diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index d2145006..95c2b2c2 100644
--- a/rmw_zenoh_cpp/CMakeLists.txt
+++ b/rmw_zenoh_cpp/CMakeLists.txt
@@ -7,6 +7,8 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD_REQUIRED ON)
 endif()
 
+set(RMW_ZENOH_BUILD_WITH_SHARED_MEMORY OFF CACHE BOOL "Compile Zenoh RMW with Shared Memory support")
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
@@ -77,6 +79,14 @@ target_compile_definitions(rmw_zenoh_cpp
     RMW_VERSION_PATCH=${rmw_VERSION_PATCH}
 )
 
+if(${RMW_ZENOH_BUILD_WITH_SHARED_MEMORY})
+  target_compile_definitions(rmw_zenoh_cpp
+    PRIVATE
+      RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+  )
+endif()
+
+
 ament_export_targets(export_rmw_zenoh_cpp)
 
 register_rmw_implementation(
diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index 943ebb1d..2a247363 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -15,7 +15,9 @@ find_package(ament_cmake_vendor_package REQUIRED)
 # 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=shared-memory zenoh/transport_compression zenoh/transport_tcp zenoh/transport_tls")
+set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/transport_compression zenoh/transport_tcp zenoh/transport_tls")
+
+set(RMW_ZENOH_BUILD_WITH_SHARED_MEMORY OFF CACHE BOOL "Compile Zenoh RMW with Shared Memory support")
 
 # 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)
@@ -27,7 +29,7 @@ ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c
   VCS_VERSION dev/1.0.0
   CMAKE_ARGS
-    "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
+    "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}; -DZENOHC_BUILD_WITH_SHARED_MEMORY=${RMW_ZENOH_BUILD_WITH_SHARED_MEMORY}; -DZENOHC_BUILD_WITH_UNSTABLE_API=${RMW_ZENOH_BUILD_WITH_SHARED_MEMORY}"
 )
 
 ament_package()