From 5acac6b1f2e701095ae9cf952be11c15960a5792 Mon Sep 17 00:00:00 2001
From: Charles Schleich <schleich.cdaniel@gmail.com>
Date: Tue, 1 Oct 2024 17:14:53 +0200
Subject: [PATCH] Use new Serialization and zenoh-ext API (#279)

---
 Cargo.lock                                    | 250 +++++++++---------
 Cargo.toml                                    |   7 +-
 .../src/discovered_entities.rs                |   6 +-
 zenoh-plugin-ros2dds/src/lib.rs               |   8 +-
 zenoh-plugin-ros2dds/src/ros2_utils.rs        |  52 ++--
 zenoh-plugin-ros2dds/src/route_service_cli.rs |   5 +-
 zenoh-plugin-ros2dds/src/route_service_srv.rs |   6 +-
 zenoh-plugin-ros2dds/src/route_subscriber.rs  |   2 +-
 zenoh-plugin-ros2dds/src/routes_mgr.rs        |   6 +-
 9 files changed, 180 insertions(+), 162 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index b4d1858..cde49c0 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -223,7 +223,7 @@ checksum = "965c2d33e53cb6b267e148a4cb0760bc01f4904c1cd4bb4002a085bb016d1490"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
  "synstructure",
 ]
 
@@ -235,7 +235,7 @@ checksum = "7b18050c2cd6fe86c3a76584ef5e0baf286d038cda203eb6223df2cc413565f7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
@@ -489,13 +489,13 @@ checksum = "8b75356056920673b02621b35afd0f7dda9306d03c79a30f5c56c44cf256e3de"
 
 [[package]]
 name = "async-trait"
-version = "0.1.82"
+version = "0.1.83"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a27b8a3a6e1a44fa4c8baf1f653e4172e81486d4941f2237e20dc2d0cf4ddff1"
+checksum = "721cae7de5c34fbb2acd27e21e6d2cf7b886dce0c27388d46c4e6c47ea4318dd"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
@@ -506,9 +506,9 @@ checksum = "1505bd5d3d116872e7271a6d4e16d81d0c8570876c8de68093a09ac269d8aac0"
 
 [[package]]
 name = "autocfg"
-version = "1.3.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
+checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
 
 [[package]]
 name = "backtrace"
@@ -589,7 +589,7 @@ dependencies = [
  "regex",
  "rustc-hash 1.1.0",
  "shlex",
- "syn 2.0.77",
+ "syn 2.0.79",
  "which",
 ]
 
@@ -689,9 +689,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "bytes"
-version = "1.7.1"
+version = "1.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8318a53db07bb3f8dca91a600466bdb3f2eaadeedfdbcf02e1accbad9271ba50"
+checksum = "428d9aa8fbc0670b7b8d6030a7fadd0f86151cae55e4dbbece15f3780a3dfaf3"
 
 [[package]]
 name = "cache-padded"
@@ -701,9 +701,9 @@ checksum = "981520c98f422fcc584dc1a95c334e6953900b9106bc47a9839b81790009eb21"
 
 [[package]]
 name = "cc"
-version = "1.1.20"
+version = "1.1.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "45bcde016d64c21da4be18b655631e5ab6d3107607e71a73a9f53eb48aae23fb"
+checksum = "3bbb537bb4a30b90362caddba8f360c0a56bc13d3a5570028e7197204cb54a17"
 dependencies = [
  "shlex",
 ]
@@ -798,9 +798,9 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.5.17"
+version = "4.5.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3e5a21b8495e732f1b3c364c9949b201ca7bae518c502c80256c96ad79eaf6ac"
+checksum = "b0956a43b323ac1afaffc053ed5c4b7c1f1800bacd1683c353aabbb752515dd3"
 dependencies = [
  "clap_builder",
  "clap_derive",
@@ -808,9 +808,9 @@ dependencies = [
 
 [[package]]
 name = "clap_builder"
-version = "4.5.17"
+version = "4.5.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8cf2dd12af7a047ad9d6da2b6b249759a22a7abc0f474c1dae1777afa4b21a73"
+checksum = "4d72166dd41634086d5803a47eb71ae740e61d84709c36f3c34110173db3961b"
 dependencies = [
  "anstream",
  "anstyle",
@@ -820,14 +820,14 @@ dependencies = [
 
