diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index aeb3c0c..269f49e 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -41,7 +41,7 @@ jobs:
           rustup component add rustfmt clippy
 
       - name: Code format check
-        run: cargo fmt --check
+        run: cargo fmt -p zenoh-plugin-ros1 -p zenoh-bridge-ros1 --check -- --config "unstable_features=true,imports_granularity=Crate,group_imports=StdExternalCrate"
         env:
           CARGO_REGISTRIES_CRATES_IO_PROTOCOL: sparse
 
@@ -83,13 +83,11 @@ jobs:
         run: cargo test --verbose
         env:
           CARGO_REGISTRIES_CRATES_IO_PROTOCOL: sparse
-          ASYNC_STD_THREAD_COUNT: 4
 
       - name: Run doctests
         run: cargo test --doc
         env:
           CARGO_REGISTRIES_CRATES_IO_PROTOCOL: sparse
-          ASYNC_STD_THREAD_COUNT: 4
 
   # NOTE: In GitHub repository settings, the "Require status checks to pass
   # before merging" branch protection rule ensures that commits are only merged
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 0000000..2ac4511
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,8 @@
+repos:
+  - repo: local
+    hooks:
+      - id: fmt
+        name: fmt
+        entry: cargo fmt -p zenoh-plugin-ros1 -p zenoh-bridge-ros1 -- --config "unstable_features=true,imports_granularity=Crate,group_imports=StdExternalCrate"
+        language: system
+        types: [rust]
diff --git a/Cargo.lock b/Cargo.lock
index d7d1e53..3f72714 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -45,9 +45,9 @@ dependencies = [
 
 [[package]]
 name = "aes"
-version = "0.8.3"
+version = "0.8.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ac1f845298e95f983ff1944b728ae08b8cebab80d684f0a832ed0fc74dfa27e2"
+checksum = "b169f7a6d4742236a0a00c541b845991d0ac43e546831af1249753ab4c3aa3a0"
 dependencies = [
  "cfg-if 1.0.0",
  "cipher 0.4.4",
@@ -90,9 +90,9 @@ dependencies = [
 
 [[package]]
 name = "ahash"
-version = "0.8.7"
+version = "0.8.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77c3a9648d43b9cd48db467b3f87fdd6e146bcc88ab0180006cef2179fe11d01"
+checksum = "e89da841a80418a9b391ebaea17f5c112ffaaa96f621d2c285b5174da76b9011"
 dependencies = [
  "cfg-if 1.0.0",
  "getrandom 0.2.10",
@@ -158,9 +158,9 @@ dependencies = [
 
 [[package]]
 name = "anyhow"
-version = "1.0.75"
+version = "1.0.86"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a4668cab20f66d8d020e1fbc0ebe47217433c1b6c8f2040faf858554e394ace6"
+checksum = "b3d1d046238990b9cf5bcde22a3fb3584ee5cf65fb2765f454ed428c7a0063da"
 
 [[package]]
 name = "array-init"
@@ -187,13 +187,42 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d92bec98840b8f03a5ff5413de5293bfcd8bf96467cf5452609f939ec6f5de16"
 
 [[package]]
-name = "async-attributes"
-version = "1.1.2"
+name = "asn1-rs"
+version = "0.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a3203e79f4dd9bdda415ed03cf14dae5a2bf775c683a00f94e9cd1faf0f596e5"
+checksum = "22ad1373757efa0f70ec53939aabc7152e1591cb485208052993070ac8d2429d"
 dependencies = [
+ "asn1-rs-derive",
+ "asn1-rs-impl",
+ "displaydoc",
+ "nom",
+ "num-traits",
+ "rusticata-macros",
+ "thiserror",
+ "time 0.3.36",
+]
+
+[[package]]
+name = "asn1-rs-derive"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7378575ff571966e99a744addeff0bff98b8ada0dedf1956d59e634db95eaac1"
+dependencies = [
+ "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.52",
+ "synstructure",
+]
+
+[[package]]
+name = "asn1-rs-impl"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7b18050c2cd6fe86c3a76584ef5e0baf286d038cda203eb6223df2cc413565f7"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.52",
 ]
 
 [[package]]
@@ -207,6 +236,18 @@ dependencies = [
  "futures-core",
 ]
 
+[[package]]
+name = "async-channel"
+version = "2.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "89b47800b0be77592da0afd425cc03468052844aff33b84e33cc696f64e77b6a"
+dependencies = [
+ "concurrent-queue",
+ "event-listener-strategy",
+ "futures-core",
+ "pin-project-lite 0.2.13",
+]
+
 [[package]]
 name = "async-dup"
 version = "1.2.2"
@@ -219,30 +260,29 @@ dependencies = [
 
 [[package]]
 name = "async-executor"
-version = "1.5.1"
+version = "1.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6fa3dc5f2a8564f07759c008b9109dc0d39de92a88d5588b8a5036d286383afb"
+checksum = "d7ebdfa2ebdab6b1760375fa7d6f382b9f486eac35fc994625a00e89280bdbb7"
 dependencies = [
- "async-lock",
  "async-task",
  "concurrent-queue",
- "fastrand 1.9.0",
- "futures-lite",
+ "fastrand 2.0.2",
+ "futures-lite 2.0.0",
  "slab",
 ]
 
 [[package]]
 name = "async-global-executor"
-version = "2.3.1"
+version = "2.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1b6f5d7df27bd294849f8eec66ecfc63d11814df7a4f5d74168a2394467b776"
+checksum = "05b1b633a2115cd122d73b955eadd9916c18c8f510ec9cd1686404c60ad1c29c"
 dependencies = [
- "async-channel",
+ "async-channel 2.3.1",
  "async-executor",
- "async-io",
- "async-lock",
+ "async-io 2.3.3",
+ "async-lock 3.4.0",
  "blocking",
- "futures-lite",
+ "futures-lite 2.0.0",
  "once_cell",
  "tokio",
 ]
@@ -253,7 +293,7 @@ version = "2.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8101020758a4fc3a7c326cb42aa99e9fa77cbfb76987c128ad956406fe1f70a7"
 dependencies = [
- "async-channel",
+ "async-channel 1.9.0",
  "async-dup",
  "async-std",
  "futures-core",
@@ -269,20 +309,39 @@ version = "1.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0fc5b45d93ef0529756f812ca52e44c221b35341892d3dcc34132ac02f3dd2af"
 dependencies = [
- "async-lock",
+ "async-lock 2.8.0",
  "autocfg",
  "cfg-if 1.0.0",
  "concurrent-queue",
- "futures-lite",
+ "futures-lite 1.13.0",
  "log 0.4.20",
  "parking",
- "polling",
+ "polling 2.8.0",
  "rustix 0.37.25",
  "slab",
  "socket2 0.4.9",
  "waker-fn",
 ]
 
+[[package]]
+name = "async-io"
+version = "2.3.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0d6baa8f0178795da0e71bc42c9e5d13261aac7ee549853162e66a241ba17964"
+dependencies = [
+ "async-lock 3.4.0",
+ "cfg-if 1.0.0",
+ "concurrent-queue",
+ "futures-io",
+ "futures-lite 2.0.0",
+ "parking",
+ "polling 3.7.2",
+ "rustix 0.38.32",
+ "slab",
+ "tracing",
+ "windows-sys 0.52.0",
+]
+
 [[package]]
 name = "async-lock"
 version = "2.8.0"
@@ -292,19 +351,30 @@ dependencies = [
  "event-listener 2.5.3",
 ]
 
+[[package]]
+name = "async-lock"
+version = "3.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ff6e472cdea888a4bd64f342f09b3f50e1886d32afe8df3d663c01140b811b18"
+dependencies = [
+ "event-listener 5.3.1",
+ "event-listener-strategy",
+ "pin-project-lite 0.2.13",
+]
+
 [[package]]
 name = "async-process"
 version = "1.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7a9d28b1d97e08915212e2e45310d47854eafa69600756fc735fb788f75199c9"
 dependencies = [
- "async-io",
- "async-lock",
+ "async-io 1.13.0",
+ "async-lock 2.8.0",
  "autocfg",
  "blocking",
  "cfg-if 1.0.0",
  "event-listener 2.5.3",
- "futures-lite",
+ "futures-lite 1.13.0",
  "rustix 0.37.25",
  "signal-hook",
  "windows-sys 0.48.0",
@@ -337,7 +407,7 @@ version = "4.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "53bba003996b8fd22245cd0c59b869ba764188ed435392cf2796d03b805ade10"
 dependencies = [
- "async-channel",
+ "async-channel 1.9.0",
  "async-std",
  "http-types",
  "log 0.4.20",
@@ -351,17 +421,16 @@ version = "1.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "62565bb4402e926b29953c785397c6dc0391b7b446e45008b0049eb43cec6f5d"
 dependencies = [
- "async-attributes",
- "async-channel",
+ "async-channel 1.9.0",
  "async-global-executor",
- "async-io",
- "async-lock",
+ "async-io 1.13.0",
+ "async-lock 2.8.0",
  "async-process",
  "crossbeam-utils",
  "futures-channel",
  "futures-core",
  "futures-io",
- "futures-lite",
+ "futures-lite 1.13.0",
  "gloo-timers",
  "kv-log-macro",
  "log 0.4.20",
@@ -381,13 +450,13 @@ checksum = "ecc7ab41815b3c653ccd2978ec3255c81349336702dfdf62ee6f7069b12a3aae"
 
 [[package]]
 name = "async-trait"
-version = "0.1.73"
+version = "0.1.81"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bc00ceb34980c03614e35a3a4e218276a0a824e911d07651cd0d858a51e8c0f0"
+checksum = "6e0c28dcc82d7c8ead5cb13beb15405b57b8546e93215673ff8ca0349a028107"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.33",
+ "syn 2.0.52",
 ]
 
 [[package]]
@@ -481,6 +550,12 @@ version = "0.21.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9ba43ea6f343b788c8764558649e08df62f86c6ef251fdaeb1ffd010a9ae50a2"
 
+[[package]]
+name = "base64"
+version = "0.22.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
+
 [[package]]
 name = "base64ct"
 version = "1.6.0"
@@ -573,17 +648,15 @@ dependencies = [
 
 [[package]]
 name = "blocking"
-version = "1.3.1"
+version = "1.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77231a1c8f801696fc0123ec6150ce92cffb8e164a02afb9c8ddee0e9b65ad65"
+checksum = "703f41c54fc768e63e091340b424302bb1c29ef4aa0c7f10fe849dfb114d29ea"
 dependencies = [
- "async-channel",
- "async-lock",
+ "async-channel 2.3.1",
  "async-task",
- "atomic-waker",
- "fastrand 1.9.0",
- "futures-lite",
- "log 0.4.20",
+ "futures-io",
+ "futures-lite 2.0.0",
+ "piper",
 ]
 
 [[package]]
@@ -637,9 +710,9 @@ checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
 
 [[package]]
 name = "bytes"
-version = "1.5.0"
+version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a2bd12c1caf447e69cd4528f47f94d203fd2582878ecb9e9465484c4148a8223"
+checksum = "8318a53db07bb3f8dca91a600466bdb3f2eaadeedfdbcf02e1accbad9271ba50"
 
 [[package]]
 name = "cache-padded"
@@ -680,6 +753,12 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fd16c4719339c4530435d38e511904438d07cce7950afa3718a84ac36c10e89e"
 
+[[package]]
+name = "cfg_aliases"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "613afe47fcd5fac7ccf1db93babcb082c5994d996f20b8b159f2ad1658eb5724"
+
 [[package]]
 name = "chrono"
 version = "0.4.30"
@@ -766,9 +845,9 @@ dependencies = [
 
 [[package]]
 name = "concurrent-queue"
-version = "2.2.0"
+version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62ec6771ecfa0762d24683ee5a32ad78487a3d3afdc0fb8cae19d2c5deb50b7c"
+checksum = "4ca0197aee26d1ae37445ee532fefce43251d24cc7c166799f4d46817f1d3973"
 dependencies = [
  "crossbeam-utils",
 ]
@@ -787,18 +866,18 @@ checksum = "fbdcdcb6d86f71c5e97409ad45898af11cbc995b4ee8112d59095a28d376c935"
 
 [[package]]
 name = "const_format"
-version = "0.2.31"
+version = "0.2.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c990efc7a285731f9a4378d81aff2f0e85a2c8781a05ef0f8baa8dac54d0ff48"
+checksum = "e3a214c7af3d04997541b18d432afaff4c455e79e2029079647e72fc2bd27673"
 dependencies = [
  "const_format_proc_macros",
 ]
 
 [[package]]
 name = "const_format_proc_macros"
-version = "0.2.31"
+version = "0.2.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e026b6ce194a874cb9cf32cd5772d1ef9767cc8fcb5765948d74f37a9d8b2bf6"
+checksum = "c7f6ff08fd20f4f299298a28e2dfa8a8ba1036e6cd2460ac1de7b425d76f2500"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -821,7 +900,7 @@ dependencies = [
  "base64 0.13.1",
  "hkdf",
  "hmac 0.10.1",
- "percent-encoding 2.3.0",
+ "percent-encoding 2.3.1",
  "rand 0.8.5",
  "sha2 0.9.9",
  "time 0.2.27",
@@ -980,7 +1059,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "978747c1d849a7d2ee5e8adc0159961c48fb7e5db2f06af6723b80123bb53856"
 dependencies = [
  "cfg-if 1.0.0",
- "hashbrown 0.14.0",
+ "hashbrown 0.14.5",
  "lock_api",
  "once_cell",
  "parking_lot_core",
@@ -1013,6 +1092,20 @@ dependencies = [
  "zeroize",
 ]
 
+[[package]]
+name = "der-parser"
+version = "9.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5cd0a5c643689626bec213c4d8bd4d96acc8ffdb4ad4bb6bc16abf27d5f4b553"
+dependencies = [
+ "asn1-rs",
+ "displaydoc",
+ "nom",
+ "num-bigint",
+ "num-traits",
+ "rusticata-macros",
+]
+
 [[package]]
 name = "deranged"
 version = "0.3.11"
@@ -1070,6 +1163,17 @@ version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "212d0f5754cb6769937f4501cc0e67f4f4483c8d2c3e1e922ee9edbe4ab4c7c0"
 
+[[package]]
+name = "displaydoc"
+version = "0.2.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "487585f4d0c6655fe74905e2504d8ad6908e4db67f744eb140876906c2f3175d"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.52",
+]
+
 [[package]]
 name = "duration-string"
 version = "0.3.0"
@@ -1084,9 +1188,9 @@ checksum = "bbfc4744c1b8f2a09adc0e55242f60b1af195d88596bd8700be74418c056c555"
 
 [[package]]
 name = "either"
-version = "1.9.0"
+version = "1.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a26ae43d7bcc3b814de94796a5e736d4029efb0ee900c12e2d54c993ad1a1e07"
+checksum = "60b1af1c220855b6ceac025d3f6ecdd2b7c4894bfe9cd9bda4fbb4bc7c0d4cf0"
 
 [[package]]
 name = "equivalent"
@@ -1140,23 +1244,34 @@ checksum = "0206175f82b8d6bf6652ff7d71a1e27fd2e4efde587fd368662814d6ec1d9ce0"
 
 [[package]]
 name = "event-listener"
-version = "4.0.0"
+version = "5.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "770d968249b5d99410d61f5bf89057f3199a077a04d087092f58e7d10692baae"
+checksum = "6032be9bd27023a771701cc49f9f053c751055f71efb2e0ae5c15809093675ba"
 dependencies = [
  "concurrent-queue",
  "parking",
  "pin-project-lite 0.2.13",
 ]
 
+[[package]]
+name = "event-listener-strategy"
+version = "0.5.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0f214dc438f977e6d4e3500aaa277f5ad94ca83fbbd9b1a15713ce2344ccc5a1"
+dependencies = [
+ "event-listener 5.3.1",
+ "pin-project-lite 0.2.13",
+]
+
 [[package]]
 name = "fancy-regex"
-version = "0.11.0"
+version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b95f7c0680e4142284cf8b22c14a476e87d61b004a3a0861872b32ef7ead40a2"
+checksum = "531e46835a22af56d1e3b66f04844bed63158bc094a628bec1d321d9b4c44bf2"
 dependencies = [
  "bit-set",
- "regex 1.9.5",
+ "regex-automata 0.4.7",
+ "regex-syntax 0.8.4",
 ]
 
 [[package]]
@@ -1217,7 +1332,7 @@ dependencies = [
  "futures-core",
  "futures-sink",
  "nanorand",
- "spin 0.9.8",
+ "spin",
 ]
 
 [[package]]
@@ -1228,18 +1343,18 @@ checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
 [[package]]
 name = "form_urlencoded"
-version = "1.2.0"
+version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a62bc1cf6f830c2ec14a513a9fb124d0a213a629668a4186f329db21fe045652"
+checksum = "e13624c2627564efccf4934284bdd98cbaa14e79b0b5a141218e507b3a823456"
 dependencies = [
- "percent-encoding 2.3.0",
+ "percent-encoding 2.3.1",
 ]
 
 [[package]]
 name = "fraction"
-version = "0.13.1"
+version = "0.15.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3027ae1df8d41b4bed2241c8fdad4acc1e7af60c8e17743534b545e77182d678"
+checksum = "0f158e3ff0a1b334408dc9fb811cd99b446986f4d8b741bb08f9df1604085ae7"
 dependencies = [
  "lazy_static",
  "num",
@@ -1253,9 +1368,9 @@ checksum = "3a471a38ef8ed83cd6e40aa59c1ffe17db6855c18e3604d9c4ed8c08ebc28678"
 
 [[package]]
 name = "futures"
-version = "0.3.28"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23342abe12aba583913b2e62f22225ff9c950774065e4bfb61a19cd9770fec40"
+checksum = "645c6916888f6cb6350d2550b80fb63e734897a8498abe35cfb732b6487804b0"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -1268,9 +1383,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.28"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "955518d47e09b25bbebc7a18df10b81f0c766eaf4c4f1cccef2fca5f2a4fb5f2"
+checksum = "eac8f7d7865dcb88bd4373ab671c8cf4508703796caa2b1985a9ca867b3fcb78"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -1278,15 +1393,15 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.28"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4bca583b7e26f571124fe5b7561d49cb2868d79116cfa0eefce955557c6fee8c"
+checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
 
 [[package]]
 name = "futures-executor"
-version = "0.3.28"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ccecee823288125bd88b4d7f565c9e58e41858e47ab72e8ea2d64e93624386e0"
+checksum = "a576fc72ae164fca6b9db127eaa9a9dda0d61316034f33a0a0d4eda41f02b01d"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -1295,9 +1410,9 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.28"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4fff74096e71ed47f8e023204cfd0aa1289cd54ae5430a9523be060cdb849964"
+checksum = "a44623e20b9681a318efdd71c299b6b222ed6f231972bfe2f224ebad6311f0c1"
 
 [[package]]
 name = "futures-lite"
@@ -1314,34 +1429,49 @@ dependencies = [
  "waker-fn",
 ]
 
+[[package]]
+name = "futures-lite"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9c1155db57329dca6d018b61e76b1488ce9a2e5e44028cac420a5898f4fcef63"
+dependencies = [
+ "fastrand 2.0.2",
+ "futures-core",
+ "futures-io",
+ "memchr",
+ "parking",
+ "pin-project-lite 0.2.13",
+ "waker-fn",
+]
+
 [[package]]
 name = "futures-macro"
-version = "0.3.28"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "89ca545a94061b6365f2c7355b4b32bd20df3ff95f02da9329b34ccc3bd6ee72"
+checksum = "87750cf4b7a4c0625b1529e4c543c2182106e4dedc60a2a6455e00d212c489ac"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.33",
+ "syn 2.0.52",
 ]
 
 [[package]]
 name = "futures-sink"
-version = "0.3.28"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f43be4fe21a13b9781a69afa4985b0f6ee0e1afab2c6f454a8cf30e2b2237b6e"
+checksum = "9fb8e00e87438d937621c1c6269e53f536c14d3fbd6a042bb24879e57d474fb5"
 
 [[package]]
 name = "futures-task"
-version = "0.3.28"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76d3d132be6c0e6aa1534069c705a74a5997a356c0dc2f86a47765e5617c5b65"
+checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
 
 [[package]]
 name = "futures-util"
-version = "0.3.28"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "26b01e40b772d54cf6c6d721c1d1abd0647a0106a12ecaa1c186273392a69533"
+checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -1407,24 +1537,22 @@ checksum = "6fb8d784f27acf97159b40fc4db5ecd8aa23b9ad5ef69cdd136d3bc80665f0c0"
 
 [[package]]
 name = "git-version"
-version = "0.3.5"
+version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f6b0decc02f4636b9ccad390dcbe77b722a77efedfa393caf8379a51d5c61899"
+checksum = "1ad568aa3db0fcbc81f2f116137f263d7304f512a1209b35b85150d3ef88ad19"
 dependencies = [
  "git-version-macro",
- "proc-macro-hack",
 ]
 
 [[package]]
 name = "git-version-macro"
-version = "0.3.5"
+version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fe69f1cbdb6e28af2bac214e943b99ce8a0a06b447d15d3e61161b0423139f3f"
+checksum = "53010ccb100b96a67bc32c0175f0ed1426b31b655d562898e57325f81c023ac0"
 dependencies = [
- "proc-macro-hack",
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.52",
 ]
 
 [[package]]
@@ -1449,25 +1577,22 @@ dependencies = [
 ]
 
 [[package]]
-name = "hashbrown"
-version = "0.12.3"
+name = "half"
+version = "1.8.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
+checksum = "eabb4a44450da02c90444cf74558da904edde8fb4e9035a9a6a4e15445af0bd7"
 
 [[package]]
 name = "hashbrown"
-version = "0.13.2"
+version = "0.12.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "43a3c133739dddd0d2990f9a4bdf8eb4b21ef50e4851ca85ab661199821d510e"
-dependencies = [
- "ahash",
-]
+checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
 
 [[package]]
 name = "hashbrown"
-version = "0.14.0"
+version = "0.14.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2c6201b9ff9fd90a5a3bac2e56a830d0caa509576f0e503818ee82c181b3437a"
+checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
 dependencies = [
  "ahash",
  "allocator-api2",
@@ -1490,9 +1615,15 @@ dependencies = [
 
 [[package]]
 name = "hermit-abi"
-version = "0.3.2"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d231dfb89cfffdbc30e7fc41579ed6066ad03abda9e567ccafae602b97ec5024"
+
+[[package]]
+name = "hermit-abi"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "443144c8cdadd93ebf52ddb4056d257f5b52c04d3c804e657d19eb73fc33668b"
+checksum = "fbf6a919d6cf397374f7dfeeea91d974c7c0a7221d0d0f4f20d859d329e53fcc"
 
 [[package]]
 name = "hex"
@@ -1541,11 +1672,11 @@ dependencies = [
 
 [[package]]
 name = "home"
-version = "0.5.5"
+version = "0.5.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5444c27eef6923071f7ebcc33e3444508466a76f7a2b93da00ed6e19f30c1ddb"
+checksum = "e3d1354bf6b7235cb4a0576c2619fd4ed18183f689b12b006a0ee7329eeff9a5"
 dependencies = [
- "windows-sys 0.48.0",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -1589,11 +1720,11 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6e9b187a72d63adbfba487f48095306ac823049cb504ee195541e91c7775f5ad"
 dependencies = [
  "anyhow",
- "async-channel",
+ "async-channel 1.9.0",
  "async-std",
  "base64 0.13.1",
  "cookie",
- "futures-lite",
+ "futures-lite 1.13.0",
  "infer",
  "pin-project-lite 0.2.13",
  "rand 0.7.3",
@@ -1601,7 +1732,7 @@ dependencies = [
  "serde_json",
  "serde_qs",
  "serde_urlencoded",
- "url 2.4.1",
+ "url 2.5.2",
 ]
 
 [[package]]
@@ -1677,9 +1808,9 @@ dependencies = [
 
 [[package]]
 name = "idna"
-version = "0.4.0"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7d20d6b07bfbc108882d88ed8e37d39636dcc260e15e30c45e6ba089610b917c"
+checksum = "634d9b1461af396cad843f47fdba5597a4f9e6ddd4bfb6ff5d85028c25cb12f6"
 dependencies = [
  "unicode-bidi",
  "unicode-normalization",
@@ -1697,12 +1828,12 @@ dependencies = [
 
