diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 3ac1d012..80c6faee 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -25,21 +25,15 @@ jobs:
     name: Code checks
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: Install Rust toolchain
         run: |
           rustup show
           rustup component add rustfmt clippy
       - name: Code format check
-        uses: actions-rs/cargo@v1
-        with:
-          command: fmt
-          args: -- --check
+        run: cargo fmt --check
       - name: Clippy check
-        uses: actions-rs/cargo@v1
-        with:
-          command: clippy
-          args: -- -D warnings
+        run: cargo clippy -- -D warnings
       - name: Environment setup
         id: env
         shell: bash
@@ -90,53 +84,78 @@ jobs:
       fail-fast: false
       matrix:
         job:
-          - { target: x86_64-unknown-linux-gnu, arch: amd64, os: ubuntu-20.04 }
-          - { target: x86_64-apple-darwin, arch: darwin, os: macos-latest }
-          - { target: aarch64-apple-darwin, arch: darwin, os: macos-latest }
+          - {
+              target: x86_64-unknown-linux-gnu,
+              arch: amd64,
+              os: ubuntu-20.04,
+              build-cmd: "cargo",
+            }
+          - {
+              target: x86_64-apple-darwin,
+              arch: darwin,
+              os: macos-latest,
+              build-cmd: "cargo",
+            }
+          - {
+              target: aarch64-apple-darwin,
+              arch: darwin,
+              os: macos-latest,
+              build-cmd: "cargo",
+            }
           - {
               target: x86_64-unknown-linux-musl,
               arch: amd64,
               os: ubuntu-20.04,
-              use-cross: true,
+              build-cmd: "cross",
             }
           - {
               target: arm-unknown-linux-gnueabi,
               arch: armel,
               os: ubuntu-20.04,
-              use-cross: true,
+              build-cmd: "cross",
             }
           - {
               target: arm-unknown-linux-gnueabihf,
               arch: armhf,
               os: ubuntu-20.04,
-              use-cross: true,
+              build-cmd: "cross",
             }
           - {
               target: armv7-unknown-linux-gnueabihf,
               arch: armhf,
               os: ubuntu-20.04,
-              use-cross: true,
+              build-cmd: "cross",
             }
           - {
               target: aarch64-unknown-linux-gnu,
               arch: arm64,
               os: ubuntu-20.04,
-              use-cross: true,
+              build-cmd: "cross",
             }
           - {
               target: aarch64-unknown-linux-musl,
               arch: arm64,
               os: ubuntu-20.04,
-              use-cross: true,
+              build-cmd: "cross",
+            }
+          - {
+              target: x86_64-pc-windows-msvc,
+              arch: win64,
+              os: windows-2019,
+              build-cmd: "cargo",
             }
-          - { target: x86_64-pc-windows-msvc, arch: win64, os: windows-2019 }
           ##
           ## NOTE: cannon build for Windows GNU as not supported by cyclors
           ##
-          # - { target: x86_64-pc-windows-gnu, arch: win64 , os: windows-2019 }
+          # - {
+          #     target: x86_64-pc-windows-gnu,
+          #     arch: win64,
+          #     os: windows-2019,
+          #     build-cmd: "cargo",
+          #   }
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
         with:
           fetch-depth: 500 # NOTE: get long history for git-version crate to correctly compute a version
       - name: Fetch Git tags # NOTE: workaround for https://github.com/actions/checkout/issues/290
@@ -164,38 +183,26 @@ jobs:
               ;;
           esac
 
+          cargo install cross --git https://github.com/cross-rs/cross
+
       - name: Install Rust toolchain
         run: |
           rustup show
           rustup target add ${{ matrix.job.target }}
 
       - name: zenoh-plugin-dds > Build
-        uses: actions-rs/cargo@v1
-        with:
-          use-cross: ${{ matrix.job.use-cross }}
-          command: build
-          args: --release --target=${{ matrix.job.target }} -p zenoh-plugin-dds
-
+        run: ${{ matrix.job.build-cmd }} build --release --target=${{ matrix.job.target }} -p zenoh-plugin-dds
+  
       - name: zenoh-bridge-dds > Build
-        uses: actions-rs/cargo@v1
-        with:
-          use-cross: ${{ matrix.job.use-cross }}
-          command: build
-          args: --release --target=${{ matrix.job.target }} -p zenoh-bridge-dds
+        run: ${{ matrix.job.build-cmd }} build --release --target=${{ matrix.job.target }} -p zenoh-bridge-dds
 
       - name: zenoh-plugin-dds > Debian package
         if: contains(matrix.job.target, '-linux-gnu')
-        uses: actions-rs/cargo@v1
-        with:
-          command: deb
-          args: --no-build --target=${{ matrix.job.target }} -p zenoh-plugin-dds
+        run: cargo deb --no-build --target=${{ matrix.job.target }} -p zenoh-plugin-dds
 