 [[package]]
 name = "clap_derive"
-version = "4.5.13"
+version = "4.5.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "501d359d5f3dcaf6ecdeee48833ae73ec6e42723a1e52419c79abf9507eec0a0"
+checksum = "4ac6a0c7b1a9e9a5186361f67dfa1b88213572f427fb9ab038efb2bd8c582dab"
 dependencies = [
  "heck",
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
@@ -1124,7 +1124,7 @@ checksum = "97369cbbc041bc366949bc74d34658d6cda5621039731c6310521892a3a20ae0"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
@@ -1199,8 +1199,8 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "531e46835a22af56d1e3b66f04844bed63158bc094a628bec1d321d9b4c44bf2"
 dependencies = [
  "bit-set",
- "regex-automata 0.4.7",
- "regex-syntax 0.8.4",
+ "regex-automata 0.4.8",
+ "regex-syntax 0.8.5",
 ]
 
 [[package]]
@@ -1361,7 +1361,7 @@ checksum = "87750cf4b7a4c0625b1529e4c543c2182106e4dedc60a2a6455e00d212c489ac"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
@@ -1461,7 +1461,7 @@ checksum = "53010ccb100b96a67bc32c0175f0ed1426b31b655d562898e57325f81c023ac0"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
@@ -1617,9 +1617,9 @@ dependencies = [
 
 [[package]]
 name = "httparse"
-version = "1.9.4"
+version = "1.9.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fcc0b4a115bf80b728eb8ea024ad5bd707b615bfed49e0665b6e0f86fd082d9"
+checksum = "7d71d3574edd2771538b901e6549113b4006ece66150fb69c0fb6d9a2adae946"
 
 [[package]]
 name = "humantime"
@@ -1629,9 +1629,9 @@ checksum = "9a3a5bfb195931eeb336b2a7b4d761daec841b97f947d34394601737a7bba5e4"
 
 [[package]]
 name = "iana-time-zone"
-version = "0.1.60"
+version = "0.1.61"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e7ffbb5a1b541ea2561f8c41c087286cc091e21e556a4f09a8f6cbf17b69b141"
+checksum = "235e081f3925a06703c2d0117ea8b91f042756fd6e7a6e5d901e8ca1a996b220"
 dependencies = [
  "android_system_properties",
  "core-foundation-sys",
@@ -1860,11 +1860,17 @@ version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "830d08ce1d1d941e6b30645f1a0eb5643013d835ce3779a5fc208261dbe10f55"
 
+[[package]]
+name = "leb128"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "884e2677b40cc8c339eaefcb701c32ef1fd2493d71118dc0ca4b6a736c93bd67"
+
 [[package]]
 name = "libc"
-version = "0.2.158"
+version = "0.2.159"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d8adc4bb1803a324070e64a98ae98f38934d91957a99cfb3a43dcbc01bc56439"
+checksum = "561d97a539a36e26a9a5fad1ea11a3039a67714694aaa379433e580854bc3dc5"
 
 [[package]]
 name = "libloading"
@@ -2155,9 +2161,12 @@ dependencies = [
 
 [[package]]
 name = "once_cell"
-version = "1.19.0"
+version = "1.20.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92"
+checksum = "82881c4be219ab5faaf2ad5e5e5ecdff8c66bd7402ca3160975c93b24961afd1"
+dependencies = [
+ "portable-atomic",
+]
 
 [[package]]
 name = "opaque-debug"
@@ -2247,9 +2256,9 @@ checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e"
 
 [[package]]
 name = "pest"
-version = "2.7.12"
+version = "2.7.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c73c26c01b8c87956cea613c907c9d6ecffd8d18a2a5908e5de0adfaa185cea"
+checksum = "fdbef9d1d47087a895abd220ed25eb4ad973a5e26f6a4367b038c25e28dfc2d9"
 dependencies = [
  "memchr",
  "thiserror",
@@ -2258,9 +2267,9 @@ dependencies = [
 
 [[package]]
 name = "pest_derive"
-version = "2.7.12"
+version = "2.7.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "664d22978e2815783adbdd2c588b455b1bd625299ce36b2a99881ac9627e6d8d"
+checksum = "4d3a6e3394ec80feb3b6393c725571754c6188490265c61aaf260810d6b95aa0"
 dependencies = [
  "pest",
  "pest_generator",
@@ -2268,22 +2277,22 @@ dependencies = [
 