 [[package]]
 name = "indexmap"
-version = "2.0.0"
+version = "2.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d5477fe2230a79769d8dc68e0eabf5437907c0457a5614a9e8dddb67f65eb65d"
+checksum = "93ead53efc7ea8ed3cfb0c79fc8023fbb782a5432b52830b6518941cebe6505c"
 dependencies = [
  "equivalent",
- "hashbrown 0.14.0",
+ "hashbrown 0.14.5",
 ]
 
 [[package]]
@@ -1735,7 +1866,7 @@ version = "1.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "eae7b9aee968036d54dce06cebaefd919e4472e753296daccd6d344e3e2df0c2"
 dependencies = [
- "hermit-abi 0.3.2",
+ "hermit-abi 0.3.9",
  "libc",
  "windows-sys 0.48.0",
 ]
@@ -1758,6 +1889,12 @@ dependencies = [
  "nom",
 ]
 
+[[package]]
+name = "iter-read"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c397ca3ea05ad509c4ec451fea28b4771236a376ca1c69fd5143aae0cf8f93c4"
+
 [[package]]
 name = "itertools"
 version = "0.10.5"
@@ -1767,6 +1904,15 @@ dependencies = [
  "either",
 ]
 
+[[package]]
+name = "itertools"
+version = "0.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "413ee7dfc52ee1a4949ceeb7dbc8a33f2d6c088194d9f922fb8318faf1f01186"
+dependencies = [
+ "either",
+]
+
 [[package]]
 name = "itoa"
 version = "1.0.9"
@@ -1815,13 +1961,13 @@ dependencies = [
 
 [[package]]
 name = "jsonschema"
-version = "0.17.1"
+version = "0.18.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2a071f4f7efc9a9118dfb627a0a94ef247986e1ab8606a4c806ae2b3aa3b6978"
+checksum = "f5f037c58cadb17e8591b620b523cc6a7ab2b91b6ce3121f8eb4171f8d80115c"
 dependencies = [
  "ahash",
  "anyhow",
- "base64 0.21.4",
+ "base64 0.22.1",
  "bytecount",
  "fancy-regex",
  "fraction",
@@ -1832,12 +1978,12 @@ dependencies = [
  "num-cmp",
  "once_cell",
  "parking_lot",
- "percent-encoding 2.3.0",
- "regex 1.9.5",
+ "percent-encoding 2.3.1",
+ "regex 1.10.6",
  "serde",
  "serde_json",
  "time 0.3.36",
- "url 2.4.1",
+ "url 2.5.2",
  "uuid",
 ]
 
@@ -1852,11 +1998,11 @@ dependencies = [
 
 [[package]]
 name = "keyed-set"
-version = "0.4.5"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b79e110283e09081809ca488cf3a9709270c6d4d4c4a32674c39cc438366615a"
+checksum = "0a3ec39d2dc17953a1540d63906a112088f79b2e46833b4ed65bc9de3904ae34"
 dependencies = [
- "hashbrown 0.13.2",
+ "hashbrown 0.14.5",
 ]
 
 [[package]]
@@ -1876,18 +2022,18 @@ checksum = "a91d884b6667cd606bb5a69aa0c99ba811a115fc68915e7056ec08a46e93199a"
 
 [[package]]
 name = "lazy_static"
-version = "1.4.0"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
+checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
 dependencies = [
- "spin 0.5.2",
+ "spin",
 ]
 
 [[package]]
 name = "libc"
-version = "0.2.153"
+version = "0.2.158"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c198f91728a82281a64e1f4f9eeb25d82cb32a5de251c6bd1b5154d63a8e7bd"
+checksum = "d8adc4bb1803a324070e64a98ae98f38934d91957a99cfb3a43dcbc01bc56439"
 
 [[package]]
 name = "libloading"
@@ -1995,9 +2141,9 @@ dependencies = [
 
 [[package]]
 name = "memchr"
-version = "2.6.3"
+version = "2.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f232d6ef707e1956a43342693d2a31e72989554d58299d7a88738cc95b0d35c"
+checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
 
 [[package]]
 name = "mime"
@@ -2041,13 +2187,14 @@ dependencies = [
 
 [[package]]
 name = "mio"
-version = "0.8.11"
+version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a4a650543ca06a924e8b371db273b2756685faae30f8487da1b56505a8f78b0c"
+checksum = "80e04d1dcff3aae0704555fe5fee3bcfaf3d1fdf8a7e521d5b9d2b42acb52cec"
 dependencies = [
+ "hermit-abi 0.3.9",
  "libc",
  "wasi 0.11.0+wasi-snapshot-preview1",
- "windows-sys 0.48.0",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -2085,24 +2232,25 @@ dependencies = [
 
 [[package]]
 name = "nix"
-version = "0.27.1"
+version = "0.28.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2eb04e9c688eff1c89d72b407f168cf79bb9e867a9d3323ed6c01519eb9cc053"
+checksum = "ab2156c4fce2f8df6c499cc1c763e4394b7482525bf2a9701c9d79d215f519e4"
 dependencies = [
  "bitflags 2.5.0",
  "cfg-if 1.0.0",
+ "cfg_aliases 0.1.1",
  "libc",
 ]
 
 [[package]]
 name = "nix"
-version = "0.28.0"
+version = "0.29.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ab2156c4fce2f8df6c499cc1c763e4394b7482525bf2a9701c9d79d215f519e4"
+checksum = "71e2746dc3a24dd78b3cfcb7be93368c6de9963d30f43a6a73998a9cf4b17b46"
 dependencies = [
  "bitflags 2.5.0",
  "cfg-if 1.0.0",
- "cfg_aliases",
+ "cfg_aliases 0.2.1",
  "libc",
 ]
 
@@ -2134,9 +2282,9 @@ dependencies = [
 
 [[package]]
 name = "num"
-version = "0.4.1"
+version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b05180d69e3da0e530ba2a1dae5110317e49e3b7f3d41be227dc5f92e49ee7af"
+checksum = "3135b08af27d103b0a51f2ae0f8632117b7b185ccf931445affa8df530576a41"
 dependencies = [
  "num-bigint",
  "num-complex",
@@ -2182,9 +2330,9 @@ checksum = "63335b2e2c34fae2fb0aa2cecfd9f0832a1e24b3b32ecec612c3426d46dc8aaa"
 
 [[package]]
 name = "num-complex"
-version = "0.4.4"
+version = "0.4.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ba157ca0885411de85d6ca030ba7e2a83a28636056c7c699b07c8b6f7383214"
+checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
 dependencies = [
  "num-traits",
 ]
@@ -2197,19 +2345,18 @@ checksum = "51d515d32fb182ee37cda2ccdcb92950d6a3c2893aa280e540671c2cd0f3b1d9"
 
 [[package]]
 name = "num-integer"
-version = "0.1.45"
+version = "0.1.46"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "225d3389fb3509a24c93f5c29eb6bde2586b98d9f016636dff58d7c6f7569cd9"
+checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
 dependencies = [
- "autocfg",
  "num-traits",
 ]
 
 [[package]]
 name = "num-iter"
-version = "0.1.43"
+version = "0.1.45"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7d03e6c028c5dc5cac6e2dec0efda81fc887605bb3d884578bb6d6bf7514e252"
+checksum = "1429034a0490724d0075ebb2bc9e875d6503c3cf69e235a8941aa757d83ef5bf"
 dependencies = [
  "autocfg",
  "num-integer",
@@ -2230,9 +2377,9 @@ dependencies = [
 
 [[package]]
 name = "num-traits"
-version = "0.2.16"
+version = "0.2.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f30b0abd723be7e2ffca1272140fac1a2f084c77ec3e123c192b66af1ee9e6c2"
+checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
 dependencies = [
  "autocfg",
  "libm",
@@ -2244,7 +2391,7 @@ version = "1.16.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4161fcb6d602d4d2081af7c3a45852d875a03dd337a6bfdd6e06407b61342a43"
 dependencies = [
- "hermit-abi 0.3.2",
+ "hermit-abi 0.3.9",
  "libc",
 ]
 
@@ -2266,6 +2413,15 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "oid-registry"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1c958dd45046245b9c3c2547369bb634eb461670b2e7e0de552905801a648d1d"
+dependencies = [
+ "asn1-rs",
+]
+
 [[package]]
 name = "once_cell"
 version = "1.19.0"
@@ -2292,9 +2448,9 @@ checksum = "04744f49eae99ab78e0d5c0b603ab218f515ea8cfe5a456d7629ad883a3b6e7d"
 
 [[package]]
 name = "ordered-float"
-version = "4.1.1"
+version = "4.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "536900a8093134cf9ccf00a27deb3532421099e958d9dd431135d0c7543ca1e8"
+checksum = "4a91171844676f8c7990ce64959210cd2eaef32c2612c50f9fae9f8aaa6065a6"
 dependencies = [
  "num-traits",
 ]
@@ -2342,9 +2498,9 @@ dependencies = [
 
 [[package]]
 name = "paste"
-version = "1.0.14"
+version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
+checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
 [[package]]
 name = "pem-rfc7468"
@@ -2363,9 +2519,9 @@ checksum = "31010dd2e1ac33d5b46a5b413495239882813e0369f8ed8a5e266f173602f831"
 
 [[package]]
 name = "percent-encoding"
-version = "2.3.0"
+version = "2.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b2a4787296e9989611394c33f193f676704af1686e70b8f8033ab5ba9a35a94"
+checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e"
 
 [[package]]
 name = "pest"
@@ -2398,7 +2554,7 @@ dependencies = [
  "pest_meta",
  "proc-macro2",
  "quote",
- "syn 2.0.33",
+ "syn 2.0.52",
 ]
 
 [[package]]
@@ -2414,12 +2570,54 @@ dependencies = [
 
 [[package]]
 name = "petgraph"
-version = "0.6.4"
+version = "0.6.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e1d3afd2628e69da2be385eb6f2fd57c8ac7977ceeff6dc166ff1657b0e386a9"
+checksum = "b4c5cc86750666a3ed20bdaf5ca2a0344f9c67674cae0515bec2da16fbaa47db"
 dependencies = [
  "fixedbitset",
- "indexmap 2.0.0",
+ "indexmap 2.4.0",
+]
+
+[[package]]
+name = "phf"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ade2d8b8f33c7333b51bcf0428d37e217e9f32192ae4772156f65063b8ce03dc"
+dependencies = [
+ "phf_macros",
+ "phf_shared",
+]
+
+[[package]]
+name = "phf_generator"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "48e4cc64c2ad9ebe670cb8fd69dd50ae301650392e81c05f9bfcb2d5bdbc24b0"
+dependencies = [
+ "phf_shared",
+ "rand 0.8.5",
+]
+
+[[package]]
+name = "phf_macros"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3444646e286606587e49f3bcf1679b8cef1dc2c5ecc29ddacaffc305180d464b"
+dependencies = [
+ "phf_generator",
+ "phf_shared",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.52",
+]
+
+[[package]]
+name = "phf_shared"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "90fcb95eef784c2ac79119d1dd819e162b5da872ce6f3c3abe1e8ca1c082f72b"
+dependencies = [
+ "siphasher",
 ]
 
 [[package]]
@@ -2439,7 +2637,7 @@ checksum = "4359fd9c9171ec6e8c62926d6faaf553a8dc3f64e1507e76da7911b4f6a04405"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.33",
+ "syn 2.0.52",
 ]
 
 [[package]]
@@ -2460,6 +2658,17 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
+[[package]]
+name = "piper"
+version = "0.2.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "96c8c490f422ef9a4efd2cb5b42b76c8613d7e7dfc1caf667b8a3350a5acc066"
+dependencies = [
+ "atomic-waker",
+ "fastrand 2.0.2",
+ "futures-io",
+]
+
 [[package]]
 name = "pkcs1"
 version = "0.7.5"
@@ -2483,18 +2692,18 @@ dependencies = [
 
 [[package]]
 name = "pnet_base"
-version = "0.34.0"
+version = "0.35.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fe4cf6fb3ab38b68d01ab2aea03ed3d1132b4868fa4e06285f29f16da01c5f4c"
+checksum = "ffc190d4067df16af3aba49b3b74c469e611cad6314676eaf1157f31aa0fb2f7"
 dependencies = [
  "no-std-net",
 ]
 
 [[package]]
 name = "pnet_datalink"
-version = "0.34.0"
+version = "0.35.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ad5854abf0067ebbd3967f7d45ebc8976ff577ff0c7bd101c4973ae3c70f98fe"
+checksum = "e79e70ec0be163102a332e1d2d5586d362ad76b01cec86f830241f2b6452a7b7"
 dependencies = [
  "ipnetwork",
  "libc",
@@ -2505,9 +2714,9 @@ dependencies = [
 
 [[package]]
 name = "pnet_sys"
-version = "0.34.0"
+version = "0.35.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "417c0becd1b573f6d544f73671070b039051e5ad819cc64aa96377b536128d00"
+checksum = "7d4643d3d4db6b08741050c2f3afa9a892c4244c085a72fcda93c9c2c9a00f4b"
 dependencies = [
  "libc",
  "winapi",
@@ -2529,6 +2738,21 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "polling"
+version = "3.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a3ed00ed3fbf728b5816498ecd316d1716eecaced9c0c8d2c5a6740ca214985b"
+dependencies = [
+ "cfg-if 1.0.0",
+ "concurrent-queue",
+ "hermit-abi 0.4.0",
+ "pin-project-lite 0.2.13",
+ "rustix 0.38.32",
+ "tracing",
+ "windows-sys 0.52.0",
+]
+
 [[package]]
 name = "polyval"
 version = "0.4.5"
@@ -2560,9 +2784,9 @@ checksum = "dc375e1527247fe1a97d8b7156678dfe7c1af2fc075c9a4db3690ecd2a148068"
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.67"
+version = "1.0.86"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d433d9f1a3e8c1263d9456598b16fec66f4acc9a74dacffd35c7bb09b3a1328"
+checksum = "5e719e8df665df0d1c8fbfd238015744736151d4445ec0836b8e628aae103b77"
 dependencies = [
  "unicode-ident",
 ]
@@ -2575,16 +2799,17 @@ checksum = "a1d01941d82fa2ab50be1e79e6714289dd7cde78eba4c074bc5a4374f650dfe0"
 
 [[package]]
 name = "quinn"
-version = "0.11.1"
+version = "0.11.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "904e3d3ba178131798c6d9375db2b13b34337d489b089fc5ba0825a2ff1bee73"
+checksum = "b22d8e7369034b9a7132bc2008cac12f2013c8132b45e0554e6e20e2617f2156"
 dependencies = [
  "bytes",
  "pin-project-lite 0.2.13",
  "quinn-proto",
  "quinn-udp",
- "rustc-hash",
+ "rustc-hash 2.0.0",
  "rustls",
+ "socket2 0.5.7",
  "thiserror",
  "tokio",
  "tracing",
@@ -2592,14 +2817,14 @@ dependencies = [
 
 [[package]]
 name = "quinn-proto"
-version = "0.11.2"
+version = "0.11.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e974563a4b1c2206bbc61191ca4da9c22e4308b4c455e8906751cc7828393f08"
+checksum = "ddf517c03a109db8100448a4be38d498df8a210a99fe0e1b9eaf39e78c640efe"
 dependencies = [
  "bytes",
  "rand 0.8.5",
  "ring",
- "rustc-hash",
+ "rustc-hash 1.1.0",
  "rustls",
  "rustls-platform-verifier",
  "slab",
@@ -2610,22 +2835,22 @@ dependencies = [
 
 [[package]]
 name = "quinn-udp"
-version = "0.5.1"
+version = "0.5.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e4f0def2590301f4f667db5a77f9694fb004f82796dc1a8b1508fafa3d0e8b72"
+checksum = "8bffec3605b73c6f1754535084a85229fa8a30f86014e6c81aeec4abb68b0285"
 dependencies = [
  "libc",
  "once_cell",
- "socket2 0.5.6",
+ "socket2 0.5.7",
  "tracing",
  "windows-sys 0.52.0",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.33"
+version = "1.0.37"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5267fca4496028628a95160fc423a33e8b2e6af8a5302579e322e4b520293cae"
+checksum = "b5b9d34b8991d19d98081b46eacdd8eb58c6f2b201139f7c5f643cc155a633af"
 dependencies = [
  "proc-macro2",
 ]
@@ -2754,14 +2979,14 @@ dependencies = [
 
 [[package]]
 name = "regex"
-version = "1.9.5"
+version = "1.10.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "697061221ea1b4a94a624f67d0ae2bfe4e22b8a17b6a192afb11046542cc8c47"
+checksum = "4219d74c6b67a3654a9fbebc4b419e22126d13d2f3c4a07ee0cb61ff79a79619"
 dependencies = [
  "aho-corasick 1.0.5",
  "memchr",
- "regex-automata 0.3.8",
- "regex-syntax 0.7.5",
+ "regex-automata 0.4.7",
+ "regex-syntax 0.8.4",
 ]
 
 [[package]]
@@ -2775,13 +3000,13 @@ dependencies = [
 
 [[package]]
 name = "regex-automata"
-version = "0.3.8"
+version = "0.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c2f401f4955220693b56f8ec66ee9c78abffd8d1c4f23dc41a23839eb88f0795"
+checksum = "38caf58cc5ef2fed281f89292ef23f6365465ed9a41b7a7754eb4e26496c92df"
 dependencies = [
  "aho-corasick 1.0.5",
  "memchr",
- "regex-syntax 0.7.5",
+ "regex-syntax 0.8.4",
 ]
 
 [[package]]
@@ -2801,9 +3026,9 @@ checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
 
 [[package]]
 name = "regex-syntax"
-version = "0.7.5"
+version = "0.8.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dbb5fb1acd8a1a18b3dd5be62d25485eb770e05afb408a9627d14d451bae12da"
+checksum = "7a66a03ae7c801facd77a29370b4faec201768915ac14a721ba36f20bc9c209b"
 
 [[package]]
 name = "ring"
@@ -2814,7 +3039,7 @@ dependencies = [
  "cc",
  "getrandom 0.2.10",
  "libc",
- "spin 0.9.8",
+ "spin",
  "untrusted",
  "windows-sys 0.48.0",
 ]
@@ -2847,10 +3072,10 @@ version = "0.1.1"
 dependencies = [
  "array-init",
  "hex",
- "itertools",
+ "itertools 0.10.5",
  "lazy_static",
  "md-5",
- "regex 1.9.5",
+ "regex 1.10.6",
  "serde",
  "serde_derive",
  "thiserror",
@@ -2867,7 +3092,7 @@ dependencies = [
  "error-chain 0.12.4",
  "hostname",
  "lazy_static",
- "regex 1.9.5",
+ "regex 1.10.6",
  "ros_message",
  "rosrust_codegen",
  "serde",
@@ -2904,7 +3129,7 @@ dependencies = [
  "deflate",
  "filetime",
  "multipart",
- "percent-encoding 2.3.0",
+ "percent-encoding 2.3.1",
  "rand 0.8.5",
  "serde",
  "serde_derive",
@@ -2913,7 +3138,7 @@ dependencies = [
  "threadpool",
  "time 0.3.36",
  "tiny_http",
- "url 2.4.1",
+ "url 2.5.2",
 ]
 
 [[package]]
@@ -2956,6 +3181,12 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
 
+[[package]]
+name = "rustc-hash"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "583034fd73374156e66797ed8e5b0d5690409c9226b22d87cb7f19821c05d152"
+
 [[package]]
 name = "rustc_version"
 version = "0.2.3"
@@ -2967,13 +3198,22 @@ dependencies = [
 
 [[package]]
 name = "rustc_version"
-version = "0.4.0"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
+checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
 dependencies = [
  "semver 1.0.18",
 ]
 
+[[package]]
+name = "rusticata-macros"
+version = "4.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "faf0c4a6ece9950b9abdb62b1cfcf2a68b3b67a10ba445b3bb85be2a293d0632"
+dependencies = [
+ "nom",
+]
+
 [[package]]
 name = "rustix"
 version = "0.37.25"
@@ -3003,9 +3243,9 @@ dependencies = [
 
 [[package]]
 name = "rustls"
-version = "0.23.9"
+version = "0.23.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a218f0f6d05669de4eabfb24f31ce802035c952429d037507b4a4a39f0e60c5b"
+checksum = "c58f8c84392efc0a126acce10fa59ff7b3d2ac06ab451a33f2741989b806b044"
 dependencies = [
  "log 0.4.20",
  "once_cell",
@@ -3031,19 +3271,19 @@ dependencies = [
 
 [[package]]
 name = "rustls-pemfile"
-version = "2.0.0"
+version = "2.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "35e4980fa29e4c4b212ffb3db068a564cbf560e51d3944b7c88bd8bf5bec64f4"
+checksum = "196fe16b00e106300d3e45ecfcb764fa292a535d7326a29a5875c579c7417425"
 dependencies = [
- "base64 0.21.4",
+ "base64 0.22.1",
  "rustls-pki-types",
 ]
 
 [[package]]
 name = "rustls-pki-types"
-version = "1.7.0"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "976295e77ce332211c0d24d92c0e83e50f5c5f046d11082cea19f3df13a3562d"
+checksum = "fc0a2ce646f8655401bb81e7927b812614bd5d91dbc968696be50603510fcaf0"
 
 [[package]]
 name = "rustls-platform-verifier"
@@ -3074,9 +3314,9 @@ checksum = "84e217e7fdc8466b5b35d30f8c0a30febd29173df4a3a0c2115d306b9c4117ad"
 
 [[package]]
 name = "rustls-webpki"
-version = "0.102.4"
+version = "0.102.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ff448f7e92e913c4b7d4c6d8e4540a1724b319b4152b8aef6d4cf8339712b33e"
+checksum = "84678086bd54edf2b415183ed7a94d0efb049f1b646a33e22a36f3794be6ae56"
 dependencies = [
  "ring",
  "rustls-pki-types",
@@ -3085,9 +3325,9 @@ dependencies = [
 
 [[package]]
 name = "rustversion"
-version = "1.0.17"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "955d28af4278de8121b7ebeb796b6a45735dc01436d898801014aced2773a3d6"
+checksum = "7ffc183a10b4478d04cbbbfc96d0873219d962dd5accaff2ffbd4ceb7df837f4"
 
 [[package]]
 name = "ryu"
@@ -3127,11 +3367,12 @@ dependencies = [
 
 [[package]]
 name = "schemars"
-version = "0.8.13"
+version = "0.8.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "763f8cd0d4c71ed8389c90cb8100cba87e763bd01a8e614d4f0af97bcd50a161"
+checksum = "09c024468a378b7e36765cd36702b7a90cc3cba11654f6685c8f233408e89e92"
 dependencies = [
  "dyn-clone",
+ "either",
  "schemars_derive",
  "serde",
  "serde_json",
@@ -3139,14 +3380,14 @@ dependencies = [
 
 [[package]]
 name = "schemars_derive"
-version = "0.8.13"
+version = "0.8.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ec0f696e21e10fa546b7ffb1c9672c6de8fbc7a81acf59524386d8639bf12737"
+checksum = "b1eee588578aff73f856ab961cd2f79e36bc45d7ded33a7562adba4667aecc0e"
 dependencies = [
  "proc-macro2",
  "quote",
  "serde_derive_internals",
- "syn 1.0.109",
+ "syn 2.0.52",
 ]
 
 [[package]]
@@ -3212,13 +3453,26 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
 [[package]]
 name = "serde"
-version = "1.0.188"
+version = "1.0.209"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cf9e0fcba69a370eed61bcf2b728575f726b50b55cba78064753d708ddc7549e"
+checksum = "99fce0ffe7310761ca6bf9faf5115afbc19688edd00171d81b1bb1b116c63e09"
 dependencies = [
  "serde_derive",
 ]
 
