dependencies = [
  "lazy_static",
  "ron",
@@ -6298,9 +6422,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-shm"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "42184ae820d64d40814c0dd3b48f748c55a3ff5591c524f1bde36f21ccfda488"
+checksum = "a63670c8845775b21f718401a317c7824c604915fec6d228570456bb919994e7"
 dependencies = [
  "advisory-lock",
  "async-trait",
@@ -6328,9 +6452,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-stats"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8954c79580ed3365580d86f40657f2cd6bf4b4c72dd463de936368df8c709c65"
+checksum = "e2bd56586221cca3cbb75b8bfe6f9451219a9241b0a49228b498467705d7e10d"
 dependencies = [
  "ahash",
  "prometheus-client",
@@ -6342,9 +6466,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-sync"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "98f132137bb003f10b7fff086cb18addf8e8273b9c0d2722a53b5074c8a79965"
+checksum = "9588f87db82b414a3e73d13312026be826332f53d270966e3e19f77f7fa1f06d"
 dependencies = [
  "arc-swap",
  "event-listener",
@@ -6357,9 +6481,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-task"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1b17d10136fdabec7e21a3fcef568c210ee6a2d71cde6adcde99e9236584f3a1"
+checksum = "1e2ac601598a27152b366ba1c6825216f01f77bb898f719b7752099a3594ce72"
 dependencies = [
  "futures",
  "tokio",
@@ -6371,13 +6495,14 @@ dependencies = [
 
 [[package]]
 name = "zenoh-transport"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "50739b4c45e0963df8377abddb74701a4b708b178590eae92f27a604e25daf44"
+checksum = "80800c4adc26dbe81418735068541cf39820a95ec988114f04dd014775ba7c97"
 dependencies = [
  "async-trait",
  "crossbeam-utils",
  "flume",
+ "futures",
  "lazy_static",
  "lz4_flex",
  "rand 0.8.5",
@@ -6407,9 +6532,9 @@ dependencies = [
 
 [[package]]
 name = "zenoh-util"
-version = "1.7.2"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9512987c13925d32d3331507c8807853d5b682ea8da94d0ba6534c7a8ace48aa"
+checksum = "1b10369df18a781a3e675c9a2cbf54adb44c9dc2a376c1014c5e488410df2179"
 dependencies = [
  "async-trait",
  "const_format",
diff --git a/roslibrust_ros2/Cargo.toml b/roslibrust_ros2/Cargo.toml
index c7d2cb0..0c4f8fe 100644
--- a/roslibrust_ros2/Cargo.toml
+++ b/roslibrust_ros2/Cargo.toml
@@ -12,8 +12,8 @@ env_logger = "0.11"
 cdr = "0.2"
 roslibrust_common = { path = "../roslibrust_common", version = "0.20" }
 anyhow = "1.0"
-# Experimental "raw ros" library, we're going to try to build on top of
-ros-z = { git = "https://github.com/ZettaScaleLabs/ros-z.git" }
+# Main as of May 16th 2026
+ros-z = { git = "https://github.com/ZettaScaleLabs/ros-z.git", rev = "9bb6305" }
 log = "0.4"
 # Used for cancellation token
 tokio-util = "0.7"
diff --git a/roslibrust_ros2/src/lib.rs b/roslibrust_ros2/src/lib.rs
index 48019c3..4b7277c 100644
--- a/roslibrust_ros2/src/lib.rs
+++ b/roslibrust_ros2/src/lib.rs
@@ -5,123 +5,71 @@ use std::result::Result as StdResult;
 use ros_z::{
     context::ZContext,
     entity::{TypeHash, TypeInfo},
-    msg::ZService,
+    msg::{SerdeCdrSerdes, ZMessage, ZService},
     pubsub::{ZPub, ZSub},
-    ros_msg::{ServiceTypeInfo, WithTypeInfo},
+    ros_msg::ServiceTypeInfo,
     Builder,
 };
 
 /// re-export ros_z for consumers
 pub use ros_z;
 
