diff --git a/rmw_zenoh_cpp/src/detail/attachment_helpers.cpp b/rmw_zenoh_cpp/src/detail/attachment_helpers.cpp
index 37c7f335..56f7b49d 100644
--- a/rmw_zenoh_cpp/src/detail/attachment_helpers.cpp
+++ b/rmw_zenoh_cpp/src/detail/attachment_helpers.cpp
@@ -31,14 +31,14 @@ namespace rmw_zenoh_cpp
 {
 
 AttachmentData::AttachmentData(
-  const int64_t _sequence_number,
-  const int64_t _source_timestamp,
-  const std::vector<uint8_t> _source_gid)
+  const int64_t sequence_number,
+  const int64_t source_timestamp,
+  const std::vector<uint8_t> source_gid)
+: sequence_number_(sequence_number),
+  source_timestamp_(source_timestamp),
+  source_gid_(source_gid),
+  gid_hash_(hash_gid(source_gid))
 {
-  sequence_number_ = _sequence_number;
-  source_timestamp_ = _source_timestamp;
-  source_gid_ = _source_gid;
-  gid_hash_ = hash_gid(source_gid_);
 }
 
 AttachmentData::AttachmentData(AttachmentData && data)
@@ -85,9 +85,9 @@ zenoh::Bytes AttachmentData::serialize_to_zbytes()
   return std::move(serializer).finish();
 }
 
-AttachmentData::AttachmentData(const zenoh::Bytes & attachment)
+AttachmentData::AttachmentData(const zenoh::Bytes & bytes)
 {
-  zenoh::ext::Deserializer deserializer(std::move(attachment));
+  zenoh::ext::Deserializer deserializer(std::move(bytes));
   const auto sequence_number_str = deserializer.deserialize<std::string>();
   if (sequence_number_str != "sequence_number") {
     throw std::runtime_error("sequence_number is not found in the attachment.");
diff --git a/rmw_zenoh_cpp/src/detail/attachment_helpers.hpp b/rmw_zenoh_cpp/src/detail/attachment_helpers.hpp
index 7ae57709..7f9aa3ee 100644
--- a/rmw_zenoh_cpp/src/detail/attachment_helpers.hpp
+++ b/rmw_zenoh_cpp/src/detail/attachment_helpers.hpp
@@ -24,13 +24,14 @@
 
 namespace rmw_zenoh_cpp
 {
+///=============================================================================
 class AttachmentData final
 {
 public:
-  explicit AttachmentData(
-    const int64_t _sequence_number,
-    const int64_t _source_timestamp,
-    const std::vector<uint8_t> _source_gid);
+  AttachmentData(
+    const int64_t sequence_number,
+    const int64_t source_timestamp,
+    const std::vector<uint8_t> source_gid);
 
   explicit AttachmentData(const zenoh::Bytes & bytes);
   explicit AttachmentData(AttachmentData && data);
diff --git a/rmw_zenoh_cpp/src/detail/graph_cache.cpp b/rmw_zenoh_cpp/src/detail/graph_cache.cpp
index e0795ac8..99f99116 100644
--- a/rmw_zenoh_cpp/src/detail/graph_cache.cpp
+++ b/rmw_zenoh_cpp/src/detail/graph_cache.cpp
@@ -69,8 +69,8 @@ TopicData::TopicData(ConstEntityPtr entity)
 }
 
 ///=============================================================================
-GraphCache::GraphCache(const std::string & zid)
-: zid_str_(zid)
+GraphCache::GraphCache(const zenoh::Id & zid)
+: zid_str_(zid.to_string())
 {
   // Do nothing.
 }
diff --git a/rmw_zenoh_cpp/src/detail/graph_cache.hpp b/rmw_zenoh_cpp/src/detail/graph_cache.hpp
index e9eecb5d..6c4f6e54 100644
--- a/rmw_zenoh_cpp/src/detail/graph_cache.hpp
+++ b/rmw_zenoh_cpp/src/detail/graph_cache.hpp
@@ -36,6 +36,7 @@
 #include "rmw/get_topic_endpoint_info.h"
 #include "rmw/names_and_types.h"
 