+[[package]]
+name = "serde-pickle"
+version = "1.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c762ad136a26407c6a80825813600ceeab5e613660d93d79a41f0ec877171e71"
+dependencies = [
+ "byteorder",
+ "iter-read",
+ "num-bigint",
+ "num-traits",
+ "serde",
+]
+
 [[package]]
 name = "serde-xml-rs"
 version = "0.2.1"
@@ -3239,26 +3493,36 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "serde_cbor"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2bef2ebfde456fb76bbcf9f59315333decc4fda0b2b44b420243c11e0f5ec1f5"
+dependencies = [
+ "half",
+ "serde",
+]
+
 [[package]]
 name = "serde_derive"
-version = "1.0.188"
+version = "1.0.209"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4eca7ac642d82aa35b60049a6eccb4be6be75e599bd2e9adb5f875a737654af2"
+checksum = "a5831b979fd7b5439637af1752d535ff49f4860c0f341d1baeb6faf0f4242170"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.33",
+ "syn 2.0.52",
 ]
 
 [[package]]
 name = "serde_derive_internals"
-version = "0.26.0"
+version = "0.29.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "85bf8229e7920a9f636479437026331ce11aa132b4dde37d121944a44d6e5f3c"
+checksum = "18d26a20a969b9e3fdf2fc2d9f21eda6c40e2de84c9408bb5d3b05d499aae711"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.52",
 ]
 
 [[package]]
@@ -3272,11 +3536,12 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.107"
+version = "1.0.127"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6b420ce6e3d8bd882e9b243c6eed35dbc9a6110c9769e74b584e0d68d1f20c65"
+checksum = "8043c06d9f82bd7271361ed64f415fe5e12a77fdb52e573e7f06a516dea329ad"
 dependencies = [
  "itoa",
+ "memchr",
  "ryu",
  "serde",
 ]
@@ -3287,7 +3552,7 @@ version = "0.8.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c7715380eec75f029a4ef7de39a9200e0a63823176b759d055b613f5a87df6a6"
 dependencies = [
- "percent-encoding 2.3.0",
+ "percent-encoding 2.3.1",
  "serde",
  "thiserror",
 ]
@@ -3306,11 +3571,11 @@ dependencies = [
 
 [[package]]
 name = "serde_yaml"
-version = "0.9.25"
+version = "0.9.34+deprecated"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1a49e178e4452f45cb61d0cd8cebc1b0fafd3e41929e996cef79aa3aca91f574"
+checksum = "6a8b1a1a2ebf674015cc02edccce75287f1a0130d394307b36743c2f5d504b47"
 dependencies = [
- "indexmap 2.0.0",
+ "indexmap 2.4.0",
  "itoa",
  "ryu",
  "serde",
@@ -3324,7 +3589,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1c789ec87f4687d022a2405cf46e0cd6284889f1839de292cadeb6c6019506f2"
 dependencies = [
  "dashmap",
- "futures 0.3.28",
+ "futures 0.3.30",
  "lazy_static",
  "log 0.4.20",
  "parking_lot",
@@ -3458,6 +3723,12 @@ dependencies = [
  "event-listener 2.5.3",
 ]
 
+[[package]]
+name = "siphasher"
+version = "0.3.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38b58827f4464d87d377d175e90bf58eb00fd8716ff0a62f80356b5e61555d0d"
+
 [[package]]
 name = "slab"
 version = "0.4.9"
@@ -3469,9 +3740,9 @@ dependencies = [
 
 [[package]]
 name = "smallvec"
-version = "1.11.0"
+version = "1.13.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62bb4feee49fdd9f707ef802e22365a35de4b7b299de4763d44bfea899442ff9"
+checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
 
 [[package]]
 name = "socket2"
@@ -3485,20 +3756,14 @@ dependencies = [
 
 [[package]]
 name = "socket2"
-version = "0.5.6"
+version = "0.5.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "05ffd9c0a93b7543e062e759284fcf5f5e3b098501104bfbdde4d404db792871"
+checksum = "ce305eb0b4296696835b71df73eb912e0f1ffd2556a501fcede6e0c50349191c"
 dependencies = [
  "libc",
  "windows-sys 0.52.0",
 ]
 
-[[package]]
-name = "spin"
-version = "0.5.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6e63cff320ae2c57904679ba7cb63280a3dc4613885beafb148ee7bf9aa9042d"
-
 [[package]]
 name = "spin"
 version = "0.9.8"
@@ -3588,7 +3853,7 @@ version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "af91f480ee899ab2d9f8435bfdfc14d08a5754bd9d3fef1f1a1c23336aad6c8b"
 dependencies = [
- "async-channel",
+ "async-channel 1.9.0",
  "cfg-if 1.0.0",
  "futures-core",
  "pin-project-lite 0.2.13",
@@ -3706,15 +3971,26 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.33"
+version = "2.0.52"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9caece70c63bfba29ec2fed841a09851b14a235c60010fa4de58089b6c025668"
+checksum = "b699d15b36d1f02c3e7c69f8ffef53de37aefae075d8488d4ba1a7788d574a07"
 dependencies = [
  "proc-macro2",
  "quote",
  "unicode-ident",
 ]
 
+[[package]]
+name = "synstructure"
+version = "0.13.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c8af7666ab7b6390ab78131fb5b0fce11d6b7a6951602017c35fa82800708971"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.52",
+]
+
 [[package]]
 name = "tempfile"
 version = "3.10.1"
@@ -3736,6 +4012,39 @@ dependencies = [
  "winapi-util",
 ]
 
+[[package]]
+name = "test-case"
+version = "3.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eb2550dd13afcd286853192af8601920d959b14c401fcece38071d53bf0768a8"
+dependencies = [
+ "test-case-macros",
+]
+
+[[package]]
+name = "test-case-core"
+version = "3.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "adcb7fd841cd518e279be3d5a3eb0636409487998a4aff22f3de87b81e88384f"
+dependencies = [
+ "cfg-if 1.0.0",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.52",
+]
+
+[[package]]
+name = "test-case-macros"
+version = "3.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5c89e72a01ed4c579669add59014b9a524d609c0c88c6a585ce37485879f6ffb"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.52",
+ "test-case-core",
+]
+
 [[package]]
 name = "textwrap"
 version = "0.16.1"
@@ -3759,7 +4068,7 @@ checksum = "49922ecae66cc8a249b77e68d1d0623c1b2c514f0060c27cdc68bd62a1219d35"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.33",
+ "syn 2.0.52",
 ]
 
 [[package]]
@@ -3846,6 +4155,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5dfd88e563464686c916c7e46e623e520ddc6d79fa6641390f2e3fa86e83e885"
 dependencies = [
  "deranged",
+ "itoa",
  "libc",
  "num-conv",
  "num_threads",
@@ -3932,30 +4242,30 @@ dependencies = [
 
 [[package]]
 name = "tokio"
-version = "1.36.0"
+version = "1.39.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61285f6515fa018fb2d1e46eb21223fff441ee8db5d0f1435e8ab4f5cdb80931"
+checksum = "9babc99b9923bfa4804bd74722ff02c0381021eafa4db9949217e3be8e84fff5"
 dependencies = [
  "backtrace",
  "bytes",
  "libc",
  "mio",
- "num_cpus",
  "pin-project-lite 0.2.13",
- "socket2 0.5.6",
+ "signal-hook-registry",
+ "socket2 0.5.7",
  "tokio-macros",
- "windows-sys 0.48.0",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
 name = "tokio-macros"
-version = "2.2.0"
+version = "2.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5b8a1e28f2deaa14e508979454cb3a223b10b938b45af148bc0986de36f1923b"
+checksum = "693d596312e88961bc67d7f1f97af8a70227d9f90c31bba5806eec004978d752"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.33",
+ "syn 2.0.52",
 ]
 
 [[package]]
@@ -3971,9 +4281,9 @@ dependencies = [
 
 [[package]]
 name = "tokio-tungstenite"
-version = "0.21.0"
+version = "0.23.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c83b561d025642014097b66e6c1bb422783339e0909e4429cde4749d1990bc38"
+checksum = "c6989540ced10490aaf14e6bad2e3d33728a2813310a0c71d1574304c49631cd"
 dependencies = [
  "futures-util",
  "log 0.4.20",
@@ -3983,15 +4293,15 @@ dependencies = [
 
 [[package]]
 name = "tokio-util"
-version = "0.7.10"
+version = "0.7.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5419f34732d9eb6ee4c3578b7989078579b7f039cbbb9ca2c4da015749371e15"
+checksum = "9cf6b47b3771c49ac75ad09a6162f53ad4b8088b76ac60e8ec1455b31a189fe1"
 dependencies = [
  "bytes",
  "futures-core",
  "futures-sink",
  "futures-util",
- "hashbrown 0.14.0",
+ "hashbrown 0.14.5",
  "pin-project-lite 0.2.13",
  "tokio",
 ]
@@ -4017,7 +4327,7 @@ checksum = "5f4f31f56159e98206da9efd823404b79b6ef3143b4a7ab76e67b1751b25a4ab"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.33",
+ "syn 2.0.52",
 ]
 
 [[package]]
@@ -4060,7 +4370,7 @@ dependencies = [
  "matchers",
  "nu-ansi-term",
  "once_cell",
- "regex 1.9.5",
+ "regex 1.10.6",
  "serde",
  "serde_json",
  "sharded-slab",
@@ -4080,9 +4390,9 @@ checksum = "efd1f82c56340fdf16f2a953d7bda4f8fdffba13d93b00844c25572110b26079"
 
 [[package]]
 name = "tungstenite"
-version = "0.21.0"
+version = "0.23.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ef1a641ea34f399a848dea702823bbecfb4c486f911735368f1f137cb8257e1"
+checksum = "6e2e2ce1e47ed2994fd43b04c8f618008d4cabdd5ee34027cf14f9d918edd9c8"
 dependencies = [
  "byteorder",
  "bytes",
@@ -4093,7 +4403,6 @@ dependencies = [
  "rand 0.8.5",
  "sha1 0.10.5",
  "thiserror",
- "url 2.4.1",
  "utf-8",
 ]
 
@@ -4142,16 +4451,16 @@ checksum = "abd2fc5d32b590614af8b0a20d837f32eca055edd0bbead59a9cfe80858be003"
 
 [[package]]
 name = "uhlc"
-version = "0.7.0"
+version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "99b6df3f3e948b40e20c38a6d1fd6d8f91b3573922fc164e068ad3331560487e"
+checksum = "79ac3c37bd9506595768f0387bd39d644525728b4a1d783218acabfb56356db7"
 dependencies = [
  "humantime",
  "lazy_static",
  "log 0.4.20",
  "rand 0.8.5",
  "serde",
- "spin 0.9.8",
+ "spin",
 ]
 
 [[package]]
@@ -4174,9 +4483,9 @@ dependencies = [
 
 [[package]]
 name = "unicode-bidi"
-version = "0.3.13"
+version = "0.3.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92888ba5573ff080736b3648696b70cafad7d250551175acbaa4e0385b3e1460"
+checksum = "08f95100a766bf4f8f28f90d77e0a5461bbdb219042e7679bebe79004fed8d75"
 
 [[package]]
 name = "unicode-ident"
@@ -4186,9 +4495,9 @@ checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
 
 [[package]]
 name = "unicode-normalization"
-version = "0.1.22"
+version = "0.1.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5c5713f0fc4b5db668a2ac63cdb7bb4469d8c9fed047b1d0292cc7b0ce2ba921"
+checksum = "a56d1686db2308d901306f92a263857ef59ea39678a5458e7cb17f01415101f5"
 dependencies = [
  "tinyvec",
 ]
@@ -4211,9 +4520,9 @@ dependencies = [
 
 [[package]]
 name = "unsafe-libyaml"
-version = "0.2.10"
+version = "0.2.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ab4c90930b95a82d00dc9e9ac071b4991924390d46cbd0dfe566148667605e4b"
+checksum = "673aac59facbab8a9007c7f6108d11f63b603f7cabff99fabf650fea5c32b861"
 
 [[package]]
 name = "untrusted"
@@ -4221,6 +4530,12 @@ version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8ecb6da28b8a351d773b68d5825ac39017e680750f980f3a1a85cd8dd28a47c1"
 
+[[package]]
+name = "unwrap-infallible"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "151ac09978d3c2862c4e39b557f4eceee2cc72150bc4cb4f16abf061b6e381fb"
+
 [[package]]
 name = "unzip-n"
 version = "0.1.2"
@@ -4245,13 +4560,13 @@ dependencies = [
 
 [[package]]
 name = "url"
-version = "2.4.1"
+version = "2.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "143b538f18257fac9cad154828a57c6bf5157e1aa604d4816b5995bf6de87ae5"
+checksum = "22784dbdf76fdde8af1aeda5622b546b422b6fc585325248a2bf9f5e41e94d6c"
 dependencies = [
  "form_urlencoded",
- "idna 0.4.0",
- "percent-encoding 2.3.0",
+ "idna 0.5.0",
+ "percent-encoding 2.3.1",
  "serde",
 ]
 
@@ -4269,9 +4584,9 @@ checksum = "7fcfc827f90e53a02eaef5e535ee14266c1d569214c6aa70133a624d8a3164ba"
 
 [[package]]
 name = "uuid"
-version = "1.4.1"
+version = "1.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "79daa5ed5740825c40b389c5e50312b9c86df53fccd33f281df655642b43869d"
+checksum = "81dfa00651efa65069b0b6b651f4aaa31ba9e3c3ce0137aaad053604ee7e0314"
 dependencies = [
  "getrandom 0.2.10",
 ]
@@ -4417,7 +4732,7 @@ dependencies = [
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.33",
+ "syn 2.0.52",
  "wasm-bindgen-shared",
 ]
 
@@ -4451,7 +4766,7 @@ checksum = "54681b18a46765f095758388f2d0cf16eb8d4169b639ab575a8f5693af210c7b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.33",
+ "syn 2.0.52",
  "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
@@ -4474,9 +4789,9 @@ dependencies = [
 
 [[package]]
 name = "webpki-roots"
-version = "0.26.0"
+version = "0.26.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0de2cfda980f21be5a7ed2eadb3e6fe074d56022bea2cdeb1a62eb220fc04188"
+checksum = "bd7c23921eeb1713a4e851530e9b9756e4fb0e89978582942612524cf09f01cd"
 dependencies = [
  "rustls-pki-types",
 ]
@@ -4653,6 +4968,23 @@ version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dff9641d1cd4be8d1a070daf9e3773c5f67e78b4d9d42263020c057706765c04"
 
+[[package]]
+name = "x509-parser"
+version = "0.16.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fcbc162f30700d6f3f82a24bf7cc62ffe7caea42c0b2cba8bf7f3ae50cf51f69"
+dependencies = [
+ "asn1-rs",
+ "data-encoding",
+ "der-parser",
+ "lazy_static",
+ "nom",
+ "oid-registry",
+ "rusticata-macros",
+ "thiserror",
+ "time 0.3.36",
+]
+
 [[package]]
 name = "xml-rpc"
 version = "0.0.12"
@@ -4702,33 +5034,40 @@ dependencies = [
 
 [[package]]
 name = "zenoh"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "ahash",
  "async-trait",
- "base64 0.21.4",
- "const_format",
- "event-listener 4.0.0",
+ "base64 0.22.1",
+ "bytes",
+ "event-listener 5.3.1",
  "flume",
  "form_urlencoded",
- "futures 0.3.28",
+ "futures 0.3.30",
  "git-version",
+ "itertools 0.13.0",
  "lazy_static",
+ "once_cell",
  "ordered-float",
  "paste",
  "petgraph",
+ "phf",
  "rand 0.8.5",
- "regex 1.9.5",
- "rustc_version 0.4.0",
+ "regex 1.10.6",
+ "rustc_version 0.4.1",
  "serde",
+ "serde-pickle",
+ "serde_cbor",
  "serde_json",
- "socket2 0.5.6",
+ "serde_yaml",
+ "socket2 0.5.7",
  "stop-token",
  "tokio",
  "tokio-util",
  "tracing",
  "uhlc",
+ "unwrap-infallible",
  "uuid",
  "vec_map",
  "zenoh-buffers",
@@ -4752,33 +5091,32 @@ dependencies = [
 
 [[package]]
 name = "zenoh-bridge-ros1"
-version = "0.11.0-dev"
+version = "1.0.0-dev"
 dependencies = [
- "async-std",
  "clap",
  "ctrlc",
  "lazy_static",
  "serde_json",
+ "tokio",
  "tracing",
  "zenoh",
  "zenoh-plugin-rest",
  "zenoh-plugin-ros1",
  "zenoh-plugin-trait",
- "zenoh-util",
 ]
 
 [[package]]
 name = "zenoh-buffers"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "zenoh-collections",
 ]
 
 [[package]]
 name = "zenoh-codec"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "serde",
  "tracing",
@@ -4789,13 +5127,13 @@ dependencies = [
 
 [[package]]
 name = "zenoh-collections"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 
 [[package]]
 name = "zenoh-config"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "flume",
  "json5",
@@ -4805,8 +5143,10 @@ dependencies = [
  "serde_json",
  "serde_yaml",
  "tracing",
+ "uhlc",
  "validated_struct",
  "zenoh-core",
+ "zenoh-macros",
  "zenoh-protocol",
  "zenoh-result",
  "zenoh-util",
@@ -4814,8 +5154,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-core"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "async-global-executor",
  "lazy_static",
@@ -4826,10 +5166,10 @@ dependencies = [
 
 [[package]]
 name = "zenoh-crypto"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
- "aes 0.8.3",
+ "aes 0.8.4",
  "hmac 0.12.1",
  "rand 0.8.5",
  "rand_chacha 0.3.1",
@@ -4837,33 +5177,12 @@ dependencies = [
  "zenoh-result",
 ]
 
-[[package]]
-name = "zenoh-ext"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
-dependencies = [
- "bincode",
- "flume",
- "futures 0.3.28",
- "serde",
- "tokio",
- "tracing",
- "zenoh",
- "zenoh-core",
- "zenoh-macros",
- "zenoh-result",
- "zenoh-runtime",
- "zenoh-sync",
- "zenoh-task",
- "zenoh-util",
-]
-
 [[package]]
 name = "zenoh-keyexpr"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
- "hashbrown 0.14.0",
+ "hashbrown 0.14.5",
  "keyed-set",
  "rand 0.8.5",
  "schemars",
@@ -4874,8 +5193,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "async-trait",
  "zenoh-config",
@@ -4892,18 +5211,19 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-commons"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "async-trait",
  "flume",
- "futures 0.3.28",
+ "futures 0.3.30",
  "rustls",
  "rustls-webpki",
  "serde",
  "tokio",
  "tokio-util",
  "tracing",
+ "webpki-roots",
  "zenoh-buffers",
  "zenoh-codec",
  "zenoh-config",
@@ -4916,12 +5236,12 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-quic"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "async-trait",
- "base64 0.21.4",
- "futures 0.3.28",
+ "base64 0.22.1",
+ "futures 0.3.30",
  "quinn",
  "rustls",
  "rustls-pemfile",
@@ -4933,6 +5253,8 @@ dependencies = [
  "tokio-util",
  "tracing",
  "webpki-roots",
+ "x509-parser",
+ "zenoh-collections",
  "zenoh-config",
  "zenoh-core",
  "zenoh-link-commons",
@@ -4945,10 +5267,11 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-tcp"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "async-trait",
+ "socket2 0.5.7",
  "tokio",
  "tokio-util",
  "tracing",
@@ -4963,22 +5286,25 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-tls"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "async-trait",
- "base64 0.21.4",
- "futures 0.3.28",
+ "base64 0.22.1",
+ "futures 0.3.30",
  "rustls",
  "rustls-pemfile",
  "rustls-pki-types",
  "rustls-webpki",
  "secrecy",
+ "socket2 0.5.7",
  "tokio",
  "tokio-rustls",
  "tokio-util",
  "tracing",
  "webpki-roots",
+ "x509-parser",
+ "zenoh-collections",
  "zenoh-config",
  "zenoh-core",
  "zenoh-link-commons",
@@ -4991,11 +5317,11 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-udp"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "async-trait",
- "socket2 0.5.6",
+ "socket2 0.5.7",
  "tokio",
  "tokio-util",
  "tracing",
@@ -5012,12 +5338,12 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-unixsock_stream"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "async-trait",
- "futures 0.3.28",
- "nix 0.27.1",
+ "futures 0.3.30",
+ "nix 0.29.0",
  "tokio",
  "tokio-util",
  "tracing",
@@ -5032,8 +5358,8 @@ dependencies = [
 
 [[package]]
 name = "zenoh-link-ws"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "async-trait",
  "futures-util",
@@ -5041,7 +5367,7 @@ dependencies = [
  "tokio-tungstenite",
  "tokio-util",
  "tracing",
- "url 2.4.1",
+ "url 2.5.2",
  "zenoh-core",
  "zenoh-link-commons",
  "zenoh-protocol",
@@ -5053,81 +5379,76 @@ dependencies = [
 
 [[package]]
 name = "zenoh-macros"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.33",
+ "syn 2.0.52",
  "zenoh-keyexpr",
 ]
 
 [[package]]
 name = "zenoh-plugin-rest"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "anyhow",
- "async-std",
- "base64 0.21.4",
+ "base64 0.22.1",
  "const_format",
  "flume",
- "futures 0.3.28",
+ "futures 0.3.30",
  "git-version",
  "http-types",
  "jsonschema",
  "lazy_static",
- "rustc_version 0.4.0",
+ "rustc_version 0.4.1",
  "schemars",
  "serde",
  "serde_json",
  "tide",
+ "tokio",
  "tracing",
  "zenoh",
  "zenoh-plugin-trait",
- "zenoh-result",
- "zenoh-util",
 ]
 
 [[package]]
 name = "zenoh-plugin-ros1"
-version = "0.11.0-dev"
+version = "1.0.0-dev"
 dependencies = [
  "async-global-executor",
- "async-std",
  "async-trait",
  "atoi",
  "ctrlc",
  "duration-string",
  "flume",
- "futures 0.3.28",
+ "futures 0.3.30",
  "git-version",
  "hex",
  "lazy_static",
  "multiset",
  "rand 0.8.5",
  "rosrust",
- "rustc_version 0.4.0",
+ "rustc_version 0.4.1",
  "serde",
  "serde_json",
  "serial_test",
  "strum",
  "strum_macros",
+ "test-case",
+ "tokio",
  "tracing",
  "xml-rpc",
  "zenoh",
- "zenoh-core",
- "zenoh-ext",
  "zenoh-plugin-trait",
- "zenoh-util",
 ]
 
 [[package]]
 name = "zenoh-plugin-trait"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
- "const_format",
  "libloading",
  "serde",
  "serde_json",
@@ -5140,49 +5461,49 @@ dependencies = [
 
 [[package]]
 name = "zenoh-protocol"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "const_format",
  "rand 0.8.5",
  "serde",
  "uhlc",
  "zenoh-buffers",
+ "zenoh-collections",
  "zenoh-keyexpr",
  "zenoh-result",
 ]
 
 [[package]]
 name = "zenoh-result"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "anyhow",
 ]
 
 [[package]]
 name = "zenoh-runtime"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
- "futures 0.3.28",
+ "futures 0.3.30",
  "lazy_static",
  "libc",
  "ron",
  "serde",
  "tokio",
- "zenoh-collections",
  "zenoh-macros",
  "zenoh-result",
 ]
 
 [[package]]
 name = "zenoh-sync"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
- "event-listener 4.0.0",
- "futures 0.3.28",
+ "event-listener 5.3.1",
+ "futures 0.3.30",
  "tokio",
  "zenoh-buffers",
  "zenoh-collections",
@@ -5192,10 +5513,10 @@ dependencies = [
 
 [[package]]
 name = "zenoh-task"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
- "futures 0.3.28",
+ "futures 0.3.30",
  "tokio",
  "tokio-util",
  "tracing",
@@ -5205,11 +5526,13 @@ dependencies = [
 
 [[package]]
 name = "zenoh-transport"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
  "async-trait",
+ "crossbeam-utils",
  "flume",
+ "lazy_static",
  "lz4_flex",
  "paste",
  "rand 0.8.5",
@@ -5237,11 +5560,11 @@ dependencies = [
 