       - name: zenoh-bridge-dds > Debian package
         if: contains(matrix.job.target, '-linux-gnu')
-        uses: actions-rs/cargo@v1
-        with:
-          command: deb
-          args: --no-build --target=${{ matrix.job.target }} -p zenoh-bridge-dds
+        run: cargo deb --no-build --target=${{ matrix.job.target }} -p zenoh-bridge-dds
 
       - name: Packaging
         id: package
@@ -249,7 +256,7 @@ jobs:
           esac
 
       - name: "Upload packages"
-        uses: actions/upload-artifact@master
+        uses: actions/upload-artifact@v3
         with:
           name: ${{ matrix.job.target }}
           path: |
@@ -262,14 +269,14 @@ jobs:
     needs: [checks, builds]
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 500 # NOTE: get long history for git-version crate to correctly compute a version
       - name: Fetch Git tags # NOTE: workaround for https://github.com/actions/checkout/issues/290
         shell: bash
         run: git fetch --tags --force
       - name: Download packages from previous job
-        uses: actions/download-artifact@v2
+        uses: actions/download-artifact@v3
         with:
           path: PACKAGES
       - name: Unzip PACKAGES
@@ -281,19 +288,19 @@ jobs:
           unzip PACKAGES/aarch64-unknown-linux-musl/zenoh-bridge-dds-${{ needs.checks.outputs.PKG_VERSION }}-aarch64-unknown-linux-musl.zip -d docker/linux/arm64/
           tree docker
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v1
+        uses: docker/setup-buildx-action@v3
       - name: Docker meta - set tags and labels
         id: meta
-        uses: docker/metadata-action@v3
+        uses: docker/metadata-action@v5
         with:
           images: eclipse/zenoh-bridge-dds
       - name: Login to DockerHub
-        uses: docker/login-action@v1
+        uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKER_COM_USERNAME }}
           password: ${{ secrets.DOCKER_COM_PASSWORD }}
       - name: Build and push
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v5
         with:
           context: .
           platforms: linux/amd64,linux/arm64
@@ -309,7 +316,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Download result of previous builds
-        uses: actions/download-artifact@v2
+        uses: actions/download-artifact@v3
         with:
           path: ARTIFACTS
       - name: Publish as github release
@@ -339,7 +346,7 @@ jobs:
           scp -o "StrictHostKeyChecking=no" -r * ${SSH_TARGET}:${DOWNLOAD_DIR}/
           echo "---- cleanup identity"
           ssh-add -D
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: Install Rust toolchain
         run: rustup show
       - name: Publish to crates.io
diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 1cca51be..9f26e691 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -32,7 +32,7 @@ jobs:
         os: [ubuntu-latest, macOS-latest, windows-latest]
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
       - name: Install ACL
         if: startsWith(matrix.os,'ubuntu')
@@ -44,43 +44,22 @@ jobs:
           rustup component add rustfmt clippy
 
       - name: Code format check
-        uses: actions-rs/cargo@v1
-        with:
-          command: fmt
-          args: -- --check
+        run: cargo fmt --check
 
       - name: Clippy
-        uses: actions-rs/cargo@v1
-        with:
-          command: clippy
-          args: --all --examples -- -D warnings
+        run: cargo clippy --all --examples -- -D warnings
 
       - name: Build zenoh-plugin-dds
-        uses: actions-rs/cargo@v1
-        with:
-          command: build
-          args: -p zenoh-plugin-dds --verbose --all-targets
+        run: cargo build -p zenoh-plugin-dds --verbose --all-targets
 
       - name: Build zenoh-plugin-dds (with dds_shm)
-        uses: actions-rs/cargo@v1
-        with:
-          command: build
-          args: -p zenoh-plugin-dds --features dds_shm --verbose --all-targets
+        run: cargo build -p zenoh-plugin-dds --features dds_shm --verbose --all-targets
 
       - name: Build zenoh-bridge-dds
-        uses: actions-rs/cargo@v1
-        with:
-          command: build
-          args: -p zenoh-bridge-dds  --verbose --all-targets
+        run: cargo build -p zenoh-bridge-dds  --verbose --all-targets
 
       - name: Build zenoh-bridge-dds (with dds_shm)
-        uses: actions-rs/cargo@v1
-        with:
-          command: build
-          args: -p zenoh-bridge-dds --features dds_shm  --verbose --all-targets
+        run: cargo build -p zenoh-bridge-dds --features dds_shm  --verbose --all-targets
 
       - name: Run tests
-        uses: actions-rs/cargo@v1
-        with:
-          command: test
-          args: --verbose
+        run: cargo test --verbose
diff --git a/Cargo.lock b/Cargo.lock
index 3114a7f8..7a35eeb0 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -127,9 +127,9 @@ dependencies = [
 
