diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index 9565a304..7c8ccd0c 100644
--- a/rmw_zenoh_cpp/CMakeLists.txt
+++ b/rmw_zenoh_cpp/CMakeLists.txt
@@ -13,7 +13,7 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-
+find_package(zenohc REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(fastcdr CONFIG REQUIRED)
 find_package(rcpputils REQUIRED)
@@ -23,9 +23,6 @@ find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 find_package(rmw REQUIRED)
 find_package(zenoh_c_vendor REQUIRED)
 find_package(zenohc_debug QUIET)
-if(NOT zenohc_debug_FOUND)
-  find_package(zenohc REQUIRED)
-endif()
 
 add_library(rmw_zenoh_cpp SHARED
   src/detail/attachment_helpers.cpp
diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index 943ebb1d..fcfdfb09 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -8,26 +8,28 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(ament_cmake_vendor_package REQUIRED)
-
-# Disable default features and enable only the most useful ones. This reduces build time and footprint.
-# For a complete list of features see: https://github.com/eclipse-zenoh/zenoh/blob/main/zenoh/Cargo.toml
-# Note: We separate the two args needed for cargo with "$<SEMICOLON>" and not ";" as the
-# latter is a list separater in cmake and hence the string will be split into two
-# when expanded.
-set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memory zenoh/transport_compression zenoh/transport_tcp zenoh/transport_tls")
-
-# Set VCS_VERSION to include latest changes from zenoh-c to benefit from :
-# - https://github.com/eclipse-zenoh/zenoh-c/pull/340 (fix build issue)
-# - https://github.com/eclipse-zenoh/zenoh/pull/1021 (fix timeout issue with queries)
-# - https://github.com/eclipse-zenoh/zenoh/pull/1022 (fix empty messages received if payload >btach size)
-# - https://github.com/eclipse-zenoh/zenoh-c/pull/358 (fix debian packaging issue: https://github.com/jspricke/ros-deb-builder-action/issues/49)
-# - https://github.com/eclipse-zenoh/zenoh/pull/1150 (fix deadlock issue https://github.com/ros2/rmw_zenoh/issues/182)
-ament_vendor(zenoh_c_vendor
-  VCS_URL https://github.com/eclipse-zenoh/zenoh-c
-  VCS_VERSION dev/1.0.0
-  CMAKE_ARGS
-    "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
+
+# Include the ExternalProject module
+include(ExternalProject)
+
+# Define installation directory
+set(ZENOHC_INSTALL_DIR ${CMAKE_INSTALL_PREFIX})
+
+# Add the external project
+ExternalProject_Add(zenohc
+  PREFIX ${CMAKE_BINARY_DIR}/zenohc
+  GIT_REPOSITORY https://github.com/eclipse-zenoh/zenoh-c.git
+  GIT_TAG dev/1.0.0
+  CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${ZENOHC_INSTALL_DIR}
+  BUILD_IN_SOURCE 1
 )
 
+# Create a custom target to manage dependencies
+add_custom_target(zenoh_c_vendor ALL
+  DEPENDS zenohc
+)
+
+# Add the installation directory to CMAKE_PREFIX_PATH
+list(APPEND CMAKE_PREFIX_PATH ${ZENOHC_INSTALL_DIR})
+
 ament_package()