diff --git a/Cargo.lock b/Cargo.lock
index 91f945b..e8a4069 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -26,6 +26,16 @@ version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "320119579fcad9c21884f5c4861d16174d0e06250625266f50fe6898340abefa"
 
+[[package]]
+name = "advisory-lock"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a6caee7d48f930f9ad3fc9546f8cbf843365da0c5b0ca4eee1d1ac3dd12d8f93"
+dependencies = [
+ "libc",
+ "winapi",
+]
+
 [[package]]
 name = "aes"
 version = "0.8.4"
@@ -324,7 +334,16 @@ version = "1.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d1da5ab77c1437701eeff7c88d968729e7766172279eab0676857b3d63af7a6f"
 dependencies = [
- "cfg_aliases",
+ "cfg_aliases 0.2.1",
+]
+
+[[package]]
+name = "buddy_system_allocator"
+version = "0.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a7913f22349ffcfc6ca0ca9a656ec26cfbba538ed49c31a273dff2c5d1ea83d9"
+dependencies = [
+ "spin 0.9.8",
 ]
 
 [[package]]
@@ -382,9 +401,9 @@ checksum = "37b2a672a2cb129a2e41c10b1224bb368f9f37a2b16b612598138befd7b37eb5"
 
 [[package]]
 name = "cc"
-version = "1.2.54"
+version = "1.2.55"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6354c81bbfd62d9cfa9cb3c773c2b7b2a3a482d569de977fd0e961f6e7c00583"
+checksum = "47b26a0954ae34af09b50f0de26458fa95369a0d478d8236d3f93082b219bd29"
 dependencies = [
  "find-msvc-tools",
  "shlex",
@@ -412,6 +431,12 @@ version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
 
+[[package]]
+name = "cfg_aliases"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fd16c4719339c4530435d38e511904438d07cce7950afa3718a84ac36c10e89e"
+
 [[package]]
 name = "cfg_aliases"
 version = "0.2.1"
@@ -483,9 +508,9 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.5.54"
+version = "4.5.56"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c6e6ff9dcd79cff5cd969a17a545d79e84ab086e444102a591e288a8aa3ce394"
+checksum = "a75ca66430e33a14957acc24c5077b503e7d374151b2b4b3a10c83b4ceb4be0e"
 dependencies = [
  "clap_builder",
  "clap_derive",
@@ -493,9 +518,9 @@ dependencies = [
 
 [[package]]
 name = "clap_builder"
-version = "4.5.54"
+version = "4.5.56"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fa42cf4d2b7a41bc8f663a7cab4031ebafa1bf3875705bfaf8466dc60ab52c00"
+checksum = "793207c7fa6300a0608d1080b858e5fdbe713cdc1c8db9fb17777d8a13e63df0"
 dependencies = [
  "anstream",
  "anstyle",
@@ -505,9 +530,9 @@ dependencies = [
 
 [[package]]
 name = "clap_derive"
-version = "4.5.49"
+version = "4.5.55"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2a0b5487afeab2deb2ff4e03a807ad1a03ac532ff5a2cee5d86884440c7f7671"
+checksum = "a92793da1a46a5f2a02a6f4c46c6496b28c43638adea8306fcb0caa1634f24e5"
 dependencies = [
  "heck",
  "proc-macro2",
@@ -932,6 +957,12 @@ dependencies = [
  "syn 2.0.114",
 ]
 
+[[package]]
+name = "dtoa"
+version = "1.0.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4c3cf4824e2d5f025c7b531afcb2325364084a16806f6d47fbc1f5fbd9960590"
+
 [[package]]
 name = "dyn-clone"
 version = "1.0.20"
@@ -1063,9 +1094,9 @@ checksum = "37909eebbb50d72f9059c3b6d82c0463f2ff062c9e95845c43a6c9c0355411be"
 
 [[package]]
 name = "find-msvc-tools"
-version = "0.1.8"
+version = "0.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8591b0bcc8a98a64310a2fae1bb3e9b8564dd10e381e6e28010fde8e8e8568db"
+checksum = "5baebc0774151f905a1a2cc41989300b1e6fbb29aff0ceffa1064fdd3088d582"
 