 [[package]]
 name = "zenoh-util"
-version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e66745ebdf70f01bf01ba60f69bc902b917b2d24"
+version = "1.0.0-dev"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=dev/1.0.0#926208cd2bd9a7ef59e6151ff17a99ce6b78edbd"
 dependencies = [
- "async-std",
  "async-trait",
+ "const_format",
  "flume",
  "home",
  "humantime",
@@ -5249,6 +5572,8 @@ dependencies = [
  "libc",
  "libloading",
  "pnet_datalink",
+ "serde",
+ "serde_json",
  "shellexpand",
  "tokio",
  "tracing",
@@ -5275,7 +5600,7 @@ checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.33",
+ "syn 2.0.52",
 ]
 
 [[package]]
diff --git a/Cargo.toml b/Cargo.toml
index 32a5361..e49b4e8 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -17,7 +17,7 @@ members = ["zenoh-bridge-ros1", "zenoh-plugin-ros1", "rosrust/rosrust"]
 exclude = ["rosrust"]
 
 [workspace.package]
-version = "0.11.0-dev"
+version = "1.0.0-dev"
 authors = [
   "Dmitrii Bannov <dmitrii.bannov@zettascale.tech>",
   "Luca Cominardi <luca@zettascale.tech>",
@@ -30,7 +30,6 @@ categories = ["network-programming"]
 
 [workspace.dependencies]
 atoi = "2.0.0"
-async-std = "=1.12.0"
 async-trait = "0.1"
 clap = "3.2.23"
 ctrlc = "3.2.5"
@@ -39,7 +38,7 @@ git-version = "0.3.5"
 lazy_static = "1.4.0"
 serde = "1.0.147"
 serde_derive = "1.0.147"
-serde_json = "1.0.85"
+serde_json = "1.0.114"
 async-global-executor = "2.3.1"
 rand = "0.8.5"
 strum = "0.24"
@@ -49,17 +48,17 @@ flume = "0.11"
 hex = "0.4.3"
 xml-rpc = "0.0.12"
 rustc_version = "0.4"
+test-case = { version = "3.3" }
+tokio = { version = "1.35.1", features = ["process"] }
 tracing = "0.1"
-zenoh = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = [
+zenoh = { version = "1.0.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "dev/1.0.0", features = [
+  "internal",
   "unstable",
   "plugins",
 ] }
-zenoh-ext = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main" }
-zenoh-core = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main" }
-zenoh-plugin-rest = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", default-features = false }
-zenoh-plugin-trait = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", default-features = false }
-zenoh-plugin-ros1 = { version = "0.11.0-dev", path = "zenoh-plugin-ros1", default-features = false }
-zenoh-util = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main" }
+zenoh-plugin-rest = { version = "1.0.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "dev/1.0.0", default-features = false }
+zenoh-plugin-trait = { version = "1.0.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "dev/1.0.0", default-features = false }
+zenoh-plugin-ros1 = { version = "1.0.0-dev", path = "zenoh-plugin-ros1", default-features = false }
 
 [profile.release]
 debug = false
diff --git a/DEFAULT_CONFIG.json5 b/DEFAULT_CONFIG.json5
index 0329cf6..02474ca 100644
--- a/DEFAULT_CONFIG.json5
+++ b/DEFAULT_CONFIG.json5
@@ -118,6 +118,24 @@
       //// The string format is [0-9]+(ns|us|ms|[smhdwy])
       ////
       // ros_master_polling_interval: "100ms",
+
+      ////
+      //// This plugin uses Tokio (https://tokio.rs/) for asynchronous programming. 
+      //// When running as a plugin within a Zenoh router, the plugin creates its own Runtime managing 2 pools of threads:
+      ////    - worker threads for non-blocking tasks. Those threads are spawn at Runtime creation.
+      ////    - blocking threads for blocking tasks (e.g. I/O). Those threads are spawn when needed.
+      //// For more details see https://github.com/tokio-rs/tokio/discussions/3858#discussioncomment-869878
+      //// When running as a standalone bridge the Zenoh Session's Runtime is used and can be configured via the
+      //// `ZENOH_RUNTIME` environment variable. See https://docs.rs/zenoh-runtime/latest/zenoh_runtime/enum.ZRuntime.html
+      ////
+      
+      //// work_thread_num: The number of worker thread in the asynchronous runtime will use. (default: 2)
+      ////                  Only for a plugin, no effect on a bridge.
+      // work_thread_num: 2,
+      
+      //// max_block_thread_num: The number of blocking thread in the asynchronous runtime will use. (default: 50)
+      ////                       Only for a plugin, no effect on a bridge.
+      // max_block_thread_num: 50,
     },
 
     ////
diff --git a/rust-toolchain.toml b/rust-toolchain.toml
index 743f7cd..7897a24 100644
--- a/rust-toolchain.toml
+++ b/rust-toolchain.toml
@@ -1,2 +1,2 @@
 [toolchain]
-channel = "1.72.0"
+channel = "1.75.0"
diff --git a/zenoh-bridge-ros1/Cargo.toml b/zenoh-bridge-ros1/Cargo.toml
index 7f3b18b..4ab9043 100644
--- a/zenoh-bridge-ros1/Cargo.toml
+++ b/zenoh-bridge-ros1/Cargo.toml
@@ -24,17 +24,16 @@ description = "Zenoh bridge for ROS1"
 publish = false
 
 [dependencies]
-async-std = { workspace = true, features = ["unstable", "attributes"] }
 clap = { workspace = true }
 ctrlc = { workspace = true }
 tracing = { workspace = true }
 lazy_static = { workspace = true }
 serde_json = { workspace = true }
+tokio = { workspace = true }
 zenoh = { workspace = true }
 zenoh-plugin-trait = { workspace = true }
 zenoh-plugin-ros1 = { workspace = true }
 zenoh-plugin-rest = { workspace = true }
-zenoh-util = { workspace = true }
 [[bin]]
 name = "zenoh-bridge-ros1"
 path = "src/main.rs"
diff --git a/zenoh-bridge-ros1/src/main.rs b/zenoh-bridge-ros1/src/main.rs
index 3944256..c7da7dd 100644
--- a/zenoh-bridge-ros1/src/main.rs
+++ b/zenoh-bridge-ros1/src/main.rs
@@ -11,13 +11,15 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
-use async_std::channel::unbounded;
-use clap::{App, Arg};
 use std::str::FromStr;
-use zenoh::config::Config;
-use zenoh::plugins::PluginsManager;
-use zenoh::prelude::r#async::*;
-use zenoh::runtime::RuntimeBuilder;
+
+use clap::{App, Arg};
+use tokio::sync::mpsc::unbounded_channel;
+use zenoh::{
+    config::{Config, ZenohId},
+    internal::{plugins::PluginsManager, runtime::RuntimeBuilder},
+    prelude::*,
+};
 use zenoh_plugin_ros1::ros_to_zenoh_bridge::environment::Environment;
 use zenoh_plugin_trait::Plugin;
 
@@ -185,6 +187,16 @@ Bridge polls ROS1 master to get information on local topics. This option is the
 Accepted value:'
 A string such as 100ms, 2s, 5m
 The string format is [0-9]+(ns|us|ms|[smhdwy])"#
+        ))
+        .arg(Arg::from_usage(
+r#"--work_thread_num=[usize] \
+'The number of worker thread in TOKIO runtime (default: 2)
+The configuration only takes effect if running as a dynamic plugin, which can not reuse the current runtime.'"#
+        ))
+        .arg(Arg::from_usage(
+r#"--max_block_thread_num=[usize] \
+'The number of blocking thread in TOKIO runtime (default: 50)
+The configuration only takes effect if running as a dynamic plugin, which can not reuse the current runtime.'"#
         ));
     let args = app.get_matches();
 
@@ -214,13 +226,15 @@ The string format is [0-9]+(ns|us|ms|[smhdwy])"#
         config
             .connect
             .endpoints
-            .extend(endpoints.map(|p| p.parse().unwrap()))
+            .set(endpoints.map(|p| p.parse().unwrap()).collect())
+            .unwrap();
     }
     if let Some(endpoints) = args.values_of("listen") {
         config
             .listen
             .endpoints
-            .extend(endpoints.map(|p| p.parse().unwrap()))
+            .set(endpoints.map(|p| p.parse().unwrap()).collect())
+            .unwrap();
     }
     if args.is_present("no-multicast-scouting") {
         config.scouting.multicast.set_enabled(Some(false)).unwrap();
@@ -248,17 +262,13 @@ The string format is [0-9]+(ns|us|ms|[smhdwy])"#
     config
 }
 
-#[async_std::main]
+#[tokio::main]
 async fn main() {
-    let (sender, receiver) = unbounded();
-    ctrlc::set_handler(move || {
-        sender
-            .send_blocking(())
-            .expect("Error handling Ctrl+C signal")
-    })
-    .expect("Error setting Ctrl+C handler");
+    let (sender, mut receiver) = unbounded_channel();
+    ctrlc::set_handler(move || sender.send(()).expect("Error handling Ctrl+C signal"))
+        .expect("Error setting Ctrl+C handler");
 
-    zenoh_util::init_log_from_env_or("z=info");
+    zenoh::init_log_from_env_or("z=info");
     tracing::info!(
         "zenoh-bridge-ros1 {}",
         zenoh_plugin_ros1::Ros1Plugin::PLUGIN_LONG_VERSION
diff --git a/zenoh-plugin-ros1/Cargo.toml b/zenoh-plugin-ros1/Cargo.toml
index 15cacb0..4bc576f 100644
--- a/zenoh-plugin-ros1/Cargo.toml
+++ b/zenoh-plugin-ros1/Cargo.toml
@@ -41,6 +41,8 @@ flume = { workspace = true }
 futures = { workspace = true }
 git-version = { workspace = true }
 lazy_static = { workspace = true }
+test-case = { workspace = true }
+tokio = { workspace = true }
 tracing = { workspace = true }
 serde = { workspace = true }
 serde_json = { workspace = true }
@@ -51,10 +53,7 @@ strum = { workspace = true }
 strum_macros = { workspace = true }
 duration-string = { workspace = true }
 zenoh = { workspace = true }
-zenoh-ext = { workspace = true }
-zenoh-core = { workspace = true }
 zenoh-plugin-trait = { workspace = true }
-zenoh-util = { workspace = true }
 hex = { workspace = true }
 xml-rpc = { workspace = true }
 rosrust = { path = "../rosrust/rosrust" }
@@ -66,10 +65,6 @@ ctrlc = { workspace = true }
 # TODO: https://zettascale.atlassian.net/browse/ZEN-291
 # zenoh-plugin-ros1 = { path = ".", features = ["test"]}
 
-[dependencies.async-std]
-version = "=1.12.0"
-features = ["unstable", "attributes"]
-
 [build-dependencies]
 rustc_version = { workspace = true }
 
@@ -79,4 +74,4 @@ maintainer = "zenoh-dev@eclipse.org"
 copyright = "2017, 2022 ZettaScale Technology Inc."
 section = "net"
 license-file = ["../LICENSE", "0"]
-depends = "zenohd (=0.11.0-dev-1)"
+depends = "zenohd (=1.0.0~dev-1)"
diff --git a/zenoh-plugin-ros1/examples/ros1_pub.rs b/zenoh-plugin-ros1/examples/ros1_pub.rs
index dc3aa00..f89b3b9 100644
--- a/zenoh-plugin-ros1/examples/ros1_pub.rs
+++ b/zenoh-plugin-ros1/examples/ros1_pub.rs
@@ -12,16 +12,15 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-use zenoh::SessionDeclarations;
-use zenoh_core::AsyncResolve;
+use zenoh::prelude::*;
 use zenoh_plugin_ros1::ros_to_zenoh_bridge::{
     environment::Environment, ros1_master_ctrl::Ros1MasterCtrl, Ros1ToZenohBridge,
 };
 
-#[async_std::main]
+#[tokio::main]
 async fn main() {
     // initiate logging
-    zenoh_util::try_init_log_from_env();
+    zenoh::try_init_log_from_env();
 
     // You need to have ros1 installed within your system and have "rosmaster" command available, otherwise this code will fail.
     // start ROS1 master...
@@ -54,7 +53,6 @@ async fn main() {
     // create Zenoh session and subscriber
     print!("Creating Zenoh Session...");
     let zenoh_session = zenoh::open(zenoh::config::default())
-        .res_async()
         .await
         .unwrap()
         .into_arc();
@@ -64,7 +62,6 @@ async fn main() {
     let zenoh_subscriber = zenoh_session
         .declare_subscriber("some/ros/topic")
         .callback(|data| println!("Zenoh Subscriber: got data!"))
-        .res_async()
         .await
         .unwrap();
     println!(" OK!");
@@ -83,5 +80,5 @@ async fn main() {
             std::thread::sleep(core::time::Duration::from_secs(1));
         }
     };
-    async_std::task::spawn_blocking(working_loop).await;
+    tokio::task::spawn_blocking(working_loop).await.unwrap();
 }
diff --git a/zenoh-plugin-ros1/examples/ros1_service.rs b/zenoh-plugin-ros1/examples/ros1_service.rs
index 22a0737..e7b2633 100644
--- a/zenoh-plugin-ros1/examples/ros1_service.rs
+++ b/zenoh-plugin-ros1/examples/ros1_service.rs
@@ -12,17 +12,14 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-use zenoh::prelude::SplitBuffer;
-use zenoh_core::AsyncResolve;
-
 use zenoh_plugin_ros1::ros_to_zenoh_bridge::{
     environment::Environment, ros1_master_ctrl::Ros1MasterCtrl, Ros1ToZenohBridge,
 };
 
-#[async_std::main]
+#[tokio::main]
 async fn main() {
     // initiate logging
-    zenoh_util::try_init_log_from_env();
+    zenoh::try_init_log_from_env();
 
     // You need to have ros1 installed within your system and have "rosmaster" command available, otherwise this code will fail.
     // start ROS1 master...
@@ -62,7 +59,6 @@ async fn main() {
     // create Zenoh session
     print!("Creating Zenoh Session...");
     let zenoh_session = zenoh::open(zenoh::config::default())
-        .res_async()
         .await
         .unwrap()
         .into_arc();
@@ -77,20 +73,19 @@ async fn main() {
         println!("Zenoh: sending query...");
         let reply = zenoh_session
             .get("some/ros/topic")
-            .with_value(data.clone())
-            .res_async()
+            .payload(data.clone())
             .await
             .unwrap();
         let result = reply.recv_async().await;
         match result {
             Ok(val) => {
                 println!("Zenoh: got reply!");
-                assert!(data == val.sample.unwrap().value.payload.contiguous().to_vec());
+                assert!(data == val.result().unwrap().payload().into::<Vec<u8>>());
             }
             Err(e) => {
                 println!("Zenoh got error: {}", e);
             }
         }
-        async_std::task::sleep(core::time::Duration::from_secs(1)).await;
+        tokio::time::sleep(core::time::Duration::from_secs(1)).await;
     }
 }
diff --git a/zenoh-plugin-ros1/examples/ros1_standalone_pub.rs b/zenoh-plugin-ros1/examples/ros1_standalone_pub.rs
index ba54bc2..8fc6fe8 100644
--- a/zenoh-plugin-ros1/examples/ros1_standalone_pub.rs
+++ b/zenoh-plugin-ros1/examples/ros1_standalone_pub.rs
@@ -12,22 +12,20 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-use async_std::channel::unbounded;
+use tokio::sync::mpsc::unbounded_channel;
 use zenoh_plugin_ros1::ros_to_zenoh_bridge::environment::Environment;
 
-#[async_std::main]
+#[tokio::main]
 async fn main() {
-    let (sender, receiver) = unbounded();
+    let (sender, mut receiver) = unbounded_channel();
     ctrlc::set_handler(move || {
         tracing::info!("Catching Ctrl+C...");
-        sender
-            .send_blocking(())
-            .expect("Error handling Ctrl+C signal")
+        sender.send(()).expect("Error handling Ctrl+C signal")
     })
     .expect("Error setting Ctrl+C handler");
 
     // initiate logging
-    zenoh_util::try_init_log_from_env();
+    zenoh::try_init_log_from_env();
 
     // create ROS1 node and publisher
     print!("Creating ROS1 Node...");
@@ -59,5 +57,5 @@ async fn main() {
         }
         tracing::info!("Caught Ctrl+C, stopping...");
     };
-    async_std::task::spawn_blocking(working_loop).await;
+    tokio::task::spawn_blocking(working_loop).await.unwrap();
 }
diff --git a/zenoh-plugin-ros1/examples/ros1_standalone_sub.rs b/zenoh-plugin-ros1/examples/ros1_standalone_sub.rs
index bf4ea9e..3f254a2 100644
--- a/zenoh-plugin-ros1/examples/ros1_standalone_sub.rs
+++ b/zenoh-plugin-ros1/examples/ros1_standalone_sub.rs
@@ -12,23 +12,20 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-use async_std::channel::unbounded;
-
+use tokio::sync::mpsc::unbounded_channel;
 use zenoh_plugin_ros1::ros_to_zenoh_bridge::environment::Environment;
 
-#[async_std::main]
+#[tokio::main]
 async fn main() {
-    let (sender, receiver) = unbounded();
+    let (sender, mut receiver) = unbounded_channel();
     ctrlc::set_handler(move || {
         tracing::info!("Catching Ctrl+C...");
-        sender
-            .send_blocking(())
-            .expect("Error handling Ctrl+C signal")
+        sender.send(()).expect("Error handling Ctrl+C signal")
     })
     .expect("Error setting Ctrl+C handler");
 
     // initiate logging
-    zenoh_util::try_init_log_from_env();
+    zenoh::try_init_log_from_env();
 
     // create ROS1 node and subscriber
     print!("Creating ROS1 Node...");
diff --git a/zenoh-plugin-ros1/examples/ros1_sub.rs b/zenoh-plugin-ros1/examples/ros1_sub.rs
index a5aba54..7b857b7 100644
--- a/zenoh-plugin-ros1/examples/ros1_sub.rs
+++ b/zenoh-plugin-ros1/examples/ros1_sub.rs
@@ -12,17 +12,15 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-use zenoh::SessionDeclarations;
-use zenoh_core::AsyncResolve;
-
+use zenoh::prelude::*;
 use zenoh_plugin_ros1::ros_to_zenoh_bridge::{
     environment::Environment, ros1_master_ctrl::Ros1MasterCtrl, Ros1ToZenohBridge,
 };
 
-#[async_std::main]
+#[tokio::main]
 async fn main() {
     // initiate logging
-    zenoh_util::try_init_log_from_env();
+    zenoh::try_init_log_from_env();
 
     // You need to have ros1 installed within your system and have "rosmaster" command available, otherwise this code will fail.
     // start ROS1 master...
@@ -57,17 +55,12 @@ async fn main() {
 
     // create Zenoh session and publisher
     print!("Creating Zenoh Session...");
-    let zenoh_session = zenoh::open(zenoh::config::peer())
-        .res_async()
-        .await
-        .unwrap()
-        .into_arc();
+    let zenoh_session = zenoh::open(zenoh::config::peer()).await.unwrap().into_arc();
     println!(" OK!");
     print!("Creating Zenoh Publisher...");
     let zenoh_publisher = zenoh_session
         .declare_publisher("some/ros/topic")
-        .congestion_control(zenoh::publication::CongestionControl::Block)
-        .res_async()
+        .congestion_control(zenoh::qos::CongestionControl::Block)
         .await
         .unwrap();
     println!(" OK!");
@@ -79,7 +72,7 @@ async fn main() {
     let data: Vec<u8> = (0..10).collect();
     loop {
         println!("Zenoh Publisher: publishing data...");
-        zenoh_publisher.put(data.clone()).res_async().await.unwrap();
-        async_std::task::sleep(core::time::Duration::from_secs(1)).await;
+        zenoh_publisher.put(data.clone()).await.unwrap();
+        tokio::time::sleep(core::time::Duration::from_secs(1)).await;
     }
 }
diff --git a/zenoh-plugin-ros1/src/lib.rs b/zenoh-plugin-ros1/src/lib.rs
index 311ae75..34911e8 100644
--- a/zenoh-plugin-ros1/src/lib.rs
+++ b/zenoh-plugin-ros1/src/lib.rs
@@ -13,18 +13,91 @@
 //
 #![recursion_limit = "1024"]
 
-use ros_to_zenoh_bridge::environment::Environment;
-use ros_to_zenoh_bridge::ros1_master_ctrl::Ros1MasterCtrl;
-use ros_to_zenoh_bridge::Ros1ToZenohBridge;
-use std::time::Duration;
-use zenoh::plugins::{RunningPlugin, RunningPluginTrait, ZenohPlugin};
-use zenoh::prelude::r#async::*;
-use zenoh::runtime::Runtime;
-use zenoh::Result as ZResult;
+use std::{
+    future::Future,
+    sync::atomic::{AtomicUsize, Ordering},
+    time::Duration,
+};
+
+use ros_to_zenoh_bridge::{
+    environment::Environment, ros1_master_ctrl::Ros1MasterCtrl, Ros1ToZenohBridge,
+};
+use tokio::task::JoinHandle;
+use zenoh::{
+    internal::{
+        plugins::{RunningPlugin, RunningPluginTrait, ZenohPlugin},
+        runtime::Runtime,
+    },
+    Result as ZResult,
+};
 use zenoh_plugin_trait::{plugin_long_version, plugin_version, Plugin, PluginControl};
 
+use crate::ros_to_zenoh_bridge::environment;
+
 pub mod ros_to_zenoh_bridge;
 
+lazy_static::lazy_static! {
+    static ref WORK_THREAD_NUM: AtomicUsize = AtomicUsize::new(environment::DEFAULT_WORK_THREAD_NUM);
+    static ref MAX_BLOCK_THREAD_NUM: AtomicUsize = AtomicUsize::new(environment::DEFAULT_MAX_BLOCK_THREAD_NUM);
+    // The global runtime is used in the dynamic plugins, which we can't get the current runtime
+    static ref TOKIO_RUNTIME: tokio::runtime::Runtime = tokio::runtime::Builder::new_multi_thread()
+               .worker_threads(WORK_THREAD_NUM.load(Ordering::SeqCst))
+               .max_blocking_threads(MAX_BLOCK_THREAD_NUM.load(Ordering::SeqCst))
+               .enable_all()
+               .build()
+               .expect("Unable to create runtime");
+}
+#[inline(always)]
+pub(crate) fn spawn_blocking_runtime<F, R>(func: F) -> JoinHandle<R>
+where
+    F: FnOnce() -> R + Send + 'static,
+    R: Send + 'static,
+{
+    // Check whether able to get the current runtime
+    match tokio::runtime::Handle::try_current() {
+        Ok(rt) => {
+            // Able to get the current runtime (standalone binary), use the current runtime
+            rt.spawn_blocking(func)
+        }
+        Err(_) => {
+            // Unable to get the current runtime (dynamic plugins), reuse the global runtime
+            TOKIO_RUNTIME.spawn_blocking(func)
+        }
+    }
+}
+#[inline(always)]
+pub(crate) fn spawn_runtime<F>(task: F) -> JoinHandle<F::Output>
+where
+    F: Future + Send + 'static,
+    F::Output: Send + 'static,
+{
+    // Check whether able to get the current runtime
+    match tokio::runtime::Handle::try_current() {
+        Ok(rt) => {
+            // Able to get the current runtime (standalone binary), use the current runtime
+            rt.spawn(task)
+        }
+        Err(_) => {
+            // Unable to get the current runtime (dynamic plugins), reuse the global runtime
+            TOKIO_RUNTIME.spawn(task)
+        }
+    }
+}
+#[inline(always)]
+pub(crate) fn blockon_runtime<F: Future>(task: F) -> F::Output {
+    // Check whether able to get the current runtime
+    match tokio::runtime::Handle::try_current() {
+        Ok(rt) => {
+            // Able to get the current runtime (standalone binary), use the current runtime
+            tokio::task::block_in_place(|| rt.block_on(task))
+        }
+        Err(_) => {
+            // Unable to get the current runtime (dynamic plugins), reuse the global runtime
+            tokio::task::block_in_place(|| TOKIO_RUNTIME.block_on(task))
+        }
+    }
+}
+
 // The struct implementing the ZenohPlugin and ZenohPlugin traits
 pub struct Ros1Plugin {}
 