+#include <zenoh/api/id.hxx>
 
 namespace rmw_zenoh_cpp
 {
@@ -110,7 +111,7 @@ class GraphCache final
   /// @param id The id of the zenoh session that is building the graph cache.
   ///   This is used to infer which entities originated from the current session
   ///   so that appropriate event callbacks may be triggered.
-  explicit GraphCache(const std::string & zid);
+  explicit GraphCache(const zenoh::Id & zid);
 
   // Parse a PUT message over a token's key-expression and update the graph.
   void parse_put(const std::string & keyexpr, bool ignore_from_current_session = false);
diff --git a/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
index 8a153a93..bae0fe99 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
@@ -182,12 +182,12 @@ bool ClientData::init(const std::shared_ptr<zenoh::Session> session)
   keyexpr_ = zenoh::KeyExpr(topic_keyexpr);
   // TODO(ahcorde) check KeyExpr
   std::string liveliness_keyexpr = this->entity_->liveliness_keyexpr();
-  zenoh::ZResult err;
+  zenoh::ZResult result;
   this->token_ = session->liveliness_declare_token(
     zenoh::KeyExpr(liveliness_keyexpr),
     zenoh::Session::LivelinessDeclarationOptions::create_default(),
-    &err);
-  if (err != Z_OK) {
+    &result);
+  if (result != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to create liveliness token for the client.");
@@ -280,14 +280,10 @@ rmw_ret_t ClientData::take_response(
   const zenoh::Sample & sample = reply.get_ok();
 
   // Object that manages the raw buffer
-  auto & payload = sample.get_payload();
-  auto slice = payload.slice_iter().next();
-  if (slice.has_value()) {
-    const uint8_t * payload = slice.value().data;
-    const size_t payload_len = slice.value().len;
-
+  auto payload = sample.get_payload().as_vector();
+  if (payload.size() > 0) {
     eprosima::fastcdr::FastBuffer fastbuffer(
-      reinterpret_cast<char *>(const_cast<uint8_t *>(payload)), payload_len);
+      reinterpret_cast<char *>(const_cast<uint8_t *>(payload.data())), payload.size());
 
     // Object that serializes the data
     rmw_zenoh_cpp::Cdr deser(fastbuffer);
@@ -401,10 +397,10 @@ rmw_ret_t ClientData::send_request(
   std::vector<uint8_t> raw_bytes(
     reinterpret_cast<const uint8_t *>(request_bytes),
     reinterpret_cast<const uint8_t *>(request_bytes) + data_length);
-  opts.payload = zenoh::Bytes(raw_bytes);
+  opts.payload = zenoh::Bytes(std::move(raw_bytes));
 
   std::weak_ptr<rmw_zenoh_cpp::ClientData> client_data = shared_from_this();
-  zenoh::ZResult err;
+  zenoh::ZResult result;
   std::string parameters;
   context_impl->session()->get(
     keyexpr_.value(),
@@ -448,7 +444,13 @@ rmw_ret_t ClientData::send_request(
       }
     },
     std::move(opts),
-    &err);
+    &result);
+  if (result != Z_OK) {
+    RMW_ZENOH_LOG_DEBUG_NAMED(
+      "rmw_zenoh_cpp",
+      "ClientData unable to call get");
+    return RMW_RET_ERROR;
+  }
   return RMW_RET_OK;
 }
 
@@ -506,9 +508,9 @@ rmw_ret_t ClientData::shutdown()
 
