diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index ed16898e..c3c14523 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -1499,10 +1499,10 @@ rmw_create_subscription(
           "QueryingSubscriberCallback triggered over %s.",
           selector.c_str()
         );
-        ze_querying_subscriber_options_t opts = ze_querying_subscriber_options_default();
-        opts.query_timeout_ms = std::numeric_limits<uint64_t>::max();
-        opts.query_consolidation = z_query_consolidation_latest();
-        opts.query_accept_replies = ZCU_REPLY_KEYEXPR_ANY;
+        z_get_options_t opts = z_get_options_default();
+        opts.timeout_ms = std::numeric_limits<uint64_t>::max();
+        opts.consolidation = z_query_consolidation_latest();
+        opts.accept_replies = ZCU_REPLY_KEYEXPR_ANY;
         ze_querying_subscriber_get(
           z_loan(std::get<ze_owned_querying_subscriber_t>(sub_data->sub)),
           z_keyexpr(selector.c_str()),
diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index cbc60901..e08bd202 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -23,9 +23,10 @@ set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/shared
 # - https://github.com/eclipse-zenoh/zenoh/pull/1022 (fix empty messages received if payload >btach size)
 # - https://github.com/eclipse-zenoh/zenoh-c/pull/358 (fix debian packaging issue: https://github.com/jspricke/ros-deb-builder-action/issues/49)
 # - https://github.com/eclipse-zenoh/zenoh/pull/1150 (fix deadlock issue https://github.com/ros2/rmw_zenoh/issues/182)
+# - https://github.com/eclipse-zenoh/zenoh-c/pull/620 (fix ze_querying_subscriber_get API to query newly discovered publishers)
 ament_vendor(zenoh_c_vendor
-  VCS_URL https://github.com/ZettaScaleLabs/zenoh-c
-  VCS_VERSION d4df47382482b1bc7a5b64ca6879ff800779df7b
+  VCS_URL https://github.com/eclipse-zenoh/zenoh-c
+  VCS_VERSION 134dbfa06ca212def5fb51dd8e816734dfd8dff6
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
 )