 [[package]]
 name = "pest_generator"
-version = "2.7.12"
+version = "2.7.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a2d5487022d5d33f4c30d91c22afa240ce2a644e87fe08caad974d4eab6badbe"
+checksum = "94429506bde1ca69d1b5601962c73f4172ab4726571a59ea95931218cb0e930e"
 dependencies = [
  "pest",
  "pest_meta",
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
 name = "pest_meta"
-version = "2.7.12"
+version = "2.7.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0091754bbd0ea592c4deb3a122ce8ecbb0753b738aa82bc055fcc2eccc8d8174"
+checksum = "ac8a071862e93690b6e34e9a5fb8e33ff3734473ac0245b27232222c4906a33f"
 dependencies = [
  "once_cell",
  "pest",
@@ -2330,7 +2339,7 @@ dependencies = [
  "phf_shared",
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
@@ -2359,7 +2368,7 @@ checksum = "2f38a4412a78282e09a2cf38d195ea5420d15ba0602cb375210efbc877243965"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
@@ -2486,6 +2495,12 @@ dependencies = [
  "universal-hash",
 ]
 
+[[package]]
+name = "portable-atomic"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cc9c68a3f6da06753e9335d63e27f6b9754dd1920d941135b7ea8224f141adb2"
+
 [[package]]
 name = "powerfmt"
 version = "0.2.0"
@@ -2508,7 +2523,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "479cf940fbbb3426c32c5d5176f62ad57549a0bb84773423ba8be9d089f5faba"
 dependencies = [
  "proc-macro2",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
@@ -2657,9 +2672,9 @@ dependencies = [
 
 [[package]]
 name = "redox_syscall"
-version = "0.5.4"
+version = "0.5.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0884ad60e090bf1345b93da0a5de8923c93884cd03f40dfcfddd3b4bee661853"
+checksum = "9b6dfecf2c74bce2466cabf93f6664d6998a69eb21e39f4207930065b27b771f"
 dependencies = [
  "bitflags 2.6.0",
 ]
@@ -2677,14 +2692,14 @@ dependencies = [
 
 [[package]]
 name = "regex"
-version = "1.10.6"
+version = "1.11.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4219d74c6b67a3654a9fbebc4b419e22126d13d2f3c4a07ee0cb61ff79a79619"
+checksum = "38200e5ee88914975b69f657f0801b6f6dccafd44fd9326302a4aaeecfacb1d8"
 dependencies = [
  "aho-corasick",
  "memchr",
- "regex-automata 0.4.7",
- "regex-syntax 0.8.4",
+ "regex-automata 0.4.8",
+ "regex-syntax 0.8.5",
 ]
 
 [[package]]
@@ -2698,13 +2713,13 @@ dependencies = [
 
 [[package]]
 name = "regex-automata"
-version = "0.4.7"
+version = "0.4.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38caf58cc5ef2fed281f89292ef23f6365465ed9a41b7a7754eb4e26496c92df"
+checksum = "368758f23274712b504848e9d5a6f010445cc8b87a7cdb4d7cbee666c1288da3"
 dependencies = [
  "aho-corasick",
  "memchr",
- "regex-syntax 0.8.4",
+ "regex-syntax 0.8.5",
 ]
 
 [[package]]
@@ -2715,9 +2730,9 @@ checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
 
 [[package]]
 name = "regex-syntax"
-version = "0.8.4"
+version = "0.8.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7a66a03ae7c801facd77a29370b4faec201768915ac14a721ba36f20bc9c209b"
+checksum = "2b15c43186be67a4fd63bee50d0303afffcef381492ebe2c5d87f324e1b8815c"
 
 [[package]]
 name = "ring"
@@ -2884,19 +2899,18 @@ dependencies = [
 
 [[package]]
 name = "rustls-pemfile"
-version = "2.1.3"
+version = "2.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "196fe16b00e106300d3e45ecfcb764fa292a535d7326a29a5875c579c7417425"
+checksum = "dce314e5fee3f39953d46bb63bb8a46d40c2f8fb7cc5a3b6cab2bde9721d6e50"
 dependencies = [
- "base64 0.22.1",
  "rustls-pki-types",
 ]
 
 [[package]]
 name = "rustls-pki-types"
-version = "1.8.0"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fc0a2ce646f8655401bb81e7927b812614bd5d91dbc968696be50603510fcaf0"
+checksum = "0e696e35370c65c9c541198af4543ccd580cf17fc25d8e05c5a242b202488c55"
 