   // Unregister this node from the ROS graph.
   if (initialized_) {
-    zenoh::ZResult err;
-    std::move(token_).value().undeclare(&err);
-    if (err != Z_OK) {
+    zenoh::ZResult result;
+    std::move(token_).value().undeclare(&result);
+    if (result != Z_OK) {
       RMW_ZENOH_LOG_ERROR_NAMED(
         "rmw_zenoh_cpp",
         "Unable to undeclare liveliness token");
diff --git a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
index da2e81b7..309720f7 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
@@ -111,9 +111,9 @@ class rmw_context_impl_s::Data final
             "Unable to connect to a Zenoh router. "
             "Have you started a router with `ros2 run rmw_zenoh_cpp rmw_zenohd`?");
         }
-        zenoh::ZResult err;
-        this->session_->get_routers_z_id(&err);
-        if (err != Z_OK) {
+        zenoh::ZResult result;
+        this->session_->get_routers_z_id(&result);
+        if (result != Z_OK) {
           ++connection_attempts;
         } else {
           ret = RMW_RET_OK;
@@ -127,7 +127,7 @@ class rmw_context_impl_s::Data final
 
     // Initialize the graph cache.
     graph_cache_ =
-      std::make_shared<rmw_zenoh_cpp::GraphCache>(this->session_->get_zid().to_string());
+      std::make_shared<rmw_zenoh_cpp::GraphCache>(this->session_->get_zid());
     // Setup liveliness subscriptions for discovery.
     std::string liveliness_str = rmw_zenoh_cpp::liveliness::subscription_token(domain_id);
 
@@ -155,14 +155,13 @@ class rmw_context_impl_s::Data final
     options.target = zenoh::QueryTarget::Z_QUERY_TARGET_ALL;
     options.payload = "";
 
-    zenoh::ZResult err;
     auto replies = session_->liveliness_get(
       keyexpr,
       zenoh::channels::FifoChannel(SIZE_MAX - 1),
       zenoh::Session::LivelinessGetOptions::create_default(),
-      &err);
+      &result);
 
-    if (err != Z_OK) {
+    if (result != Z_OK) {
       throw std::runtime_error("Error getting liveliness. ");
     }
 
@@ -223,9 +222,9 @@ class rmw_context_impl_s::Data final
       },
       zenoh::closures::none,
       std::move(sub_options),
-      &err);
+      &result);
 
-    if (err != Z_OK) {
+    if (result != Z_OK) {
       RMW_SET_ERROR_MSG("unable to create zenoh subscription");
       throw std::runtime_error("Unable to subscribe to ROS graph updates.");
     }
@@ -241,22 +240,9 @@ class rmw_context_impl_s::Data final
         return ret;
       }
 
-      // TODO(ahcorde): review this
-      // // Shutdown all the nodes in this context.
-      // for (auto node_it = nodes_.begin(); node_it != nodes_.end(); ++node_it) {
-      //   ret = node_it->second->shutdown();
-      //   if (ret != RMW_RET_OK) {
-      //     RMW_ZENOH_LOG_ERROR_NAMED(
-      //       "rmw_zenoh_cpp",
-      //       "Unable to shutdown node with id %zu. rmw_ret_t code: %zu.",
-      //       node_it->second->id(),
-      //       ret
-      //     );
-      //   }
-
-      zenoh::ZResult err;
-      std::move(graph_subscriber_cpp_).value().undeclare(&err);
-      if (err != Z_OK) {
+      zenoh::ZResult result;
+      std::move(graph_subscriber_cpp_).value().undeclare(&result);
+      if (result != Z_OK) {
         RMW_ZENOH_LOG_ERROR_NAMED(
           "rmw_zenoh_cpp",
           "Unable to undeclare liveliness token");
diff --git a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
index cadafa43..ed1b5b2b 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
@@ -58,12 +58,12 @@ std::shared_ptr<NodeData> NodeData::make(
 
   // Create the liveliness token.
   std::string liveliness_keyexpr = entity->liveliness_keyexpr();
-  zenoh::ZResult err;
+  zenoh::ZResult result;
   auto token = session->liveliness_declare_token(
     zenoh::KeyExpr(liveliness_keyexpr),
     zenoh::Session::LivelinessDeclarationOptions::create_default(),
-    &err);
-  if (err != Z_OK) {
+    &result);
+  if (result != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to create liveliness token for the node.");
@@ -393,9 +393,9 @@ rmw_ret_t NodeData::shutdown()
   }
 