 [[package]]
 name = "anstream"
-version = "0.5.0"
+version = "0.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1f58811cfac344940f1a400b6e6231ce35171f614f26439e80f8c1465c5cc0c"
+checksum = "2ab91ebe16eb252986481c5b62f6098f3b698a45e34b5b98200cf20dd2484a44"
 dependencies = [
  "anstyle",
  "anstyle-parse",
@@ -160,17 +160,17 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5ca11d4be1bab0c8bc8734a9aa7bf4ee8316d462a08c6ac5052f888fef5b494b"
 dependencies = [
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
 name = "anstyle-wincon"
-version = "2.1.0"
+version = "3.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "58f54d10c6dfa51283a066ceab3ec1ab78d13fae00aa49243a45e4571fb79dfd"
+checksum = "1cd54b81ec8d6180e24654d0b371ad22fc3dd083b6ff8ba325b72e00c87660a7"
 dependencies = [
  "anstyle",
- "windows-sys",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -214,7 +214,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "81953c529336010edd6d8e358f886d9581267795c61b19475b71314bffa46d35"
 dependencies = [
  "concurrent-queue",
- "event-listener",
+ "event-listener 2.5.3",
  "futures-core",
 ]
 
@@ -306,7 +306,7 @@ version = "2.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "287272293e9d8c41773cec55e365490fe034813a2f172f502d6ddcf75b2f582b"
 dependencies = [
- "event-listener",
+ "event-listener 2.5.3",
 ]
 
 [[package]]
@@ -320,11 +320,11 @@ dependencies = [
  "autocfg",
  "blocking",
  "cfg-if 1.0.0",
- "event-listener",
+ "event-listener 2.5.3",
  "futures-lite",
  "rustix 0.37.25",
  "signal-hook",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -674,7 +674,7 @@ dependencies = [
  "num-traits",
  "serde",
  "wasm-bindgen",
- "windows-targets",
+ "windows-targets 0.48.5",
 ]
 
 [[package]]
@@ -724,9 +724,9 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.4.3"
+version = "4.4.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "84ed82781cea27b43c9b106a979fe450a13a31aab0500595fb3fc06616de08e6"
+checksum = "bfaff671f6b22ca62406885ece523383b9b64022e341e53e009a62ebc47a45f2"
 dependencies = [
  "clap_builder",
  "clap_derive",
@@ -734,21 +734,21 @@ dependencies = [
 
 [[package]]
 name = "clap_builder"
-version = "4.4.2"
+version = "4.4.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2bb9faaa7c2ef94b2743a21f5a29e6f0010dff4caa69ac8e9d6cf8b6fa74da08"
+checksum = "a216b506622bb1d316cd51328dce24e07bdff4a6128a47c7e7fad11878d5adbb"
 dependencies = [
  "anstream",
  "anstyle",
- "clap_lex 0.5.1",
+ "clap_lex 0.6.0",
  "strsim",
 ]
 
 [[package]]
 name = "clap_derive"
-version = "4.4.2"
+version = "4.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0862016ff20d69b84ef8247369fabf5c008a7417002411897d40ee1f4532b873"
+checksum = "cf9804afaaf59a91e75b022a30fb7229a7901f60c755489cc61c9b423b836442"
 dependencies = [
  "heck",
  "proc-macro2",
@@ -767,9 +767,9 @@ dependencies = [
 
 [[package]]
 name = "clap_lex"
-version = "0.5.1"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cd7cc57abe963c6d3b9d8be5b06ba7c8957a930305ca90304f24ef040aa6f961"
+checksum = "702fc72eb24e5a1e48ce58027a675bc24edd52096d5397d4aea7c6dd9eca0bd1"
 
 [[package]]
 name = "cmake"
@@ -1017,7 +1017,7 @@ dependencies = [
  "libc",
  "option-ext",
  "redox_users",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -1083,7 +1083,7 @@ checksum = "136526188508e25c6fef639d7927dfb3e0e3084488bf202267829cf7fc23dbdd"
 dependencies = [
  "errno-dragonfly",
  "libc",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -1102,6 +1102,17 @@ version = "2.5.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0206175f82b8d6bf6652ff7d71a1e27fd2e4efde587fd368662814d6ec1d9ce0"
 