 [[package]]
 name = "rustls-platform-verifier"
@@ -2982,7 +2996,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "serde_derive_internals",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
@@ -3017,9 +3031,9 @@ dependencies = [
 
 [[package]]
 name = "security-framework-sys"
-version = "2.11.1"
+version = "2.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "75da29fe9b9b08fe9d6b22b5b4bcbc75d8db3aa31e639aa56bb62e9d46bfceaf"
+checksum = "ea4a292869320c0272d7bc55a5a6aafaff59b4f63404a003887b679a2e05b4b6"
 dependencies = [
  "core-foundation-sys",
  "libc",
@@ -3086,7 +3100,7 @@ checksum = "243902eda00fad750862fc144cea25caca5e20d615af0a81bee94ca738f1df1f"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
@@ -3097,7 +3111,7 @@ checksum = "18d26a20a969b9e3fdf2fc2d9f21eda6c40e2de84c9408bb5d3b05d499aae711"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
@@ -3487,9 +3501,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.77"
+version = "2.0.79"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f35bcdf61fd8e7be6caf75f429fdca8beb3ed76584befb503b1569faee373ed"
+checksum = "89132cd0bf050864e1d38dc3bbc07a0eb8e7530af26344d3d2bbbef83499f590"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3504,27 +3518,27 @@ checksum = "c8af7666ab7b6390ab78131fb5b0fce11d6b7a6951602017c35fa82800708971"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
 name = "thiserror"
-version = "1.0.63"
+version = "1.0.64"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c0342370b38b6a11b6cc11d6a805569958d54cfa061a29969c3b5ce2ea405724"
+checksum = "d50af8abc119fb8bb6dbabcfa89656f46f84aa0ac7688088608076ad2b459a84"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.63"
+version = "1.0.64"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a4558b58466b9ad7ca0f102865eccc95938dca1a74a856f2b57b6629050da261"
+checksum = "08904e7672f5eb876eaaf87e0ce17857500934f4981c4a0ab2b4aa98baac7fc3"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
@@ -3677,7 +3691,7 @@ checksum = "693d596312e88961bc67d7f1f97af8a70227d9f90c31bba5806eec004978d752"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
@@ -3738,7 +3752,7 @@ checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
@@ -3835,9 +3849,9 @@ checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
 
 [[package]]
 name = "ucd-trie"
-version = "0.1.6"
+version = "0.1.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ed646292ffc8188ef8ea4d1e0e0150fb15a5c2e12ad9b8fc191ae7a8a7f3c4b9"
+checksum = "2896d95c02a80c6d6a5d6e953d479f5ddf2dfdb6a244441010e373ac0fb88971"
 
 [[package]]
 name = "uhlc"
@@ -3867,18 +3881,18 @@ checksum = "e91b56cd4cadaeb79bbf1a5645f6b4f8dc5bde8834ad5894a8db35fda9efa1fe"
 
 [[package]]
 name = "unicode-normalization"
-version = "0.1.23"
+version = "0.1.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a56d1686db2308d901306f92a263857ef59ea39678a5458e7cb17f01415101f5"
+checksum = "5033c97c4262335cded6d6fc3e5c18ab755e1a3dc96376350f3d8e9f009ad956"
 dependencies = [
  "tinyvec",
 ]
 
 [[package]]
 name = "unicode-xid"
-version = "0.2.5"
+version = "0.2.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "229730647fbc343e3a80e463c1db7f78f3855d3f3739bee0dda773c9a037c90a"
+checksum = "ebc1c04c71510c7f702b52b7c350734c9ff1295c464a03335b00bb84fc54f853"
 
 [[package]]
 name = "universal-hash"
@@ -3902,12 +3916,6 @@ version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8ecb6da28b8a351d773b68d5825ac39017e680750f980f3a1a85cd8dd28a47c1"
 
-[[package]]
-name = "unwrap-infallible"
-version = "0.1.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "151ac09978d3c2862c4e39b557f4eceee2cc72150bc4cb4f16abf061b6e381fb"
-
 [[package]]
 name = "unzip-n"
 version = "0.1.2"
@@ -4099,7 +4107,7 @@ dependencies = [
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
  "wasm-bindgen-shared",
 ]
 