   // Unregister this node from the ROS graph.
-  zenoh::ZResult err;
-  std::move(token_).value().undeclare(&err);
-  if (err != Z_OK) {
+  zenoh::ZResult result;
+  std::move(token_).value().undeclare(&result);
+  if (result != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to undeclare liveliness token");
diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
index 2e9e7433..219b466d 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
@@ -103,7 +103,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
     return nullptr;
   }
 
-  zenoh::ZResult err;
+  zenoh::ZResult result;
   std::optional<zenoh::ext::PublicationCache> pub_cache;
   zenoh::KeyExpr pub_ke(entity->topic_info()->topic_keyexpr_);
   // Create a Publication Cache if durability is transient_local.
@@ -117,9 +117,9 @@ std::shared_ptr<PublisherData> PublisherData::make(
     std::string queryable_prefix = entity->zid();
     pub_cache_opts.queryable_prefix = zenoh::KeyExpr(queryable_prefix);
 
-    pub_cache = session->declare_publication_cache(pub_ke, std::move(pub_cache_opts), &err);
+    pub_cache = session->declare_publication_cache(pub_ke, std::move(pub_cache_opts), &result);
 
-    if (err != Z_OK) {
+    if (result != Z_OK) {
       RMW_SET_ERROR_MSG("unable to create zenoh publisher cache");
       return nullptr;
     }
@@ -135,9 +135,9 @@ std::shared_ptr<PublisherData> PublisherData::make(
       opts.congestion_control = Z_CONGESTION_CONTROL_BLOCK;
     }
   }
-  auto pub = session->declare_publisher(pub_ke, std::move(opts), &err);
+  auto pub = session->declare_publisher(pub_ke, std::move(opts), &result);
 
-  if (err != Z_OK) {
+  if (result != Z_OK) {
     RMW_SET_ERROR_MSG("Unable to create Zenoh publisher.");
     return nullptr;
   }
@@ -146,8 +146,8 @@ std::shared_ptr<PublisherData> PublisherData::make(
   auto token = session->liveliness_declare_token(
     zenoh::KeyExpr(liveliness_keyexpr),
     zenoh::Session::LivelinessDeclarationOptions::create_default(),
-    &err);
-  if (err != Z_OK) {
+    &result);
+  if (result != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to create liveliness token for the publisher.");
@@ -273,7 +273,7 @@ rmw_ret_t PublisherData::publish(
   // The encoding is simply forwarded and is useful when key expressions in the
   // session use different encoding formats. In our case, all key expressions
   // will be encoded with CDR so it does not really matter.
-  zenoh::ZResult err;
+  zenoh::ZResult result;
   auto options = zenoh::Publisher::PutOptions::create_default();
   options.attachment = create_map_and_set_sequence_num(
     sequence_number_++,
@@ -285,9 +285,9 @@ rmw_ret_t PublisherData::publish(
     reinterpret_cast<const uint8_t *>(msg_bytes) + data_length);
   zenoh::Bytes payload(raw_image);
 
-  pub_.put(std::move(payload), std::move(options), &err);
-  if (err != Z_OK) {
-    if (err == Z_ESESSION_CLOSED) {
+  pub_.put(std::move(payload), std::move(options), &result);
+  if (result != Z_OK) {
+    if (result == Z_ESESSION_CLOSED) {
       RMW_ZENOH_LOG_WARN_NAMED(
         "rmw_zenoh_cpp",
         "unable to publish message since the zenoh session is closed");
@@ -319,7 +319,7 @@ rmw_ret_t PublisherData::publish_serialized_message(
   // The encoding is simply forwarded and is useful when key expressions in the
   // session use different encoding formats. In our case, all key expressions
   // will be encoded with CDR so it does not really matter.
-  zenoh::ZResult err;
+  zenoh::ZResult result;
   auto options = zenoh::Publisher::PutOptions::create_default();
   options.attachment = create_map_and_set_sequence_num(sequence_number_++, entity_->copy_gid());
 