+[[package]]
+name = "event-listener"
+version = "4.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "770d968249b5d99410d61f5bf89057f3199a077a04d087092f58e7d10692baae"
+dependencies = [
+ "concurrent-queue",
+ "parking",
+ "pin-project-lite 0.2.13",
+]
+
 [[package]]
 name = "fancy-regex"
 version = "0.11.0"
@@ -1490,7 +1501,7 @@ version = "0.5.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5444c27eef6923071f7ebcc33e3444508466a76f7a2b93da00ed6e19f30c1ddb"
 dependencies = [
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -1676,7 +1687,7 @@ checksum = "eae7b9aee968036d54dce06cebaefd919e4472e753296daccd6d344e3e2df0c2"
 dependencies = [
  "hermit-abi 0.3.2",
  "libc",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -1702,7 +1713,7 @@ checksum = "cb0889898416213fab133e1d33a0e5858a48177452750691bde3666d0fdbaf8b"
 dependencies = [
  "hermit-abi 0.3.2",
  "rustix 0.38.13",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -1750,7 +1761,7 @@ dependencies = [
  "anyhow",
  "base64 0.21.4",
  "bytecount",
- "clap 4.4.3",
+ "clap 4.4.11",
  "fancy-regex",
  "fraction",
  "getrandom 0.2.10",
@@ -1835,7 +1846,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d580318f95776505201b28cf98eb1fa5e4be3b689633ba6a3e6cd880ff22d8cb"
 dependencies = [
  "cfg-if 1.0.0",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -1920,7 +1931,7 @@ checksum = "927a765cd3fc26206e66b296465fa9d3e5ab003e651c1b3c060e7956d96b19d2"
 dependencies = [
  "libc",
  "wasi 0.11.0+wasi-snapshot-preview1",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -2104,18 +2115,18 @@ checksum = "04744f49eae99ab78e0d5c0b603ab218f515ea8cfe5a456d7629ad883a3b6e7d"
 
 [[package]]
 name = "ordered-float"
-version = "3.9.1"
+version = "4.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2a54938017eacd63036332b4ae5c8a49fc8c0c1d6d629893057e4f13609edd06"
+checksum = "536900a8093134cf9ccf00a27deb3532421099e958d9dd431135d0c7543ca1e8"
 dependencies = [
  "num-traits",
 ]
 
 [[package]]
 name = "os_str_bytes"
-version = "6.5.1"
+version = "6.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4d5d9eb14b174ee9aa2ef96dc2b94637a2d4b6e7cb873c7e171f0c20c6cf3eac"
+checksum = "e2355d85b9a3786f481747ced0e0ff2ba35213a1f9bd406ed906554d7af805a1"
 
 [[package]]
 name = "parking"
@@ -2143,7 +2154,7 @@ dependencies = [
  "libc",
  "redox_syscall 0.3.5",
  "smallvec",
- "windows-targets",
+ "windows-targets 0.48.5",
 ]
 
 [[package]]
@@ -2391,7 +2402,7 @@ dependencies = [
  "libc",
  "log",
  "pin-project-lite 0.2.13",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -2461,10 +2472,10 @@ checksum = "e13f81c9a9d574310b8351f8666f5a93ac3b0069c45c28ad52c10291389a7cf9"
 dependencies = [
  "bytes",
  "rand 0.8.5",
- "ring",
+ "ring 0.16.20",
  "rustc-hash",
  "rustls",
- "rustls-native-certs",
+ "rustls-native-certs 0.6.3",
  "slab",
  "thiserror",
  "tinyvec",
@@ -2481,7 +2492,7 @@ dependencies = [
  "libc",
  "socket2 0.5.4",
  "tracing",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -2666,11 +2677,25 @@ dependencies = [
  "libc",
  "once_cell",
  "spin 0.5.2",
- "untrusted",
+ "untrusted 0.7.1",
  "web-sys",
  "winapi",
 ]
 
+[[package]]
+name = "ring"
+version = "0.17.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "684d5e6e18f669ccebf64a92236bb7db9a34f07be010e3627368182027180866"
+dependencies = [
+ "cc",
+ "getrandom 0.2.10",
+ "libc",
+ "spin 0.9.8",
+ "untrusted 0.9.0",
+ "windows-sys 0.48.0",
+]
+
 [[package]]
 name = "ringbuffer-spsc"
 version = "0.1.9"
@@ -2750,7 +2775,7 @@ dependencies = [
  "io-lifetimes",
  "libc",
  "linux-raw-sys 0.3.8",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -2763,7 +2788,7 @@ dependencies = [
  "errno",
  "libc",
  "linux-raw-sys 0.4.7",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -2773,8 +2798,8 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cd8d6c9f025a446bc4d18ad9632e69aec8f287aa84499ee335599fabd20c3fd8"
 dependencies = [
  "log",
- "ring",
- "rustls-webpki",
+ "ring 0.16.20",
+ "rustls-webpki 0.101.5",
  "sct",
 ]
 
@@ -2785,7 +2810,20 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a9aace74cb666635c918e9c12bc0d348266037aa8eb599b5cba565709a8dff00"
 dependencies = [
  "openssl-probe",
- "rustls-pemfile",
+ "rustls-pemfile 1.0.3",
+ "schannel",
+ "security-framework",
+]
+
+[[package]]
+name = "rustls-native-certs"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f1fb85efa936c42c6d5fc28d2629bb51e4b2f4b8a5211e297d599cc5a093792"
+dependencies = [
+ "openssl-probe",
+ "rustls-pemfile 2.0.0",
+ "rustls-pki-types",
  "schannel",
  "security-framework",
 ]
@@ -2799,14 +2837,41 @@ dependencies = [
  "base64 0.21.4",
 ]
 