@@ -4133,7 +4141,7 @@ checksum = "afc340c74d9005395cf9dd098506f7f44e38f2b4a21c6aaacf9a105ea5e1e836"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
  "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
@@ -4156,9 +4164,9 @@ dependencies = [
 
 [[package]]
 name = "webpki-roots"
-version = "0.26.5"
+version = "0.26.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0bd24728e5af82c6c4ec1b66ac4844bdf8156257fccda846ec58b42cd0cdbe6a"
+checksum = "841c67bff177718f1d4dfefde8d8f0e78f9b6589319ba88312f567fc5841a958"
 dependencies = [
  "rustls-pki-types",
 ]
@@ -4383,7 +4391,7 @@ dependencies = [
 [[package]]
 name = "zenoh"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "ahash",
  "async-trait",
@@ -4410,7 +4418,6 @@ dependencies = [
  "tokio-util",
  "tracing",
  "uhlc",
- "unwrap-infallible",
  "vec_map",
  "zenoh-buffers",
  "zenoh-codec",
@@ -4452,7 +4459,7 @@ dependencies = [
 [[package]]
 name = "zenoh-buffers"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "zenoh-collections",
 ]
@@ -4460,7 +4467,7 @@ dependencies = [
 [[package]]
 name = "zenoh-codec"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "tracing",
  "uhlc",
@@ -4471,12 +4478,12 @@ dependencies = [
 [[package]]
 name = "zenoh-collections"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 
 [[package]]
 name = "zenoh-config"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "json5",
  "num_cpus",
@@ -4497,7 +4504,7 @@ dependencies = [
 [[package]]
 name = "zenoh-core"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "lazy_static",
  "tokio",
@@ -4508,7 +4515,7 @@ dependencies = [
 [[package]]
 name = "zenoh-crypto"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "aes 0.8.4",
  "hmac 0.12.1",
@@ -4521,11 +4528,12 @@ dependencies = [
 [[package]]
 name = "zenoh-ext"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "bincode",
  "flume",
  "futures",
+ "leb128",
  "serde",
  "tokio",
  "tracing",
@@ -4537,7 +4545,7 @@ dependencies = [
 [[package]]
 name = "zenoh-keyexpr"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "hashbrown",
  "keyed-set",
@@ -4551,7 +4559,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "zenoh-config",
  "zenoh-link-commons",
@@ -4568,7 +4576,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-commons"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "async-trait",
  "flume",
@@ -4591,7 +4599,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-quic"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "async-trait",
  "base64 0.22.1",
@@ -4616,7 +4624,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tcp"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "async-trait",
  "socket2 0.5.7",
@@ -4633,7 +4641,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tls"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "async-trait",
  "base64 0.22.1",
@@ -4660,7 +4668,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-udp"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "async-trait",
  "socket2 0.5.7",
@@ -4679,7 +4687,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-unixsock_stream"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "async-trait",
  "nix",
@@ -4697,7 +4705,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-ws"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "async-trait",
  "futures-util",
@@ -4717,18 +4725,18 @@ dependencies = [
 [[package]]
 name = "zenoh-macros"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
  "zenoh-keyexpr",
 ]
 
 [[package]]
 name = "zenoh-plugin-rest"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "anyhow",
  "async-std",
@@ -4778,7 +4786,7 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-trait"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "git-version",
  "libloading",
@@ -4794,7 +4802,7 @@ dependencies = [
 [[package]]
 name = "zenoh-protocol"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "const_format",
  "rand 0.8.5",
@@ -4808,7 +4816,7 @@ dependencies = [
 [[package]]
 name = "zenoh-result"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "anyhow",
 ]
@@ -4816,7 +4824,7 @@ dependencies = [
 [[package]]
 name = "zenoh-runtime"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "lazy_static",
  "ron",
@@ -4829,7 +4837,7 @@ dependencies = [
 [[package]]
 name = "zenoh-sync"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "event-listener 5.3.1",
  "futures",
@@ -4842,7 +4850,7 @@ dependencies = [
 [[package]]
 name = "zenoh-task"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "futures",
  "tokio",
@@ -4855,7 +4863,7 @@ dependencies = [
 [[package]]
 name = "zenoh-transport"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "async-trait",
  "crossbeam-utils",
@@ -4888,7 +4896,7 @@ dependencies = [
 [[package]]
 name = "zenoh-util"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#09d1d1d353b5fdc620ae61a925bd530676d34382"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c040abdb12d1afccb90131d9a9712e38437426d7"
 dependencies = [
  "async-trait",
  "const_format",
@@ -4928,7 +4936,7 @@ checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.79",
 ]
 
