diff --git a/README.md b/README.md
index 09b04845..f30c099e 100644
--- a/README.md
+++ b/README.md
@@ -21,13 +21,6 @@ Install latest rustc.
curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
```
-Install zenohd router
-> Note: The manual zenoh router installation won't be required in the future.
-```bash
-echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null
-sudo apt update && sudo apt install zenoh -y
-```
-
Build `rmw_zenoh_cpp`
```bash
diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml
index e95c138b..259bbce6 100644
--- a/rmw_zenoh_cpp/package.xml
+++ b/rmw_zenoh_cpp/package.xml
@@ -10,6 +10,7 @@
ament_cmake
zenoh_c_vendor
+ zenohd_vendor
ament_index_cpp
fastcdr
diff --git a/zenohd_vendor/CMakeLists.txt b/zenohd_vendor/CMakeLists.txt
new file mode 100644
index 00000000..a26eed90
--- /dev/null
+++ b/zenohd_vendor/CMakeLists.txt
@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.16)
+project(zenohd_vendor)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+ set(CMAKE_CXX_STANDARD 17)
+ set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+include(ExternalProject)
+
+ExternalProject_Add(
+ zenoh
+ PREFIX ${CMAKE_BINARY_DIR}/_cargo_deps
+ GIT_REPOSITORY https://github.com/eclipse-zenoh/zenoh.git
+ GIT_TAG master
+ BUILD_COMMAND cargo build --package zenohd --release
+ CONFIGURE_COMMAND "" # Disable the configure step
+ INSTALL_COMMAND ""
+ BUILD_IN_SOURCE 1
+)
+
+# Install the zenohd executable from the rust crate
+install(
+ PROGRAMS ${CMAKE_BINARY_DIR}/_cargo_deps/src/zenoh/target/release/zenohd
+ DESTINATION bin
+)
+
+# TODO(francocipollone): Install zenoh router plugins
+
+ament_package()
diff --git a/zenohd_vendor/package.xml b/zenohd_vendor/package.xml
new file mode 100644
index 00000000..8a4b1966
--- /dev/null
+++ b/zenohd_vendor/package.xml
@@ -0,0 +1,17 @@
+
+
+
+ zenohd_vendor
+ 0.0.1
+ Vendor pkg to install zenoh router
+ FrancoCipollone
+ Apache License 2.0
+
+ ament_cmake
+
+
+
+
+ ament_cmake
+
+