@@ -47,7 +120,7 @@ impl Plugin for Ros1Plugin {
         // Try to initiate login.
         // Required in case of dynamic lib, otherwise no logs.
         // But cannot be done twice in case of static link.
-        zenoh_util::try_init_log_from_env();
+        zenoh::try_init_log_from_env();
         tracing::debug!("ROS1 plugin {}", Ros1Plugin::PLUGIN_LONG_VERSION);
 
         let config = runtime.config().lock();
@@ -66,6 +139,9 @@ impl Plugin for Ros1Plugin {
                 entry.set(str.trim_matches('"').to_string());
             }
         }
+        // Setup the thread numbers
+        WORK_THREAD_NUM.store(Environment::work_thread_num().get(), Ordering::SeqCst);
+        MAX_BLOCK_THREAD_NUM.store(Environment::max_block_thread_num().get(), Ordering::SeqCst);
 
         drop(config);
 
@@ -83,20 +159,20 @@ impl RunningPluginTrait for Ros1PluginInstance {}
 impl Drop for Ros1PluginInstance {
     fn drop(&mut self) {
         if Environment::with_rosmaster().get() {
-            async_std::task::block_on(Ros1MasterCtrl::without_ros1_master());
+            blockon_runtime(Ros1MasterCtrl::without_ros1_master());
         }
     }
 }
 impl Ros1PluginInstance {
     fn new(runtime: &Runtime) -> ZResult<Self> {
-        let bridge: ZResult<Ros1ToZenohBridge> = async_std::task::block_on(async {
+        let bridge: ZResult<Ros1ToZenohBridge> = blockon_runtime(async {
             if Environment::with_rosmaster().get() {
                 Ros1MasterCtrl::with_ros1_master().await?;
-                async_std::task::sleep(Duration::from_secs(1)).await;
+                tokio::time::sleep(Duration::from_secs(1)).await;
             }
 
             // create a zenoh Session that shares the same Runtime as zenohd
-            let session = zenoh::init(runtime.clone()).res().await?.into_arc();
+            let session = zenoh::session::init(runtime.clone()).await?.into_arc();
             let bridge = ros_to_zenoh_bridge::Ros1ToZenohBridge::new_with_external_session(session);
             Ok(bridge)
         });
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge.rs
index 4bebd75..9a37dda 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge.rs
@@ -12,18 +12,17 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-use async_std::task::JoinHandle;
-
-use tracing::error;
-use zenoh;
-use zenoh_core::{zresult::ZResult, AsyncResolve};
-
 use std::sync::{
     atomic::{AtomicBool, Ordering::Relaxed},
     Arc,
 };
 
+use tokio::task::JoinHandle;
+use tracing::error;
+use zenoh::{self, Result as ZResult, Session};
+
 use self::{environment::Environment, ros1_to_zenoh_bridge_impl::work_cycle};
+use crate::spawn_runtime;
 
 #[cfg(feature = "test")]
 pub mod aloha_declaration;
@@ -89,15 +88,15 @@ pub struct Ros1ToZenohBridge {
 }
 impl Ros1ToZenohBridge {
     pub async fn new_with_own_session(config: zenoh::config::Config) -> ZResult<Self> {
-        let session = zenoh::open(config).res_async().await?.into_arc();
+        let session = zenoh::open(config).await?.into_arc();
         Ok(Self::new_with_external_session(session))
     }
 
-    pub fn new_with_external_session(session: Arc<zenoh::Session>) -> Self {
+    pub fn new_with_external_session(session: Arc<Session>) -> Self {
         let flag = Arc::new(AtomicBool::new(true));
         Self {
             flag: flag.clone(),
-            task_handle: Box::new(async_std::task::spawn(Self::run(session, flag))),
+            task_handle: Box::new(spawn_runtime(Self::run(session, flag))),
         }
     }
 
@@ -107,7 +106,7 @@ impl Ros1ToZenohBridge {
     }
 
     //PRIVATE:
-    async fn run(session: Arc<zenoh::Session>, flag: Arc<AtomicBool>) {
+    async fn run(session: Arc<Session>, flag: Arc<AtomicBool>) {
         if let Err(e) = work_cycle(
             Environment::ros_master_uri().get().as_str(),
             session,
@@ -122,7 +121,10 @@ impl Ros1ToZenohBridge {
     }
 
     async fn async_await(&mut self) {
-        self.task_handle.as_mut().await;
+        self.task_handle
+            .as_mut()
+            .await
+            .expect("Unable to complete the task");
     }
 }
 impl Drop for Ros1ToZenohBridge {
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/abstract_bridge.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/abstract_bridge.rs
index cf500fd..087a1be 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/abstract_bridge.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/abstract_bridge.rs
@@ -14,18 +14,15 @@
 
 use std::sync::Arc;
 
-use tracing::{debug, error, info};
-
 use rosrust::RawMessageDescription;
-use zenoh::buffers::buffer::SplitBuffer;
-use zenoh::key_expr::keyexpr;
-use zenoh_core::Result as ZResult;
-use zenoh_core::{AsyncResolve, SyncResolve};
+use tracing::{debug, error, info};
+use zenoh::{internal::bail, key_expr::keyexpr, prelude::*, Result as ZResult};
 
 use super::{
     bridge_type::BridgeType, ros1_client, topic_descriptor::TopicDescriptor,
     topic_utilities::make_zenoh_key, zenoh_client,
 };
+use crate::{blockon_runtime, spawn_blocking_runtime, spawn_runtime};
 
 pub struct AbstractBridge {
     _impl: BridgeIml,
@@ -85,7 +82,7 @@ impl Ros1ToZenohClient {
         ) {
             Ok(service) => Ok(Ros1ToZenohClient { _service: service }),
             Err(e) => {
-                zenoh_core::bail!("Ros error: {}", e)
+                bail!("Ros error: {}", e)
             }
         }
     }
@@ -96,7 +93,7 @@ impl Ros1ToZenohClient {
         query: rosrust::RawMessage,
         zenoh_client: &zenoh_client::ZenohClient,
     ) -> rosrust::ServiceResult<rosrust::RawMessage> {
-        return async_std::task::block_on(Self::do_zenoh_query(key, query, zenoh_client));
+        return blockon_runtime(Self::do_zenoh_query(key, query, zenoh_client));
     }
 
     async fn do_zenoh_query(
@@ -106,18 +103,18 @@ impl Ros1ToZenohClient {
     ) -> rosrust::ServiceResult<rosrust::RawMessage> {
         match zenoh_client.make_query_sync(key, query.0).await {
             Ok(reply) => match reply.recv_async().await {
-                Ok(r) => match r.sample {
-                    Ok(value) => {
-                        let data = value.payload.contiguous().to_vec();
+                Ok(r) => match r.result() {
+                    Ok(sample) => {
+                        let data = sample.payload().into::<Vec<u8>>();
                         debug!("Zenoh -> ROS1: sending {} bytes!", data.len());
                         Ok(rosrust::RawMessage(data))
                     }
                     Err(e) => {
+                        let error = format!("{:?}", e);
                         error!(
-                            "ROS1 -> Zenoh Client: received Zenoh Query with error: {}",
-                            e
+                            "ROS1 -> Zenoh Client: received Zenoh Query with error: {:?}",
+                            error
                         );
-                        let error = e.to_string();
                         Err(error)
                     }
                 },
@@ -143,7 +140,7 @@ impl Ros1ToZenohClient {
 }
 
 struct Ros1ToZenohService {
-    _queryable: zenoh::queryable::Queryable<'static, ()>,
+    _queryable: zenoh::query::Queryable<'static, ()>,
 }
 impl Ros1ToZenohService {
     async fn new<'b>(
@@ -162,7 +159,7 @@ impl Ros1ToZenohService {
                 let topic_in_arc = Arc::new(topic.clone());
                 let queryable = zenoh_client
                     .make_queryable(make_zenoh_key(topic), move |query| {
-                        async_std::task::spawn(Self::on_query(
+                        spawn_runtime(Self::on_query(
                             client_in_arc.clone(),
                             query,
                             topic_in_arc.clone(),
@@ -174,7 +171,7 @@ impl Ros1ToZenohService {
                 })
             }
             Err(e) => {
-                zenoh_core::bail!("Ros error: {}", e.to_string())
+                bail!("Ros error: {}", e.to_string())
             }
         }
     }
@@ -182,12 +179,12 @@ impl Ros1ToZenohService {
     //PRIVATE:
     async fn on_query(
         ros1_client: Arc<rosrust::Client<rosrust::RawMessage>>,
-        query: zenoh::queryable::Query,
+        query: zenoh::query::Query,
         topic: Arc<TopicDescriptor>,
     ) {
-        match query.value() {
+        match query.payload() {
             Some(val) => {
-                let payload = val.payload.contiguous().to_vec();
+                let payload = val.into::<Vec<u8>>();
                 debug!(
                     "ROS1 -> Zenoh Service: got query of {} bytes!",
                     payload.len()
@@ -202,13 +199,13 @@ impl Ros1ToZenohService {
 
     async fn process_query(
         ros1_client: Arc<rosrust::Client<rosrust::RawMessage>>,
-        query: zenoh::queryable::Query,
+        query: zenoh::query::Query,
         payload: Vec<u8>,
         topic: Arc<TopicDescriptor>,
     ) {
         // rosrust is synchronous, so we will use spawn_blocking. If there will be an async mode some day for the rosrust,
         // than reply_to_query can be refactored to async very easily
-        let res = async_std::task::spawn_blocking(move || {
+        let res = spawn_blocking_runtime(move || {
             let description = RawMessageDescription {
                 msg_definition: String::from("*"),
                 md5sum: topic.md5.clone(),
@@ -216,7 +213,8 @@ impl Ros1ToZenohService {
             };
             ros1_client.req_with_description(&rosrust::RawMessage(payload), description)
         })
-        .await;
+        .await
+        .expect("Unable to compete the task");
         match Self::reply_to_query(res, &query).await {
             Ok(_) => {}
             Err(e) => {
@@ -231,7 +229,7 @@ impl Ros1ToZenohService {
 
     async fn reply_to_query(
         res: rosrust::error::tcpros::Result<rosrust::ServiceResult<rosrust::RawMessage>>,
-        query: &zenoh::queryable::Query,
+        query: &zenoh::query::Query,
     ) -> ZResult<()> {
         match res {
             Ok(reply) => match reply {
@@ -241,11 +239,7 @@ impl Ros1ToZenohService {
                         reply_message.0.len()
                     );
                     query
-                        .reply(Ok(zenoh::prelude::Sample::new(
-                            query.key_expr().clone(),
-                            reply_message.0,
-                        )))
-                        .res_async()
+                        .reply(query.key_expr().clone(), reply_message.0)
                         .await?;
                 }
                 Err(e) => {
@@ -253,10 +247,7 @@ impl Ros1ToZenohService {
                         "ROS1 -> Zenoh Service: got reply from ROS1 Service with error: {}",
                         e
                     );
-                    query
-                        .reply(Err(zenoh::prelude::Value::from(e)))
-                        .res_async()
-                        .await?;
+                    query.reply(query.key_expr().clone(), e).await?;
                 }
             },
             Err(e) => {
@@ -265,10 +256,7 @@ impl Ros1ToZenohService {
                     e
                 );
                 let error = e.to_string();
-                query
-                    .reply(Err(zenoh::prelude::Value::from(error)))
-                    .res_async()
-                    .await?;
+                query.reply(query.key_expr().clone(), error).await?;
             }
         }
         Ok(())
@@ -292,7 +280,7 @@ impl Ros1ToZenoh {
         let publisher = zenoh_client.publish(make_zenoh_key(topic)).await?;
         match ros1_client.subscribe(topic, move |msg: rosrust::RawMessage| {
             debug!("ROS1 -> Zenoh: sending {} bytes!", msg.0.len());
-            match publisher.put(msg.0).res_sync() {
+            match publisher.put(msg.0).wait() {
                 Ok(_) => {}
                 Err(e) => {
                     error!("ROS1 -> Zenoh: error publishing: {}", e);
@@ -303,14 +291,14 @@ impl Ros1ToZenoh {
                 _subscriber: subscriber,
             }),
             Err(e) => {
-                zenoh_core::bail!("Ros error: {}", e.to_string())
+                bail!("Ros error: {}", e.to_string())
             }
         }
     }
 }
 
 struct ZenohToRos1 {
-    _subscriber: zenoh::subscriber::Subscriber<'static, ()>,
+    _subscriber: zenoh::pubsub::Subscriber<'static, ()>,
 }
 impl ZenohToRos1 {
     async fn new(
@@ -329,8 +317,8 @@ impl ZenohToRos1 {
                 let subscriber = zenoh_client
                     .subscribe(make_zenoh_key(topic), move |sample| {
                         let publisher_in_arc_cloned = publisher_in_arc.clone();
-                        async_std::task::spawn_blocking(move || {
-                            let data = sample.value.payload.contiguous().to_vec();
+                        spawn_blocking_runtime(move || {
+                            let data = sample.payload().into::<Vec<u8>>();
                             debug!("Zenoh -> ROS1: sending {} bytes!", data.len());
                             match publisher_in_arc_cloned.send(rosrust::RawMessage(data)) {
                                 Ok(_) => {}
@@ -346,7 +334,7 @@ impl ZenohToRos1 {
                 })
             }
             Err(e) => {
-                zenoh_core::bail!("Ros error: {}", e.to_string())
+                bail!("Ros error: {}", e.to_string())
             }
         }
     }
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/aloha_declaration.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/aloha_declaration.rs
index 1784eca..739af75 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/aloha_declaration.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/aloha_declaration.rs
@@ -12,14 +12,25 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-use zenoh::buffers::ZBuf;
+use std::{
+    sync::{
+        atomic::{AtomicBool, AtomicUsize},
+        Arc,
+    },
+    time::Duration,
+};
 
-use std::sync::atomic::{AtomicBool, AtomicUsize};
-use std::sync::Arc;
-use std::time::Duration;
+use zenoh::{
+    internal::buffers::ZBuf,
+    key_expr::OwnedKeyExpr,
+    prelude::*,
+    pubsub::Reliability,
+    qos::{CongestionControl, Priority},
+    sample::Locality,
+    Session,
+};
 
-use zenoh::prelude::r#async::*;
-use zenoh::Session;
+use crate::spawn_runtime;
 
 pub struct AlohaDeclaration {
     monitor_running: Arc<AtomicBool>,
@@ -33,7 +44,7 @@ impl Drop for AlohaDeclaration {
 impl AlohaDeclaration {
     pub fn new(session: Arc<Session>, key: OwnedKeyExpr, beacon_period: Duration) -> Self {
         let monitor_running = Arc::new(AtomicBool::new(true));
-        async_std::task::spawn(Self::aloha_monitor_task(
+        spawn_runtime(Self::aloha_monitor_task(
             beacon_period,
             monitor_running.clone(),
             key,
@@ -60,7 +71,6 @@ impl AlohaDeclaration {
             .callback(move |_| {
                 rb.fetch_add(1, std::sync::atomic::Ordering::SeqCst);
             })
-            .res_async()
             .await
             .unwrap();
 
@@ -79,10 +89,8 @@ impl AlohaDeclaration {
                         // start publisher in ALOHA style...
                         let period_ns = beacon_period.as_nanos();
                         let aloha_wait: u128 = rand::random::<u128>() % period_ns;
-                        async_std::task::sleep(Duration::from_nanos(
-                            aloha_wait.try_into().unwrap(),
-                        ))
-                        .await;
+                        tokio::time::sleep(Duration::from_nanos(aloha_wait.try_into().unwrap()))
+                            .await;
                         if remote_beacons.load(std::sync::atomic::Ordering::SeqCst) == 0 {
                             Self::start_beacon_task(
                                 beacon_period,
@@ -101,7 +109,7 @@ impl AlohaDeclaration {
                     }
                 }
             }
-            async_std::task::sleep(beacon_period).await;
+            tokio::time::sleep(beacon_period).await;
         }
         Self::stop_beacon_task(beacon_task_flag.clone());
     }
@@ -113,7 +121,7 @@ impl AlohaDeclaration {
         running: Arc<AtomicBool>,
     ) {
         running.store(true, std::sync::atomic::Ordering::SeqCst);
-        async_std::task::spawn(Self::aloha_publishing_task(
+        spawn_runtime(Self::aloha_publishing_task(
             beacon_period,
             key,
             session,
@@ -136,16 +144,12 @@ impl AlohaDeclaration {
             .allowed_destination(Locality::Remote)
             .congestion_control(CongestionControl::Drop)
             .priority(Priority::Background)
-            .res_async()
             .await
             .unwrap();
 
         while running.load(std::sync::atomic::Ordering::Relaxed) {
-            let _res = publisher
-                .put(zenoh::value::Value::new(ZBuf::default()))
-                .res_async()
-                .await;
-            async_std::task::sleep(beacon_period).await;
+            let _res = publisher.put(ZBuf::default()).await;
+            tokio::time::sleep(beacon_period).await;
         }
     }
 }
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/aloha_subscription.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/aloha_subscription.rs
index 32bb5a3..daf2032 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/aloha_subscription.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/aloha_subscription.rs
@@ -21,12 +21,13 @@ use std::{
     time::Duration,
 };
 
-use async_std::sync::Mutex;
 use flume::Receiver;
 use futures::{join, Future, FutureExt};
+use tokio::sync::Mutex;
 use tracing::error;
-use zenoh::prelude::r#async::*;
-use zenoh_core::Result as ZResult;
+use zenoh::{key_expr::OwnedKeyExpr, prelude::*, sample::Sample, Result as ZResult, Session};
+
+use crate::spawn_runtime;
 
 struct AlohaResource {
     activity: AtomicBool,
@@ -81,7 +82,7 @@ impl AlohaSubscription {
     {
         let task_running = Arc::new(AtomicBool::new(true));
 
-        async_std::task::spawn(AlohaSubscription::task(
+        spawn_runtime(AlohaSubscription::task(
             task_running.clone(),
             key,
             beacon_period,
@@ -109,7 +110,7 @@ impl AlohaSubscription {
             + 'static,
     {
         let accumulating_resources = Mutex::new(HashMap::<OwnedKeyExpr, AlohaResource>::new());
-        let subscriber = session.declare_subscriber(key).res_async().await?;
+        let subscriber = session.declare_subscriber(key).await?;
 
         let listen = Self::listening_task(
             task_running.clone(),
@@ -135,7 +136,7 @@ impl AlohaSubscription {
     async fn listening_task<'a, F>(
         task_running: Arc<AtomicBool>,
         accumulating_resources: &Mutex<HashMap<OwnedKeyExpr, AlohaResource>>,
-        subscriber: &'a zenoh::subscriber::Subscriber<'a, Receiver<Sample>>,
+        subscriber: &'a zenoh::pubsub::Subscriber<'a, Receiver<Sample>>,
         on_resource_declared: &F,
     ) where
         F: Fn(zenoh::key_expr::KeyExpr) -> Box<dyn futures::Future<Output = ()> + Unpin + Send>
@@ -148,7 +149,7 @@ impl AlohaSubscription {
                 Ok(val) => match accumulating_resources
                     .lock()
                     .await
-                    .entry(val.key_expr.into())
+                    .entry(val.key_expr().as_keyexpr().into())
                 {
                     Occupied(mut val) => {
                         val.get_mut().update();
@@ -185,7 +186,7 @@ impl AlohaSubscription {
                     val.1.reset();
                 });
 
-            async_std::task::sleep(accumulate_period).await;
+            tokio::time::sleep(accumulate_period).await;
 
             for (key, val) in accumulating_resources.lock().await.iter() {
                 if !val.is_active() {
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/discovery.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/discovery.rs
index 9093979..4d3e66e 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/discovery.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/discovery.rs
@@ -12,26 +12,28 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
+use std::{str, sync::Arc, time::Duration};
+
 use futures::Future;
 use tracing::error;
-use zenoh_core::bail;
-
-use std::sync::Arc;
-use std::time::Duration;
-
-use zenoh::prelude::r#async::*;
-
-use std::str;
-
-use super::aloha_declaration::AlohaDeclaration;
-use super::aloha_subscription::{AlohaSubscription, AlohaSubscriptionBuilder};
-use super::bridge_type::BridgeType;
-use super::topic_descriptor::TopicDescriptor;
-use super::topic_utilities::{make_topic, make_topic_key};
-
+use zenoh::{
+    internal::bail,
+    key_expr::{
+        format::{kedefine, keformat},
+        KeyExpr,
+    },
+};
+
+use super::{
+    aloha_declaration::AlohaDeclaration,
+    aloha_subscription::{AlohaSubscription, AlohaSubscriptionBuilder},
+    bridge_type::BridgeType,
+    topic_descriptor::TopicDescriptor,
+    topic_utilities::{make_topic, make_topic_key},
+};
 use crate::ZResult;
 
-zenoh::kedefine!(
+kedefine!(
     pub discovery_format: "ros1_discovery_info/${discovery_namespace:*}/${resource_class:*}/${data_type:*}/${md5:*}/${bridge_namespace:*}/${topic:**}",
 );
 // example:
@@ -65,7 +67,7 @@ impl RemoteResources {
     {
         // make proper discovery keyexpr
         let mut formatter = discovery_format::formatter();
-        let discovery_keyexpr = zenoh::keformat!(
+        let discovery_keyexpr = keformat!(
             formatter,
             discovery_namespace = discovery_namespace,
             resource_class = "*",
@@ -185,7 +187,7 @@ impl LocalResource {
     ) -> ZResult<LocalResource> {
         // make proper discovery keyexpr
         let mut formatter = discovery_format::formatter();
-        let discovery_keyexpr = zenoh::keformat!(
+        let discovery_keyexpr = keformat!(
             formatter,
             discovery_namespace = discovery_namespace,
             resource_class = resource_class,
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/environment.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/environment.rs
index 7ac1b2c..c6885a2 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/environment.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/environment.rs
@@ -12,16 +12,17 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
+use std::{collections::HashMap, convert::From, marker::PhantomData, str::FromStr, time::Duration};
+
 use duration_string::DurationString;
 use rosrust::api::resolve::*;
-use std::collections::HashMap;
-use std::convert::From;
-use std::time::Duration;
-use std::{marker::PhantomData, str::FromStr};
 use tracing::error;
 
 use super::bridging_mode::BridgingMode;
 
+pub(crate) const DEFAULT_WORK_THREAD_NUM: usize = 2;
+pub(crate) const DEFAULT_MAX_BLOCK_THREAD_NUM: usize = 50;
+
 #[derive(Clone)]
 pub struct Entry<'a, Tvar>
 where
@@ -82,6 +83,12 @@ impl<'a> From<Entry<'a, CustomBridgingModes>> for Entry<'a, String> {
     }
 }
 
+impl<'a> From<Entry<'a, usize>> for Entry<'a, String> {
+    fn from(item: Entry<'a, usize>) -> Entry<'a, String> {
+        Entry::new(item.name, item.default.to_string())
+    }
+}
+
 #[derive(Clone, Default)]
 pub struct CustomBridgingModes {
     pub modes: HashMap<String, BridgingMode>,
@@ -171,8 +178,16 @@ impl Environment {
         );
     }
 
+    pub fn work_thread_num() -> Entry<'static, usize> {
+        return Entry::new("WORK_THREAD_NUM", DEFAULT_WORK_THREAD_NUM);
+    }
+
+    pub fn max_block_thread_num() -> Entry<'static, usize> {
+        return Entry::new("MAX_BLOCK_THREAD_NUM", DEFAULT_MAX_BLOCK_THREAD_NUM);
+    }
+
     pub fn env() -> Vec<Entry<'static, String>> {
-        return [
+        [
             Self::ros_master_uri(),
             Self::ros_hostname(),
             Self::ros_name(),
@@ -187,7 +202,9 @@ impl Environment {
             Self::client_topic_custom_bridging_mode().into(),
             Self::master_polling_interval().into(),
             Self::with_rosmaster().into(),
+            Self::work_thread_num().into(),
+            Self::max_block_thread_num().into(),
         ]
-        .to_vec();
+        .to_vec()
     }
 }
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/resource_cache.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/resource_cache.rs
index 463aae3..b55d155 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/resource_cache.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/resource_cache.rs
@@ -12,17 +12,20 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-use rosrust::{Publisher, RawMessage, RawMessageDescription};
 use std::{
     collections::{hash_map::Entry, HashMap},
     net::{TcpStream, ToSocketAddrs},
     sync::{Arc, Mutex},
     time::Duration,
 };
-use zenoh_core::{bail, zerror, zresult::ZResult};
+
+use rosrust::{Publisher, RawMessage, RawMessageDescription, RosMsg};
+use zenoh::{
+    internal::{bail, zerror},
+    Result as ZResult,
+};
 
 use super::{ros1_client::Ros1Client, topic_descriptor::TopicDescriptor};
-use rosrust::RosMsg;
 
 pub type TopicName = String;
 pub type NodeName = String;
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/ros1_client.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/ros1_client.rs
index e12a808..9aa7331 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/ros1_client.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/ros1_client.rs
@@ -14,7 +14,7 @@
 
 use rosrust::{self, RawMessageDescription};
 use tracing::debug;
-use zenoh_core::{zerror, zresult::ZResult};
+use zenoh::{internal::zerror, Result as ZResult};
 
 use super::topic_descriptor::TopicDescriptor;
 
