diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 07c90a86..7dd4881f 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -11,6 +11,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       matrix:
         docker_image: ['ros:iron-ros-base', 'ros:rolling-ros-base']
     container:
@@ -21,7 +22,7 @@ jobs:
       run: |
         apt update && apt install -y curl
     - name: Setup Rust
-      uses: dtolnay/rust-toolchain@stable
+      uses: dtolnay/rust-toolchain@1.75.0
     - uses: actions/checkout@v2
     - name: rosdep
       run: |
diff --git a/.github/workflows/style.yaml b/.github/workflows/style.yaml
index 5c3a7160..04f818b1 100644
--- a/.github/workflows/style.yaml
+++ b/.github/workflows/style.yaml
@@ -10,6 +10,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       matrix:
         docker_image: ['ros:iron-ros-base', 'ros:rolling-ros-base']
     container:
diff --git a/.github/workflows/tmp_build_noble.yaml b/.github/workflows/tmp_build_noble.yaml
new file mode 100644
index 00000000..17d9fe2e
--- /dev/null
+++ b/.github/workflows/tmp_build_noble.yaml
@@ -0,0 +1,36 @@
+name: build_noble
+on:
+  pull_request:
+  push:
+    branches: [ rolling ]
+  workflow_dispatch:
+defaults:
+  run:
+    shell: bash
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        docker_image: ['ubuntu:noble-20240225']
+    container:
+      image: ${{ matrix.docker_image }}
+    timeout-minutes: 30
+    steps:
+    - name: Setup rolling
+      run: |
+        apt update && apt install curl -y
+        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+        apt update && apt install ros-dev-tools -y
+        apt install ros-rolling-ros-base -y
+    - uses: actions/checkout@v2
+    - name: rosdep
+      run: |
+        rosdep init
+        rosdep update
+        rosdep install --from-paths . --rosdistro rolling -yir
+    - name: build
+      run: |
+        source /opt/ros/rolling/setup.bash
+        colcon build
diff --git a/README.md b/README.md
index 1d831c3c..278ebc26 100644
--- a/README.md
+++ b/README.md
@@ -15,10 +15,12 @@ For information about the Design please visit [design](docs/design.md) page.
 
 ## Setup
 
-Install latest rustc.
-> Note: The version of rustc that can be installed via apt is outdated.
+Install latest rustc via `rustup` if building on Ubuntu Jammy.
+Skip this step if building on Ubuntu Noble as `cargo` and `rustc` will be
+installed via `rosdep`.
 ```bash
 curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
+rustup install 1.75.0
 ```
 
 Build `rmw_zenoh_cpp`
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index fe3203b7..802a1269 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -878,7 +878,7 @@ rmw_publish(
       }
     });
   auto free_msg_bytes = rcpputils::make_scope_exit(
-    [msg_bytes, allocator, &shmbuf]() {
+    [&msg_bytes, allocator, &shmbuf]() {
       if (msg_bytes && !shmbuf.has_value()) {
         allocator->deallocate(msg_bytes, allocator->state);
       }
diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index 6d09093b..81211fae 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -24,12 +24,11 @@ find_package(ament_cmake_vendor_package REQUIRED)
 # when expanded.
 set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/transport_tcp zenoh/shared-memory")
 
-# Set VCS_VERSION to include changes from https://github.com/eclipse-zenoh/zenoh/pull/830
-# and https://github.com/eclipse-zenoh/zenoh/pull/848 which was synced to zenoh-c in
-# https://github.com/eclipse-zenoh/zenoh-c/pull/293.
+# Set VCS_VERSION to include changes from https://github.com/eclipse-zenoh/zenoh/pull/875
+# which was synced to zenoh-c in https://github.com/eclipse-zenoh/zenoh-c/pull/307.
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
-  VCS_VERSION bd0fe98772b7d65e8fb71eb0369d7c85c9b09c73
+  VCS_VERSION c1498fcaf08d3dad15e49b1ac15cd380c0dc175c
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
 )
@@ -40,5 +39,4 @@ ament_vendor(zenoh_c_vendor
 #   DESTINATION "lib/${PROJECT_NAME}"
 #   USE_SOURCE_PERMISSIONS
 # )
-
 ament_package()
diff --git a/zenoh_c_vendor/package.xml b/zenoh_c_vendor/package.xml
index 6515c1e9..55c17616 100644
--- a/zenoh_c_vendor/package.xml
+++ b/zenoh_c_vendor/package.xml
@@ -12,7 +12,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
 
-  <!-- <build_depend>cargo</build_depend> -->
+  <build_depend>cargo</build_depend>
   <build_depend>clang</build_depend>
 
   <export>