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 fdcfaf33..dd994280 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -10,19 +10,12 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_vendor_package REQUIRED)
 
-# Disable default features and only enable tcp transport for zenoh. This reduces
-# build time but more importantly allows us to limit the number of threads that
-# the zenoh session can spin via the session config as well as the ASYNC_STD_THREAD_COUNT
-# environment variable. Without this limit, applications with multiple zenoh sessions can
-# encounter system resource errors when trying to create new threads.
-# Once zenoh migrates to relying on tokio for its async runtime,
-# see https://github.com/eclipse-zenoh/zenoh/pull/566, we can consider
-# removing these flags since with tokio, zenoh can better manage the threads it spins
-# with the help of thread pools.
+# Disable default features and enable only the most useful ones. This reduces build time and footprint.
+# 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 "$<SEMICOLON>" and not ";" as the
 # latter is a list separater in cmake and hence the string will be split into two
 # when expanded.
-set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/transport_tcp zenoh/shared-memory")
+set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/shared-memory zenoh/transport_compression zenoh/transport_tcp zenoh/transport_tls")
 
 # Set VCS_VERSION to include latest changes from zenoh-c to benefit from :
 # - https://github.com/eclipse-zenoh/zenoh-c/pull/340 (fix build issue)
@@ -35,10 +28,5 @@ ament_vendor(zenoh_c_vendor
   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
-# )
+
 ament_package()