-/// Wrapper type that implements WithTypeInfo for RosMessageType
-/// This allows RosMessageType implementations to work with ros-z's type system
-pub struct RosMessageWrapper<T: RosMessageType>(pub T);
-
-impl<T: RosMessageType> ros_z::ros_msg::MessageTypeInfo for RosMessageWrapper<T> {
-    fn type_name() -> &'static str {
-        T::ROS2_TYPE_NAME
-    }
-
-    fn type_hash() -> TypeHash {
-        TypeHash::new(1, *T::ROS2_HASH)
-    }
+/// A "newtype" wrapper around ZNode so we can implement roslibrust's traits for it.
+pub struct ZenohClient {
+    node: ros_z::node::ZNode,
 }
 
-impl<T: RosMessageType> WithTypeInfo for RosMessageWrapper<T> {}
-
-// Custom serializer that treats RosMessageWrapper<T> as T for serialization purposes
-pub struct WrapperSerdes<T: RosMessageType>(std::marker::PhantomData<T>);
-
-impl<T: RosMessageType> ros_z::msg::ZSerializer for WrapperSerdes<T> {
-    type Input<'a> = &'a RosMessageWrapper<T>;
-    fn serialize(input: Self::Input<'_>) -> Vec<u8> {
-        ros_z::msg::CdrSerdes::<T>::serialize(&input.0)
-    }
-
-    fn serialize_to_zbuf(input: Self::Input<'_>) -> zenoh_buffers::ZBuf {
-        ros_z::msg::CdrSerdes::<T>::serialize_to_zbuf(&input.0)
-    }
-
-    fn serialize_to_buf(input: Self::Input<'_>, buffer: &mut Vec<u8>) {
-        ros_z::msg::CdrSerdes::<T>::serialize_to_buf(&input.0, buffer)
-    }
+type RosZSerdes<T> = SerdeCdrSerdes<RosZMessage<T>>;
 
-    fn serialize_to_zbuf_with_hint(
-        input: Self::Input<'_>,
-        capacity_hint: usize,
-    ) -> zenoh_buffers::ZBuf {
-        ros_z::msg::CdrSerdes::<T>::serialize_to_zbuf_with_hint(&input.0, capacity_hint)
-    }
+struct RosZMessage<T>(T);
 
-    fn serialize_to_shm(
-        input: Self::Input<'_>,
-        estimated_size: usize,
-        provider: &zenoh::shm::ShmProvider<zenoh::shm::PosixShmProviderBackend>,
-    ) -> zenoh::Result<(zenoh_buffers::ZBuf, usize)> {
-        ros_z::msg::CdrSerdes::<T>::serialize_to_shm(&input.0, estimated_size, provider)
-    }
+impl<T: RosMessageType> ZMessage for RosZMessage<T> {
+    type Serdes = RosZSerdes<T>;
 }
 
-impl<T: RosMessageType> ros_z::msg::ZDeserializer for WrapperSerdes<T> {
-    type Input<'a> = &'a [u8];
-    type Output = RosMessageWrapper<T>;
-    type Error = ros_z::msg::CdrError;
-    fn deserialize(data: Self::Input<'_>) -> std::result::Result<Self::Output, Self::Error> {
-        let inner = ros_z::msg::CdrSerdes::<T>::deserialize(data)?;
-        Ok(RosMessageWrapper(inner))
+impl<T: serde::Serialize> serde::Serialize for RosZMessage<T> {
+    fn serialize<S: serde::Serializer>(&self, serializer: S) -> StdResult<S::Ok, S::Error> {
+        self.0.serialize(serializer)
     }
 }
 
-impl<T: RosMessageType> ros_z::msg::ZMessage for RosMessageWrapper<T> {
-    type Serdes = WrapperSerdes<T>;
-}
-
-/// A "newtype" wrapper around ZNode so we can implement roslibrust's traits for it.
-pub struct ZenohClient {
-    // TODO: We'll probably end up wrapping node in an Arc<> so we can make this clone for users
-    node: ros_z::node::ZNode,
+impl<'de, T: serde::Deserialize<'de>> serde::Deserialize<'de> for RosZMessage<T> {
+    fn deserialize<D: serde::Deserializer<'de>>(deserializer: D) -> StdResult<Self, D::Error> {
+        T::deserialize(deserializer).map(Self)
+    }
 }
 