@@ -328,9 +328,9 @@ rmw_ret_t PublisherData::publish_serialized_message(
     serialized_message->buffer + data_length);
   zenoh::Bytes payload(raw_image);
 
-  pub_.put(std::move(payload), std::move(options), &err);
-  if (err != Z_OK) {
-    if (err == Z_ESESSION_CLOSED) {
+  pub_.put(std::move(payload), std::move(options), &result);
+  if (result != Z_OK) {
+    if (result == Z_ESESSION_CLOSED) {
       RMW_ZENOH_LOG_WARN_NAMED(
         "rmw_zenoh_cpp",
         "unable to publish message since the zenoh session is closed");
@@ -408,16 +408,16 @@ rmw_ret_t PublisherData::shutdown()
   }
 
   // Unregister this publisher from the ROS graph.
-  zenoh::ZResult err;
-  std::move(token_).value().undeclare(&err);
-  if (err != Z_OK) {
+  zenoh::ZResult result;
+  std::move(token_).value().undeclare(&result);
+  if (result != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to undeclare liveliness token");
     return RMW_RET_ERROR;
   }
-  std::move(pub_).undeclare(&err);
-  if (err != Z_OK) {
+  std::move(pub_).undeclare(&result);
+  if (result != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to undeclare publisher");
diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
index 9940de93..cd8b2686 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
@@ -71,6 +71,8 @@ class PublisherData final
 
   // Copy the GID of this PublisherData into an rmw_gid_t.
   void copy_gid(uint8_t out_gid[RMW_GID_STORAGE_SIZE]) const;
+
+  // Return a copy of the GID of this publisher.
   std::vector<uint8_t> copy_gid() const;
 
   // Returns true if liveliness token is still valid.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
index 19ad0dc7..5696e815 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
@@ -135,10 +135,10 @@ std::shared_ptr<ServiceData> ServiceData::make(
       std::move(response_type_support)
     });
 
-  zenoh::ZResult err;
+  zenoh::ZResult result;
   service_data->keyexpr_ = service_data->entity_->topic_info()->topic_keyexpr_;
-  zenoh::KeyExpr service_ke(service_data->keyexpr_, true, &err);
-  if (err != Z_OK) {
+  zenoh::KeyExpr service_ke(service_data->keyexpr_, true, &result);
+  if (result != Z_OK) {
     RMW_SET_ERROR_MSG("unable to create zenoh keyexpr.");
     return nullptr;
   }
@@ -167,8 +167,8 @@ std::shared_ptr<ServiceData> ServiceData::make(
     },
     zenoh::closures::none,
     std::move(qable_options),
-    &err);
-  if (err != Z_OK) {
+    &result);
+  if (result != Z_OK) {
     RMW_SET_ERROR_MSG("unable to create zenoh queryable");
     return nullptr;
   }
@@ -177,8 +177,8 @@ std::shared_ptr<ServiceData> ServiceData::make(
   service_data->token_ = session->liveliness_declare_token(
     zenoh::KeyExpr(liveliness_keyexpr),
     zenoh::Session::LivelinessDeclarationOptions::create_default(),
-    &err);
-  if (err != Z_OK) {
+    &result);
+  if (result != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to create liveliness token for the service.");
@@ -290,15 +290,12 @@ rmw_ret_t ServiceData::take_request(
     return RMW_RET_ERROR;
   }
 
-  auto slice = payload.value().get().slice_iter().next();
+  auto payload_data = payload.value().get().as_vector();
 
-  if (slice.has_value()) {
-    const uint8_t * payload = slice.value().data;
-    const size_t payload_len = slice.value().len;
-
-    // Object that manages the raw buffer
+  if (payload_data.size() > 0) {
+   // Object that manages the raw buffer
     eprosima::fastcdr::FastBuffer fastbuffer(
-      reinterpret_cast<char *>(const_cast<uint8_t *>(payload)), payload_len);
+      reinterpret_cast<char *>(const_cast<uint8_t *>(payload_data.data())), payload_data.size());
 