 [[package]]
 name = "findshlibs"
@@ -1545,9 +1576,9 @@ dependencies = [
 
 [[package]]
 name = "iana-time-zone"
-version = "0.1.64"
+version = "0.1.65"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "33e57f83510bb73707521ebaffa789ec8caf86f9657cad665b092b581d40e9fb"
+checksum = "e31bc9ad994ba00e440a8aa5c9ef0ec67d5cb5e5cb0cc7f8b744a35b389cc470"
 dependencies = [
  "android_system_properties",
  "core-foundation-sys",
@@ -2169,7 +2200,7 @@ checksum = "71e2746dc3a24dd78b3cfcb7be93368c6de9963d30f43a6a73998a9cf4b17b46"
 dependencies = [
  "bitflags 2.10.0",
  "cfg-if",
- "cfg_aliases",
+ "cfg_aliases 0.2.1",
  "libc",
 ]
 
@@ -2771,6 +2802,29 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "prometheus-client"
+version = "0.24.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e4500adecd7af8e0e9f4dbce15cfee07ce913fbf6ad605cc468b83f2d531ee94"
+dependencies = [
+ "dtoa",
+ "itoa",
+ "parking_lot",
+ "prometheus-client-derive-encode",
+]
+
+[[package]]
+name = "prometheus-client-derive-encode"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9adf1691c04c0a5ff46ff8f262b58beb07b0dbb61f96f9f54f6cbd82106ed87f"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.114",
+]
+
 [[package]]
 name = "ptr_meta"
 version = "0.3.1"
@@ -2816,7 +2870,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b9e20a958963c291dc322d98411f541009df2ced7b5a4f2bd52337638cfccf20"
 dependencies = [
  "bytes",
- "cfg_aliases",
+ "cfg_aliases 0.2.1",
  "pin-project-lite",
  "quinn-proto",
  "quinn-udp",
@@ -2858,7 +2912,7 @@ version = "0.5.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "addec6a0dcad8a8d96a771f815f0eaf55f9d1805756410b39f5fa81332574cbd"
 dependencies = [
- "cfg_aliases",
+ "cfg_aliases 0.2.1",
  "libc",
  "once_cell",
  "socket2 0.6.2",
@@ -3168,10 +3222,10 @@ dependencies = [
 [[package]]
 name = "ros-z"
 version = "0.1.0"
-source = "git+https://github.com/ZettaScaleLabs/ros-z.git#8a29bd09e30959dc1f1945b2d7438568d6be199d"
+source = "git+https://github.com/ZettaScaleLabs/ros-z.git#e4fdecc8dac71977093ce5ed666dab852789eb1a"
 dependencies = [
  "byteorder",
- "clap 4.5.54",
+ "clap 4.5.56",
  "csv",
  "dashmap",
  "event-listener",
@@ -3197,7 +3251,7 @@ dependencies = [
 [[package]]
 name = "ros-z-cdr"
 version = "0.1.0"
-source = "git+https://github.com/ZettaScaleLabs/ros-z.git#8a29bd09e30959dc1f1945b2d7438568d6be199d"
+source = "git+https://github.com/ZettaScaleLabs/ros-z.git#e4fdecc8dac71977093ce5ed666dab852789eb1a"
 dependencies = [
  "byteorder",
  "serde",
@@ -3284,7 +3338,7 @@ dependencies = [
 name = "roslibrust_genmsg"
 version = "0.19.0"
 dependencies = [
- "clap 4.5.54",
+ "clap 4.5.56",
  "const_format",
  "env_logger 0.11.8",
  "itertools 0.12.1",
@@ -3991,9 +4045,9 @@ checksum = "69da7c8ef9e55986dcaa55dd095bbf7d321e80cc91644f25ce26a83dbe9e7f14"
 
 [[package]]
 name = "siphasher"
-version = "1.0.1"
+version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "56199f7ddabf13fe5074ce809e7d3f42b42ae711800501b5b16ea82ad029c39d"
+checksum = "b2aa850e253778c88a04c3d7323b043aeda9d3e30d5971937c1855769763678e"
 
 [[package]]
 name = "slab"
@@ -4127,6 +4181,40 @@ version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6ce2be8dc25455e1f91df71bfa12ad37d7af1092ae736f3a6cd0e37bc7810596"
 
