diff --git a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
index d4f7c372..b5905dcb 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
@@ -132,8 +132,8 @@ rmw_ret_t rmw_context_impl_s::Data::subscribe_to_ros_graph()
       z_undeclare_subscriber(z_move(this->graph_subscriber_));
     });
   if (zc_liveliness_declare_subscriber(
-      &graph_subscriber_,
-      z_loan(session_), z_loan(keyexpr),
+      z_loan(session_), 
+      &graph_subscriber_, z_loan(keyexpr),
       z_move(callback), &sub_options) != Z_OK)
   {
     RMW_SET_ERROR_MSG("unable to create zenoh subscription");
diff --git a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
index ba57b23d..ea79154a 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
@@ -65,7 +65,7 @@ std::shared_ptr<NodeData> NodeData::make(
     [&token]() {
       z_drop(z_move(token));
     });
-  if (zc_liveliness_declare_token(&token, session, z_loan(liveliness_ke), NULL) != Z_OK) {
+  if (zc_liveliness_declare_token(session, &token, z_loan(liveliness_ke), NULL) != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to create liveliness token for the node.");
diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
index f04680aa..0eba9c38 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
@@ -132,7 +132,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
 
     ze_owned_publication_cache_t pub_cache_;
     if (ze_declare_publication_cache(
-        &pub_cache_, session, z_loan(pub_ke), &pub_cache_opts))
+        session, &pub_cache_, z_loan(pub_ke), &pub_cache_opts))
     {
       RMW_SET_ERROR_MSG("unable to create zenoh publisher cache");
       return nullptr;
@@ -159,7 +159,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
       z_undeclare_publisher(z_move(pub));
     });
   if (z_declare_publisher(
-      &pub, session, z_loan(pub_ke), &opts) != Z_OK)
+      session, &pub, z_loan(pub_ke), &opts) != Z_OK)
   {
     RMW_SET_ERROR_MSG("Unable to create Zenoh publisher.");
     return nullptr;
@@ -174,7 +174,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
       z_drop(z_move(token));
     });
   if (zc_liveliness_declare_token(
-      &token, session, z_loan(liveliness_ke),
+      session, &token, z_loan(liveliness_ke),
       NULL) != Z_OK)
   {
     RMW_ZENOH_LOG_ERROR_NAMED(
diff --git a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
index f0d60b40..ac266849 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
@@ -220,7 +220,7 @@ std::shared_ptr<SubscriptionData> SubscriptionData::make(
     sub_options.query_consolidation = z_query_consolidation_none();
     ze_owned_querying_subscriber_t sub;
     if (ze_declare_querying_subscriber(
-        &sub, session, z_loan(sub_ke), z_move(callback), &sub_options))
+        session, &sub, z_loan(sub_ke), z_move(callback), &sub_options))
     {
       RMW_SET_ERROR_MSG("unable to create zenoh subscription");
       return nullptr;
@@ -274,7 +274,7 @@ std::shared_ptr<SubscriptionData> SubscriptionData::make(
 
     z_owned_subscriber_t sub;
     if (z_declare_subscriber(
-        &sub, session, z_loan(sub_ke), z_move(callback),
+        session, &sub, z_loan(sub_ke), z_move(callback),
         &sub_options) != Z_OK)
     {
       RMW_SET_ERROR_MSG("unable to create zenoh subscription");
@@ -295,7 +295,7 @@ std::shared_ptr<SubscriptionData> SubscriptionData::make(
       }
     });
   if (zc_liveliness_declare_token(
-      &sub_data->token_, session, z_loan(liveliness_ke), NULL) != Z_OK)
+      session, &sub_data->token_, z_loan(liveliness_ke), NULL) != Z_OK)
   {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index b39b5b90..f588b071 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -1609,7 +1609,7 @@ rmw_create_client(
       }
     });
   if (zc_liveliness_declare_token(
-      &client_data->token, session, z_loan(liveliness_ke),
+      session, &client_data->token, z_loan(liveliness_ke),
       NULL) != Z_OK)
   {
     RMW_ZENOH_LOG_ERROR_NAMED(
@@ -2170,7 +2170,7 @@ rmw_create_service(
   z_queryable_options_default(&qable_options);
   qable_options.complete = true;
   if (z_declare_queryable(
-      &service_data->qable, session, z_loan(service_data->keyexpr),
+      session, &service_data->qable, z_loan(service_data->keyexpr),
       z_move(callback), &qable_options) != Z_OK)
   {
     RMW_SET_ERROR_MSG("unable to create zenoh queryable");
@@ -2191,7 +2191,7 @@ rmw_create_service(
       }
     });
   if (zc_liveliness_declare_token(
-      &service_data->token, session, z_loan(liveliness_ke),
+      session, &service_data->token, z_loan(liveliness_ke),
       NULL) != Z_OK)
   {
     RMW_ZENOH_LOG_ERROR_NAMED(
diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index b1dd363c..fe5467d4 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -26,7 +26,7 @@ set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memor
 # - https://github.com/eclipse-zenoh/zenoh-c/pull/620 (fix ze_querying_subscriber_get API to query newly discovered publishers)
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
-  VCS_VERSION e270137cbe109032feecf06389b0560e75fc8c84
+  VCS_VERSION a5232cfa1ccc760b2e89fde3efd522795d0e1dc9
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
     "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"