 [[package]]
diff --git a/Cargo.toml b/Cargo.toml
index 7efff61..e8ca700 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -43,19 +43,18 @@ serde_json = "1.0.114"
 tokio = { version = "1.35.1", default-features = false } # Default features are disabled due to some crates' requirements
 tracing = "0.1"
 zenoh = { version = "1.0.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = [
-  "internal",
-  "internal_config",
-  "unstable",
   "plugins",
+  "unstable",
 ] }
 zenoh-config = { version = "1.0.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", default-features = false }
 zenoh-ext = { version = "1.0.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = [
   "unstable",
 ] }
-zenoh-plugin-rest = { version = "1.0.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", default-features = false, features=["static_plugin"]}
 zenoh-plugin-ros2dds = { version = "1.0.0-dev", path = "zenoh-plugin-ros2dds/", default-features = false }
+zenoh-plugin-rest = { version = "1.0.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", default-features = false, features=["static_plugin"]}
 zenoh-plugin-trait = { version = "1.0.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", default-features = false }
 
+
 [profile.release]
 codegen-units = 1
 debug = false
diff --git a/zenoh-plugin-ros2dds/src/discovered_entities.rs b/zenoh-plugin-ros2dds/src/discovered_entities.rs
index 82efb0e..0c03c81 100644
--- a/zenoh-plugin-ros2dds/src/discovered_entities.rs
+++ b/zenoh-plugin-ros2dds/src/discovered_entities.rs
@@ -453,10 +453,10 @@ impl DiscoveredEntities {
         match self.get_entity_json_value(entity_ref) {
             Ok(Some(v)) => {
                 let admin_keyexpr = admin_keyexpr_prefix / key_expr;
-                match ZBytes::try_from(v) {
-                    Ok(payload) => {
+                match serde_json::to_vec(&v) {
+                    Ok(bytes) => {
                         if let Err(e) = query
-                            .reply(admin_keyexpr, payload)
+                            .reply(admin_keyexpr, ZBytes::from(bytes))
                             .encoding(Encoding::APPLICATION_JSON)
                             .await
                         {
diff --git a/zenoh-plugin-ros2dds/src/lib.rs b/zenoh-plugin-ros2dds/src/lib.rs
index 1d6d59c..ebba5d8 100644
--- a/zenoh-plugin-ros2dds/src/lib.rs
+++ b/zenoh-plugin-ros2dds/src/lib.rs
@@ -601,8 +601,8 @@ impl ROS2PluginRuntime {
     async fn send_admin_reply(&self, query: &Query, key_expr: &keyexpr, admin_ref: &AdminRef) {
         let z_bytes: ZBytes = match admin_ref {
             AdminRef::Version => match serde_json::to_value(ROS2Plugin::PLUGIN_LONG_VERSION) {
-                Ok(v) => match ZBytes::try_from(v) {
-                    Ok(value) => value,
+                Ok(v) => match serde_json::to_vec(&v) {
+                    Ok(bytes) => ZBytes::from(bytes),
                     Err(e) => {
                         tracing::warn!("Error transforming JSON to ZBytes: {}", e);
                         return;
@@ -614,8 +614,8 @@ impl ROS2PluginRuntime {
                 }
             },
             AdminRef::Config => match serde_json::to_value(&*self.config) {
-                Ok(v) => match ZBytes::try_from(v) {
-                    Ok(value) => value,
+                Ok(v) => match serde_json::to_vec(&v) {
+                    Ok(bytes) => ZBytes::from(bytes),
                     Err(e) => {
                         tracing::warn!("Error transforming JSON to ZBytes: {}", e);
                         return;
diff --git a/zenoh-plugin-ros2dds/src/ros2_utils.rs b/zenoh-plugin-ros2dds/src/ros2_utils.rs
index 3a1b16f..6995f51 100644
--- a/zenoh-plugin-ros2dds/src/ros2_utils.rs
+++ b/zenoh-plugin-ros2dds/src/ros2_utils.rs
@@ -13,7 +13,6 @@
 //
 
 use std::{
-    collections::HashMap,
     env::VarError,
     sync::atomic::{AtomicU32, Ordering},
 };
@@ -220,15 +219,15 @@ impl CddsRequestHeader {
     }
 
     pub fn as_attachment(&self) -> ZBytes {
-        let mut hashmap = HashMap::new();
-
         // concat header + endianness flag
         let mut buf = [0u8; 17];
         buf[0..16].copy_from_slice(&self.header);
         buf[16] = self.is_little_endian as u8;
 
