diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 209f2e24..d54a28b5 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -26,6 +26,14 @@ on:
         type: string
         description: Release number
         required: false
+      zenoh-c-version:
+        type: string
+        description: Release number of zenoh-c
+        required: false
+      zenoh-pico-version:
+        type: string
+        description: Release number of zenoh-pico
+        required: false
 
 jobs:
   tag:
@@ -56,6 +64,9 @@ jobs:
         run: bash ci/scripts/bump-and-tag.bash
         env:
           VERSION: ${{ steps.create-release-branch.outputs.version }}
+          BRANCH: ${{ steps.create-release-branch.outputs.branch }}
+          ZENOH_C_BRANCH: ${{ inputs.zenoh-c-version && format('release/{0}', inputs.zenoh-c-version) || '' }}
+          ZENOH_PICO_BRANCH: ${{ inputs.zenoh-pico-version && format('release/{0}', inputs.zenoh-pico-version) || '' }}
           GIT_USER_NAME: eclipse-zenoh-bot
           GIT_USER_EMAIL: eclipse-zenoh-bot@users.noreply.github.com
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8b687e0b..ddc12340 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,6 +2,9 @@ cmake_minimum_required(VERSION 3.16)
 
 file(READ ${CMAKE_CURRENT_SOURCE_DIR}/version.txt version)
 
+file(READ ${CMAKE_CURRENT_SOURCE_DIR}/zenoh-c-branch.txt zenoh_c_branch)
+file(READ ${CMAKE_CURRENT_SOURCE_DIR}/zenoh-pico-branch.txt zenoh_pico_branch)
+
 project(
 	zenohcxx
 	VERSION ${version}
@@ -16,8 +19,8 @@ include(helpers)
 if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_CURRENT_SOURCE_DIR})
 	enable_testing()
 	set_default_build_type(Release)
-	configure_include_project(ZENOHCXX_ZENOHPICO zenohpico zenohpico "../zenoh-pico" zenohpico "https://github.com/eclipse-zenoh/zenoh-pico" "main")
-	configure_include_project(ZENOHCXX_ZENOHC zenohc zenohc::lib "../zenoh-c" zenohc "https://github.com/eclipse-zenoh/zenoh-c" "main")
+	configure_include_project(ZENOHCXX_ZENOHPICO zenohpico zenohpico "../zenoh-pico" zenohpico "https://github.com/eclipse-zenoh/zenoh-pico" ${zenoh_pico_branch})
+	configure_include_project(ZENOHCXX_ZENOHC zenohc zenohc::lib "../zenoh-c" zenohc "https://github.com/eclipse-zenoh/zenoh-c" ${zenoh_c_branch})
 endif()
 
 #
diff --git a/ci/scripts/bump-and-tag.bash b/ci/scripts/bump-and-tag.bash
index b39af9a5..81f1791e 100644
--- a/ci/scripts/bump-and-tag.bash
+++ b/ci/scripts/bump-and-tag.bash
@@ -4,6 +4,12 @@ set -xeo pipefail
 
 # Release number
 readonly version=${VERSION:?input VERSION is required}
+# Branch
+readonly branch=${BRANCH:?input BRANCH is required}
+# Branch of zenoh-c
+readonly zenoh_c_branch=${ZENOH_C_BRANCH:-''}
+# Branch of zenoh-pico
+readonly zenoh_pico_branch=${ZENOH_PICO_BRANCH:-''}
 # Git actor name
 readonly git_user_name=${GIT_USER_NAME:?input GIT_USER_NAME is required}
 # Git actor email
@@ -17,6 +23,15 @@ export GIT_COMMITTER_EMAIL=$git_user_email
 # Bump CMake project version
 printf '%s' "$version" > version.txt
 
