diff --git a/.gitignore b/.gitignore
index ee7721b..18785fc 100644
--- a/.gitignore
+++ b/.gitignore
@@ -19,3 +19,6 @@
 
 .vscode
 
+# cmake default build directory
+build
+
diff --git a/Cargo.lock b/Cargo.lock
index 6105b5d..4ecf6eb 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -4139,7 +4139,7 @@ dependencies = [
 [[package]]
 name = "zenoh"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "async-global-executor",
  "async-std",
@@ -4205,7 +4205,7 @@ dependencies = [
 [[package]]
 name = "zenoh-buffers"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "zenoh-collections",
 ]
@@ -4213,7 +4213,7 @@ dependencies = [
 [[package]]
 name = "zenoh-codec"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "log",
  "serde",
@@ -4225,12 +4225,12 @@ dependencies = [
 [[package]]
 name = "zenoh-collections"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 
 [[package]]
 name = "zenoh-config"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "flume",
  "json5",
@@ -4249,7 +4249,7 @@ dependencies = [
 [[package]]
 name = "zenoh-core"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "async-std",
  "lazy_static",
@@ -4259,7 +4259,7 @@ dependencies = [
 [[package]]
 name = "zenoh-crypto"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "aes 0.8.3",
  "hmac 0.12.1",
@@ -4272,7 +4272,7 @@ dependencies = [
 [[package]]
 name = "zenoh-ext"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "async-std",
  "bincode",
@@ -4292,7 +4292,7 @@ dependencies = [
 [[package]]
 name = "zenoh-keyexpr"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "hashbrown 0.14.0",
  "keyed-set",
@@ -4306,7 +4306,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "async-std",
  "async-trait",
@@ -4325,7 +4325,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-commons"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "async-std",
  "async-trait",
@@ -4342,7 +4342,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-quic"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "async-rustls",
  "async-std",
@@ -4368,7 +4368,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tcp"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "async-std",
  "async-trait",
@@ -4384,7 +4384,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tls"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "async-rustls",
  "async-std",
@@ -4409,7 +4409,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-udp"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "async-std",
  "async-trait",
@@ -4428,7 +4428,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-unixsock_stream"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "async-std",
  "async-trait",
@@ -4446,7 +4446,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-ws"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "async-std",
  "async-trait",
@@ -4466,7 +4466,7 @@ dependencies = [
 [[package]]
 name = "zenoh-macros"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -4479,12 +4479,13 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-rest"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "anyhow",
  "async-std",
  "base64 0.21.4",
  "clap",
+ "const_format",
  "env_logger",
  "flume",
  "futures",
@@ -4536,11 +4537,14 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-trait"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
+ "const_format",
  "libloading",
  "log",
+ "serde",
  "serde_json",
+ "zenoh-keyexpr",
  "zenoh-macros",
  "zenoh-result",
  "zenoh-util",
@@ -4549,7 +4553,7 @@ dependencies = [
 [[package]]
 name = "zenoh-protocol"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "const_format",
  "hex",
@@ -4565,7 +4569,7 @@ dependencies = [
 [[package]]
 name = "zenoh-result"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "anyhow",
 ]
@@ -4573,7 +4577,7 @@ dependencies = [
 [[package]]
 name = "zenoh-sync"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "async-std",
  "event-listener 4.0.0",
@@ -4588,7 +4592,7 @@ dependencies = [
 [[package]]
 name = "zenoh-transport"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "async-executor",
  "async-global-executor",
@@ -4619,7 +4623,7 @@ dependencies = [
 [[package]]
 name = "zenoh-util"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#b669489bc814a758741f09c671ecc3a0683697a0"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#8cd786f2192fd2aa7387432ae93cdd78f5db1df2"
 dependencies = [
  "async-std",
  "async-trait",
diff --git a/README.md b/README.md
index a020780..82340a0 100644
--- a/README.md
+++ b/README.md
@@ -105,21 +105,12 @@ Once these dependencies are in place, you may clone the repository on your machi
 ```bash
 $ git clone https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds.git
 $ cd zenoh-plugin-ros2dds
+$ cargo build --release
 ```
-> :warning: **WARNING** :warning: : On Linux, don't use `cargo build` command without specifying a package with `-p`. Building both `zenoh-plugin-ros2dds` (plugin library) and `zenoh-bridge-ros2dds` (standalone executable) together will lead to a `multiple definition of `load_plugin'` error at link time. See [#117](https://github.com/eclipse-zenoh/zenoh-plugin-dds/issues/117#issuecomment-1439694331) for explanations.
 