     // Object that serializes the data
     Cdr deser(fastbuffer);
@@ -448,17 +445,17 @@ rmw_ret_t ServiceData::send_response(
   std::vector<uint8_t> raw_bytes(
     reinterpret_cast<const uint8_t *>(response_bytes),
     reinterpret_cast<const uint8_t *>(response_bytes) + data_length);
-  zenoh::Bytes payload(raw_bytes);
+  zenoh::Bytes payload(std::move(raw_bytes));
 
-  zenoh::ZResult err;
-  zenoh::KeyExpr service_ke(keyexpr_.c_str(), true, &err);
-  if (err != Z_OK) {
+  zenoh::ZResult result;
+  zenoh::KeyExpr service_ke(keyexpr_.c_str(), true, &result);
+  if (result != Z_OK) {
     RMW_SET_ERROR_MSG("unable to create KeyExpr");
     return RMW_RET_ERROR;
   }
 
-  loaned_query.reply(service_ke, std::move(payload), std::move(options), &err);
-  if (err != Z_OK) {
+  loaned_query.reply(service_ke, std::move(payload), std::move(options), &result);
+  if (result != Z_OK) {
     RMW_SET_ERROR_MSG("unable to reply");
     return RMW_RET_ERROR;
   }
@@ -521,17 +518,17 @@ rmw_ret_t ServiceData::shutdown()
 
   // Unregister this node from the ROS graph.
   if (initialized_) {
-    zenoh::ZResult err;
-    std::move(token_).value().undeclare(&err);
-    if (err != Z_OK) {
+    zenoh::ZResult result;
+    std::move(token_).value().undeclare(&result);
+    if (result != Z_OK) {
       RMW_ZENOH_LOG_ERROR_NAMED(
         "rmw_zenoh_cpp",
         "Unable to undeclare liveliness token");
       return RMW_RET_ERROR;
     }
 
-    std::move(qable_).value().undeclare(&err);
-    if (err != Z_OK) {
+    std::move(qable_).value().undeclare(&result);
+    if (result != Z_OK) {
       RMW_ZENOH_LOG_ERROR_NAMED(
         "rmw_zenoh_cpp",
         "Unable to undeclare queryable");
diff --git a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
index 27295867..45ef1bf8 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
@@ -169,9 +169,9 @@ bool SubscriptionData::init()
       "`reliability` no longer supported on subscriber. Ignoring...");
   }
 
-  zenoh::ZResult err;
-  zenoh::KeyExpr sub_ke(entity_->topic_info()->topic_keyexpr_, true, &err);
-  if (err != Z_OK) {
+  zenoh::ZResult result;
+  zenoh::KeyExpr sub_ke(entity_->topic_info()->topic_keyexpr_, true, &result);
+  if (result != Z_OK) {
     RMW_SET_ERROR_MSG("unable to create zenoh keyexpr.");
     return false;
   }
@@ -236,8 +236,8 @@ bool SubscriptionData::init()
       },
       zenoh::closures::none,
       std::move(sub_options),
-      &err);
-    if (err != Z_OK) {
+      &result);
+    if (result != Z_OK) {
       RMW_SET_ERROR_MSG("unable to create zenoh subscription");
       return false;
     }
@@ -273,13 +273,13 @@ bool SubscriptionData::init()
         opts.consolidation = zenoh::ConsolidationMode::Z_CONSOLIDATION_MODE_NONE;
         opts.accept_replies = ZC_REPLY_KEYEXPR_ANY;
 
-        zenoh::ZResult err;
+        zenoh::ZResult result;
         std::get<zenoh::ext::QueryingSubscriber<void>>(sub_data->sub_.value()).get(
           zenoh::KeyExpr(selector),
           std::move(opts),
-          &err);
+          &result);
 