-// A "newtype" wrapper around ZPub so we can implement roslibrust's traits for it.
 /// The publisher type returned by [TopicProvider::advertise] on [ZenohClient].
-/// This type is self de-registering, and dropping the publisher will automatically un-advertise the topic.
-/// This type is generic on the message type that will be published.
 pub struct ZenohPublisher<T: RosMessageType> {
-    publisher: ZPub<RosMessageWrapper<T>, WrapperSerdes<T>>,
-    _marker: std::marker::PhantomData<T>,
+    publisher: ZPub<RosZMessage<T>, RosZSerdes<T>>,
 }
 
 impl<T: RosMessageType> Publish<T> for ZenohPublisher<T> {
     async fn publish(&self, data: &T) -> Result<()> {
+        let data = RosZMessage(data.clone());
         self.publisher
-            .async_publish(&RosMessageWrapper(data.clone()))
+            .async_publish(&data)
             .await
-            // TODO: should work on error type here with ros_z team
             .map_err(|e| Error::Unexpected(anyhow::anyhow!(e)))
     }
 }
 
 /// The subscriber type returned by [TopicProvider::subscribe] on [ZenohClient].
-/// This type is self de-registering, and dropping the subscriber will automatically unsubscribe from the topic.
-/// This type is generic on the message type that will be received.
-/// It is typically used with types generated by roslibrust's codegen.
 pub struct ZenohSubscriber<T: RosMessageType> {
-    subscriber: ZSub<RosMessageWrapper<T>, zenoh::sample::Sample, WrapperSerdes<T>>,
-    _marker: std::marker::PhantomData<T>,
+    subscriber: ZSub<RosZMessage<T>, zenoh::sample::Sample, RosZSerdes<T>>,
 }
 
 impl<T: RosMessageType> Subscribe<T> for ZenohSubscriber<T> {
     async fn next(&mut self) -> Result<T> {
-        let next = self.subscriber.async_recv().await;
-        let msg = next.map_err(|e| Error::Unexpected(anyhow::anyhow!(e)))?;
-        Ok(msg.0)
+        self.subscriber
+            .async_recv()
+            .await
+            .map(|msg| msg.0)
+            .map_err(|e| Error::Unexpected(anyhow::anyhow!(e)))
     }
 }
 
 impl ZenohClient {
-    // TODO don't love error type here... could work with ros_z to get better errors
-    /// Creates a new node with the specified name and return a handle to it.
     pub async fn new(
         ctx: &ZContext,
         name: impl AsRef<str>,
@@ -131,6 +79,11 @@ impl ZenohClient {
     }
 }
 
+/// Build a TypeInfo from a RosMessageType's type name and hash.
+fn ros_type_info<T: RosMessageType>() -> TypeInfo {
+    TypeInfo::new(T::ROS2_TYPE_NAME, TypeHash::new(1, *T::ROS2_HASH))
+}
+
 impl roslibrust_common::TopicProvider for ZenohClient {
     type Publisher<T: RosMessageType> = ZenohPublisher<T>;
     type Subscriber<T: RosMessageType> = ZenohSubscriber<T>;
@@ -142,16 +95,14 @@ impl roslibrust_common::TopicProvider for ZenohClient {
         let topic: roslibrust_common::GlobalTopicName = topic.to_global_name()?;
         let publisher = self
             .node
-            .create_pub::<RosMessageWrapper<MsgType>>(topic.as_ref())
-            .with_serdes::<WrapperSerdes<MsgType>>()
+            .create_pub_impl::<RosZMessage<MsgType>>(
+                topic.as_ref(),
+                Some(ros_type_info::<MsgType>()),
+            )
             .build()
-            // TODO better errors
             .map_err(|e| Error::Unexpected(anyhow::anyhow!(e)))?;
 
-        Ok(ZenohPublisher {
-            publisher,
-            _marker: std::marker::PhantomData,
-        })
+        Ok(ZenohPublisher { publisher })
     }
 
     async fn subscribe<MsgType: RosMessageType>(
@@ -161,23 +112,18 @@ impl roslibrust_common::TopicProvider for ZenohClient {
         let topic: roslibrust_common::GlobalTopicName = topic.to_global_name()?;
         let sub = self
             .node
-            .create_sub::<RosMessageWrapper<MsgType>>(topic.as_ref())
-            .with_serdes::<WrapperSerdes<MsgType>>()
+            .create_sub_impl::<RosZMessage<MsgType>>(
+                topic.as_ref(),
+                Some(ros_type_info::<MsgType>()),
+            )
             .build()
-            // TODO better errors
             .map_err(|e| Error::Unexpected(anyhow::anyhow!(e)))?;
 
