diff --git a/distros/humble/overrides.nix b/distros/humble/overrides.nix
index cc74b7332ba..8ea175e6ba2 100644
--- a/distros/humble/overrides.nix
+++ b/distros/humble/overrides.nix
@@ -223,4 +223,80 @@ in with lib; {
       })
     ];
   });
+
+  zenoh-bridge-dds = rosSuper.zenoh-bridge-dds.overrideAttrs ({
+     nativeBuildInputs ? [], pname ? "", postPatch ? "", src ? "", version ? "", ...
+  }: {
+    nativeBuildInputs = nativeBuildInputs ++ [
+      self.rustPlatform.cargoSetupHook
+      self.cargo
+      self.rustc
+    ];
+    postPatch = postPatch + ''
+      ln -s zenoh-bridge-dds/Cargo.lock Cargo.lock
+    '';
+    cargoDeps = self.rustPlatform.fetchCargoVendor {
+      inherit pname version src;
+      hash = "sha256-DRMuF6DNLbMIA1CmhVZ7L//EuTCQNL5/lU6d+3DKnO4=";
+      prePatch = ''
+        cd zenoh-bridge-dds
+      '';
+    };
+    env.LIBCLANG_PATH = "${lib.getLib self.llvmPackages.libclang}/lib";
+    env.NIX_CFLAGS_COMPILE = toString [
+      "-Wno-conversion"
+    ];
+  });
+
+  zenoh-cpp-vendor = let
+    zenoh-c-url = "https://github.com/eclipse-zenoh/zenoh-c.git";
+    zenoh-c-rev = "5fce7fb1d397e016ad02a50bde4262007d755424";
+    zenoh-c-hash = "sha256-jayvCq4xvvAheeSpmxwg1VA3TLPyS4QGdVhte8wk0KA=";
+    zenoh-cpp-url = "https://github.com/eclipse-zenoh/zenoh-cpp";
+    zenoh-cpp-rev = "bd4d741c6c4fa6509d8d745e22c3c50b4306bd65";
+    zenoh-cpp-hash = "sha256-OLNlew4pOLl1PRWrJTTfDv7LGYHGX0A7A4RW9jwCOsE=";
+  in (lib.patchAmentVendorGitZenoh (lib.patchAmentVendorGitZenoh rosSuper.zenoh-cpp-vendor {
+    url = zenoh-cpp-url;
+    rev = zenoh-cpp-rev;
+    fetchgitArgs.hash = zenoh-cpp-hash;
+  }) {
+    url = zenoh-c-url;
+    rev = zenoh-c-rev;
+    fetchgitArgs.hash = zenoh-c-hash;
+  }).overrideAttrs ({
+     nativeBuildInputs ? [], postPatch ? "", ...
+  }: let
+      zenoh-c-source = self.fetchFromGitHub {
+        owner = "eclipse-zenoh";
+        repo = "zenoh-c";
+        rev = zenoh-c-rev;
+        hash = zenoh-c-hash;
+      };
+    in {
+    nativeBuildInputs = nativeBuildInputs ++ [
+      self.rustPlatform.cargoSetupHook
+      self.cargo
+      self.rustc
+    ];
+    postPatch = postPatch + ''
+      ln -s ${zenoh-c-source.outPath}/Cargo.lock Cargo.lock
+      echo "set(ZENOH-C-VENDOR $(awk '/ament_vendor\(zenoh_c_vendor/,/VCS_VERSION/ {if (/VCS_VERSION/) print $2}' CMakeLists.txt))" >> CMakeLists.txt
+      echo "set(ZENOH-CPP-VENDOR $(awk '/ament_vendor\(zenoh_cpp_vendor/,/VCS_VERSION/ {if (/VCS_VERSION/) print $2}' CMakeLists.txt))" >> CMakeLists.txt
+
+      cat >> CMakeLists.txt <<'EOF'
+        if(NOT ''${ZENOH-CPP-VENDOR} STREQUAL "${zenoh-cpp-rev}")
+          message(FATAL_ERROR "Mismatch in VCS_VERSION for zenoh_cpp_vendor (Nix: ${zenoh-cpp-rev}, upstream: ''${ZENOH-CPP-VENDOR}) Fix this in overrides.nix.")