-        hashmap.insert(ATTACHMENT_KEY_REQUEST_HEADER, buf);
-        ZBytes::from_iter(hashmap.iter())
+        let mut writer = ZBytes::writer();
+        writer.append(ZBytes::from(ATTACHMENT_KEY_REQUEST_HEADER));
+        writer.append(ZBytes::from(buf));
+        writer.finish()
     }
 }
 
@@ -236,23 +235,34 @@ impl TryFrom<&ZBytes> for CddsRequestHeader {
     type Error = ZError;
 
     fn try_from(value: &ZBytes) -> Result<Self, Self::Error> {
-        let hashmap: HashMap<[u8; 3], [u8; 17]> =
-            HashMap::from_iter(value.iter::<([u8; 3], [u8; 17])>().map(Result::unwrap));
-        match hashmap.get(&ATTACHMENT_KEY_REQUEST_HEADER) {
-            Some(buf) => {
-                if buf.len() == 17 {
-                    let header: [u8; 16] = buf[0..16]
-                        .try_into()
-                        .expect("Shouldn't happen: buf is 17 bytes");
-                    Ok(CddsRequestHeader {
-                        header,
-                        is_little_endian: buf[16] != 0,
-                    })
-                } else {
-                    bail!("Attachment 'header' is not 16 bytes: {buf:02x?}")
-                }
+        let bytes = value.to_bytes();
+
+        let header = match bytes.get(0..ATTACHMENT_KEY_REQUEST_HEADER.len()) {
+            Some(header) => header,
+            None => bail!("No 'key request header' bytes found in attachment"),
+        };
+
+        if header != ATTACHMENT_KEY_REQUEST_HEADER {
+            bail!(
+                "Initial {:?} bytes do not match ATTACHMENT_KEY_REQUEST_HEADER",
+                ATTACHMENT_KEY_REQUEST_HEADER.len()
+            )
+        }
+
+        if let Some(buf) = bytes.get(ATTACHMENT_KEY_REQUEST_HEADER.len()..) {
+            if buf.len() == 17 {
+                let header: [u8; 16] = buf[0..16]
+                    .try_into()
+                    .expect("Shouldn't happen: buf is 17 bytes");
+                Ok(CddsRequestHeader {
+                    header,
+                    is_little_endian: buf[16] != 0,
+                })
+            } else {
+                bail!("Attachment 'header' is not 16 bytes: {buf:02x?}")
             }
-            None => bail!("No 'header' key found in Attachment"),
+        } else {
+            bail!("Could not Read Remaining Attachment Buffer")
         }
     }
 }
diff --git a/zenoh-plugin-ros2dds/src/route_service_cli.rs b/zenoh-plugin-ros2dds/src/route_service_cli.rs
index 1f32d1b..525d1d0 100644
--- a/zenoh-plugin-ros2dds/src/route_service_cli.rs
+++ b/zenoh-plugin-ros2dds/src/route_service_cli.rs
@@ -355,7 +355,7 @@ fn route_dds_request_to_zenoh(
     // https://github.com/ros2/rmw_cyclonedds/blob/2263814fab142ac19dd3395971fb1f358d22a653/rmw_cyclonedds_cpp/src/serdata.hpp#L73
 
     let z_bytes: ZBytes = sample.into();
-    let slice: ZSlice = z_bytes.into();
+    let slice: ZSlice = ZBuf::from(z_bytes).to_zslice();
 
     // Decompose the slice into 3 sub-slices (4 bytes header, 16 bytes request_id and payload)
     let (payload, request_id, header) = match (
@@ -376,6 +376,7 @@ fn route_dds_request_to_zenoh(
 
     // route request buffer stripped from request_id
     let mut zenoh_req_buf = ZBuf::empty();
+
     zenoh_req_buf.push_zslice(header);
     zenoh_req_buf.push_zslice(payload);
 