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/ros1_master_ctrl.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/ros1_master_ctrl.rs
index 69477dc..25e2a95 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/ros1_master_ctrl.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/ros1_master_ctrl.rs
@@ -12,18 +12,22 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-use async_std::{
+use atoi::atoi;
+use tokio::{
     process::{Child, Command},
     sync::Mutex,
 };
-use atoi::atoi;
 use tracing::error;
-use zenoh_core::Result as ZResult;
-use zenoh_core::{bail, zasynclock, zerror};
+use zenoh::{
+    internal::{bail, zasynclock, zerror},
+    Result as ZResult,
+};
 
 use crate::ros_to_zenoh_bridge::environment::Environment;
 
-static ROSMASTER: Mutex<Option<Child>> = Mutex::new(None);
+lazy_static::lazy_static! {
+    static ref ROSMASTER: Mutex<Option<Child>> = Mutex::new(None);
+}
 
 pub struct Ros1MasterCtrl;
 impl Ros1MasterCtrl {
@@ -53,20 +57,12 @@ impl Ros1MasterCtrl {
         let mut locked = zasynclock!(ROSMASTER);
         assert!(locked.is_some());
         match locked.take() {
-            Some(mut child) => match child.kill() {
-                Ok(_) => {
-                    if let Err(e) = child.status().await {
-                        error!("Error stopping child rosmaster: {}", e);
-                    }
-                }
+            Some(mut child) => match child.kill().await {
+                Ok(_) => {}
                 Err(e) => error!("Error sending kill cmd to child rosmaster: {}", e),
             },
             None => match Command::new("killall").arg("rosmaster").spawn() {
-                Ok(mut child) => {
-                    if let Err(e) = child.status().await {
-                        error!("Error stopping foreign rosmaster: {}", e);
-                    }
-                }
+                Ok(_) => {}
                 Err(e) => error!(
                     "Error executing killall command to stop foreign rosmaster: {}",
                     e
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/ros1_to_zenoh_bridge_impl.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/ros1_to_zenoh_bridge_impl.rs
index 1347bee..c1f2e89 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/ros1_to_zenoh_bridge_impl.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/ros1_to_zenoh_bridge_impl.rs
@@ -12,11 +12,6 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-use async_std::sync::Mutex;
-
-use zenoh;
-use zenoh_core::{zasynclock, zresult::ZResult};
-
 use std::{
     sync::{
         atomic::{AtomicBool, Ordering::Relaxed},
@@ -25,18 +20,22 @@ use std::{
     time::Duration,
 };
 
+use tokio::sync::Mutex;
 use tracing::{debug, error};
-
-use crate::ros_to_zenoh_bridge::{
-    bridges_storage::BridgesStorage, discovery::LocalResources, environment::Environment,
-    ros1_client, topic_mapping, zenoh_client,
-};
+use zenoh::{self, internal::zasynclock, Result as ZResult};
 
 use super::{
     discovery::{RemoteResources, RemoteResourcesBuilder},
     resource_cache::Ros1ResourceCache,
     ros1_client::Ros1Client,
 };
+use crate::{
+    ros_to_zenoh_bridge::{
+        bridges_storage::BridgesStorage, discovery::LocalResources, environment::Environment,
+        ros1_client, topic_mapping, zenoh_client,
+    },
+    spawn_blocking_runtime,
+};
 
 #[derive(PartialEq, Clone, Copy)]
 pub enum RosStatus {
@@ -174,7 +173,7 @@ where
 
         while flag.load(Relaxed) {
             let cl = ros1_client.clone();
-            let (ros1_state, returned_cache) = async_std::task::spawn_blocking(move || {
+            let (ros1_state, returned_cache) = spawn_blocking_runtime(move || {
                 (
                     topic_mapping::Ros1TopicMapping::topic_mapping(
                         cl.as_ref(),
@@ -183,7 +182,8 @@ where
                     ros1_resource_cache,
                 )
             })
-            .await;
+            .await
+            .expect("Unable to complete the task");
             ros1_resource_cache = returned_cache;
 
             debug!("ros state: {:#?}", ros1_state);
@@ -199,7 +199,7 @@ where
                         self.report_bridge_statistics(&locked);
                     }
 
-                    async_std::task::sleep({
+                    tokio::time::sleep({
                         if smth_changed {
                             poll_interval / 2
                         } else {
@@ -217,7 +217,7 @@ where
                         Self::cleanup(&mut locked);
                         self.report_bridge_statistics(&locked);
                     }
-                    async_std::task::sleep(poll_interval).await;
+                    tokio::time::sleep(poll_interval).await;
                 }
             }
         }
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/test_helpers.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/test_helpers.rs
index 671e979..91c80db 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/test_helpers.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/test_helpers.rs
@@ -12,32 +12,40 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-use async_std::prelude::FutureExt;
+use std::{
+    net::SocketAddr,
+    process::Command,
+    str::FromStr,
+    sync::{
+        atomic::{AtomicBool, AtomicU16, AtomicUsize, Ordering::*},
+        Arc, Mutex, RwLock,
+    },
+    time::Duration,
+};
+
 use async_trait::async_trait;
 use futures::Future;
 use rosrust::{Client, RawMessage, RawMessageDescription};
-use std::process::Command;
-use std::sync::atomic::AtomicBool;
-use std::sync::atomic::AtomicUsize;
-use std::sync::atomic::Ordering::*;
-use std::sync::{Arc, Mutex, RwLock};
-use std::time::Duration;
-use std::{net::SocketAddr, str::FromStr, sync::atomic::AtomicU16};
 use tracing::error;
-use zenoh::config::ModeDependentValue;
-use zenoh::prelude::OwnedKeyExpr;
-use zenoh::prelude::SplitBuffer;
-use zenoh::sample::Sample;
-use zenoh::Session;
-use zenoh::SessionDeclarations;
-use zenoh_core::{bail, zlock, zresult::ZResult, AsyncResolve, SyncResolve};
-
-use super::discovery::LocalResources;
-use super::ros1_to_zenoh_bridge_impl::{work_cycle, BridgeStatus, RosStatus};
-use super::topic_descriptor::TopicDescriptor;
-use super::topic_utilities;
-use super::topic_utilities::make_topic_key;
-use super::{ros1_client, zenoh_client};
+use zenoh::{
+    config::ModeDependentValue,
+    internal::{bail, zlock},
+    key_expr::OwnedKeyExpr,
+    prelude::*,
+    sample::Sample,
+    Result as ZResult, Session,
+};
+
+use super::{
+    discovery::LocalResources,
+    ros1_client,
+    ros1_to_zenoh_bridge_impl::{work_cycle, BridgeStatus, RosStatus},
+    topic_descriptor::TopicDescriptor,
+    topic_utilities,
+    topic_utilities::make_topic_key,
+    zenoh_client,
+};
+use crate::{spawn_blocking_runtime, spawn_runtime};
 
 pub struct IsolatedPort {
     pub port: u16,
@@ -110,7 +118,7 @@ where
         if waiter() {
             return true;
         }
-        async_std::task::sleep(Duration::from_millis(sleep_millis)).await;
+        tokio::time::sleep(Duration::from_millis(sleep_millis)).await;
     }
     false
 }
@@ -122,10 +130,10 @@ where
 {
     let w = async {
         while !waiter().await {
-            async_std::task::sleep(Duration::from_millis(10)).await
+            tokio::time::sleep(Duration::from_millis(10)).await
         }
     };
-    w.timeout(timeout).await.is_ok()
+    tokio::time::timeout(timeout, w).await.is_ok()
 }
 
 pub struct RunningBridge {
@@ -142,7 +150,7 @@ impl RunningBridge {
             ros_status: Arc::new(Mutex::new(RosStatus::Unknown)),
             bridge_status: Arc::new(Mutex::new(BridgeStatus::default())),
         };
-        async_std::task::spawn(Self::run(
+        spawn_runtime(Self::run(
             ros_master_uri,
             config,
             result.flag.clone(),
@@ -159,7 +167,7 @@ impl RunningBridge {
         ros_status: Arc<Mutex<RosStatus>>,
         bridge_status: Arc<Mutex<BridgeStatus>>,
     ) {
-        let session = zenoh::open(config).res_async().await.unwrap().into_arc();
+        let session = zenoh::open(config).await.unwrap().into_arc();
         work_cycle(
             ros_master_uri.as_str(),
             session,
@@ -291,7 +299,7 @@ pub struct BridgeChecker {
 impl BridgeChecker {
     // PUBLIC
     pub fn new(config: zenoh::config::Config, ros_master_uri: &str) -> BridgeChecker {
-        let session = zenoh::open(config).res_sync().unwrap().into_arc();
+        let session = zenoh::open(config).wait().unwrap().into_arc();
         BridgeChecker {
             session: session.clone(),
             ros_client: ros1_client::Ros1Client::new("test_ros_node", ros_master_uri).unwrap(),
@@ -309,8 +317,7 @@ impl BridgeChecker {
     }
 
     async fn wait_for_zenoh_peers(&self, peer_count: usize, timeout: Duration) -> bool {
-        let waiter =
-            || async { self.session.info().peers_zid().res_async().await.count() == peer_count };
+        let waiter = || async { self.session.info().peers_zid().await.count() == peer_count };
         wait_async(waiter, timeout).await
     }
 
@@ -318,7 +325,7 @@ impl BridgeChecker {
         &self,
         name: &str,
         callback: C,
-    ) -> zenoh::subscriber::Subscriber<'static, ()>
+    ) -> zenoh::pubsub::Subscriber<'static, ()>
     where
         C: Fn(Sample) + Send + Sync + 'static,
     {
@@ -328,7 +335,7 @@ impl BridgeChecker {
             .unwrap()
     }
 
-    pub async fn make_zenoh_publisher(&self, name: &str) -> zenoh::publication::Publisher<'static> {
+    pub async fn make_zenoh_publisher(&self, name: &str) -> zenoh::pubsub::Publisher<'static> {
         self.zenoh_client
             .publish(Self::make_zenoh_key(&Self::make_topic(name)))
             .await
@@ -339,9 +346,9 @@ impl BridgeChecker {
         &self,
         name: &str,
         callback: Callback,
-    ) -> zenoh::queryable::Queryable<'static, ()>
+    ) -> zenoh::query::Queryable<'static, ()>
     where
-        Callback: Fn(zenoh::queryable::Query) + Send + Sync + 'static,
+        Callback: Fn(zenoh::query::Query) + Send + Sync + 'static,
     {
         self.zenoh_client
             .make_queryable(Self::make_zenoh_key(&Self::make_topic(name)), callback)
@@ -512,7 +519,7 @@ impl TestParams {
 }
 
 pub struct ZenohPublisher {
-    pub inner: Arc<zenoh::publication::Publisher<'static>>,
+    pub inner: Arc<zenoh::pubsub::Publisher<'static>>,
 }
 pub struct ROS1Publisher {
     pub inner: Arc<RAIICounter<rosrust::Publisher<rosrust::RawMessage>>>,
@@ -537,9 +544,9 @@ impl ZenohQuery {
     async fn make_query(inner: &Arc<BridgeChecker>, key: &str, data: &Vec<u8>) -> ZResult<()> {
         let query = inner.make_zenoh_query_sync(key, data.clone()).await;
         match query.recv_async().await {
-            Ok(reply) => match reply.sample {
-                Ok(value) => {
-                    let returned_data = value.payload.contiguous().to_vec();
+            Ok(reply) => match reply.result() {
+                Ok(sample) => {
+                    let returned_data = sample.payload().into::<Vec<u8>>();
                     if data.eq(&returned_data) {
                         Ok(())
                     } else {
@@ -547,7 +554,7 @@ impl ZenohQuery {
                     }
                 }
                 Err(e) => {
-                    bail!("ZenohQuery: got reply with error: {}", e);
+                    bail!("ZenohQuery: got reply with error: {:?}", e);
                 }
             },
             Err(e) => {
@@ -661,16 +668,14 @@ pub trait Publisher: Sync {
 impl Publisher for ZenohPublisher {
     fn put(&self, data: Vec<u8>) {
         let inner = self.inner.clone();
-        async_std::task::spawn_blocking(move || inner.put(data).res_sync().unwrap());
+        spawn_blocking_runtime(move || inner.put(data).wait().unwrap());
     }
 }
 #[async_trait]
 impl Publisher for ROS1Publisher {
     fn put(&self, data: Vec<u8>) {
         let inner = self.inner.clone();
-        async_std::task::spawn_blocking(move || {
-            inner.data.send(rosrust::RawMessage(data)).unwrap()
-        });
+        spawn_blocking_runtime(move || inner.data.send(rosrust::RawMessage(data)).unwrap());
     }
 
     async fn ready(&self) -> bool {
@@ -680,7 +685,7 @@ impl Publisher for ROS1Publisher {
 #[async_trait]
 impl Publisher for ZenohQuery {
     fn put(&self, data: Vec<u8>) {
-        async_std::task::spawn(Self::query_loop(
+        spawn_runtime(Self::query_loop(
             self.inner.clone(),
             self.key.clone(),
             self.running.clone(),
@@ -708,7 +713,7 @@ impl Publisher for ROS1Client {
             msg_type: self.topic.datatype.clone(),
         };
 
-        async_std::task::spawn_blocking(|| {
+        spawn_blocking_runtime(|| {
             Self::query_loop(description, running, data, cycles, ros1_client)
         });
     }
@@ -721,18 +726,17 @@ impl Publisher for ROS1Client {
         };
         let data = (0..10).collect();
         let ros1_client = self.ros1_client.clone();
-        async_std::task::spawn_blocking(move || {
-            Self::make_query(description, &data, &ros1_client).is_ok()
-        })
-        .await
+        spawn_blocking_runtime(move || Self::make_query(description, &data, &ros1_client).is_ok())
+            .await
+            .unwrap_or(false)
     }
 }
 
 pub struct ZenohSubscriber {
-    pub _inner: zenoh::subscriber::Subscriber<'static, ()>,
+    pub _inner: zenoh::pubsub::Subscriber<'static, ()>,
 }
 pub struct ZenohQueryable {
-    pub _inner: zenoh::queryable::Queryable<'static, ()>,
+    pub _inner: zenoh::query::Queryable<'static, ()>,
 }
 pub struct ROS1Subscriber {
     pub inner: RAIICounter<rosrust::Subscriber>,
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/topic_bridge.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/topic_bridge.rs
index 6d175da..1f04892 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/topic_bridge.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/topic_bridge.rs
@@ -12,6 +12,10 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
+use std::{fmt::Display, sync::Arc};
+
+use tracing::error;
+
 use super::{
     abstract_bridge::AbstractBridge,
     bridge_type::BridgeType,
@@ -21,8 +25,6 @@ use super::{
     topic_descriptor::TopicDescriptor,
     zenoh_client,
 };
-use std::{fmt::Display, sync::Arc};
-use tracing::error;
 
 pub struct TopicBridge {
     topic: TopicDescriptor,
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/topic_mapping.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/topic_mapping.rs
index c58acdf..0776d5a 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/topic_mapping.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/topic_mapping.rs
@@ -14,9 +14,8 @@
 
 use std::collections::HashSet;
 
-use crate::ros_to_zenoh_bridge::ros1_client;
-
 use super::{resource_cache::Ros1ResourceCache, topic_descriptor::TopicDescriptor};
+use crate::ros_to_zenoh_bridge::ros1_client;
 
 #[derive(Debug)]
 pub struct Ros1TopicMapping {
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/topic_utilities.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/topic_utilities.rs
index 93fe6f5..dcf58cd 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/topic_utilities.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/topic_utilities.rs
@@ -12,11 +12,14 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-use zenoh::prelude::{keyexpr, OwnedKeyExpr};
+use zenoh::key_expr::{
+    format::{kedefine, keformat},
+    keyexpr, OwnedKeyExpr,
+};
 
 use super::topic_descriptor::TopicDescriptor;
 
-zenoh::kedefine!(
+kedefine!(
     pub ros_mapping_format: "${data_type:*}/${md5:*}/${topic:**}",
 );
 
@@ -26,7 +29,7 @@ pub fn make_topic_key(topic: &TopicDescriptor) -> &str {
 
 pub fn make_zenoh_key(topic: &TopicDescriptor) -> OwnedKeyExpr {
     let mut formatter = ros_mapping_format::formatter();
-    zenoh::keformat!(
+    keformat!(
         formatter,
         data_type = hex::encode(topic.datatype.as_bytes()),
         md5 = topic.md5.clone(),
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/zenoh_client.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/zenoh_client.rs
index b7483ed..1dcd0cf 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/zenoh_client.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/zenoh_client.rs
@@ -12,14 +12,18 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-use std::fmt::Display;
-use std::sync::Arc;
+use std::{fmt::Display, sync::Arc};
 
 use tracing::debug;
-
-use zenoh::prelude::r#async::*;
-use zenoh::Session;
-pub use zenoh_core::zresult::ZResult;
+use zenoh::{
+    key_expr::KeyExpr,
+    prelude::*,
+    pubsub::Reliability,
+    qos::CongestionControl,
+    query::Selector,
+    sample::{Locality, Sample},
+    Result as ZResult, Session,
+};
 
 pub struct ZenohClient {
     session: Arc<Session>,
@@ -35,7 +39,7 @@ impl ZenohClient {
         &self,
         key_expr: TryIntoKeyExpr,
         callback: C,
-    ) -> ZResult<zenoh::subscriber::Subscriber<'static, ()>>
+    ) -> ZResult<zenoh::pubsub::Subscriber<'static, ()>>
     where
         C: Fn(Sample) + Send + Sync + 'static,
         TryIntoKeyExpr: TryInto<KeyExpr<'b>> + Display,
@@ -48,14 +52,13 @@ impl ZenohClient {
             .callback(callback)
             .allowed_origin(Locality::Remote)
             .reliability(Reliability::Reliable)
-            .res_async()
             .await
     }
 
     pub async fn publish<'b: 'static, TryIntoKeyExpr>(
         &self,
         key_expr: TryIntoKeyExpr,
-    ) -> ZResult<zenoh::publication::Publisher<'static>>
+    ) -> ZResult<zenoh::pubsub::Publisher<'static>>
     where
         TryIntoKeyExpr: TryInto<KeyExpr<'b>> + Display,
         <TryIntoKeyExpr as TryInto<KeyExpr<'b>>>::Error: Into<zenoh::Error>,
@@ -66,7 +69,6 @@ impl ZenohClient {
             .declare_publisher(key_expr)
             .allowed_destination(Locality::Remote)
             .congestion_control(CongestionControl::Block)
-            .res_async()
             .await
     }
 
@@ -74,9 +76,9 @@ impl ZenohClient {
         &self,
         key_expr: TryIntoKeyExpr,
         callback: Callback,
-    ) -> ZResult<zenoh::queryable::Queryable<'static, ()>>
+    ) -> ZResult<zenoh::query::Queryable<'static, ()>>
     where
-        Callback: Fn(zenoh::queryable::Query) + Send + Sync + 'static,
+        Callback: Fn(zenoh::query::Query) + Send + Sync + 'static,
         TryIntoKeyExpr: TryInto<KeyExpr<'b>> + Display,
         <TryIntoKeyExpr as TryInto<KeyExpr<'b>>>::Error: Into<zenoh::Error>,
     {
@@ -86,7 +88,6 @@ impl ZenohClient {
             .declare_queryable(key_expr)
             .allowed_origin(Locality::Remote)
             .callback(callback)
-            .res_async()
             .await
     }
 
@@ -106,10 +107,9 @@ impl ZenohClient {
 
         self.session
             .get(selector)
-            .with_value(data)
+            .payload(data)
             .callback(callback)
             .allowed_destination(Locality::Remote)
-            .res_async()
             .await
     }
 
@@ -126,9 +126,8 @@ impl ZenohClient {
 
         self.session
             .get(selector)
-            .with_value(data)
+            .payload(data)
             .allowed_destination(Locality::Remote)
-            .res_async()
             .await
     }
 }
diff --git a/zenoh-plugin-ros1/tests/aloha_declaration_test.rs b/zenoh-plugin-ros1/tests/aloha_declaration_test.rs
index 52fa7e2..88db5bb 100644
--- a/zenoh-plugin-ros1/tests/aloha_declaration_test.rs
+++ b/zenoh-plugin-ros1/tests/aloha_declaration_test.rs
@@ -19,9 +19,9 @@ use std::{
     time::Duration,
 };
 
-use async_std::{prelude::FutureExt, sync::Mutex};
-use zenoh::{prelude::OwnedKeyExpr, OpenBuilder, Session, SessionDeclarations};
-use zenoh_core::{AsyncResolve, Result as ZResult, SyncResolve};
+use test_case::test_case;
+use tokio::sync::Mutex;
+use zenoh::{key_expr::OwnedKeyExpr, prelude::*, session::OpenBuilder, Result as ZResult, Session};
 use zenoh_plugin_ros1::ros_to_zenoh_bridge::{
     aloha_declaration, aloha_subscription, test_helpers::IsolatedConfig,
 };
@@ -55,25 +55,28 @@ fn subscription_builder(
 }
 
 fn make_session(cfg: &IsolatedConfig) -> Arc<Session> {
-    session_builder(cfg).res_sync().unwrap().into_arc()
+    session_builder(cfg).wait().unwrap().into_arc()
 }
 
-fn make_subscription(
+async fn make_subscription(
     session: Arc<Session>,
     beacon_period: Duration,
 ) -> aloha_subscription::AlohaSubscription {
-    async_std::task::block_on(subscription_builder(session, beacon_period).build()).unwrap()
+    subscription_builder(session, beacon_period)
+        .build()
+        .await
+        .expect("Failed to make subscription")
 }
 
-#[test]
-fn aloha_instantination_one_instance() {
+#[tokio::test(flavor = "multi_thread")]
+async fn aloha_instantination_one_instance() {
     let session = make_session(&IsolatedConfig::default());
     let _declaration = declaration_builder(session.clone(), Duration::from_secs(1));
-    let _subscription = make_subscription(session, Duration::from_secs(1));
+    let _subscription = make_subscription(session, Duration::from_secs(1)).await;
 }
 
-#[test]
-fn aloha_instantination_many_instances() {
+#[tokio::test(flavor = "multi_thread")]
+async fn aloha_instantination_many_instances() {
     let cfg = IsolatedConfig::default();
     let mut sessions = Vec::new();
     let mut declarations = Vec::new();
@@ -85,12 +88,12 @@ fn aloha_instantination_many_instances() {
     }
 
     for session in sessions.iter() {
-        subscriptions.push(make_subscription(session.clone(), Duration::from_secs(1)));
+        subscriptions.push(make_subscription(session.clone(), Duration::from_secs(1)).await);
     }
 }
 
 pub struct PPCMeasurement<'a> {
-    _subscriber: zenoh::subscriber::Subscriber<'a, ()>,
+    _subscriber: zenoh::pubsub::Subscriber<'a, ()>,
     ppc: Arc<AtomicUsize>,
     measurement_period: Duration,
 }
@@ -107,7 +110,6 @@ impl<'a> PPCMeasurement<'a> {
             .callback(move |_val| {
                 p.fetch_add(1, std::sync::atomic::Ordering::SeqCst);
             })
-            .res_async()
             .await?;
 
