diff --git a/README.md b/README.md
index aa7096ea..7203c35c 100644
--- a/README.md
+++ b/README.md
@@ -21,13 +21,6 @@ Install latest rustc.
 curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
 ```
 
-Install zenohd router
-> Note: The manual zenoh router installation won't be required in the future.
-```bash
-echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null
-sudo apt update && sudo apt install zenoh -y
-```
-
 Build `rmw_zenoh_cpp`
 
 ```bash
diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml
index e95c138b..259bbce6 100644
--- a/rmw_zenoh_cpp/package.xml
+++ b/rmw_zenoh_cpp/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>zenoh_c_vendor</build_depend>
+  <build_depend>zenohd_vendor</build_depend>
 
   <depend>ament_index_cpp</depend>
   <depend>fastcdr</depend>
diff --git a/zenohd_vendor/CMakeLists.txt b/zenohd_vendor/CMakeLists.txt
new file mode 100644
index 00000000..a26eed90
--- /dev/null
+++ b/zenohd_vendor/CMakeLists.txt
@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.16)
+project(zenohd_vendor)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+include(ExternalProject)
+
+ExternalProject_Add(
+    zenoh
+    PREFIX ${CMAKE_BINARY_DIR}/_cargo_deps
+    GIT_REPOSITORY https://github.com/eclipse-zenoh/zenoh.git
+    GIT_TAG master
+    BUILD_COMMAND cargo build --package zenohd --release
+    CONFIGURE_COMMAND "" # Disable the configure step
+    INSTALL_COMMAND ""
+    BUILD_IN_SOURCE 1
+)
+
+# Install the zenohd executable from the rust crate
+install(
+    PROGRAMS ${CMAKE_BINARY_DIR}/_cargo_deps/src/zenoh/target/release/zenohd
+    DESTINATION bin
+)
+
+# TODO(francocipollone): Install zenoh router plugins
+
+ament_package()
diff --git a/zenohd_vendor/package.xml b/zenohd_vendor/package.xml
new file mode 100644
index 00000000..8a4b1966
--- /dev/null
+++ b/zenohd_vendor/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>zenohd_vendor</name>
+  <version>0.0.1</version>
+  <description>Vendor pkg to install zenoh router</description>
+  <maintainer email="franco.c@ekumenlabs.com">FrancoCipollone</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <!-- <build_depend>cargo</build_depend> -->
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>