+[[package]]
+name = "static_assertions"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
+
+[[package]]
+name = "static_init"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8bae1df58c5fea7502e8e352ec26b5579f6178e1fdb311e088580c980dee25ed"
+dependencies = [
+ "bitflags 1.3.2",
+ "cfg_aliases 0.2.1",
+ "libc",
+ "parking_lot",
+ "parking_lot_core",
+ "static_init_macro",
+ "winapi",
+]
+
+[[package]]
+name = "static_init_macro"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1389c88ddd739ec6d3f8f83343764a0e944cd23cfbf126a9796a714b0b6edd6f"
+dependencies = [
+ "cfg_aliases 0.1.1",
+ "memchr",
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
 [[package]]
 name = "str_stack"
 version = "0.1.0"
@@ -4249,6 +4337,12 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "talc"
+version = "4.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a3ae828aa394de34c7de08f522d1b86bd1c182c668d27da69caadda00590f26d"
+
 [[package]]
 name = "tempfile"
 version = "3.24.0"
@@ -4339,6 +4433,20 @@ dependencies = [
  "syn 2.0.114",
 ]
 
+[[package]]
+name = "thread-priority"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cfe075d7053dae61ac5413a34ea7d4913b6e6207844fd726bdd858b37ff72bf5"
+dependencies = [
+ "bitflags 2.10.0",
+ "cfg-if",
+ "libc",
+ "log",
+ "rustversion",
+ "winapi",
+]
+
 [[package]]
 name = "thread_local"
 version = "1.1.9"
@@ -5021,6 +5129,15 @@ version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "72069c3113ab32ab29e5584db3c6ec55d416895e60715417b5b883a357c3e471"
 
+[[package]]
+name = "win-sys"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5b7b128a98c1cfa201b09eb49ba285887deb3cbe7466a98850eb1adabb452be5"
+dependencies = [
+ "windows",
+]
+
 [[package]]
 name = "winapi"
 version = "0.3.9"
@@ -5052,6 +5169,19 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
 
+[[package]]
+name = "windows"
+version = "0.34.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "45296b64204227616fdbf2614cefa4c236b98ee64dfaaaa435207ed99fe7829f"
+dependencies = [
+ "windows_aarch64_msvc 0.34.0",
+ "windows_i686_gnu 0.34.0",
+ "windows_i686_msvc 0.34.0",
+ "windows_x86_64_gnu 0.34.0",
+ "windows_x86_64_msvc 0.34.0",
+]
+
 [[package]]
 name = "windows-core"
 version = "0.62.2"
@@ -5243,6 +5373,12 @@ version = "0.53.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a9d8416fa8b42f5c947f8482c43e7d89e73a173cead56d044f6a56104a6d1b53"
 
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.34.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "17cffbe740121affb56fad0fc0e421804adf0ae00891205213b5cecd30db881d"
+
 [[package]]
 name = "windows_aarch64_msvc"
 version = "0.42.2"
@@ -5267,6 +5403,12 @@ version = "0.53.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b9d782e804c2f632e395708e99a94275910eb9100b2114651e04744e9b125006"
 
+[[package]]
+name = "windows_i686_gnu"
+version = "0.34.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2564fde759adb79129d9b4f54be42b32c89970c18ebf93124ca8870a498688ed"
+
 [[package]]
 name = "windows_i686_gnu"
 version = "0.42.2"
@@ -5303,6 +5445,12 @@ version = "0.53.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fa7359d10048f68ab8b09fa71c3daccfb0e9b559aed648a8f95469c27057180c"
 
+[[package]]
+name = "windows_i686_msvc"
+version = "0.34.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9cd9d32ba70453522332c14d38814bceeb747d80b3958676007acadd7e166956"
+
 [[package]]
 name = "windows_i686_msvc"
 version = "0.42.2"
@@ -5327,6 +5475,12 @@ version = "0.53.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1e7ac75179f18232fe9c285163565a57ef8d3c89254a30685b57d83a38d326c2"
 
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.34.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cfce6deae227ee8d356d19effc141a509cc503dfd1f850622ec4b0f84428e1f4"
+
 [[package]]
 name = "windows_x86_64_gnu"
 version = "0.42.2"
@@ -5375,6 +5529,12 @@ version = "0.53.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0ffa179e2d07eee8ad8f57493436566c7cc30ac536a3379fdf008f47f6bb7ae1"
 
