diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 07c90a86..7dd4881f 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -11,6 +11,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       matrix:
         docker_image: ['ros:iron-ros-base', 'ros:rolling-ros-base']
     container:
@@ -21,7 +22,7 @@ jobs:
       run: |
         apt update && apt install -y curl
     - name: Setup Rust
-      uses: dtolnay/rust-toolchain@stable
+      uses: dtolnay/rust-toolchain@1.75.0
     - uses: actions/checkout@v2
     - name: rosdep
       run: |
diff --git a/.github/workflows/style.yaml b/.github/workflows/style.yaml
index 5c3a7160..04f818b1 100644
--- a/.github/workflows/style.yaml
+++ b/.github/workflows/style.yaml
@@ -10,6 +10,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       matrix:
         docker_image: ['ros:iron-ros-base', 'ros:rolling-ros-base']
     container:
diff --git a/.github/workflows/tmp_build_noble.yaml b/.github/workflows/tmp_build_noble.yaml
new file mode 100644
index 00000000..17d9fe2e
--- /dev/null
+++ b/.github/workflows/tmp_build_noble.yaml
@@ -0,0 +1,36 @@
+name: build_noble
+on:
+  pull_request:
+  push:
+    branches: [ rolling ]
+  workflow_dispatch:
+defaults:
+  run:
+    shell: bash
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        docker_image: ['ubuntu:noble-20240225']
+    container:
+      image: ${{ matrix.docker_image }}
+    timeout-minutes: 30
+    steps:
+    - name: Setup rolling
+      run: |
+        apt update && apt install curl -y
+        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+        apt update && apt install ros-dev-tools -y
+        apt install ros-rolling-ros-base -y
+    - uses: actions/checkout@v2
+    - name: rosdep
+      run: |
+        rosdep init
+        rosdep update
+        rosdep install --from-paths . --rosdistro rolling -yir
+    - name: build
+      run: |
+        source /opt/ros/rolling/setup.bash
+        colcon build
diff --git a/README.md b/README.md
index 1d831c3c..278ebc26 100644
--- a/README.md
+++ b/README.md
@@ -15,10 +15,12 @@ For information about the Design please visit [design](docs/design.md) page.
 
 ## Setup
 
-Install latest rustc.
-> Note: The version of rustc that can be installed via apt is outdated.
+Install latest rustc via `rustup` if building on Ubuntu Jammy.
+Skip this step if building on Ubuntu Noble as `cargo` and `rustc` will be
+installed via `rosdep`.
 ```bash
 curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
+rustup install 1.75.0
 ```
 
 Build `rmw_zenoh_cpp`
diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index 73246032..da56c50a 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -26,11 +26,14 @@ set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/transp
 
 # Set VCS_VERSION to include changes from https://github.com/eclipse-zenoh/zenoh/pull/802
 # which was synced to zenoh-c in https://github.com/eclipse-zenoh/zenoh-c/pull/272.
+# Apply patches:
+# - https://github.com/eclipse-zenoh/zenoh-c/pull/301
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
   VCS_VERSION 10176b911096cb92b8ee46bc491b78079ee26c20
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
+  PATCHES patches
 )
 
 # set(INSTALL_DIR "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-prefix/install")
diff --git a/zenoh_c_vendor/package.xml b/zenoh_c_vendor/package.xml
index 6515c1e9..55c17616 100644
--- a/zenoh_c_vendor/package.xml
+++ b/zenoh_c_vendor/package.xml
@@ -12,7 +12,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
 
-  <!-- <build_depend>cargo</build_depend> -->
+  <build_depend>cargo</build_depend>
   <build_depend>clang</build_depend>
 
   <export>
diff --git a/zenoh_c_vendor/patches/pr_301.patch b/zenoh_c_vendor/patches/pr_301.patch
new file mode 100644
index 00000000..68008fd9
--- /dev/null
+++ b/zenoh_c_vendor/patches/pr_301.patch
@@ -0,0 +1,24 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 00aa5ca..d236e99 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -27,7 +27,7 @@ declare_cache_var_true_if_vscode(ZENOHC_BUILD_IN_SOURCE_TREE "Do build inside so
+ declare_cache_var(ZENOHC_BUILD_WITH_LOGGER_AUTOINIT TRUE BOOL "Enable logger-autoinit zenoh-c feature")
+ declare_cache_var(ZENOHC_BUILD_WITH_SHARED_MEMORY TRUE BOOL "Enable shared-memory zenoh-c feature")
+ declare_cache_var(ZENOHC_CUSTOM_TARGET "" STRING "Rust target for cross compilation, 'aarch64-unknown-linux-gnu' for example")
+-declare_cache_var(ZENOHC_CARGO_CHANNEL "stable" STRING "Cargo channel selected: stable or nightly")
++declare_cache_var(ZENOHC_CARGO_CHANNEL "" STRING "Cargo channel parameter. Should be '+stable', '+nightly' or empty value")
+ declare_cache_var(ZENOHC_CARGO_FLAGS "" STRING "Additional cargo flags")
+ declare_cache_var(ZENOHC_LIB_STATIC FALSE BOOL "Alias zenohc::lib target to zenohc::static if TRUE, to zenohc::shared if FALSE")
+ 
+@@ -198,8 +198,8 @@ file(GLOB_RECURSE rust_sources "Cargo.toml.in" "src/*.rs" "build.rs" "splitguide
+ add_custom_command(
+ 	OUTPUT ${libs}
+ 	COMMAND ${CMAKE_COMMAND} -E echo \"RUSTFLAGS = $$RUSTFLAGS\"
+-	COMMAND ${CMAKE_COMMAND} -E echo \"cargo +${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}\"
+-	COMMAND cargo +${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}
++	COMMAND ${CMAKE_COMMAND} -E echo \"cargo ${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}\"
++	COMMAND cargo ${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}
+ 	VERBATIM
+ 	COMMAND_EXPAND_LISTS
+ 	DEPENDS "${rust_sources}"