-You can then choose between building the zenoh bridge for DDS:
-- as a plugin library that can be dynamically loaded by the zenoh router (`zenohd`):
-```bash
-$ cargo build --release -p zenoh-plugin-ros2dds
-```
-The plugin shared library (`*.so` on Linux, `*.dylib` on Mac OS, `*.dll` on Windows) will be generated in the `target/release` subdirectory.
+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.
 
-- or as a standalone executable binary:
-```bash
-$ cargo build --release -p zenoh-bridge-ros2dds
-```
-The **`zenoh-bridge-ros2dds`** binary will be generated in the `target/release` sub-directory.
 
 ## ROS 2 package
 You can also build `zenoh-bridge-ros2dds` as a ROS package running:
diff --git a/zenoh-bridge-ros2dds/src/bridge_args.rs b/zenoh-bridge-ros2dds/src/bridge_args.rs
index bcbcbb6..d4f3bb9 100644
--- a/zenoh-bridge-ros2dds/src/bridge_args.rs
+++ b/zenoh-bridge-ros2dds/src/bridge_args.rs
@@ -15,13 +15,14 @@ use crate::zenoh_args::CommonArgs;
 use clap::builder::FalseyValueParser;
 use zenoh::config::Config;
 use zenoh::prelude::*;
+use zenoh_plugin_trait::Plugin;
 
 //
 // All Bridge arguments
 //
 #[derive(clap::Parser, Clone, Debug)]
-#[command(version=zenoh_plugin_ros2dds::GIT_VERSION,
-    long_version=zenoh_plugin_ros2dds::LONG_VERSION.as_str(),
+#[command(version=zenoh_plugin_ros2dds::ROS2Plugin::PLUGIN_VERSION,
+    long_version=zenoh_plugin_ros2dds::ROS2Plugin::PLUGIN_LONG_VERSION,
     about="Zenoh bridge for ROS 2 with a DDS RMW",
 )]
 pub struct BridgeArgs {
diff --git a/zenoh-bridge-ros2dds/src/main.rs b/zenoh-bridge-ros2dds/src/main.rs
index 7be9326..d3998bc 100644
--- a/zenoh-bridge-ros2dds/src/main.rs
+++ b/zenoh-bridge-ros2dds/src/main.rs
@@ -63,7 +63,7 @@ async fn main() {
     env_logger::Builder::from_env(env_logger::Env::default().default_filter_or("z=info")).init();
     log::info!(
         "zenoh-bridge-ros2dds {}",
-        *zenoh_plugin_ros2dds::LONG_VERSION
+        zenoh_plugin_ros2dds::ROS2Plugin::PLUGIN_LONG_VERSION
     );
 
     let (watchdog_period, config) = parse_args();
diff --git a/zenoh-plugin-ros2dds/Cargo.toml b/zenoh-plugin-ros2dds/Cargo.toml
index 3ea90d9..32637df 100644
--- a/zenoh-plugin-ros2dds/Cargo.toml
+++ b/zenoh-plugin-ros2dds/Cargo.toml
@@ -29,7 +29,7 @@ crate-type = ["cdylib", "rlib"]
 [features]
 default = ["no_mangle"]
 stats = ["zenoh/stats"]
-no_mangle = ["zenoh-plugin-trait/no_mangle"]
+no_mangle = []
 dds_shm = ["cyclors/iceoryx"]
 
 [dependencies]
diff --git a/zenoh-plugin-ros2dds/src/lib.rs b/zenoh-plugin-ros2dds/src/lib.rs
index 32e6456..20ae2d3 100644
--- a/zenoh-plugin-ros2dds/src/lib.rs
+++ b/zenoh-plugin-ros2dds/src/lib.rs
@@ -16,21 +16,22 @@ use cyclors::*;
 use events::ROS2AnnouncementEvent;
 use flume::{unbounded, Receiver, Sender};
 use futures::select;
-use git_version::git_version;
 use serde::Serializer;
 use std::collections::HashMap;
 use std::env;
 use std::mem::ManuallyDrop;
 use std::sync::Arc;
 use zenoh::liveliness::LivelinessToken;
-use zenoh::plugins::{Plugin, RunningPluginTrait, Runtime, ZenohPlugin};
+use zenoh::plugins::{RunningPlugin, RunningPluginTrait, ZenohPlugin};
 use zenoh::prelude::r#async::AsyncResolve;
 use zenoh::prelude::*;
 use zenoh::queryable::Query;
+use zenoh::runtime::Runtime;
 use zenoh::Result as ZResult;
 use zenoh::Session;
-use zenoh_core::{bail, zerror};
+use zenoh_core::zerror;
 use zenoh_ext::SubscriberBuilderExt;
+use zenoh_plugin_trait::{plugin_long_version, plugin_version, Plugin, PluginControl};
 use zenoh_util::Timed;
 
 pub mod config;
@@ -62,8 +63,6 @@ use crate::liveliness_mgt::*;
 use crate::ros_discovery::RosDiscoveryInfoMgr;
 use crate::routes_mgr::RoutesMgr;
 