         Ok(Self {
@@ -119,7 +121,7 @@ impl<'a> PPCMeasurement<'a> {
 
     pub async fn measure_ppc(&self) -> usize {
         self.ppc.store(0, std::sync::atomic::Ordering::SeqCst);
-        async_std::task::sleep(self.measurement_period).await;
+        tokio::time::sleep(self.measurement_period).await;
         self.ppc.load(std::sync::atomic::Ordering::SeqCst)
     }
 }
@@ -186,7 +188,7 @@ impl DeclarationCollector {
             || !self.to_be_undeclared.lock().await.is_empty()
             || expected != *self.resources.lock().await
         {
-            async_std::task::sleep(core::time::Duration::from_millis(1)).await;
+            tokio::time::sleep(core::time::Duration::from_millis(1)).await;
         }
     }
 }
@@ -238,7 +240,7 @@ async fn test_state_transition<'a>(
 
     while declarations.len() < state.declarators_count {
         if declaring_sessions.len() <= declarations.len() {
-            declaring_sessions.push(session_builder(cfg).res_async().await.unwrap().into_arc());
+            declaring_sessions.push(session_builder(cfg).await.unwrap().into_arc());
         }
         declarations.push(declaration_builder(
             declaring_sessions[declarations.len()].clone(),
@@ -247,7 +249,7 @@ async fn test_state_transition<'a>(
     }
 
     collector.wait(result).await;
-    async_std::task::sleep(beacon_period).await;
+    tokio::time::sleep(beacon_period).await;
     while ppc_measurer.measure_ppc().await != {
         let mut res = 1;
         if state.declarators_count == 0 {
@@ -263,7 +265,7 @@ async fn run_aloha(beacon_period: Duration, scenario: Vec<State>) {
     let mut declarations: Vec<aloha_declaration::AlohaDeclaration> = Vec::new();
 
     let mut collector = DeclarationCollector::new();
-    let subscription_session = session_builder(&cfg).res_async().await.unwrap().into_arc();
+    let subscription_session = session_builder(&cfg).await.unwrap().into_arc();
     let _subscriber = collector
         .use_builder(subscription_builder(
             subscription_session.clone(),
@@ -277,99 +279,48 @@ async fn run_aloha(beacon_period: Duration, scenario: Vec<State>) {
         .unwrap();
     for scene in scenario {
         println!("Transiting State: {}", scene.declarators_count);
-        test_state_transition(
-            &cfg,
-            beacon_period,
-            &mut declaring_sessions,
-            &mut declarations,
-            &mut collector,
-            &ppc_measurer,
-            &scene,
+        tokio::time::timeout(
+            TIMEOUT,
+            test_state_transition(
+                &cfg,
+                beacon_period,
+                &mut declaring_sessions,
+                &mut declarations,
+                &mut collector,
+                &ppc_measurer,
+                &scene,
+            ),
         )
-        .timeout(TIMEOUT)
         .await
         .expect("Timeout waiting state transition!");
     }
 }
 
-#[test]
-fn aloha_declare_one() {
-    async_std::task::block_on(run_aloha(
-        Duration::from_millis(100),
-        [State::default().declarators(1)].into_iter().collect(),
-    ));
-}
-
-#[test]
-fn aloha_declare_many() {
-    async_std::task::block_on(run_aloha(
-        Duration::from_millis(100),
-        [State::default().declarators(10)].into_iter().collect(),
-    ));
-}
-
-#[test]
-fn aloha_declare_many_one_many() {
-    async_std::task::block_on(run_aloha(
-        Duration::from_millis(100),
-        [
-            State::default().declarators(10),
-            State::default().declarators(1),
-            State::default().declarators(10),
-        ]
-        .into_iter()
-        .collect(),
-    ));
-}
-
-#[test]
-fn aloha_declare_one_zero_one() {
-    async_std::task::block_on(run_aloha(
-        Duration::from_millis(100),
-        [
-            State::default().declarators(1),
-            State::default().declarators(0),
-            State::default().declarators(1),
-        ]
-        .into_iter()
-        .collect(),
-    ));
-}
-
-#[test]
-fn aloha_declare_many_zero_many() {
-    async_std::task::block_on(run_aloha(
-        Duration::from_millis(100),
-        [
-            State::default().declarators(10),
-            State::default().declarators(0),
-            State::default().declarators(10),
-        ]
-        .into_iter()
-        .collect(),
-    ));
-}
-
-#[test]
-fn aloha_many_scenarios() {
-    async_std::task::block_on(run_aloha(
-        Duration::from_millis(100),
-        [
-            State::default().declarators(1),
-            State::default().declarators(10),
-            State::default().declarators(1),
-            State::default().declarators(10),
-            State::default().declarators(1),
-            State::default().declarators(10),
-            State::default().declarators(0),
-            State::default().declarators(1),
-            State::default().declarators(10),
-            State::default().declarators(1),
-            State::default().declarators(0),
-            State::default().declarators(10),
-            State::default().declarators(1),
-        ]
-        .into_iter()
-        .collect(),
-    ));
+#[test_case([State::default().declarators(1)].into_iter().collect(); "one")]
+#[test_case([State::default().declarators(10)].into_iter().collect(); "many")]
+#[test_case([State::default().declarators(10),
+             State::default().declarators(1),
+             State::default().declarators(10)].into_iter().collect(); "many one many")]
+#[test_case([State::default().declarators(1),
+             State::default().declarators(0),
+             State::default().declarators(1)].into_iter().collect(); "one zero one")]
+#[test_case([State::default().declarators(10),
+             State::default().declarators(0),
+             State::default().declarators(10)].into_iter().collect(); "many zero many")]
+#[test_case([State::default().declarators(1),
+             State::default().declarators(10),
+             State::default().declarators(1),
+             State::default().declarators(10),
+             State::default().declarators(1),
+             State::default().declarators(10),
+             State::default().declarators(0),
+             State::default().declarators(1),
+             State::default().declarators(10),
+             State::default().declarators(1),
+             State::default().declarators(0),
+             State::default().declarators(10),
+             State::default().declarators(1)].into_iter().collect(); "many scenarios")]
+#[tokio::test(flavor = "multi_thread")]
+async fn aloha_declare(vec_state: Vec<State>) {
+    run_aloha(Duration::from_millis(100), vec_state).await;
 }
diff --git a/zenoh-plugin-ros1/tests/bridge_to_bridge.rs b/zenoh-plugin-ros1/tests/bridge_to_bridge.rs
index 700e6f5..326326b 100644
--- a/zenoh-plugin-ros1/tests/bridge_to_bridge.rs
+++ b/zenoh-plugin-ros1/tests/bridge_to_bridge.rs
@@ -12,24 +12,26 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-use std::sync::Arc;
-use std::time::Duration;
-use std::{collections::HashSet, sync::atomic::AtomicU64};
+use std::{
+    collections::HashSet,
+    sync::{
+        atomic::{AtomicU64, AtomicUsize, Ordering::*},
+        Arc,
+    },
+    time::Duration,
+};
 
-use async_std::prelude::FutureExt;
 use rosrust::RawMessage;
-use std::sync::atomic::{AtomicUsize, Ordering::*};
 use strum_macros::Display;
+use test_case::test_case;
 use tracing::{debug, trace};
-use zenoh::prelude::{KeyExpr, OwnedKeyExpr};
-use zenoh_plugin_ros1::ros_to_zenoh_bridge::test_helpers::{
-    self, wait_async, Publisher, Subscriber,
-};
+use zenoh::key_expr::{KeyExpr, OwnedKeyExpr};
 use zenoh_plugin_ros1::ros_to_zenoh_bridge::{
     bridging_mode::BridgingMode,
     environment::Environment,
     test_helpers::{
-        BridgeChecker, IsolatedConfig, IsolatedROSMaster, ROSEnvironment, RunningBridge, TestParams,
+        self, wait_async, BridgeChecker, IsolatedConfig, IsolatedROSMaster, Publisher,
+        ROSEnvironment, RunningBridge, Subscriber, TestParams,
     },
 };
 
@@ -134,9 +136,9 @@ async fn async_create_bridge() {
     system1.wait_state_synch().await;
 }
 
-#[test]
-fn create_bridge() {
-    async_std::task::block_on(async_create_bridge());
+#[tokio::test(flavor = "multi_thread")]
+async fn create_bridge() {
+    async_create_bridge().await;
 }
 
 async fn async_create_bridge_and_init() {
@@ -145,9 +147,9 @@ async fn async_create_bridge_and_init() {
     system1.with_ros().with_bridge().wait_state_synch().await;
 }
 
-#[test]
-fn create_bridge_and_init() {
-    async_std::task::block_on(async_create_bridge_and_init());
+#[tokio::test(flavor = "multi_thread")]
+async fn create_bridge_and_init() {
+    async_create_bridge_and_init().await;
 }
 
 async fn async_create_bridge_and_reinit_ros() {
@@ -161,9 +163,9 @@ async fn async_create_bridge_and_reinit_ros() {
     }
 }
 
-#[test]
-fn create_bridge_and_reinit_ros() {
-    async_std::task::block_on(async_create_bridge_and_reinit_ros());
+#[tokio::test(flavor = "multi_thread")]
+async fn create_bridge_and_reinit_ros() {
+    async_create_bridge_and_reinit_ros().await;
 }
 
 async fn async_create_bridge_and_reinit_bridge() {
@@ -177,9 +179,9 @@ async fn async_create_bridge_and_reinit_bridge() {
     }
 }
 
-#[test]
-fn create_bridge_and_reinit_bridge() {
-    async_std::task::block_on(async_create_bridge_and_reinit_bridge());
+#[tokio::test(flavor = "multi_thread")]
+async fn create_bridge_and_reinit_bridge() {
+    async_create_bridge_and_reinit_bridge().await;
 }
 
 struct SrcDstPair {
@@ -212,13 +214,12 @@ impl SrcDstPair {
 
     async fn start_ping_pong(&self) -> bool {
         debug!("Starting ping-pong!");
-        let mut data = Vec::new();
-        data.reserve(TestParams::data_size() as usize);
+        let mut data = Vec::with_capacity(TestParams::data_size() as usize);
         for i in 0..TestParams::data_size() {
             data.push((i % 255) as u8);
         }
 
-        async {
+        tokio::time::timeout(Duration::from_secs(30), async {
             while {
                 self.src.put(data.clone());
                 !test_helpers::wait_async_fn(
@@ -229,8 +230,7 @@ impl SrcDstPair {
             } {
                 debug!("Restarting ping-pong!");
             }
-        }
-        .timeout(Duration::from_secs(30))
+        })
         .await
         .is_ok()
     }
@@ -253,7 +253,7 @@ impl SrcDstPair {
 
         self.counter.store(0, Relaxed);
         while !(result > 0.0 || duration >= 10000) {
-            async_std::task::sleep(core::time::Duration::from_millis(duration_milliseconds)).await;
+            tokio::time::sleep(core::time::Duration::from_millis(duration_milliseconds)).await;
             duration += duration_milliseconds;
             result += self.counter.load(Relaxed) as f64;
         }
@@ -317,8 +317,6 @@ async fn async_bridge_2_bridge(instances: u32, mode: std::collections::HashSet<M
             }
         };
 
-    zenoh_core::zasync_executor_init!();
-
     let env = TestEnvironment::default();
     let mut src_system = env.add_system();
     src_system.with_ros().with_bridge();
@@ -391,80 +389,17 @@ async fn async_bridge_2_bridge(instances: u32, mode: std::collections::HashSet<M
     dst_system.wait_state_synch().await;
 }
 
-#[test]
-fn bridge_2_bridge_pub() {
-    async_std::task::block_on(async_bridge_2_bridge(1, HashSet::from([Mode::Ros1ToZenoh])));
-}
-
-#[test]
-fn bridge_2_bridge_pub_many() {
-    async_std::task::block_on(async_bridge_2_bridge(
-        TestParams::many_count(),
-        HashSet::from([Mode::Ros1ToZenoh]),
-    ));
-}
-
-#[test]
-fn bridge_2_bridge_sub() {
-    async_std::task::block_on(async_bridge_2_bridge(1, HashSet::from([Mode::ZenohToRos1])));
-}
-
-#[test]
-fn bridge_2_bridge_sub_many() {
-    async_std::task::block_on(async_bridge_2_bridge(
-        TestParams::many_count(),
-        HashSet::from([Mode::ZenohToRos1]),
-    ));
-}
-
-#[test]
-fn bridge_2_bridge_service() {
-    async_std::task::block_on(async_bridge_2_bridge(1, HashSet::from([Mode::Ros1Service])));
-}
-
-#[test]
-fn bridge_2_bridge_service_many() {
-    async_std::task::block_on(async_bridge_2_bridge(
-        TestParams::many_count(),
-        HashSet::from([Mode::Ros1Service]),
-    ));
-}
-
-#[test]
-fn bridge_2_bridge_client() {
-    async_std::task::block_on(async_bridge_2_bridge(1, HashSet::from([Mode::Ros1Client])));
-}
-
-#[test]
-fn bridge_2_bridge_client_many() {
-    async_std::task::block_on(async_bridge_2_bridge(
-        TestParams::many_count(),
-        HashSet::from([Mode::Ros1Client]),
-    ));
-}
-
-#[test]
-fn bridge_2_bridge_all() {
-    async_std::task::block_on(async_bridge_2_bridge(
-        1,
-        HashSet::from([
-            Mode::Ros1Client,
-            Mode::Ros1Service,
-            Mode::Ros1ToZenoh,
-            Mode::ZenohToRos1,
-        ]),
-    ));
-}
-
-#[test]
-fn bridge_2_bridge_all_many() {
-    async_std::task::block_on(async_bridge_2_bridge(
-        TestParams::many_count(),
-        HashSet::from([
-            Mode::Ros1Client,
-            Mode::Ros1Service,
-            Mode::Ros1ToZenoh,
-            Mode::ZenohToRos1,
-        ]),
-    ));
+#[test_case(1, HashSet::from([Mode::Ros1ToZenoh]); "pub_one")]
+#[test_case(TestParams::many_count(), HashSet::from([Mode::Ros1ToZenoh]); "pub_many")]
+#[test_case(1, HashSet::from([Mode::ZenohToRos1]); "sub_one")]
+#[test_case(TestParams::many_count(), HashSet::from([Mode::ZenohToRos1]); "sub_many")]
+#[test_case(1, HashSet::from([Mode::Ros1Service]); "service_one")]
+#[test_case(TestParams::many_count(), HashSet::from([Mode::Ros1Service]); "service_many")]
+#[test_case(1, HashSet::from([Mode::Ros1Client]); "client_one")]
+#[test_case(TestParams::many_count(), HashSet::from([Mode::Ros1Client]); "client_many")]
+#[test_case(1, HashSet::from([Mode::Ros1Client, Mode::Ros1Service, Mode::Ros1ToZenoh, Mode::ZenohToRos1]); "all")]
+#[test_case(TestParams::many_count(), HashSet::from([Mode::Ros1Client, Mode::Ros1Service, Mode::Ros1ToZenoh, Mode::ZenohToRos1]); "all_many")]
+#[tokio::test(flavor = "multi_thread")]
+async fn bridge_2_bridge(instances: u32, mode: std::collections::HashSet<Mode>) {
+    async_bridge_2_bridge(instances, mode).await;
 }
diff --git a/zenoh-plugin-ros1/tests/discovery_test.rs b/zenoh-plugin-ros1/tests/discovery_test.rs
index 7576edb..73c1feb 100644
--- a/zenoh-plugin-ros1/tests/discovery_test.rs
+++ b/zenoh-plugin-ros1/tests/discovery_test.rs
@@ -17,10 +17,9 @@ use std::{
     time::Duration,
 };
 
-use async_std::prelude::FutureExt;
 use multiset::HashMultiSet;
-use zenoh::{prelude::keyexpr, OpenBuilder, Session};
-use zenoh_core::{AsyncResolve, SyncResolve};
+use test_case::test_case;
+use zenoh::{key_expr::keyexpr, prelude::*, session::OpenBuilder, Session};
 use zenoh_plugin_ros1::ros_to_zenoh_bridge::{
     discovery::{self, LocalResources, RemoteResources},
     test_helpers::{BridgeChecker, IsolatedConfig},
@@ -38,25 +37,25 @@ fn remote_resources_builder(session: Arc<Session>) -> discovery::RemoteResources
 }
 
 fn make_session(cfg: &IsolatedConfig) -> Arc<Session> {
-    session_builder(cfg).res_sync().unwrap().into_arc()
+    session_builder(cfg).wait().unwrap().into_arc()
 }
 
 fn make_local_resources(session: Arc<Session>) -> LocalResources {
     LocalResources::new("*".to_owned(), "*".to_owned(), session)
 }
-fn make_remote_resources(session: Arc<Session>) -> RemoteResources {
-    async_std::task::block_on(remote_resources_builder(session).build())
+async fn make_remote_resources(session: Arc<Session>) -> RemoteResources {
+    remote_resources_builder(session).build().await
 }
 
-#[test]
-fn discovery_instantination_one_instance() {
+#[tokio::test(flavor = "multi_thread")]
+async fn discovery_instantination_one_instance() {
     let session = make_session(&IsolatedConfig::default());
-    let _remote = make_remote_resources(session.clone());
+    let _remote = make_remote_resources(session.clone()).await;
     let _local = make_local_resources(session);
 }
 
-#[test]
-fn discovery_instantination_many_instances() {
+#[tokio::test(flavor = "multi_thread")]
+async fn discovery_instantination_many_instances() {
     let cfg = IsolatedConfig::default();
     let mut sessions = Vec::new();
     for _i in 0..10 {
@@ -65,7 +64,7 @@ fn discovery_instantination_many_instances() {
 
     let mut discoveries = Vec::new();
     for session in sessions.iter() {
-        let remote = make_remote_resources(session.clone());
+        let remote = make_remote_resources(session.clone()).await;
         let local = make_local_resources(session.clone());
         discoveries.push((remote, local));
     }
@@ -160,7 +159,7 @@ impl DiscoveryCollector {
         expected: HashMultiSet<TopicDescriptor>,
     ) {
         while expected != *container.lock().unwrap() {
-            async_std::task::sleep(core::time::Duration::from_millis(10)).await;
+            tokio::time::sleep(core::time::Duration::from_millis(10)).await;
         }
     }
 }
@@ -281,128 +280,57 @@ async fn test_state_transition(
 async fn run_discovery(scenario: Vec<State>) {
     let cfg = IsolatedConfig::default();
 
-    let src_session = session_builder(&cfg).res_async().await.unwrap().into_arc();
+    let src_session = session_builder(&cfg).await.unwrap().into_arc();
     let local_resources = make_local_resources(src_session.clone());
 
     let rcv = DiscoveryCollector::new();
-    let rcv_session = session_builder(&cfg).res_async().await.unwrap().into_arc();
+    let rcv_session = session_builder(&cfg).await.unwrap().into_arc();
     let _rcv_discovery = rcv
         .use_builder(remote_resources_builder(rcv_session))
         .build()
         .await;
 
     for scene in scenario {
-        test_state_transition(&local_resources, &rcv, &scene)
-            .timeout(TIMEOUT)
-            .await
-            .expect("Timeout waiting state transition!");
+        tokio::time::timeout(
+            TIMEOUT,
+            test_state_transition(&local_resources, &rcv, &scene),
+        )
+        .await
+        .expect("Timeout waiting state transition!");
     }
 }
 
-#[test]
-fn discover_single_publisher() {
-    async_std::task::block_on(run_discovery(
-        [State::default().publishers(1, 1)].into_iter().collect(),
-    ));
-}
-#[test]
-fn discover_single_subscriber() {
-    async_std::task::block_on(run_discovery(
-        [State::default().subscribers(1, 1)].into_iter().collect(),
-    ));
-}
-#[test]
-fn discover_single_service() {
-    async_std::task::block_on(run_discovery(
-        [State::default().services(1, 1)].into_iter().collect(),
-    ));
-}
-#[test]
-fn discover_single_client() {
-    async_std::task::block_on(run_discovery(
-        [State::default().clients(1, 1)].into_iter().collect(),
-    ));
-}
-#[test]
-fn discover_single_transition() {
-    async_std::task::block_on(run_discovery(
-        [
-            State::default().publishers(1, 1),
-            State::default().subscribers(1, 1),
-            State::default().services(1, 1),
-            State::default().clients(1, 1),
-        ]
-        .into_iter()
-        .collect(),
-    ));
-}
-#[test]
-fn discover_single_transition_with_zero_state() {
-    async_std::task::block_on(run_discovery(
-        [
-            State::default().publishers(1, 1),
-            State::default(),
-            State::default().subscribers(1, 1),
-            State::default(),
-            State::default().services(1, 1),
-            State::default(),
-            State::default().clients(1, 1),
-        ]
-        .into_iter()
-        .collect(),
-    ));
-}
-
-#[test]
-fn discover_multiple_publishers() {
-    async_std::task::block_on(run_discovery(
-        [State::default().publishers(100, 1)].into_iter().collect(),
-    ));
-}
-#[test]
-fn discover_multiple_subscribers() {
-    async_std::task::block_on(run_discovery(
-        [State::default().subscribers(100, 1)].into_iter().collect(),
-    ));
-}
-#[test]
-fn discover_multiple_services() {
-    async_std::task::block_on(run_discovery(
-        [State::default().services(100, 1)].into_iter().collect(),
-    ));
-}
-#[test]
-fn discover_multiple_clients() {
-    async_std::task::block_on(run_discovery(
-        [State::default().clients(100, 1)].into_iter().collect(),
-    ));
-}
-#[test]
-fn discover_multiple_transition() {
-    async_std::task::block_on(run_discovery(
-        [
-            State::default().publishers(100, 1),
-            State::default().subscribers(100, 1),
-            State::default().services(100, 1),
-            State::default().clients(100, 1),
-        ]
-        .into_iter()
-        .collect(),
-    ));
-}
-#[test]
-fn discover_multiple_transition_with_zero_state() {
-    async_std::task::block_on(run_discovery(
-        [
-            State::default().publishers(100, 1),
-            State::default(),
-            State::default().subscribers(100, 1),
-            State::default(),
-            State::default().services(100, 1),
-            State::default(),
-            State::default().clients(100, 1),
-        ]
-        .into_iter()
-        .collect(),
-    ));
+#[test_case([State::default().publishers(1, 1)].into_iter().collect(); "single_publisher")]
+#[test_case([State::default().subscribers(1, 1)].into_iter().collect(); "single_subscriber")]
+#[test_case([State::default().services(1, 1)].into_iter().collect(); "single_service")]
+#[test_case([State::default().clients(1, 1)].into_iter().collect(); "single_client")]
+#[test_case([State::default().publishers(1, 1),
+             State::default().subscribers(1, 1),
+             State::default().services(1, 1),
+             State::default().clients(1, 1),].into_iter().collect(); "single_transition")]
+#[test_case([State::default().publishers(1, 1),
+             State::default(),
+             State::default().subscribers(1, 1),
+             State::default(),
+             State::default().services(1, 1),
+             State::default(),
+             State::default().clients(1, 1),].into_iter().collect(); "single_transition_with_zero_state")]
+#[test_case([State::default().publishers(100, 1)].into_iter().collect(); "multiple_publisher")]
+#[test_case([State::default().subscribers(100, 1)].into_iter().collect(); "multiple_subscriber")]
+#[test_case([State::default().services(100, 1)].into_iter().collect(); "multiple_service")]
+#[test_case([State::default().clients(100, 1)].into_iter().collect(); "multiple_client")]
+#[test_case([State::default().publishers(100, 1),
+             State::default().subscribers(100, 1),
+             State::default().services(100, 1),
+             State::default().clients(100, 1),].into_iter().collect(); "multiple_transition")]
+#[test_case([State::default().publishers(100, 1),
+             State::default(),
+             State::default().subscribers(100, 1),
+             State::default(),
+             State::default().services(100, 1),
+             State::default(),
+             State::default().clients(100, 1),].into_iter().collect(); "multiple_transition_with_zero_state")]
+#[tokio::test(flavor = "multi_thread")]
+async fn discover(vec_state: Vec<State>) {
+    run_discovery(vec_state).await;
 }
diff --git a/zenoh-plugin-ros1/tests/ping_pong_test.rs b/zenoh-plugin-ros1/tests/ping_pong_test.rs
index c39150e..17eb216 100644
--- a/zenoh-plugin-ros1/tests/ping_pong_test.rs
+++ b/zenoh-plugin-ros1/tests/ping_pong_test.rs
@@ -12,130 +12,120 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
-use async_std::prelude::FutureExt;
-use strum_macros::Display;
-use zenoh::prelude::SplitBuffer;
-use zenoh_core::SyncResolve;
-
 use std::{
     collections::HashSet,
     sync::{
-        atomic::{AtomicBool, AtomicU64, Ordering::*},
+        atomic::{AtomicBool, AtomicU64, AtomicUsize, Ordering::*},
         Arc,
     },
+    thread, time,
     time::Duration,
 };
 
