diff --git a/README.md b/README.md
index 422759a5..932fbe5d 100644
--- a/README.md
+++ b/README.md
@@ -17,6 +17,10 @@ For information about the Design please visit [design](docs/design.md) page.
 
 Build `rmw_zenoh_cpp`
 
+>Note: By default, we vendor and compile `zenoh-c` with a subset of `zenoh` features.
+The `ZENOHC_CARGO_FLAGS` CMake argument may be overwritten with other features included if required.
+See [zenoh_c_vendor/CMakeLists.txt](./zenoh_c_vendor/CMakeLists.txt) for more details.
+
 ```bash
 mkdir ~/ws_rmw_zenoh/src -p && cd ~/ws_rmw_zenoh/src
 git clone https://github.com/ros2/rmw_zenoh.git
diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index f652a7e3..172249a9 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -11,7 +11,7 @@ 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.
-# You can add here any Zenoh feature that are listed in this file: https://github.com/eclipse-zenoh/zenoh/blob/main/zenoh/Cargo.toml
+# 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 "$<SEMICOLON>" and not ";" as the
 # latter is a list separater in cmake and hence the string will be split into two
 # when expanded.
@@ -26,11 +26,7 @@ ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
   VCS_VERSION 390ec14e1b3785cd771bd6931db65062222bb735
   CMAKE_ARGS
-  "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
-)# set(INSTALL_DIR "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-prefix/install")
-# install(
-# DIRECTORY "${INSTALL_DIR}/lib/"
-# DESTINATION "lib/${PROJECT_NAME}"
-# USE_SOURCE_PERMISSIONS
-# )
+    "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
+)
+
 ament_package()