-        if (err != Z_OK) {
+        if (result != Z_OK) {
           RMW_SET_ERROR_MSG("unable to get querying subscriber.");
           return;
         }
@@ -322,8 +322,8 @@ bool SubscriptionData::init()
       },
       zenoh::closures::none,
       std::move(sub_options),
-      &err);
-    if (err != Z_OK) {
+      &result);
+    if (result != Z_OK) {
       RMW_SET_ERROR_MSG("unable to create zenoh subscription");
       return false;
     }
@@ -335,8 +335,8 @@ bool SubscriptionData::init()
   token_ = context_impl->session()->liveliness_declare_token(
     zenoh::KeyExpr(liveliness_keyexpr),
     zenoh::Session::LivelinessDeclarationOptions::create_default(),
-    &err);
-  if (err != Z_OK) {
+    &result);
+  if (result != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to create liveliness token for the subscription.");
@@ -410,9 +410,9 @@ rmw_ret_t SubscriptionData::shutdown()
   graph_cache_->remove_qos_event_callbacks(entity_->keyexpr_hash());
 
   // Unregister this subscription from the ROS graph.
-  zenoh::ZResult err;
-  std::move(token_).value().undeclare(&err);
-  if (err != Z_OK) {
+  zenoh::ZResult result;
+  std::move(token_).value().undeclare(&result);
+  if (result != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to undeclare liveliness token");
@@ -422,8 +422,8 @@ rmw_ret_t SubscriptionData::shutdown()
   if (sub_.has_value()) {
     zenoh::Subscriber<void> * sub = std::get_if<zenoh::Subscriber<void>>(&sub_.value());
     if (sub != nullptr) {
-      std::move(*sub).undeclare(&err);
-      if (err != Z_OK) {
+      std::move(*sub).undeclare(&result);
+      if (result != Z_OK) {
         RMW_ZENOH_LOG_ERROR_NAMED(
           "rmw_zenoh_cpp",
           "failed to undeclare sub.");
@@ -433,8 +433,8 @@ rmw_ret_t SubscriptionData::shutdown()
       zenoh::ext::QueryingSubscriber<void> * sub =
         std::get_if<zenoh::ext::QueryingSubscriber<void>>(&sub_.value());
       if (sub != nullptr) {
-        std::move(*sub).undeclare(&err);
-        if (err != Z_OK) {
+        std::move(*sub).undeclare(&result);
+        if (result != Z_OK) {
           RMW_ZENOH_LOG_ERROR_NAMED(
             "rmw_zenoh_cpp",
             "failed to undeclare querying sub.");
@@ -496,16 +496,13 @@ rmw_ret_t SubscriptionData::take_one_message(
   std::unique_ptr<Message> msg_data = std::move(message_queue_.front());
   message_queue_.pop_front();
 
-  auto slice = msg_data->payload.slice_iter().next();
-
-  if (slice.has_value()) {
-    const uint8_t * payload = slice.value().data;
-    const size_t payload_len = slice.value().len;
+  auto payload_data = msg_data->payload.as_vector();
 
+  if (payload_data.size() > 0) {
     // Object that manages the raw buffer
     eprosima::fastcdr::FastBuffer fastbuffer(
-      reinterpret_cast<char *>(const_cast<uint8_t *>(payload)),
-      payload_len);
+      reinterpret_cast<char *>(const_cast<uint8_t *>(payload_data.data())),
+      payload_data.size());
 
     // Object that serializes the data
     rmw_zenoh_cpp::Cdr deser(fastbuffer);
@@ -558,20 +555,21 @@ rmw_ret_t SubscriptionData::take_serialized_message(
   std::unique_ptr<Message> msg_data = std::move(message_queue_.front());
   message_queue_.pop_front();
 
-  auto slice = msg_data->payload.slice_iter().next();
+  auto payload_data = msg_data->payload.as_vector();
 