+[[package]]
+name = "rustls-pemfile"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "35e4980fa29e4c4b212ffb3db068a564cbf560e51d3944b7c88bd8bf5bec64f4"
+dependencies = [
+ "base64 0.21.4",
+ "rustls-pki-types",
+]
+
+[[package]]
+name = "rustls-pki-types"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eb0a1f9b9efec70d32e6d6aa3e58ebd88c3754ec98dfe9145c63cf54cc829b83"
+
 [[package]]
 name = "rustls-webpki"
 version = "0.101.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "45a27e3b59326c16e23d30aeb7a36a24cc0d29e71d68ff611cdfb4a01d013bed"
 dependencies = [
- "ring",
- "untrusted",
+ "ring 0.16.20",
+ "untrusted 0.7.1",
+]
+
+[[package]]
+name = "rustls-webpki"
+version = "0.102.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "de2635c8bc2b88d367767c5de8ea1d8db9af3f6219eba28442242d9ab81d1b89"
+dependencies = [
+ "ring 0.17.6",
+ "rustls-pki-types",
+ "untrusted 0.9.0",
 ]
 
 [[package]]
@@ -2821,7 +2886,7 @@ version = "0.1.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0c3733bf4cf7ea0880754e19cb5a462007c4a8c1914bff372ccc95b464f1df88"
 dependencies = [
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -2860,8 +2925,8 @@ version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d53dcdb7c9f8158937a7981b48accfd39a43af418591a5d008c7b22b5e1b7ca4"
 dependencies = [
- "ring",
- "untrusted",
+ "ring 0.16.20",
+ "untrusted 0.7.1",
 ]
 
 [[package]]
@@ -3115,7 +3180,7 @@ version = "1.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "38aabbeafa6f6dead8cebf246fe9fae1f9215c8d29b3a69f93bd62a9e4a3dcd6"
 dependencies = [
- "event-listener",
+ "event-listener 2.5.3",
 ]
 
 [[package]]
@@ -3150,7 +3215,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4031e820eb552adee9295814c0ced9e5cf38ddf1e8b7d566d6de8e2538ea989e"
 dependencies = [
  "libc",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -3517,7 +3582,7 @@ dependencies = [
  "pin-project-lite 0.2.13",
  "socket2 0.5.4",
  "tokio-macros",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -3706,6 +3771,12 @@ version = "0.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a156c684c91ea7d62626509bce3cb4e1d9ed5c4d978f7b4352658f96a4c26b4a"
 
+[[package]]
+name = "untrusted"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8ecb6da28b8a351d773b68d5825ac39017e680750f980f3a1a85cd8dd28a47c1"
+
 [[package]]
 name = "unzip-n"
 version = "0.1.2"
@@ -3929,9 +4000,12 @@ dependencies = [
 
 [[package]]
 name = "webpki-roots"
-version = "0.25.2"
+version = "0.26.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "14247bb57be4f377dfb94c72830b8ce8fc6beac03cf4bf7b9732eadd414123fc"
+checksum = "0de2cfda980f21be5a7ed2eadb3e6fe074d56022bea2cdeb1a62eb220fc04188"
+dependencies = [
+ "rustls-pki-types",
+]
 
 [[package]]
 name = "which"
@@ -3982,7 +4056,7 @@ version = "0.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e686886bc078bc1b0b600cac0147aadb815089b6e4da64016cbd754b6342700f"
 dependencies = [
- "windows-targets",
+ "windows-targets 0.48.5",
 ]
 
 [[package]]
@@ -3991,7 +4065,16 @@ version = "0.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "677d2418bec65e3338edb076e806bc1ec15693c5d0104683f2efe857f61056a9"
 dependencies = [
- "windows-targets",
+ "windows-targets 0.48.5",
+]
+
+[[package]]
+name = "windows-sys"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
+dependencies = [
+ "windows-targets 0.52.0",
 ]
 