-        Ok(ZenohSubscriber {
-            subscriber: sub,
-            _marker: std::marker::PhantomData,
-        })
+        Ok(ZenohSubscriber { subscriber: sub })
     }
 }
 
-// TODO MAJOR: problem here ZService trait can't be implemented for our example messages due to orphan rule...
-// Have to do some gross work around to get roslibrust::RosServiceType and ros_z::ZService to play nicely together
 pub struct ZenohServiceServer {
-    // Used to shutdown server task when dropped
     cancellation_token: tokio_util::sync::CancellationToken,
 }
 
@@ -192,11 +138,13 @@ pub struct ZenohServiceClient<T: RosServiceType> {
     _marker: std::marker::PhantomData<T>,
 }
 
-// Helper struct to work around orphan rule
+// Orphan-rule shim: ZService (ros_z) cannot be impl'd for T: RosServiceType (roslibrust_common)
+// in a downstream crate. This unit struct bridges the two.
 struct Fake<T>(std::marker::PhantomData<T>);
+
 impl<T: RosServiceType> ZService for Fake<T> {
-    type Request = T::Request;
-    type Response = T::Response;
+    type Request = RosZMessage<T::Request>;
+    type Response = RosZMessage<T::Response>;
 }
 
 impl<T: RosServiceType> ServiceTypeInfo for Fake<T> {
@@ -207,19 +155,12 @@ impl<T: RosServiceType> ServiceTypeInfo for Fake<T> {
 
 impl<T: RosServiceType> roslibrust_common::Service<T> for ZenohServiceClient<T> {
     async fn call(&self, request: &T::Request) -> Result<T::Response> {
-        // Send the request
+        let request = RosZMessage(request.clone());
         self.client
-            .send_request(request)
+            .call(&request)
             .await
-            .map_err(|e| Error::Unexpected(anyhow::anyhow!(e)))?;
-
-        // Wait for and take the response
-        let response = self
-            .client
-            .take_response()
-            .map_err(|e| Error::Unexpected(anyhow::anyhow!(e)))?;
-
-        Ok(response)
+            .map(|response| response.0)
+            .map_err(|e| Error::Unexpected(anyhow::anyhow!(e)))
     }
 }
 
@@ -233,7 +174,6 @@ impl roslibrust_common::ServiceProvider for ZenohClient {
         request: SrvType::Request,
     ) -> Result<SrvType::Response> {
         let service: roslibrust_common::GlobalTopicName = service.to_global_name()?;
-        // Create a service client and call it once
         let client = ZenohClient::service_client::<SrvType>(self, service.as_ref()).await?;
         client.call(&request).await
     }
@@ -261,17 +201,6 @@ impl roslibrust_common::ServiceProvider for ZenohClient {
         server: F,
     ) -> Result<Self::ServiceServer> {
         let service: roslibrust_common::GlobalTopicName = service.to_global_name()?;
-        // TODO: doing some really dome stuff here... to work around orphan rule and RosServiceType != ZService
-        struct Fake<T>(T);
-        impl<T: RosServiceType> ZService for Fake<T> {
-            type Request = T::Request;
-            type Response = T::Response;
-        }
-        impl<T: RosServiceType> ServiceTypeInfo for Fake<T> {
-            fn service_type_info() -> TypeInfo {
-                TypeInfo::new(T::ROS2_TYPE_NAME, TypeHash::new(1, *T::ROS2_HASH))
-            }
-        }
 
         let mut svc = self
             .node
@@ -280,16 +209,15 @@ impl roslibrust_common::ServiceProvider for ZenohClient {
             .map_err(|e| Error::Unexpected(anyhow::anyhow!(e)))?;
 
         let cancellation_token = tokio_util::sync::CancellationToken::new();
-
-        // Build a clone wrapper for the users's function
         let server = std::sync::Arc::new(server);
         let service_name = String::from(service);
         let ct_copy = cancellation_token.clone();
+
         tokio::spawn(async move {
             let body_future = async {
                 loop {
-                    let req = svc.take_request_async().await;
-                    let (query, req) = match req {
+                    let req = svc.async_take_request().await;
+                    let req = match req {
                         Ok(req) => req,
                         Err(e) => {
                             error!("Failed to take request in service {service_name}: {e:?}");
@@ -298,12 +226,12 @@ impl roslibrust_common::ServiceProvider for ZenohClient {
                     };
                     debug!(
                         "Got request for service {service_name} with key {:?}",
-                        query
+                        req.id()
                     );
 