+use strum_macros::Display;
+use tracing::{debug, trace};
+use zenoh::{key_expr::KeyExpr, prelude::*};
 use zenoh_plugin_ros1::ros_to_zenoh_bridge::{
     bridging_mode::BridgingMode,
+    discovery::LocalResource,
     environment::Environment,
     test_helpers::{
-        self, wait_async_fn, BridgeChecker, Publisher, ROS1Client, ROS1Publisher, ROS1Service,
-        ROS1Subscriber, ROSEnvironment, RunningBridge, Subscriber, TestParams, ZenohPublisher,
-        ZenohQuery, ZenohQueryable, ZenohSubscriber,
+        self, wait_async_fn, BridgeChecker, IsolatedConfig, IsolatedROSMaster, Publisher,
+        ROS1Client, ROS1Publisher, ROS1Service, ROS1Subscriber, ROSEnvironment, RunningBridge,
+        Subscriber, TestParams, ZenohPublisher, ZenohQuery, ZenohQueryable, ZenohSubscriber,
     },
 };
-use zenoh_plugin_ros1::ros_to_zenoh_bridge::{
-    discovery::LocalResource,
-    test_helpers::{IsolatedConfig, IsolatedROSMaster},
-};
-
-use std::sync::atomic::AtomicUsize;
-use tracing::{debug, trace};
-use zenoh::prelude::r#async::*;
-
-use std::{thread, time};
 
-#[test]
-fn env_checks_no_master_init_and_exit_immed() {
+#[tokio::test(flavor = "multi_thread")]
+async fn env_checks_no_master_init_and_exit_immed() {
     let roscfg = IsolatedROSMaster::default();
     let _ros_env = ROSEnvironment::new(roscfg.port.port);
     let bridge = RunningBridge::new(IsolatedConfig::default().peer(), roscfg.master_uri());
-    async_std::task::block_on(bridge.assert_ros_error());
-    async_std::task::block_on(bridge.assert_bridge_empy());
+    bridge.assert_ros_error().await;
+    bridge.assert_bridge_empy().await;
 }
 
-#[test]
-fn env_checks_no_master_init_and_wait() {
+#[tokio::test(flavor = "multi_thread")]
+async fn env_checks_no_master_init_and_wait() {
     let roscfg = IsolatedROSMaster::default();
     let _ros_env = ROSEnvironment::new(roscfg.port.port);
     let bridge = RunningBridge::new(IsolatedConfig::default().peer(), roscfg.master_uri());
-    async_std::task::block_on(bridge.assert_ros_error());
-    async_std::task::block_on(bridge.assert_bridge_empy());
+    bridge.assert_ros_error().await;
+    bridge.assert_bridge_empy().await;
     thread::sleep(time::Duration::from_secs(1));
-    async_std::task::block_on(bridge.assert_ros_error());
-    async_std::task::block_on(bridge.assert_bridge_empy());
+    bridge.assert_ros_error().await;
+    bridge.assert_bridge_empy().await;
 }
 
-#[test]
-fn env_checks_with_master_init_and_exit_immed() {
+#[tokio::test(flavor = "multi_thread")]
+async fn env_checks_with_master_init_and_exit_immed() {
     let roscfg = IsolatedROSMaster::default();
     let _ros_env = ROSEnvironment::new(roscfg.port.port).with_master();
     let bridge = RunningBridge::new(IsolatedConfig::default().peer(), roscfg.master_uri());
-    async_std::task::block_on(bridge.assert_ros_ok());
-    async_std::task::block_on(bridge.assert_bridge_empy());
+    bridge.assert_ros_ok().await;
+    bridge.assert_bridge_empy().await;
 }
 
-#[test]
-fn env_checks_with_master_init_and_wait() {
+#[tokio::test(flavor = "multi_thread")]
+async fn env_checks_with_master_init_and_wait() {
     let roscfg = IsolatedROSMaster::default();
     let _ros_env = ROSEnvironment::new(roscfg.port.port).with_master();
     let bridge = RunningBridge::new(IsolatedConfig::default().peer(), roscfg.master_uri());
 
-    async_std::task::block_on(bridge.assert_ros_ok());
-    async_std::task::block_on(bridge.assert_bridge_empy());
+    bridge.assert_ros_ok().await;
+    bridge.assert_bridge_empy().await;
     thread::sleep(time::Duration::from_secs(1));
-    async_std::task::block_on(bridge.assert_ros_ok());
-    async_std::task::block_on(bridge.assert_bridge_empy());
+    bridge.assert_ros_ok().await;
+    bridge.assert_bridge_empy().await;
 }
 
-#[test]
-fn env_checks_with_master_init_and_loose_master() {
+#[tokio::test(flavor = "multi_thread")]
+async fn env_checks_with_master_init_and_loose_master() {
     let roscfg = IsolatedROSMaster::default();
     let mut _ros_env = Some(ROSEnvironment::new(roscfg.port.port).with_master());
     let bridge = RunningBridge::new(IsolatedConfig::default().peer(), roscfg.master_uri());
-    async_std::task::block_on(bridge.assert_ros_ok());
-    async_std::task::block_on(bridge.assert_bridge_empy());
+    bridge.assert_ros_ok().await;
+    bridge.assert_bridge_empy().await;
     thread::sleep(time::Duration::from_secs(1));
-    async_std::task::block_on(bridge.assert_ros_ok());
-    async_std::task::block_on(bridge.assert_bridge_empy());
+    bridge.assert_ros_ok().await;
+    bridge.assert_bridge_empy().await;
     _ros_env = None;
-    async_std::task::block_on(bridge.assert_ros_error());
-    async_std::task::block_on(bridge.assert_bridge_empy());
+    bridge.assert_ros_error().await;
+    bridge.assert_bridge_empy().await;
     thread::sleep(time::Duration::from_secs(1));
-    async_std::task::block_on(bridge.assert_ros_error());
-    async_std::task::block_on(bridge.assert_bridge_empy());
+    bridge.assert_ros_error().await;
+    bridge.assert_bridge_empy().await;
 }
 
-#[test]
-fn env_checks_with_master_init_and_wait_for_master() {
+#[tokio::test(flavor = "multi_thread")]
+async fn env_checks_with_master_init_and_wait_for_master() {
     let roscfg = IsolatedROSMaster::default();
     let mut _ros_env = ROSEnvironment::new(roscfg.port.port);
     let bridge = RunningBridge::new(IsolatedConfig::default().peer(), roscfg.master_uri());
-    async_std::task::block_on(bridge.assert_ros_error());
-    async_std::task::block_on(bridge.assert_bridge_empy());
+    bridge.assert_ros_error().await;
+    bridge.assert_bridge_empy().await;
     thread::sleep(time::Duration::from_secs(1));
-    async_std::task::block_on(bridge.assert_ros_error());
-    async_std::task::block_on(bridge.assert_bridge_empy());
+    bridge.assert_ros_error().await;
+    bridge.assert_bridge_empy().await;
     _ros_env = _ros_env.with_master();
-    async_std::task::block_on(bridge.assert_ros_ok());
-    async_std::task::block_on(bridge.assert_bridge_empy());
+    bridge.assert_ros_ok().await;
+    bridge.assert_bridge_empy().await;
     thread::sleep(time::Duration::from_secs(1));
-    async_std::task::block_on(bridge.assert_ros_ok());
-    async_std::task::block_on(bridge.assert_bridge_empy());
+    bridge.assert_ros_ok().await;
+    bridge.assert_bridge_empy().await;
 }
 
-#[test]
-fn env_checks_with_master_init_and_reconnect_many_times_to_master() {
+#[tokio::test(flavor = "multi_thread")]
+async fn env_checks_with_master_init_and_reconnect_many_times_to_master() {
     let roscfg = IsolatedROSMaster::default();
     let mut ros_env = ROSEnvironment::new(roscfg.port.port);
     let bridge = RunningBridge::new(IsolatedConfig::default().peer(), roscfg.master_uri());
     for _i in 0..20 {
-        async_std::task::block_on(bridge.assert_ros_error());
-        async_std::task::block_on(bridge.assert_bridge_empy());
+        bridge.assert_ros_error().await;
+        bridge.assert_bridge_empy().await;
         ros_env = ros_env.with_master();
-        async_std::task::block_on(bridge.assert_ros_ok());
-        async_std::task::block_on(bridge.assert_bridge_empy());
+        bridge.assert_ros_ok().await;
+        bridge.assert_bridge_empy().await;
         ros_env = ros_env.without_master();
     }
 }
@@ -201,10 +191,10 @@ impl PingPong {
             .unwrap();
         let zenoh_queryable = backend
             .make_zenoh_queryable(key, |q| {
-                async_std::task::spawn(async move {
+                tokio::spawn(async move {
                     let key = q.key_expr().clone();
-                    let val = q.value().unwrap().clone();
-                    let _ = q.reply(Ok(Sample::new(key, val))).res_async().await;
+                    let val = q.payload().unwrap().clone();
+                    let _ = q.reply(key, val).await;
                 });
             })
             .await;
@@ -237,7 +227,7 @@ impl PingPong {
         let zenoh_sub = backend
             .make_zenoh_subscriber(key, move |msg| {
                 c.fetch_add(1, Relaxed);
-                let data = msg.value.payload.contiguous().to_vec();
+                let data = msg.payload().into::<Vec<u8>>();
                 debug!(
                     "PingPong: transferring {} bytes from Zenoh to ROS1!",
                     data.len()
@@ -275,7 +265,7 @@ impl PingPong {
                 "PingPong: transferring {} bytes from ROS1 to Zenoh!",
                 msg.0.len()
             );
-            zpub.put(msg.0).res_sync().unwrap();
+            zpub.put(msg.0).wait().unwrap();
         });
 
         PingPong {
@@ -296,21 +286,19 @@ impl PingPong {
 
     async fn start_ping_pong(&self) -> bool {
         debug!("Starting ping-pong!");
-        let mut data = Vec::new();
-        data.reserve(TestParams::data_size() as usize);
+        let mut data = Vec::with_capacity(TestParams::data_size() as usize);
         for i in 0..TestParams::data_size() {
             data.push((i % 255) as u8);
         }
 
-        async {
+        tokio::time::timeout(Duration::from_secs(30), async {
             while {
                 self.pub_sub.publisher.put(data.clone());
                 !wait_async_fn(|| self.cycles.load(Relaxed) > 0, Duration::from_secs(5)).await
             } {
                 debug!("Restarting ping-pong!");
             }
-        }
-        .timeout(Duration::from_secs(30))
+        })
         .await
         .is_ok()
     }
@@ -333,7 +321,7 @@ impl PingPong {
 
         self.cycles.store(0, Relaxed);
         while !(result > 0.0 || duration >= 30000) {
-            async_std::task::sleep(Duration::from_millis(duration_milliseconds)).await;
+            tokio::time::sleep(Duration::from_millis(duration_milliseconds)).await;
             duration += duration_milliseconds;
             result += self.cycles.load(Relaxed) as f64;
         }
@@ -360,7 +348,7 @@ struct TestEnvironment {
     _ros_env: ROSEnvironment,
 }
 impl TestEnvironment {
-    pub fn new() -> TestEnvironment {
+    pub async fn new() -> TestEnvironment {
         let cfg = IsolatedConfig::default();
         let roscfg = IsolatedROSMaster::default();
 
@@ -376,9 +364,9 @@ impl TestEnvironment {
         // this will wait for the bridge to have some expected initial state and serves two purposes:
         // - asserts on the expected state
         // - performs wait and ensures that everything is properly connected and negotiated within the bridge
-        async_std::task::block_on(bridge.assert_ros_ok());
-        async_std::task::block_on(bridge.assert_bridge_empy());
-        async_std::task::block_on(checker.assert_zenoh_peers(1));
+        bridge.assert_ros_ok().await;
+        bridge.assert_bridge_empy().await;
+        checker.assert_zenoh_peers(1).await;
 
         TestEnvironment {
             bridge,
@@ -409,7 +397,7 @@ async fn ping_pong_duplex_parallel_many_(
     number: u32,
     mode: std::collections::HashSet<Mode>,
 ) {
-    zenoh_core::zasync_executor_init!();
+    zenoh::internal::zasync_executor_init!();
 
     let make_keyexpr = |i: u32, mode: Mode| -> KeyExpr {
         format!(
@@ -482,134 +470,110 @@ async fn ping_pong_duplex_parallel_many_(
     env.assert_bridge_status_synchronized().await;
 }
 
-#[test]
-fn ping_pong_zenoh_to_ros1() {
-    let env = TestEnvironment::new();
-    futures::executor::block_on(ping_pong_duplex_parallel_many_(
-        &env,
-        1,
-        HashSet::from([Mode::ZenohToRos1]),
-    ));
+#[tokio::test(flavor = "multi_thread")]
+async fn ping_pong_zenoh_to_ros1() {
+    let env = TestEnvironment::new().await;
+    ping_pong_duplex_parallel_many_(&env, 1, HashSet::from([Mode::ZenohToRos1])).await;
 }
-#[test]
-fn ping_pong_zenoh_to_ros1_many() {
-    let env = TestEnvironment::new();
-    futures::executor::block_on(ping_pong_duplex_parallel_many_(
+#[tokio::test(flavor = "multi_thread")]
+async fn ping_pong_zenoh_to_ros1_many() {
+    let env = TestEnvironment::new().await;
+    ping_pong_duplex_parallel_many_(
         &env,
         TestParams::many_count(),
         HashSet::from([Mode::ZenohToRos1]),
-    ));
+    )
+    .await;
 }
 
-#[test]
-fn ping_pong_ros1_to_zenoh() {
-    let env = TestEnvironment::new();
-    futures::executor::block_on(ping_pong_duplex_parallel_many_(
-        &env,
-        1,
-        HashSet::from([Mode::Ros1ToZenoh]),
-    ));
+#[tokio::test(flavor = "multi_thread")]
+async fn ping_pong_ros1_to_zenoh() {
+    let env = TestEnvironment::new().await;
+    ping_pong_duplex_parallel_many_(&env, 1, HashSet::from([Mode::Ros1ToZenoh])).await;
 }
-#[test]
-fn ping_pong_ros1_to_zenoh_many() {
-    let env = TestEnvironment::new();
-    futures::executor::block_on(ping_pong_duplex_parallel_many_(
+#[tokio::test(flavor = "multi_thread")]
+async fn ping_pong_ros1_to_zenoh_many() {
+    let env = TestEnvironment::new().await;
+    ping_pong_duplex_parallel_many_(
         &env,
         TestParams::many_count(),
         HashSet::from([Mode::Ros1ToZenoh]),
-    ));
+    )
+    .await;
 }
 
-#[test]
-fn ping_pong_ros1_service() {
-    let env = TestEnvironment::new();
-    futures::executor::block_on(ping_pong_duplex_parallel_many_(
-        &env,
-        1,
-        HashSet::from([Mode::Ros1Service]),
-    ));
+#[tokio::test(flavor = "multi_thread")]
+async fn ping_pong_ros1_service() {
+    let env = TestEnvironment::new().await;
+    ping_pong_duplex_parallel_many_(&env, 1, HashSet::from([Mode::Ros1Service])).await;
 }
-#[test]
-fn ping_pong_ros1_service_many() {
-    let env = TestEnvironment::new();
-    futures::executor::block_on(ping_pong_duplex_parallel_many_(
+#[tokio::test(flavor = "multi_thread")]
+async fn ping_pong_ros1_service_many() {
+    let env = TestEnvironment::new().await;
+    ping_pong_duplex_parallel_many_(
         &env,
         TestParams::many_count(),
         HashSet::from([Mode::Ros1Service]),
-    ));
+    )
+    .await;
 }
 
-#[test]
-fn ping_pong_ros1_client() {
-    let env = TestEnvironment::new();
-    futures::executor::block_on(ping_pong_duplex_parallel_many_(
-        &env,
-        1,
-        HashSet::from([Mode::Ros1Client]),
-    ));
+#[tokio::test(flavor = "multi_thread")]
+async fn ping_pong_ros1_client() {
+    let env = TestEnvironment::new().await;
+    ping_pong_duplex_parallel_many_(&env, 1, HashSet::from([Mode::Ros1Client])).await;
 }
-#[test]
-fn ping_pong_ros1_client_many() {
-    let env = TestEnvironment::new();
-    futures::executor::block_on(ping_pong_duplex_parallel_many_(
+#[tokio::test(flavor = "multi_thread")]
+async fn ping_pong_ros1_client_many() {
+    let env = TestEnvironment::new().await;
+    ping_pong_duplex_parallel_many_(
         &env,
         TestParams::many_count(),
         HashSet::from([Mode::Ros1Client]),
-    ));
+    )
+    .await;
 }
 
-#[test]
-fn ping_pong_all_sequential() {
-    let env = TestEnvironment::new();
-    futures::executor::block_on(ping_pong_duplex_parallel_many_(
-        &env,
-        1,
-        HashSet::from([Mode::ZenohToRos1]),
-    ));
-    futures::executor::block_on(ping_pong_duplex_parallel_many_(
-        &env,
-        1,
-        HashSet::from([Mode::Ros1ToZenoh]),
-    ));
-    futures::executor::block_on(ping_pong_duplex_parallel_many_(
-        &env,
-        1,
-        HashSet::from([Mode::Ros1Service]),
-    ));
-    futures::executor::block_on(ping_pong_duplex_parallel_many_(
-        &env,
-        1,
-        HashSet::from([Mode::Ros1Client]),
-    ));
+#[tokio::test(flavor = "multi_thread")]
+async fn ping_pong_all_sequential() {
+    let env = TestEnvironment::new().await;
+    ping_pong_duplex_parallel_many_(&env, 1, HashSet::from([Mode::ZenohToRos1])).await;
+    ping_pong_duplex_parallel_many_(&env, 1, HashSet::from([Mode::Ros1ToZenoh])).await;
+    ping_pong_duplex_parallel_many_(&env, 1, HashSet::from([Mode::Ros1Service])).await;
+    ping_pong_duplex_parallel_many_(&env, 1, HashSet::from([Mode::Ros1Client])).await;
 }
-#[test]
-fn ping_pong_all_sequential_many() {
-    let env = TestEnvironment::new();
-    futures::executor::block_on(ping_pong_duplex_parallel_many_(
+#[tokio::test(flavor = "multi_thread")]
+async fn ping_pong_all_sequential_many() {
+    let env = TestEnvironment::new().await;
+    ping_pong_duplex_parallel_many_(
         &env,
         TestParams::many_count(),
         HashSet::from([Mode::ZenohToRos1]),
-    ));
-    futures::executor::block_on(ping_pong_duplex_parallel_many_(
+    )
+    .await;
+    ping_pong_duplex_parallel_many_(
         &env,
         TestParams::many_count(),
         HashSet::from([Mode::Ros1ToZenoh]),
-    ));
-    futures::executor::block_on(ping_pong_duplex_parallel_many_(
+    )
+    .await;
+    ping_pong_duplex_parallel_many_(
         &env,
         TestParams::many_count(),
         HashSet::from([Mode::Ros1Service]),
-    ));
-    futures::executor::block_on(ping_pong_duplex_parallel_many_(
+    )
+    .await;
+    ping_pong_duplex_parallel_many_(
         &env,
         TestParams::many_count(),
         HashSet::from([Mode::Ros1Client]),
-    ));
+    )
+    .await;
 }
 
-#[test]
-fn ping_pong_all_parallel() {
-    let env = TestEnvironment::new();
+#[tokio::test(flavor = "multi_thread")]
+async fn ping_pong_all_parallel() {
+    let env = TestEnvironment::new().await;
     futures::executor::block_on(ping_pong_duplex_parallel_many_(
         &env,
         1,
@@ -622,9 +586,9 @@ fn ping_pong_all_parallel() {
     ));
 }
 
-#[test]
-fn ping_pong_all_parallel_many() {
-    let env = TestEnvironment::new();
+#[tokio::test(flavor = "multi_thread")]
+async fn ping_pong_all_parallel_many() {
+    let env = TestEnvironment::new().await;
     futures::executor::block_on(ping_pong_duplex_parallel_many_(
         &env,
         TestParams::many_count(),
@@ -679,21 +643,21 @@ async fn parallel_subworks(
     }
     futures::future::join_all(subworks).await;
 }
-#[test]
-fn ping_pong_all_overlap_one() {
-    let env = TestEnvironment::new();
+#[tokio::test(flavor = "multi_thread")]
+async fn ping_pong_all_overlap_one() {
+    let env = TestEnvironment::new().await;
     let main_work_finished = Arc::new(AtomicBool::new(false));
 
     let main_work = main_work(&env, main_work_finished.clone());
     let parallel_subworks = parallel_subworks(&env, main_work_finished, 1);
-    async_std::task::block_on(futures::future::join(main_work, parallel_subworks));
+    futures::future::join(main_work, parallel_subworks).await;
 }
-#[test]
-fn ping_pong_all_overlap_many() {
-    let env = TestEnvironment::new();
+#[tokio::test(flavor = "multi_thread")]
+async fn ping_pong_all_overlap_many() {
+    let env = TestEnvironment::new().await;
     let main_work_finished = Arc::new(AtomicBool::new(false));
 
     let main_work = main_work(&env, main_work_finished.clone());
     let parallel_subworks = parallel_subworks(&env, main_work_finished, 10);
-    async_std::task::block_on(futures::future::join(main_work, parallel_subworks));
+    futures::future::join(main_work, parallel_subworks).await;
 }
diff --git a/zenoh-plugin-ros1/tests/rosmaster_test.rs b/zenoh-plugin-ros1/tests/rosmaster_test.rs
index 62b204a..e6196cc 100644
--- a/zenoh-plugin-ros1/tests/rosmaster_test.rs
+++ b/zenoh-plugin-ros1/tests/rosmaster_test.rs
@@ -17,27 +17,23 @@ use std::time::Duration;
 use serial_test::serial;
 use zenoh_plugin_ros1::ros_to_zenoh_bridge::ros1_master_ctrl::Ros1MasterCtrl;
 
-#[test]
+#[tokio::test(flavor = "multi_thread")]
 #[serial(ROS1)]
-fn start_and_stop_master() {
-    async_std::task::block_on(async {
-        Ros1MasterCtrl::with_ros1_master()
-            .await
-            .expect("Error starting rosmaster");
+async fn start_and_stop_master() {
+    Ros1MasterCtrl::with_ros1_master()
+        .await
+        .expect("Error starting rosmaster");
 
-        Ros1MasterCtrl::without_ros1_master().await;
-    });
+    Ros1MasterCtrl::without_ros1_master().await;
 }
 
-#[test]
+#[tokio::test(flavor = "multi_thread")]
 #[serial(ROS1)]
-fn start_and_stop_master_and_check_connectivity() {
+async fn start_and_stop_master_and_check_connectivity() {
     // start rosmaster
-    async_std::task::block_on(async {
-        Ros1MasterCtrl::with_ros1_master()
-            .await
-            .expect("Error starting rosmaster");
-    });
+    Ros1MasterCtrl::with_ros1_master()
+        .await
+        .expect("Error starting rosmaster");
 
     // start ros1 client
     let ros1_client = rosrust::api::Ros::new_raw(
@@ -59,9 +55,7 @@ fn start_and_stop_master_and_check_connectivity() {
     }
 
     // stop rosmaster
-    async_std::task::block_on(async {
-        Ros1MasterCtrl::without_ros1_master().await;
-    });
+    Ros1MasterCtrl::without_ros1_master().await;
 
     // check if there was a status from rosmaster...
     if !has_rosmaster {