diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index e1ce4fb..4c87631 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -38,6 +38,13 @@ jobs:
         if: startsWith(matrix.os,'ubuntu')
         run: sudo apt-get -y install libacl1-dev
 
+      - name: Install LLVM toolchain
+        if: startsWith(matrix.os,'macos')
+        run: |
+          brew install llvm@19
+          ls /opt/homebrew/opt/llvm@19/bin
+          echo "/opt/homebrew/opt/llvm@19/bin" >> $GITHUB_PATH
+
       - name: Install Rust toolchain
         run: |
           rustup show
@@ -46,7 +53,7 @@ jobs:
       - name: Code format check
         run: cargo fmt --check -- --config "unstable_features=true,imports_granularity=Crate,group_imports=StdExternalCrate"
       - name: Clippy
-        run: cargo clippy --workspace --all-targets --all-features -- --deny warnings
+        run: cargo clippy --workspace --all-targets --features stats,dynamic_plugin,dds_shm -- --deny warnings
 
       - name: Build zenoh-plugin-ros2dds
         run: cargo build -p zenoh-plugin-ros2dds --verbose --all-targets
@@ -54,15 +61,27 @@ jobs:
       - name: Build zenoh-plugin-ros2dds (with dds_shm)
         run: cargo build -p zenoh-plugin-ros2dds --features dds_shm --verbose --all-targets
 
+      - name: Build zenoh-plugin-ros2dds (with prefix_symbols)
+        run: cargo build -p zenoh-plugin-ros2dds --features prefix_symbols --verbose --all-targets
+
       - name: Build zenoh-bridge-ros2dds
         run: cargo build -p zenoh-bridge-ros2dds  --verbose --all-targets
 
       - name: Build zenoh-bridge-ros2dds (with dds_shm)
         run: cargo build -p zenoh-bridge-ros2dds --features dds_shm  --verbose --all-targets
 
+      - name: Build zenoh-bridge-ros2dds (with prefix_symbols)
+        run: cargo build -p zenoh-bridge-ros2dds --features prefix_symbols  --verbose --all-targets
+
       - name: Run tests
         run: cargo test --verbose
 
+      - name: Run tests (with dds_shm)
+        run: cargo test --features dds_shm --verbose
+
+      - name: Run tests (with prefix_symbols)
+        run: cargo test --features prefix_symbols --verbose
+
   system_tests_with_ros2_humble:
     name: System tests with ROS 2 Humble
     runs-on: ubuntu-latest
diff --git a/Cargo.lock b/Cargo.lock
index 4ea4b73..7b383e9 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1003,9 +1003,9 @@ dependencies = [
 
 [[package]]
 name = "cyclors"
-version = "0.2.3"
+version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4e085999238629d13a7a19e4dc7a6e61505bcb2033f6a1bed24bff35035c47c4"
+checksum = "47550a633d59df47867351d41dd348fc08e3b164303d21d82481998207f09732"
 dependencies = [
  "bincode",
  "bindgen",
diff --git a/Cargo.toml b/Cargo.toml
index d534709..c3b4eab 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -29,7 +29,7 @@ async-trait = "0.1.66"
 bincode = "1.3.3"
 cdr = "0.2.4"
 clap = "4.4.11"
-cyclors = "=0.2.3"
+cyclors = "=0.2.5"
 derivative = "2.2.0"
 flume = "0.11.0"
 futures = "0.3.26"
diff --git a/README.md b/README.md
index 4a1e6af..c7ad457 100644
--- a/README.md
+++ b/README.md
@@ -117,6 +117,18 @@ cargo build --release
 The standalone executable binary `zenoh-bridge-ros2dds` and a plugin shared library (`*.so` on Linux, `*.dylib` on Mac OS, `*.dll` on Windows)
 to be dynamically loaded by the zenoh router `zenohd` will be generated in the `target/release` subdirectory.
 
+### DDS Library Symbol Prefixing
+
+DDS support is provided by the [cyclors crate](https://crates.io/crates/cyclors). As this crate contains C code, symbol clashes may occur when loading the plugin statically with other plugins which use a different version of the ```cyclors``` crate (e.g. the ```zenoh-plugin-dds``` plugin).
+
+To allow multiple versions of the ```cyclors``` crate to be loaded at the same time the symbols within the crate can be prefixed with the crate version. The optional ```prefix_symbols``` feature can be used to build the ROS2 plugin with prefixed DDS library symbols. e.g.
+
+```bash
+$ cargo build --features prefix_symbols
+```
+
+**Note:** The ```prefix_symbols``` feature cannot be used at the same time as the ```dds_shm``` feature.
+
 ## ROS 2 package
 
 You can also build `zenoh-bridge-ros2dds` as a ROS package running:
diff --git a/zenoh-bridge-ros2dds/Cargo.toml b/zenoh-bridge-ros2dds/Cargo.toml
index 9c6ec98..ef3187c 100644
--- a/zenoh-bridge-ros2dds/Cargo.toml
+++ b/zenoh-bridge-ros2dds/Cargo.toml
@@ -25,6 +25,7 @@ publish = false
 
 [features]
 dds_shm = ["zenoh-plugin-ros2dds/dds_shm"]
+prefix_symbols = ["zenoh-plugin-ros2dds/prefix_symbols"]
 
 [dependencies]
 async-liveliness-monitor = { workspace = true }
diff --git a/zenoh-plugin-ros2dds/Cargo.toml b/zenoh-plugin-ros2dds/Cargo.toml
index 67b671a..86341d2 100644
--- a/zenoh-plugin-ros2dds/Cargo.toml
+++ b/zenoh-plugin-ros2dds/Cargo.toml
@@ -31,6 +31,7 @@ default = ["dynamic_plugin"]
 stats = ["zenoh/stats"]
 dynamic_plugin = []
 dds_shm = ["cyclors/iceoryx"]
+prefix_symbols = ["cyclors/prefix_symbols"]
 
 [dependencies]
 async-trait = { workspace = true }