-pub const GIT_VERSION: &str = git_version!(prefix = "v", cargo_prefix = "v");
-
 #[macro_export]
 macro_rules! ke_for_sure {
     ($val:expr) => {
@@ -72,9 +71,9 @@ macro_rules! ke_for_sure {
 }
 
 lazy_static::lazy_static!(
-    pub static ref LONG_VERSION: String = format!("{} built with {}", GIT_VERSION, env!("RUSTC_VERSION"));
     pub static ref VERSION_JSON_VALUE: Value =
-        serde_json::Value::String(LONG_VERSION.clone()).into();
+        serde_json::Value::String(ROS2Plugin::PLUGIN_LONG_VERSION.to_owned()).into();
+
     static ref LOG_PAYLOAD: bool = std::env::var("Z_LOG_PAYLOAD").is_ok();
 
     static ref KE_ANY_1_SEGMENT: &'static keyexpr = ke_for_sure!("*");
@@ -104,6 +103,7 @@ const CYCLONEDDS_CONFIG_ENABLE_SHM: &str = r#"<CycloneDDS><Domain><SharedMemory>
 const ROS_DISCOVERY_INFO_POLL_INTERVAL_MS: u64 = 100;
 const ROS_DISCOVERY_INFO_PUSH_INTERVAL_MS: u64 = 100;
 
+#[cfg(feature = "no_mangle")]
 zenoh_plugin_trait::declare_plugin!(ROS2Plugin);
 
 #[allow(clippy::upper_case_acronyms)]
@@ -112,9 +112,11 @@ pub struct ROS2Plugin;
 impl ZenohPlugin for ROS2Plugin {}
 impl Plugin for ROS2Plugin {
     type StartArgs = Runtime;
-    type RunningPlugin = zenoh::plugins::RunningPlugin;
+    type Instance = RunningPlugin;
 
-    const STATIC_NAME: &'static str = "zenoh-plugin-ros2dds";
+    const PLUGIN_VERSION: &'static str = plugin_version!();
+    const PLUGIN_LONG_VERSION: &'static str = plugin_long_version!();
+    const DEFAULT_NAME: &'static str = "zenoh-plugin-ros2dds";
 
     fn start(name: &str, runtime: &Self::StartArgs) -> ZResult<zenoh::plugins::RunningPlugin> {
         // Try to initiate login.
@@ -122,7 +124,7 @@ impl Plugin for ROS2Plugin {
         // But cannot be done twice in case of static link.
         let _ = env_logger::try_init();
 
-        let runtime_conf = runtime.config.lock();
+        let runtime_conf = runtime.config().lock();
         let plugin_conf = runtime_conf
             .plugin(name)
             .ok_or_else(|| zerror!("Plugin `{}`: missing config", name))?;
@@ -132,35 +134,15 @@ impl Plugin for ROS2Plugin {
         Ok(Box::new(ROS2Plugin))
     }
 }
-
-impl RunningPluginTrait for ROS2Plugin {
-    fn config_checker(&self) -> zenoh::plugins::ValidationFunction {
-        Arc::new(|_, _, _| bail!("ROS2Plugin does not support hot configuration changes."))
-    }
-
-    fn adminspace_getter<'a>(
-        &'a self,
-        selector: &'a Selector<'a>,
-        plugin_status_key: &str,
-    ) -> ZResult<Vec<zenoh::plugins::Response>> {
-        let mut responses = Vec::new();
-        let version_key = [plugin_status_key, "/__version__"].concat();
-        if selector.key_expr.intersects(ke_for_sure!(&version_key)) {
-            responses.push(zenoh::plugins::Response::new(
-                version_key,
-                GIT_VERSION.into(),
-            ));
-        }
-        Ok(responses)
-    }
-}
+impl PluginControl for ROS2Plugin {}
+impl RunningPluginTrait for ROS2Plugin {}
 
 pub async fn run(runtime: Runtime, config: Config) {
     // Try to initiate login.
     // Required in case of dynamic lib, otherwise no logs.
     // But cannot be done twice in case of static link.
     let _ = env_logger::try_init();
-    log::debug!("ROS2 plugin {}", LONG_VERSION.as_str());
+    log::debug!("ROS2 plugin {}", ROS2Plugin::PLUGIN_VERSION);
     log::info!("ROS2 plugin {:?}", config);
 
     // Check config validity