diff --git a/Cargo.lock b/Cargo.lock
index ce4e779..cc7273d 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -4319,7 +4319,7 @@ dependencies = [
 [[package]]
 name = "zenoh"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "ahash",
  "async-trait",
@@ -4386,7 +4386,7 @@ dependencies = [
 [[package]]
 name = "zenoh-buffers"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "zenoh-collections",
 ]
@@ -4394,7 +4394,7 @@ dependencies = [
 [[package]]
 name = "zenoh-codec"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "tracing",
  "uhlc",
@@ -4405,12 +4405,12 @@ dependencies = [
 [[package]]
 name = "zenoh-collections"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 
 [[package]]
 name = "zenoh-config"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "flume",
  "json5",
@@ -4432,7 +4432,7 @@ dependencies = [
 [[package]]
 name = "zenoh-core"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "lazy_static",
  "tokio",
@@ -4443,7 +4443,7 @@ dependencies = [
 [[package]]
 name = "zenoh-crypto"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "aes 0.8.4",
  "hmac 0.12.1",
@@ -4456,7 +4456,7 @@ dependencies = [
 [[package]]
 name = "zenoh-ext"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "bincode",
  "flume",
@@ -4472,7 +4472,7 @@ dependencies = [
 [[package]]
 name = "zenoh-keyexpr"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "hashbrown",
  "keyed-set",
@@ -4486,7 +4486,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "zenoh-config",
  "zenoh-link-commons",
@@ -4503,7 +4503,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-commons"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "async-trait",
  "flume",
@@ -4526,7 +4526,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-quic"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "async-trait",
  "base64 0.22.1",
@@ -4551,7 +4551,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tcp"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "async-trait",
  "socket2 0.5.7",
@@ -4568,7 +4568,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tls"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "async-trait",
  "base64 0.22.1",
@@ -4595,7 +4595,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-udp"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "async-trait",
  "socket2 0.5.7",
@@ -4614,7 +4614,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-unixsock_stream"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "async-trait",
  "nix",
@@ -4632,7 +4632,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-ws"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "async-trait",
  "futures-util",
@@ -4652,7 +4652,7 @@ dependencies = [
 [[package]]
 name = "zenoh-macros"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -4663,7 +4663,7 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-rest"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "anyhow",
  "base64 0.22.1",
@@ -4712,7 +4712,7 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-trait"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "git-version",
  "libloading",
@@ -4727,7 +4727,7 @@ dependencies = [
 [[package]]
 name = "zenoh-protocol"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "const_format",
  "rand 0.8.5",
@@ -4741,7 +4741,7 @@ dependencies = [
 [[package]]
 name = "zenoh-result"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "anyhow",
 ]
@@ -4749,7 +4749,7 @@ dependencies = [
 [[package]]
 name = "zenoh-runtime"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "lazy_static",
  "ron",
@@ -4762,7 +4762,7 @@ dependencies = [
 [[package]]
 name = "zenoh-sync"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "event-listener 5.3.1",
  "futures",
@@ -4775,7 +4775,7 @@ dependencies = [
 [[package]]
 name = "zenoh-task"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "futures",
  "tokio",
@@ -4788,7 +4788,7 @@ dependencies = [
 [[package]]
 name = "zenoh-transport"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "async-trait",
  "crossbeam-utils",
@@ -4821,7 +4821,7 @@ dependencies = [
 [[package]]
 name = "zenoh-util"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b3ded09418aac568fb389ee1a87722b7744adef7"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#5395f3c7cb6e2b9f459622a5999dc658535aea86"
 dependencies = [
  "async-trait",
  "const_format",
diff --git a/zenoh-bridge-ros2dds/src/main.rs b/zenoh-bridge-ros2dds/src/main.rs
index 771fa07..c253edf 100644
--- a/zenoh-bridge-ros2dds/src/main.rs
+++ b/zenoh-bridge-ros2dds/src/main.rs
@@ -87,13 +87,11 @@ async fn main() {
 
     // declare REST plugin if specified in conf
     if config.plugin("rest").is_some() {
-        plugins_mgr =
-            plugins_mgr.declare_static_plugin::<zenoh_plugin_rest::RestPlugin, &str>("rest", true);
+        plugins_mgr.declare_static_plugin::<zenoh_plugin_rest::RestPlugin, &str>("rest", true);
     }
 
     // declare ROS2DDS plugin
-    plugins_mgr = plugins_mgr
-        .declare_static_plugin::<zenoh_plugin_ros2dds::ROS2Plugin, &str>("ros2dds", true);
+    plugins_mgr.declare_static_plugin::<zenoh_plugin_ros2dds::ROS2Plugin, &str>("ros2dds", true);
 
     // create a zenoh Runtime.
     let mut runtime = match RuntimeBuilder::new(config)