 [[package]]
@@ -4000,13 +4083,28 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9a2fa6e2155d7247be68c096456083145c183cbbbc2764150dda45a87197940c"
 dependencies = [
- "windows_aarch64_gnullvm",
- "windows_aarch64_msvc",
- "windows_i686_gnu",
- "windows_i686_msvc",
- "windows_x86_64_gnu",
- "windows_x86_64_gnullvm",
- "windows_x86_64_msvc",
+ "windows_aarch64_gnullvm 0.48.5",
+ "windows_aarch64_msvc 0.48.5",
+ "windows_i686_gnu 0.48.5",
+ "windows_i686_msvc 0.48.5",
+ "windows_x86_64_gnu 0.48.5",
+ "windows_x86_64_gnullvm 0.48.5",
+ "windows_x86_64_msvc 0.48.5",
+]
+
+[[package]]
+name = "windows-targets"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8a18201040b24831fbb9e4eb208f8892e1f50a37feb53cc7ff887feb8f50e7cd"
+dependencies = [
+ "windows_aarch64_gnullvm 0.52.0",
+ "windows_aarch64_msvc 0.52.0",
+ "windows_i686_gnu 0.52.0",
+ "windows_i686_msvc 0.52.0",
+ "windows_x86_64_gnu 0.52.0",
+ "windows_x86_64_gnullvm 0.52.0",
+ "windows_x86_64_msvc 0.52.0",
 ]
 
 [[package]]
@@ -4015,42 +4113,84 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8"
 
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cb7764e35d4db8a7921e09562a0304bf2f93e0a51bfccee0bd0bb0b666b015ea"
+
 [[package]]
 name = "windows_aarch64_msvc"
 version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
 
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bbaa0368d4f1d2aaefc55b6fcfee13f41544ddf36801e793edbbfd7d7df075ef"
+
 [[package]]
 name = "windows_i686_gnu"
 version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
 
+[[package]]
+name = "windows_i686_gnu"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a28637cb1fa3560a16915793afb20081aba2c92ee8af57b4d5f28e4b3e7df313"
+
 [[package]]
 name = "windows_i686_msvc"
 version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
 
+[[package]]
+name = "windows_i686_msvc"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ffe5e8e31046ce6230cc7215707b816e339ff4d4d67c65dffa206fd0f7aa7b9a"
+
 [[package]]
 name = "windows_x86_64_gnu"
 version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e"
 
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d6fa32db2bc4a2f5abeacf2b69f7992cd09dca97498da74a151a3132c26befd"
+
 [[package]]
 name = "windows_x86_64_gnullvm"
 version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc"
 
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1a657e1e9d3f514745a572a6846d3c7aa7dbe1658c056ed9c3344c4109a6949e"
+
 [[package]]
 name = "windows_x86_64_msvc"
 version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538"
 
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dff9641d1cd4be8d1a070daf9e3773c5f67e78b4d9d42263020c057706765c04"
+
 [[package]]
 name = "winreg"
 version = "0.50.0"
@@ -4058,7 +4198,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "524e57b2c537c0f9b1e69f1965311ec12182b4122e45035b1508cd24d2adadb1"
 dependencies = [
  "cfg-if 1.0.0",
- "windows-sys",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -4072,7 +4212,7 @@ dependencies = [
  "base64 0.21.4",
  "const_format",
  "env_logger",
- "event-listener",
+ "event-listener 4.0.0",
  "flume",
  "form_urlencoded",
  "futures",
@@ -4276,9 +4416,9 @@ dependencies = [
  "log",
  "quinn",
  "rustls",
- "rustls-native-certs",
- "rustls-pemfile",
- "rustls-webpki",
+ "rustls-native-certs 0.7.0",
+ "rustls-pemfile 2.0.0",
+ "rustls-webpki 0.102.0",
  "secrecy",
  "zenoh-config",
  "zenoh-core",
@@ -4317,8 +4457,8 @@ dependencies = [
  "futures",
  "log",
  "rustls",
- "rustls-pemfile",
- "rustls-webpki",
+ "rustls-pemfile 2.0.0",
+ "rustls-webpki 0.102.0",
  "secrecy",
  "webpki-roots",
  "zenoh-config",
@@ -4437,7 +4577,7 @@ dependencies = [
  "anyhow",
  "async-std",
  "base64 0.21.4",
- "clap 3.2.25",
+ "clap 4.4.11",
  "env_logger",
  "flume",
  "futures",
@@ -4503,7 +4643,7 @@ version = "0.11.0-dev"
 source = "git+https://github.com/eclipse-zenoh/zenoh?branch=simplified_load_plugin#51d5eb381b5954cbdec6c4bcb9e1b1d5aa3f934a"
 dependencies = [
  "async-std",
- "event-listener",
+ "event-listener 4.0.0",
  "flume",
  "futures",
  "tokio",
@@ -4550,7 +4690,7 @@ source = "git+https://github.com/eclipse-zenoh/zenoh?branch=simplified_load_plug
 dependencies = [
  "async-std",
  "async-trait",
- "clap 3.2.25",
+ "clap 4.4.11",
  "const_format",
  "flume",
  "futures",
diff --git a/README.md b/README.md
index 62eadbb2..ec941ff1 100644
--- a/README.md
+++ b/README.md
@@ -27,7 +27,7 @@ Check the website [zenoh.io](http://zenoh.io) and the [roadmap](https://github.c
 ## Background
 The Data Distribution Service (DDS) is a standard for data-centric publish subscribe. Whilst DDS has been around for quite some time and has a long history of deployments in various industries, it has recently gained quite a bit of attentions thanks to its adoption by the Robotic Operating System (ROS 2) -- where it is used for communication between ROS 2 nodes.
 
