diff --git a/.github/workflows/nexus_integration_tests.yaml b/.github/workflows/nexus_integration_tests.yaml
index e39130d..835b95e 100644
--- a/.github/workflows/nexus_integration_tests.yaml
+++ b/.github/workflows/nexus_integration_tests.yaml
@@ -16,6 +16,14 @@ jobs:
       image: ${{ matrix.docker_image }}
     timeout-minutes: 60
     steps:
+    - name: Install deps for Rust
+      run: |
+        apt update && apt install -y git curl libclang-dev
+    - name: Setup Rust for nexus_zenoh_bridge
+      uses: dtolnay/rust-toolchain@1.71.0
+      with:
+        components: clippy, rustfmt
+    - name: Install colcon cargo
     - uses: actions/checkout@v2
     - uses: actions/cache@v3
       with:
diff --git a/README.md b/README.md
index b0d4f65..ea5c6df 100644
--- a/README.md
+++ b/README.md
@@ -13,6 +13,18 @@ For details on architecture and concepts [see](./docs/concepts.md).
 
 ## Setup
 
+### Install system dependencies
+While `cargo` and `rustc` can be installed via rosdep, the version that available is
+v1.66 on most target platforms. However most dependencies require newer versions of `cargo` and `rustc`.
+Hence for now, we will install the latest version manually.
+TODO: Consider adding this dep back for J turtle if Ubuntu 24.04 has the newer.
+cargo and rustc pkgs.
+
+```bash
+sudo apt update && sudo apt install curl
+curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
+```
+
 ### Setup the NEXUS workspace
 
 ```bash
@@ -21,6 +33,7 @@ cd ~/ws_nexus/src/
 git clone git@github.com:OpenSourceRobotics/nexus
 vcs import . < nexus/abb.repos
 cd ~/ws_nexus
+
 rosdep install --from-paths src --ignore-src --rosdistro iron -y -r
 ```
 
diff --git a/nexus_zenoh_bridge_dds_vendor/package.xml b/nexus_zenoh_bridge_dds_vendor/package.xml
index 3e9aef8..15039e3 100644
--- a/nexus_zenoh_bridge_dds_vendor/package.xml
+++ b/nexus_zenoh_bridge_dds_vendor/package.xml
@@ -10,7 +10,12 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
 
-  <build_depend>cargo</build_depend>
+  <!-- Installing cargo via rosdep will install the v1.66 on most target platforms.
+  However most dependencies require newer versions of cargo and rustc.
+  Hence for now, we will install the latest version manually.
+  TODO: Consider adding this dep back for J turtle if Ubuntu 24.04 has the newer
+  cargo and rustc pkgs. -->
+  <!-- <build_depend>cargo</build_depend> -->
   <build_depend>clang</build_depend>
 
   <export>