diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index 2df72b268..db0e53221 100644
--- a/rmw_zenoh_cpp/CMakeLists.txt
+++ b/rmw_zenoh_cpp/CMakeLists.txt
@@ -23,11 +23,7 @@ find_package(rcutils REQUIRED)
 find_package(rosidl_typesupport_fastrtps_c REQUIRED)
 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()
+find_package(zenoh_cpp_vendor REQUIRED)
 
 add_library(rmw_zenoh_cpp SHARED
   src/detail/attachment_helpers.cpp
@@ -68,6 +64,7 @@ target_link_libraries(rmw_zenoh_cpp
     rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp
     rmw::rmw
     zenohc::lib
+    zenohcxx::zenohc
 )
 
 configure_rmw_library(rmw_zenoh_cpp)
@@ -137,6 +134,7 @@ target_link_libraries(rmw_zenohd
     rcpputils::rcpputils
     rmw::rmw
     zenohc::lib
+    zenohcxx::zenohc
 )
 
 install(
diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml
index 3da4920d4..d51e82a54 100644
--- a/rmw_zenoh_cpp/package.xml
+++ b/rmw_zenoh_cpp/package.xml
@@ -14,8 +14,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>zenoh_c_vendor</build_depend>
-  <build_export_depend>zenoh_c_vendor</build_export_depend>
+  <build_depend>zenoh_cpp_vendor</build_depend>
+  <build_export_depend>zenoh_cpp_vendor</build_export_depend>
 
   <depend>ament_index_cpp</depend>
   <depend>fastcdr</depend>
diff --git a/rmw_zenoh_cpp/src/rmw_init.cpp b/rmw_zenoh_cpp/src/rmw_init.cpp
index 8c37be2fd..a4f56ae02 100644
--- a/rmw_zenoh_cpp/src/rmw_init.cpp
+++ b/rmw_zenoh_cpp/src/rmw_init.cpp
@@ -14,7 +14,7 @@
 
 #include <cstdio>
 #include <optional>
-#include <zenoh.h>
+#include <zenoh.hxx>
 
 #include <new>
 #include <string>
diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_cpp_vendor/CMakeLists.txt
similarity index 84%
rename from zenoh_c_vendor/CMakeLists.txt
rename to zenoh_cpp_vendor/CMakeLists.txt
index 09a7faea2..aff49c80c 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_cpp_vendor/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16)
-project(zenoh_c_vendor)
+project(zenoh_cpp_vendor)
 
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
@@ -35,4 +35,17 @@ ament_vendor(zenoh_c_vendor
     "-DZENOHC_CUSTOM_TARGET=${ZENOHC_CUSTOM_TARGET}"
 )
 
+ament_export_dependencies(zenohc)
+
+ament_vendor(zenoh_cpp_vendor
+  VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
+  VCS_VERSION dev/1.0.0
+  CMAKE_ARGS
+    -DZENOHCXX_ZENOHC=OFF
+)
+
+externalproject_add_stepdependencies(zenoh_cpp_vendor configure zenoh_c_vendor)
+
+ament_export_dependencies(zenohcxx)
+
 ament_package()
diff --git a/zenoh_c_vendor/package.xml b/zenoh_cpp_vendor/package.xml
similarity index 95%
rename from zenoh_c_vendor/package.xml
rename to zenoh_cpp_vendor/package.xml
index b907feffc..eb2c8c204 100644
--- a/zenoh_c_vendor/package.xml
+++ b/zenoh_cpp_vendor/package.xml
@@ -1,7 +1,7 @@
 <?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>zenoh_c_vendor</name>
+  <name>zenoh_cpp_vendor</name>
   <version>0.0.1</version>
   <description>Vendor pkg to install zenoh-c</description>
   <maintainer email="yadunund@openrobotics.org">Yadunund</maintainer>