-### :warning: On usage with ROS 2 :warning: 
+### ⚠️ On usage with ROS 2 ⚠️ 
 
 This plugin is based on the DDS standard, and thus can work with ROS 2 to some extent.
 
diff --git a/zenoh-plugin-dds/src/config.rs b/zenoh-plugin-dds/src/config.rs
index 62b112ec..5672172d 100644
--- a/zenoh-plugin-dds/src/config.rs
+++ b/zenoh-plugin-dds/src/config.rs
@@ -58,10 +58,9 @@ pub struct Config {
         deserialize_with = "deserialize_duration"
     )]
     pub queries_timeout: Duration,
-    #[serde(default)]
-    __required__: bool,
-    #[serde(default, deserialize_with = "deserialize_paths")]
-    __path__: Vec<String>,
+    __required__: Option<bool>,
+    #[serde(default, deserialize_with = "deserialize_path")]
+    __path__: Option<Vec<String>>,
 }
 
 fn default_domain() -> u32 {
@@ -72,38 +71,67 @@ fn default_domain() -> u32 {
     }
 }
 
-fn deserialize_paths<'de, D>(deserializer: D) -> Result<Vec<String>, D::Error>
+fn deserialize_path<'de, D>(deserializer: D) -> Result<Option<Vec<String>>, D::Error>
 where
     D: Deserializer<'de>,
 {
-    struct V;
-    impl<'de> serde::de::Visitor<'de> for V {
-        type Value = Vec<String>;
-        fn expecting(&self, formatter: &mut std::fmt::Formatter) -> std::fmt::Result {
-            write!(formatter, "a string or vector of strings")
-        }
-        fn visit_str<E>(self, v: &str) -> Result<Self::Value, E>
-        where
-            E: de::Error,
-        {
-            Ok(vec![v.into()])
-        }
-        fn visit_seq<A>(self, mut seq: A) -> Result<Self::Value, A::Error>
-        where
-            A: de::SeqAccess<'de>,
-        {
-            let mut v = if let Some(l) = seq.size_hint() {
-                Vec::with_capacity(l)
-            } else {
-                Vec::new()
-            };
-            while let Some(s) = seq.next_element()? {
-                v.push(s);
-            }
-            Ok(v)
+    deserializer.deserialize_option(OptPathVisitor)
+}
+
+struct OptPathVisitor;
+
+impl<'de> serde::de::Visitor<'de> for OptPathVisitor {
+    type Value = Option<Vec<String>>;
+
+    fn expecting(&self, formatter: &mut std::fmt::Formatter) -> std::fmt::Result {
+        write!(formatter, "none or a string or an array of strings")
+    }
+
+    fn visit_none<E>(self) -> Result<Self::Value, E>
+    where
+        E: de::Error,
+    {
+        Ok(None)
+    }
+
+    fn visit_some<D>(self, deserializer: D) -> Result<Self::Value, D::Error>
+    where
+        D: Deserializer<'de>,
+    {
+        deserializer.deserialize_any(PathVisitor).map(Some)
+    }
+}
+
+struct PathVisitor;
+
+impl<'de> serde::de::Visitor<'de> for PathVisitor {
+    type Value = Vec<String>;
+
+    fn expecting(&self, formatter: &mut std::fmt::Formatter) -> std::fmt::Result {
+        write!(formatter, "a string or an array of strings")
+    }
+
+    fn visit_str<E>(self, v: &str) -> Result<Self::Value, E>
+    where
+        E: de::Error,
+    {
+        Ok(vec![v.into()])
+    }
+
+    fn visit_seq<A>(self, mut seq: A) -> Result<Self::Value, A::Error>
+    where
+        A: de::SeqAccess<'de>,
+    {
+        let mut v = if let Some(l) = seq.size_hint() {
+            Vec::with_capacity(l)
+        } else {
+            Vec::new()
+        };
+        while let Some(s) = seq.next_element()? {
+            v.push(s);
         }
+        Ok(v)
     }
-    deserializer.deserialize_any(V)
 }
 
 fn deserialize_regex<'de, D>(deserializer: D) -> Result<Option<Regex>, D::Error>
@@ -171,6 +199,14 @@ impl<'de> Visitor<'de> for RegexVisitor {
         formatter.write_str(r#"either a string or a list of strings"#)
     }
 