-                    // Evaluate the server function inside a spawn_blocking to uphold trait expectations from roslibrust_common
+                    let (req, reply) = req.into_parts();
                     let server_copy = server.clone();
-                    let response = tokio::task::spawn_blocking(move || server_copy(req)).await;
+                    let response = tokio::task::spawn_blocking(move || server_copy(req.0)).await;
 
                     let valid_response = match response {
                         Ok(Ok(response)) => response,
@@ -316,20 +244,17 @@ impl roslibrust_common::ServiceProvider for ZenohClient {
                             continue;
                         }
                     };
-                    let send_result = svc.send_response_async(&valid_response, &query).await;
-                    match send_result {
-                        Ok(()) => {}
-                        Err(e) => {
-                            error!("Failed to send response to service {service_name}: {e:?}");
-                        }
-                    };
+
+                    let valid_response = RosZMessage(valid_response);
+                    let send_result = reply.reply(&valid_response).await;
+                    if let Err(e) = send_result {
+                        error!("Failed to send response to service {service_name}: {e:?}");
+                    }
                 }
             };
 
             tokio::select! {
-                _ = ct_copy.cancelled() => {
-                    // Shutdown
-                }
+                _ = ct_copy.cancelled() => {}
                 _ = body_future => {
                     error!("Service task for {service_name} exited unexpectedly");
                 }
@@ -360,7 +285,6 @@ mod tests {
                 .unwrap()
         }
 
-        // Ignored for now until we get ROS2 zenoh CI stable
         #[ignore]
         #[tokio::test(flavor = "multi_thread")]
         async fn test_subscribe_basic() {
@@ -377,7 +301,6 @@ mod tests {
             let mut pub_cmd = std::process::Command::new("ros2")
                 .arg("topic")
                 .arg("pub")
-                // Publish 10 times
                 .arg("-t")
                 .arg("10")
                 .arg("/chatter")
@@ -427,7 +350,6 @@ mod tests {
             .expect("Failed to receive message within 2 seconds");
         }
 
-        // Test is currently failing... Want to merge this code and then file issues to gradually fix
         #[ignore]
         #[tokio::test(flavor = "multi_thread")]
         async fn test_service_server_callable() {
@@ -437,7 +359,6 @@ mod tests {
                 .unwrap();
 
             let state = std::sync::Arc::new(std::sync::atomic::AtomicBool::new(false));
-
             let state_copy = state.clone();
             let server_fn = move |request: roslibrust_test::ros2::std_srvs::SetBoolRequest| {
                 state_copy.store(request.data, std::sync::atomic::Ordering::SeqCst);
@@ -473,13 +394,9 @@ mod tests {
             .await
             .expect("Bool should be set true within 2 seconds");
 
-            // If we reach here, state was changed to true by the service call!
-
-            // Protection to make sure we don't leave a ros2 service call running
             srv_call_cmd.kill().unwrap()
         }
 
-        // Test disabled on Jan 21 '25, waiting for ros-z development to stabilize
         #[ignore]
         #[tokio::test(flavor = "multi_thread")]
         async fn test_service_zenoh_to_zenoh() {
@@ -499,7 +416,6 @@ mod tests {
                 })
             };
 
-            // NOTE: Cannot use multi-part names for services in ros2 currently
             let _service = node
                 .advertise_service::<roslibrust_test::ros2::std_srvs::SetBool, _>(
                     "/test_service_zenoh_to_zenoh_set_bool",
@@ -508,10 +424,8 @@ mod tests {
                 .await
                 .unwrap();
 
-            // Give server time to start
             tokio::time::sleep(tokio::time::Duration::from_millis(100)).await;
 
-            // Create service client and call the service
             let response = node
                 .call_service::<roslibrust_test::ros2::std_srvs::SetBool>(
                     "/test_service_zenoh_to_zenoh_set_bool",
@@ -520,11 +434,8 @@ mod tests {
                 .await
                 .expect("Service call should succeed");
 
-            // Verify the response
             assert!(response.success);
             assert_eq!(response.message, "You set my bool!");
-
-            // Verify the server state was updated
             assert!(state.load(std::sync::atomic::Ordering::SeqCst));
         }
     }