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.34.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d19538ccc21819d01deaf88d6a17eae6596a12e9aafdbb97916fb49896d89de9"
+
 [[package]]
 name = "windows_x86_64_msvc"
 version = "0.42.2"
@@ -5535,6 +5695,7 @@ dependencies = [
  "zenoh-protocol",
  "zenoh-result",
  "zenoh-runtime",
+ "zenoh-shm",
  "zenoh-sync",
  "zenoh-task",
  "zenoh-transport",
@@ -5560,6 +5721,7 @@ dependencies = [
  "uhlc",
  "zenoh-buffers",
  "zenoh-protocol",
+ "zenoh-shm",
 ]
 
 [[package]]
@@ -5957,6 +6119,50 @@ dependencies = [
  "zenoh-result",
 ]
 
+[[package]]
+name = "zenoh-shm"
+version = "1.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "42184ae820d64d40814c0dd3b48f748c55a3ff5591c524f1bde36f21ccfda488"
+dependencies = [
+ "advisory-lock",
+ "async-trait",
+ "buddy_system_allocator",
+ "cfg_aliases 0.2.1",
+ "crossbeam-channel",
+ "crossbeam-queue",
+ "nix 0.29.0",
+ "num-traits",
+ "rand 0.8.5",
+ "stabby",
+ "static_assertions",
+ "static_init",
+ "talc",
+ "thread-priority",
+ "tokio",
+ "tracing",
+ "win-sys",
+ "winapi",
+ "zenoh-buffers",
+ "zenoh-core",
+ "zenoh-macros",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zenoh-stats"
+version = "1.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8954c79580ed3365580d86f40657f2cd6bf4b4c72dd463de936368df8c709c65"
+dependencies = [
+ "ahash",
+ "prometheus-client",
+ "serde_json",
+ "smallvec",
+ "zenoh-keyexpr",
+ "zenoh-protocol",
+]
+
 [[package]]
 name = "zenoh-sync"
 version = "1.7.2"
@@ -6015,6 +6221,8 @@ dependencies = [
  "zenoh-protocol",
  "zenoh-result",
  "zenoh-runtime",
+ "zenoh-shm",
+ "zenoh-stats",
  "zenoh-sync",
  "zenoh-task",
  "zenoh-util",
@@ -6049,18 +6257,18 @@ dependencies = [
 
 [[package]]
 name = "zerocopy"
-version = "0.8.34"
+version = "0.8.36"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "71ddd76bcebeed25db614f82bf31a9f4222d3fbba300e6fb6c00afa26cbd4d9d"
+checksum = "dafd85c832c1b68bbb4ec0c72c7f6f4fc5179627d2bc7c26b30e4c0cc11e76cc"
 dependencies = [
  "zerocopy-derive",
 ]
 
 [[package]]
 name = "zerocopy-derive"
-version = "0.8.34"
+version = "0.8.36"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d8187381b52e32220d50b255276aa16a084ec0a9017a0ca2152a1f55c539758d"
+checksum = "7cb7e4e8436d9db52fbd6625dbf2f45243ab84994a72882ec8227b99e72b439a"
 dependencies = [
  "proc-macro2",
  "quote",
diff --git a/roslibrust_ros2/src/lib.rs b/roslibrust_ros2/src/lib.rs
index 9658fd2..b4bbbd1 100644
--- a/roslibrust_ros2/src/lib.rs
+++ b/roslibrust_ros2/src/lib.rs
@@ -46,6 +46,21 @@ impl<T: RosMessageType> ros_z::msg::ZSerializer for WrapperSerdes<T> {
     fn serialize_to_buf(input: Self::Input<'_>, buffer: &mut Vec<u8>) {
         ros_z::msg::CdrSerdes::<T>::serialize_to_buf(&input.0, buffer)
     }
+
+    fn serialize_to_zbuf_with_hint(
+        input: Self::Input<'_>,
+        capacity_hint: usize,
+    ) -> zenoh_buffers::ZBuf {
+        ros_z::msg::CdrSerdes::<T>::serialize_to_zbuf_with_hint(&input.0, capacity_hint)
+    }
+
+    fn serialize_to_shm(
+        input: Self::Input<'_>,
+        estimated_size: usize,
+        provider: &zenoh::shm::ShmProvider<zenoh::shm::PosixShmProviderBackend>,
+    ) -> zenoh::Result<(zenoh_buffers::ZBuf, usize)> {
+        ros_z::msg::CdrSerdes::<T>::serialize_to_shm(&input.0, estimated_size, provider)
+    }
 }
 
 impl<T: RosMessageType> ros_z::msg::ZDeserializer for WrapperSerdes<T> {