+    // for `null` value
+    fn visit_unit<E>(self) -> Result<Self::Value, E>
+    where
+        E: de::Error,
+    {
+        Ok(None)
+    }
+
     fn visit_str<E>(self, value: &str) -> Result<Self::Value, E>
     where
         E: de::Error,
@@ -194,3 +230,73 @@ impl<'de> Visitor<'de> for RegexVisitor {
             .map_err(|e| de::Error::custom(format!("Invalid regex '{s}': {e}")))
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::Config;
+
+    #[test]
+    fn test_path_field() {
+        // See: https://github.com/eclipse-zenoh/zenoh-plugin-webserver/issues/19
+        let config = serde_json::from_str::<Config>(r#"{"__path__": "/example/path"}"#);
+
+        assert!(config.is_ok());
+        let Config {
+            __required__,
+            __path__,
+            ..
+        } = config.unwrap();
+
+        assert_eq!(__path__, Some(vec![String::from("/example/path")]));
+        assert_eq!(__required__, None);
+    }
+
+    #[test]
+    fn test_required_field() {
+        // See: https://github.com/eclipse-zenoh/zenoh-plugin-webserver/issues/19
+        let config = serde_json::from_str::<Config>(r#"{"__required__": true}"#);
+        assert!(config.is_ok());
+        let Config {
+            __required__,
+            __path__,
+            ..
+        } = config.unwrap();
+
+        assert_eq!(__path__, None);
+        assert_eq!(__required__, Some(true));
+    }
+
+    #[test]
+    fn test_path_field_and_required_field() {
+        // See: https://github.com/eclipse-zenoh/zenoh-plugin-webserver/issues/19
+        let config = serde_json::from_str::<Config>(
+            r#"{"__path__": "/example/path", "__required__": true}"#,
+        );
+
+        assert!(config.is_ok());
+        let Config {
+            __required__,
+            __path__,
+            ..
+        } = config.unwrap();
+
+        assert_eq!(__path__, Some(vec![String::from("/example/path")]));
+        assert_eq!(__required__, Some(true));
+    }
+
+    #[test]
+    fn test_no_path_field_and_no_required_field() {
+        // See: https://github.com/eclipse-zenoh/zenoh-plugin-webserver/issues/19
+        let config = serde_json::from_str::<Config>("{}");
+
+        assert!(config.is_ok());
+        let Config {
+            __required__,
+            __path__,
+            ..
+        } = config.unwrap();
+
+        assert_eq!(__path__, None);
+        assert_eq!(__required__, None);
+    }
+}
diff --git a/zenoh-plugin-dds/src/dds_mgt.rs b/zenoh-plugin-dds/src/dds_mgt.rs
index 6621da94..51a9e5ad 100644
--- a/zenoh-plugin-dds/src/dds_mgt.rs
+++ b/zenoh-plugin-dds/src/dds_mgt.rs
@@ -653,13 +653,25 @@ pub fn create_forwarding_dds_writer(
     topic_name: String,
     type_name: String,
     keyless: bool,
-    qos: Qos,
+    mut qos: Qos,
 ) -> Result<dds_entity_t, String> {
     let cton = CString::new(topic_name).unwrap().into_raw();
     let ctyn = CString::new(type_name).unwrap().into_raw();
 
     unsafe {
         let t = cdds_create_blob_topic(dp, cton, ctyn, keyless);
+
+        // force RELIABLE QoS for Writers (#165)
+        if let Some(qos::Reliability {
+            kind: qos::ReliabilityKind::BEST_EFFORT,
+            ..
+        }) = &mut qos.reliability
+        {
+            // Per DDS specification, the default Reliability value for DataWriters is RELIABLE with max_blocking_time=100ms
+            // Thus just use default value.
+            qos.reliability = None;
+        }
+
         let qos_native = qos.to_qos_native();
         let writer: i32 = dds_create_writer(dp, t, qos_native, std::ptr::null_mut());
         Qos::delete_qos_native(qos_native);
diff --git a/zenoh-plugin-dds/src/lib.rs b/zenoh-plugin-dds/src/lib.rs
index 71b6ed41..3a9ba4ab 100644
--- a/zenoh-plugin-dds/src/lib.rs
+++ b/zenoh-plugin-dds/src/lib.rs
@@ -111,7 +111,7 @@ fn log_ros2_deprecation_warning() {
     if !LOG_ROS2_DEPRECATION_WARNING_FLAG.swap(true, std::sync::atomic::Ordering::Relaxed) {
         log::warn!("------------------------------------------------------------------------------------------");
         log::warn!(
-            "ROS 2 system detected. Did you now a new Zenoh bridge dedicated to ROS 2 exists ?"
+            "ROS 2 system detected. Did you know a new Zenoh bridge dedicated to ROS 2 exists ?"
         );
         log::warn!("Check it out on https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds");
         log::warn!("This DDS bridge will eventually be deprecated for ROS 2 usage in favor of this new bridge.");