+# Set branches
+printf '%s' "$branch" > zenoh-cpp-branch.txt
+if [[ $zenoh_c_branch != '' ]]; then
+  printf '%s' "$zenoh_c_branch" > zenoh-c-branch.txt
+fi
+if [[ $zenoh_pico_branch != '' ]]; then
+  printf '%s' "$zenoh_pico_branch" > zenoh-pico-branch.txt
+fi
+
 git commit version.txt -m "chore: Bump version to $version"
 git tag --force "$version" -m "v$version"
 git log -10
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index d991399c..b290a3a1 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -1,3 +1,7 @@
+file(READ ${CMAKE_CURRENT_SOURCE_DIR}/../zenoh-c-branch.txt zenoh_c_branch)
+file(READ ${CMAKE_CURRENT_SOURCE_DIR}/../zenoh-pico-branch.txt zenoh_pico_branch)
+file(READ ${CMAKE_CURRENT_SOURCE_DIR}/../zenoh-cpp-branch.txt zenoh_cpp_branch)
+
 if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_CURRENT_SOURCE_DIR})
     # Settings when 'examples' is the root projet
     cmake_minimum_required(VERSION 3.16)
@@ -5,9 +9,9 @@ if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_CURRENT_SOURCE_DIR})
 	set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../cmake ${CMAKE_MODULE_PATH})
     include(helpers)
     set_default_build_type(Release)
-    configure_include_project(ZENOHCXX_ZENOHC zenohc zenohc::lib "../../zenoh-c" zenohc "https://github.com/eclipse-zenoh/zenoh-c" "main")
-    configure_include_project(ZENOHPICO zenohpico zenohpico "../../zenoh-pico" zenohc "https://github.com/eclipse-zenoh/zenoh-pico" "main")
-    configure_include_project(ZENOHCXX zenohcxx zenohcxx ".." zenohcxx "https://github.com/eclipse-zenoh/zenoh-cpp" "main")
+    configure_include_project(ZENOHCXX_ZENOHC zenohc zenohc::lib "../../zenoh-c" zenohc "https://github.com/eclipse-zenoh/zenoh-c" ${zenoh_c_branch})
+    configure_include_project(ZENOHPICO zenohpico zenohpico "../../zenoh-pico" zenohc "https://github.com/eclipse-zenoh/zenoh-pico" ${zenoh_pico_branch})
+    configure_include_project(ZENOHCXX zenohcxx zenohcxx ".." zenohcxx "https://github.com/eclipse-zenoh/zenoh-cpp" ${zenoh_cpp_branch})
     add_custom_target(examples ALL)
 else()
     message(STATUS "zenoh-cxx examples")
@@ -51,4 +55,4 @@ add_examples("${CMAKE_CURRENT_SOURCE_DIR}/universal/*.cxx" zenohpico zenohcxx::z
 add_examples("${CMAKE_CURRENT_SOURCE_DIR}/simple/universal/z_simple.cxx" zenohpico zenohcxx::zenohpico)
 add_examples("${CMAKE_CURRENT_SOURCE_DIR}/simple/universal/z_simple.cxx" zenohc zenohcxx::zenohc::lib)
 add_examples("${CMAKE_CURRENT_SOURCE_DIR}/simple/zenohpico/zp_simple.cxx" zenohpico zenohcxx::zenohpico)
-add_examples("${CMAKE_CURRENT_SOURCE_DIR}/simple/zenohc/zc_simple.cxx" zenohc zenohcxx::zenohc::lib)
\ No newline at end of file
+add_examples("${CMAKE_CURRENT_SOURCE_DIR}/simple/zenohc/zc_simple.cxx" zenohc zenohcxx::zenohc::lib)
diff --git a/zenoh-c-branch.txt b/zenoh-c-branch.txt
new file mode 100644
index 00000000..88d050b1
--- /dev/null
+++ b/zenoh-c-branch.txt
@@ -0,0 +1 @@
+main
\ No newline at end of file
diff --git a/zenoh-cpp-branch.txt b/zenoh-cpp-branch.txt
new file mode 100644
index 00000000..88d050b1
--- /dev/null
+++ b/zenoh-cpp-branch.txt
@@ -0,0 +1 @@
+main
\ No newline at end of file
diff --git a/zenoh-pico-branch.txt b/zenoh-pico-branch.txt
new file mode 100644
index 00000000..88d050b1
--- /dev/null
+++ b/zenoh-pico-branch.txt
@@ -0,0 +1 @@
+main
\ No newline at end of file