diff --git a/Cargo.lock b/Cargo.lock
index 6d81b4e..59b8e05 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -5039,7 +5039,7 @@ dependencies = [
 [[package]]
 name = "zenoh"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "ahash",
  "async-trait",
@@ -5104,7 +5104,7 @@ dependencies = [
 [[package]]
 name = "zenoh-buffers"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "zenoh-collections",
 ]
@@ -5112,7 +5112,7 @@ dependencies = [
 [[package]]
 name = "zenoh-codec"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "tracing",
  "uhlc",
@@ -5123,12 +5123,12 @@ dependencies = [
 [[package]]
 name = "zenoh-collections"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 
 [[package]]
 name = "zenoh-config"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "json5",
  "num_cpus",
@@ -5149,7 +5149,7 @@ dependencies = [
 [[package]]
 name = "zenoh-core"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "lazy_static",
  "tokio",
@@ -5160,7 +5160,7 @@ dependencies = [
 [[package]]
 name = "zenoh-crypto"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "aes 0.8.4",
  "hmac 0.12.1",
@@ -5173,7 +5173,7 @@ dependencies = [
 [[package]]
 name = "zenoh-keyexpr"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "hashbrown 0.14.5",
  "keyed-set",
@@ -5187,7 +5187,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "zenoh-config",
  "zenoh-link-commons",
@@ -5204,7 +5204,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-commons"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "async-trait",
  "flume",
@@ -5227,7 +5227,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-quic"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "async-trait",
  "base64 0.22.1",
@@ -5252,7 +5252,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tcp"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "async-trait",
  "socket2 0.5.7",
@@ -5269,7 +5269,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tls"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "async-trait",
  "base64 0.22.1",
@@ -5296,7 +5296,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-udp"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "async-trait",
  "socket2 0.5.7",
@@ -5315,7 +5315,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-unixsock_stream"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "async-trait",
  "nix",
@@ -5333,7 +5333,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-ws"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "async-trait",
  "futures-util",
@@ -5353,7 +5353,7 @@ dependencies = [
 [[package]]
 name = "zenoh-macros"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -5364,7 +5364,7 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-rest"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "anyhow",
  "async-std",
@@ -5421,7 +5421,7 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-trait"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "git-version",
  "libloading",
@@ -5437,7 +5437,7 @@ dependencies = [
 [[package]]
 name = "zenoh-protocol"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "const_format",
  "rand 0.8.5",
@@ -5451,7 +5451,7 @@ dependencies = [
 [[package]]
 name = "zenoh-result"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "anyhow",
 ]
@@ -5459,7 +5459,7 @@ dependencies = [
 [[package]]
 name = "zenoh-runtime"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "lazy_static",
  "ron",
@@ -5472,7 +5472,7 @@ dependencies = [
 [[package]]
 name = "zenoh-sync"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "event-listener 5.3.1",
  "futures 0.3.30",
@@ -5485,7 +5485,7 @@ dependencies = [
 [[package]]
 name = "zenoh-task"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "futures 0.3.30",
  "tokio",
@@ -5498,7 +5498,7 @@ dependencies = [
 [[package]]
 name = "zenoh-transport"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "async-trait",
  "crossbeam-utils",
@@ -5531,7 +5531,7 @@ dependencies = [
 [[package]]
 name = "zenoh-util"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#e9f3b376315d680e8b172b5de65a051e702b9699"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#d3768b87d23599f791af2de0c0d8fbe41f079431"
 dependencies = [
  "async-trait",
  "const_format",
diff --git a/zenoh-plugin-ros1/examples/ros1_pub.rs b/zenoh-plugin-ros1/examples/ros1_pub.rs
index 23357a7..4212f4a 100644
--- a/zenoh-plugin-ros1/examples/ros1_pub.rs
+++ b/zenoh-plugin-ros1/examples/ros1_pub.rs
@@ -56,11 +56,10 @@ async fn main() {
     let zenoh_session = zenoh::open(zenoh::Config::default()).await.unwrap();
     println!(" OK!");
     print!("Creating Zenoh Subscriber...");
-    #[allow(unused_variables)]
-    let zenoh_subscriber = zenoh_session
+    zenoh_session
         .declare_subscriber("some/ros/topic")
-        .callback(|data| println!("Zenoh Subscriber: got data!"))
-        .undeclare_on_drop(true)
+        .callback(|_data| println!("Zenoh Subscriber: got data!"))
+        .background()
         .await
         .unwrap();
     println!(" OK!");
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 0ba7f63..05a7913 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
@@ -68,7 +68,6 @@ impl AlohaDeclaration {
             .callback(move |_| {
                 rb.fetch_add(1, std::sync::atomic::Ordering::SeqCst);
             })
-            .undeclare_on_drop(true)
             .await
             .unwrap();
 
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 8925673..b22b2b1 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
@@ -49,7 +49,6 @@ impl ZenohClient {
         self.session
             .declare_subscriber(key_expr)
             .callback(callback)
-            .undeclare_on_drop(true)
             .allowed_origin(Locality::Remote)
             .await
     }
@@ -88,7 +87,6 @@ impl ZenohClient {
             .declare_queryable(key_expr)
             .allowed_origin(Locality::Remote)
             .callback(callback)
-            .undeclare_on_drop(true)
             .await
     }
 
diff --git a/zenoh-plugin-ros1/tests/aloha_declaration_test.rs b/zenoh-plugin-ros1/tests/aloha_declaration_test.rs
index 4dba8e0..2bf6897 100644
--- a/zenoh-plugin-ros1/tests/aloha_declaration_test.rs
+++ b/zenoh-plugin-ros1/tests/aloha_declaration_test.rs
@@ -110,7 +110,6 @@ impl PPCMeasurement {
             .callback(move |_val| {
                 p.fetch_add(1, std::sync::atomic::Ordering::SeqCst);
             })
-            .undeclare_on_drop(true)
             .await?;
 
         Ok(Self {