diff --git a/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp b/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp
index 0b314d35..78308a86 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp
@@ -52,8 +52,9 @@ class rmw_context_impl_s final
   // An owned session.
   z_owned_session_t session;
 
-  // TODO(yuyuan): SHM
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
   std::optional<z_owned_shm_provider_t> shm_provider;
+#endif
 
   z_owned_subscriber_t graph_subscriber;
 
diff --git a/rmw_zenoh_cpp/src/rmw_init.cpp b/rmw_zenoh_cpp/src/rmw_init.cpp
index da45fc50..5a4182ec 100644
--- a/rmw_zenoh_cpp/src/rmw_init.cpp
+++ b/rmw_zenoh_cpp/src/rmw_init.cpp
@@ -41,9 +41,11 @@
 
 
 extern "C" {
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
 // Megabytes of SHM to reserve.
 // TODO(clalancette): Make this configurable, or get it from the configuration
 #define SHM_BUFFER_SIZE_MB 10
+#endif
 
 namespace
 {
@@ -177,13 +179,14 @@ rmw_ret_t rmw_init(const rmw_init_options_t *options, rmw_context_t *context) {
     return ret;
   }
 
-  // TODO(yuyuan): SHM
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
   z_owned_string_t shm_enabled;
   zc_config_get_from_str(z_loan(config), Z_CONFIG_SHARED_MEMORY_KEY, &shm_enabled);
   auto free_shm_= rcpputils::make_scope_exit(
     [&shm_enabled]() {
       z_drop(z_move(shm_enabled));
     });
+#endif
 
   // Initialize the zenoh session.
   if(z_open(&context->impl->session, z_move(config))) {
@@ -221,7 +224,7 @@ rmw_ret_t rmw_init(const rmw_init_options_t *options, rmw_context_t *context) {
     }
   }
 
-  // TODO(yuyuan): SHM
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
   // Initialize the shm manager if shared_memory is enabled in the config.
   if (strncmp(z_string_data(z_loan(shm_enabled)), "true", z_string_len(z_loan(shm_enabled))) == 0) {
     printf(">>> SHM is enabled\n");
@@ -245,6 +248,7 @@ rmw_ret_t rmw_init(const rmw_init_options_t *options, rmw_context_t *context) {
         z_drop(z_move(context->impl->shm_provider.value()));
       }
     });
+#endif
 
   // Initialize the guard condition.
   context->impl->graph_guard_condition =
@@ -380,7 +384,9 @@ rmw_ret_t rmw_init(const rmw_init_options_t *options, rmw_context_t *context) {
   free_options.cancel();
   impl_destructor.cancel();
   free_impl.cancel();
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
   free_shm_provider.cancel();
+#endif
   restore_context.cancel();
 
   return RMW_RET_OK;
@@ -397,9 +403,12 @@ rmw_ret_t rmw_shutdown(rmw_context_t *context) {
                                    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
 
   z_undeclare_subscriber(z_move(context->impl->graph_subscriber));
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+  // Drop SHM provider
   if (context->impl->shm_provider.has_value()) {
     z_drop(z_move(context->impl->shm_provider.value()));
   }
+#endif
   // Close the zenoh session
   if (z_close(z_move(context->impl->session)) < 0) {
     RMW_SET_ERROR_MSG("Error while closing zenoh session");
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index efded20a..8588e23b 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -161,8 +161,10 @@ find_service_type_support(const rosidl_service_type_support_t *type_supports) {
 
 extern "C" {
 
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
 // TODO(yuyuan): SHM, make this configurable
 #define SHM_BUF_OK_SIZE 2621440
+#endif
 
 //==============================================================================
 /// Get the name of the rmw implementation being used
@@ -885,22 +887,31 @@ rmw_ret_t rmw_publish(const rmw_publisher_t *publisher, const void *ros_message,
   // To store serialized message byte array.
   char *msg_bytes = nullptr;
 
-  // TODO(yuyuan): SHM
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
   std::optional<z_owned_shm_mut_t> shmbuf = std::nullopt;
   auto always_free_shmbuf = rcpputils::make_scope_exit([&shmbuf]() {
     if (shmbuf.has_value()) {
-      // TODO(yuyuan): do we need to drop z_owned_shm_mut_t?
       z_drop(z_move(shmbuf.value()));
     }
   });
+#endif
+
   auto free_msg_bytes =
-      rcpputils::make_scope_exit([&msg_bytes, allocator, &shmbuf]() {
-        if (msg_bytes && !shmbuf.has_value()) {
+      rcpputils::make_scope_exit([&msg_bytes, allocator
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+      , &shmbuf
+#endif
+      ]() {
+        if (msg_bytes
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
+        && !shmbuf.has_value()
+#endif
+        ) {
           allocator->deallocate(msg_bytes, allocator->state);
         }
       });
 
-  // TODO(yuyuan): SHM
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
   // Get memory from SHM buffer if available.
   if (publisher_data->context->impl->shm_provider.has_value()) {
     // printf(">>> rmw_publish(), SHM enabled\n");
@@ -923,7 +934,9 @@ rmw_ret_t rmw_publish(const rmw_publisher_t *publisher, const void *ros_message,
       return RMW_RET_ERROR;
     }
 
-  } else {
+  } else
+#endif
+  {
     // printf(">>> rmw_publish(), SHM disabled\n");
 
     // Get memory from the allocator.
@@ -966,11 +979,13 @@ rmw_ret_t rmw_publish(const rmw_publisher_t *publisher, const void *ros_message,
 
   z_owned_bytes_t payload;
 
-  // TODO(yuyuan): SHM
+#ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
   if (shmbuf.has_value()) {
     z_bytes_serialize_from_shm_mut(&payload, z_move(shmbuf.value()));
     z_publisher_put(z_loan(publisher_data->pub), z_move(payload), &options);
-  } else {
+  } else
+#endif
+  {
     z_bytes_serialize_from_buf(
         &payload, reinterpret_cast<const uint8_t *>(msg_bytes), data_length);
     if (z_publisher_put(z_loan(publisher_data->pub), z_move(payload), &options)) {