-  if (slice.has_value()) {
-    const uint8_t * payload = slice.value().data;
-    const size_t payload_len = slice.value().len;
-    if (serialized_message->buffer_capacity < payload_len) {
+  if (payload_data.size() > 0) {
+    if (serialized_message->buffer_capacity < payload_data.size()) {
       rmw_ret_t ret =
-        rmw_serialized_message_resize(serialized_message, payload_len);
+        rmw_serialized_message_resize(serialized_message, payload_data.size());
       if (ret != RMW_RET_OK) {
         return ret;  // Error message already set
       }
     }
-    serialized_message->buffer_length = payload_len;
-    memcpy(serialized_message->buffer, payload, payload_len);
+    serialized_message->buffer_length = payload_data.size();
+    memcpy(
+      serialized_message->buffer,
+      reinterpret_cast<char *>(const_cast<uint8_t *>(payload_data.data())),
+      payload_data.size());
 
     *taken = true;
 
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_config.cpp b/rmw_zenoh_cpp/src/detail/zenoh_config.cpp
index 6c906522..075d8806 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_config.cpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_config.cpp
@@ -61,9 +61,9 @@ std::optional<zenoh::Config> _get_z_config(
   // if the environment variable is not set use internal configuration
   configured_uri = envar_uri[0] != '\0' ? envar_uri : default_uri;
   // Try to read the configuration
-  zenoh::ZResult err;
-  zenoh::Config config = zenoh::Config::from_file(configured_uri, &err);
-  if (err != Z_OK) {
+  zenoh::ZResult result;
+  zenoh::Config config = zenoh::Config::from_file(configured_uri, &result);
+  if (result != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Invalid configuration file %s", configured_uri);
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp b/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
index 9c0dab91..795c4dc9 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
@@ -56,8 +56,8 @@ zenoh::Bytes create_map_and_set_sequence_num(
 ZenohQuery::ZenohQuery(
   const zenoh::Query & query,
   std::chrono::nanoseconds::rep received_timestamp)
+: query_(query.clone())
 {
-  query_ = query.clone();
   received_timestamp_ = received_timestamp;
 }
 
@@ -71,7 +71,7 @@ std::chrono::nanoseconds::rep ZenohQuery::get_received_timestamp() const
 ZenohQuery::~ZenohQuery() {}
 
 ///=============================================================================
-const zenoh::Query & ZenohQuery::get_query() const {return query_.value();}
+const zenoh::Query & ZenohQuery::get_query() const {return query_;}
 
 ///=============================================================================
 ZenohReply::ZenohReply(
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp b/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp
index 38bdb53b..4642799b 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp
@@ -77,7 +77,7 @@ class ZenohQuery final
   std::chrono::nanoseconds::rep get_received_timestamp() const;
 
 private:
-  std::optional<zenoh::Query> query_;
+  zenoh::Query query_;
   std::chrono::nanoseconds::rep received_timestamp_;
 };
 }  // namespace rmw_zenoh_cpp
diff --git a/rmw_zenoh_cpp/src/rmw_get_topic_endpoint_info.cpp b/rmw_zenoh_cpp/src/rmw_get_topic_endpoint_info.cpp
index 2ca1808e..3d7570cc 100644
--- a/rmw_zenoh_cpp/src/rmw_get_topic_endpoint_info.cpp
+++ b/rmw_zenoh_cpp/src/rmw_get_topic_endpoint_info.cpp
@@ -35,7 +35,6 @@ rmw_get_publishers_info_by_topic(
   bool no_mangle,
   rmw_topic_endpoint_info_array_t * publishers_info)
 {
-  printf("zenoh::rmw_get_publishers_info_by_topic\n");
   RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
     node,
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index 59f753bd..23220fdf 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -751,7 +751,7 @@ rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher)
   auto pub_data = node_data->get_pub_data(publisher);
   RMW_CHECK_ARGUMENT_FOR_NULL(pub_data, RMW_RET_INVALID_ARGUMENT);
 
-  if (pub_data->is_shutdown()) {
+  if (!pub_data->liveliness_is_valid()) {
     return RMW_RET_ERROR;
   }