@@ -431,7 +432,7 @@ fn route_zenoh_reply_to_dds(
 ) {
     match reply.result() {
         Ok(sample) => {
-            let zenoh_rep_buf = sample.payload().into::<Vec<u8>>();
+            let zenoh_rep_buf = sample.payload().to_bytes();
             if zenoh_rep_buf.len() < 4 || zenoh_rep_buf[1] > 1 {
                 tracing::warn!(
                     "{route_id}: received invalid reply from Zenoh for {request_id}: {zenoh_rep_buf:0x?}"
diff --git a/zenoh-plugin-ros2dds/src/route_service_srv.rs b/zenoh-plugin-ros2dds/src/route_service_srv.rs
index a468f6e..597e053 100644
--- a/zenoh-plugin-ros2dds/src/route_service_srv.rs
+++ b/zenoh-plugin-ros2dds/src/route_service_srv.rs
@@ -361,7 +361,7 @@ fn route_zenoh_request_to_dds(
     // if any and if long enoough it shall be the Request type encoded as CDR (including 4 bytes header)
     let is_little_endian = match query.payload() {
         Some(value) if value.len() > 4 => {
-            is_cdr_little_endian(value.into::<ZSlice>().as_ref()).unwrap_or(true)
+            is_cdr_little_endian(value.to_bytes().as_ref()).unwrap_or(true)
         }
         _ => true,
     };
@@ -383,7 +383,7 @@ fn route_zenoh_request_to_dds(
     // https://github.com/ros2/rmw_cyclonedds/blob/2263814fab142ac19dd3395971fb1f358d22a653/rmw_cyclonedds_cpp/src/serdata.hpp#L73
     let dds_req_buf = if let Some(value) = query.payload() {
         // The query comes with some payload. It's expected to be the Request type encoded as CDR (including 4 bytes header)
-        let zenoh_req_buf = value.into::<Vec<u8>>();
+        let zenoh_req_buf = value.to_bytes();
         if zenoh_req_buf.len() < 4 || zenoh_req_buf[1] > 1 {
             tracing::warn!("{route_id}: received invalid request: {zenoh_req_buf:0x?}");
             return;
@@ -442,7 +442,7 @@ fn route_dds_reply_to_zenoh(
     // https://github.com/ros2/rmw_cyclonedds/blob/2263814fab142ac19dd3395971fb1f358d22a653/rmw_cyclonedds_cpp/src/serdata.hpp#L73
 
     let z_bytes: ZBytes = sample.into();
-    let slice: ZSlice = z_bytes.into();
+    let slice: ZSlice = ZBuf::from(z_bytes).to_zslice();
 
     // Decompose the slice into 3 sub-slices (4 bytes header, 16 bytes request_id and payload)
     let (payload, request_id, header) = match (
diff --git a/zenoh-plugin-ros2dds/src/route_subscriber.rs b/zenoh-plugin-ros2dds/src/route_subscriber.rs
index 26454b6..92492ad 100644
--- a/zenoh-plugin-ros2dds/src/route_subscriber.rs
+++ b/zenoh-plugin-ros2dds/src/route_subscriber.rs
@@ -357,7 +357,7 @@ fn route_zenoh_message_to_dds(s: Sample, ros2_name: &str, data_writer: dds_entit
     }
 
     unsafe {
-        let bs = s.payload().into();
+        let bs = s.payload().to_bytes().to_vec();
         // As per the Vec documentation (see https://doc.rust-lang.org/std/vec/struct.Vec.html#method.into_raw_parts)
         // the only way to correctly releasing it is to create a vec using from_raw_parts
         // and then have its destructor do the cleanup.
diff --git a/zenoh-plugin-ros2dds/src/routes_mgr.rs b/zenoh-plugin-ros2dds/src/routes_mgr.rs
index 17ae610..620a827 100644
--- a/zenoh-plugin-ros2dds/src/routes_mgr.rs
+++ b/zenoh-plugin-ros2dds/src/routes_mgr.rs
@@ -792,10 +792,10 @@ impl<'a> RoutesMgr {
         match self.get_entity_json_value(route_ref) {
             Ok(Some(v)) => {
                 let admin_keyexpr = &self.admin_prefix / key_expr;
-                match ZBytes::try_from(v) {
-                    Ok(payload) => {
+                match serde_json::to_vec(&v) {
+                    Ok(bytes) => {
                         if let Err(e) = query
-                            .reply(admin_keyexpr, payload)
+                            .reply(admin_keyexpr, ZBytes::from(bytes))
                             .encoding(Encoding::APPLICATION_JSON)
                             .await
                         {