diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 7dd4881f..98c6020d 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -21,8 +21,6 @@ jobs:
     - name: Deps
       run: |
         apt update && apt install -y curl
-    - name: Setup Rust
-      uses: dtolnay/rust-toolchain@1.75.0
     - uses: actions/checkout@v2
     - name: rosdep
       run: |
diff --git a/README.md b/README.md
index 621aa7ac..422759a5 100644
--- a/README.md
+++ b/README.md
@@ -15,14 +15,6 @@ For information about the Design please visit [design](docs/design.md) page.
 
 ## Setup
 
-Install latest rustc via `rustup` if building on Ubuntu Jammy.
-Skip this step if building on Ubuntu Noble as `cargo` and `rustc` will be
-installed via `rosdep`.
-```bash
-curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
-rustup install 1.75.0
-```
-
 Build `rmw_zenoh_cpp`
 
 ```bash
diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index 1785a4cd..cc8c6944 100644
--- a/rmw_zenoh_cpp/CMakeLists.txt
+++ b/rmw_zenoh_cpp/CMakeLists.txt
@@ -23,7 +23,10 @@ find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_dds_common REQUIRED)
 find_package(zenoh_c_vendor REQUIRED)
-find_package(zenohc REQUIRED)
+find_package(zenohc_debug QUIET)
+if(NOT zenohc_debug_FOUND)
+  find_package(zenohc REQUIRED)
+endif()
 
 add_library(rmw_zenoh_cpp SHARED
   src/detail/attachment_helpers.cpp
diff --git a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
index c08213e6..3ba55dfa 100644
--- a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
+++ b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
@@ -189,14 +189,7 @@
         },
         // Number of threads dedicated to transmission
         // By default, the number of threads is calculated as follows: 1 + ((#cores - 1) / 4)
-        // We limit the number of threads that the zenoh session can spin to 1.
-        // 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.
-        threads: 1,
+        // threads: 1,
       },
       /// Configure the zenoh RX parameters of a link
       rx: {
diff --git a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5 b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
index df48b032..55415a13 100644
--- a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
+++ b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
@@ -189,14 +189,7 @@
         },
         // Number of threads dedicated to transmission
         // By default, the number of threads is calculated as follows: 1 + ((#cores - 1) / 4)
-        // We limit the number of threads that the zenoh session can spin to 1.
-        // 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.
-        threads: 1,
+        // threads: 1,
       },
       /// Configure the zenoh RX parameters of a link
       rx: {
diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index da56c50a..a3ee866e 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -24,16 +24,12 @@ find_package(ament_cmake_vendor_package REQUIRED)
 # when expanded.
 set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/transport_tcp zenoh/shared-memory")
 
-# Set VCS_VERSION to include changes from https://github.com/eclipse-zenoh/zenoh/pull/802
-# which was synced to zenoh-c in https://github.com/eclipse-zenoh/zenoh-c/pull/272.
-# Apply patches:
-# - https://github.com/eclipse-zenoh/zenoh-c/pull/301
+# Set VCS_VERSION to include latest changes from zenoh-c https://github.com/eclipse-zenoh/zenoh-c/pull/340.
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
-  VCS_VERSION 10176b911096cb92b8ee46bc491b78079ee26c20
+  VCS_VERSION 68ab0c1faa2c3521680352778e618d95f15e2e95
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
-  PATCHES patches
 )
 
 # set(INSTALL_DIR "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-prefix/install")
@@ -42,5 +38,4 @@ ament_vendor(zenoh_c_vendor
 #   DESTINATION "lib/${PROJECT_NAME}"
 #   USE_SOURCE_PERMISSIONS
 # )
-
 ament_package()
diff --git a/zenoh_c_vendor/patches/pr_301.patch b/zenoh_c_vendor/patches/pr_301.patch
deleted file mode 100644
index 68008fd9..00000000
--- a/zenoh_c_vendor/patches/pr_301.patch
+++ /dev/null
@@ -1,24 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 00aa5ca..d236e99 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -27,7 +27,7 @@ declare_cache_var_true_if_vscode(ZENOHC_BUILD_IN_SOURCE_TREE "Do build inside so
- declare_cache_var(ZENOHC_BUILD_WITH_LOGGER_AUTOINIT TRUE BOOL "Enable logger-autoinit zenoh-c feature")
- declare_cache_var(ZENOHC_BUILD_WITH_SHARED_MEMORY TRUE BOOL "Enable shared-memory zenoh-c feature")
- declare_cache_var(ZENOHC_CUSTOM_TARGET "" STRING "Rust target for cross compilation, 'aarch64-unknown-linux-gnu' for example")
--declare_cache_var(ZENOHC_CARGO_CHANNEL "stable" STRING "Cargo channel selected: stable or nightly")
-+declare_cache_var(ZENOHC_CARGO_CHANNEL "" STRING "Cargo channel parameter. Should be '+stable', '+nightly' or empty value")
- declare_cache_var(ZENOHC_CARGO_FLAGS "" STRING "Additional cargo flags")
- declare_cache_var(ZENOHC_LIB_STATIC FALSE BOOL "Alias zenohc::lib target to zenohc::static if TRUE, to zenohc::shared if FALSE")
- 
-@@ -198,8 +198,8 @@ file(GLOB_RECURSE rust_sources "Cargo.toml.in" "src/*.rs" "build.rs" "splitguide
- add_custom_command(
- 	OUTPUT ${libs}
- 	COMMAND ${CMAKE_COMMAND} -E echo \"RUSTFLAGS = $$RUSTFLAGS\"
--	COMMAND ${CMAKE_COMMAND} -E echo \"cargo +${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}\"
--	COMMAND cargo +${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}
-+	COMMAND ${CMAKE_COMMAND} -E echo \"cargo ${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}\"
-+	COMMAND cargo ${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}
- 	VERBATIM
- 	COMMAND_EXPAND_LISTS
- 	DEPENDS "${rust_sources}"