+        endif()
+        if(NOT ''${ZENOH-C-VENDOR} STREQUAL "${zenoh-c-rev}")
+          message(FATAL_ERROR "Mismatch in VCS_VERSION for zenoh_c_vendor (Nix: ${zenoh-c-rev}, upstream: ''${ZENOH-C-VENDOR}) Fix this in overrides.nix.")
+        endif()
+      EOF
+    '';
+    cargoDeps = self.rustPlatform.importCargoLock {
+      lockFile = "${zenoh-c-source.outPath}/Cargo.lock";
+      outputHashes = {
+        "zenoh-1.2.0" = "sha256-0E03X0ZjZNJr7FgqnbjXCM6gKKezSSFSC0HfAq7WhM4=";
+      };
+    };
+  });
 }
diff --git a/distros/jazzy/overrides.nix b/distros/jazzy/overrides.nix
index ccc384acac2..dac24077e8f 100644
--- a/distros/jazzy/overrides.nix
+++ b/distros/jazzy/overrides.nix
@@ -226,4 +226,80 @@ in {
       })
     ];
   });
+
+  zenoh-bridge-dds = rosSuper.zenoh-bridge-dds.overrideAttrs ({
+     nativeBuildInputs ? [], pname ? "", postPatch ? "", src ? "", version ? "", ...
+  }: {
+    nativeBuildInputs = nativeBuildInputs ++ [
+      self.rustPlatform.cargoSetupHook
+      self.cargo
+      self.rustc
+    ];
+    postPatch = postPatch + ''
+      ln -s zenoh-bridge-dds/Cargo.lock Cargo.lock
+    '';
+    cargoDeps = self.rustPlatform.fetchCargoVendor {
+      inherit pname version src;
+      hash = "sha256-DRMuF6DNLbMIA1CmhVZ7L//EuTCQNL5/lU6d+3DKnO4=";
+      prePatch = ''
+        cd zenoh-bridge-dds
+      '';
+    };
+    env.LIBCLANG_PATH = "${lib.getLib self.llvmPackages.libclang}/lib";
+    env.NIX_CFLAGS_COMPILE = toString [
+      "-Wno-conversion"
+    ];
+  });
+
+  zenoh-cpp-vendor = let
+    zenoh-c-url = "https://github.com/eclipse-zenoh/zenoh-c.git";
+    zenoh-c-rev = "e6a1971139f405f7887bf5bb54f0efe402123032";
+    zenoh-c-hash = "sha256-eJbnb1UJbtuYb+dSpKqVgI1p/97bSc+KTcbO1GNg9jU=";
+    zenoh-cpp-url = "https://github.com/eclipse-zenoh/zenoh-cpp";
+    zenoh-cpp-rev = "8ad67f6c7a9031acd437c8739bbc8ddab0ca8173";
+    zenoh-cpp-hash = "sha256-0iRhmMtrhDdM7X0ByiICT4s7lDFcGLSR1dEImzT1mWs=";
+  in (lib.patchAmentVendorGitZenoh (lib.patchAmentVendorGitZenoh rosSuper.zenoh-cpp-vendor {
+    url = zenoh-cpp-url;
+    rev = zenoh-cpp-rev;
+    fetchgitArgs.hash = zenoh-cpp-hash;
+  }) {
+    url = zenoh-c-url;
+    rev = zenoh-c-rev;
+    fetchgitArgs.hash = zenoh-c-hash;
+  }).overrideAttrs ({
+     nativeBuildInputs ? [], postPatch ? "", ...
+  }: let
+      zenoh-c-source = self.fetchFromGitHub {
+        owner = "eclipse-zenoh";
+        repo = "zenoh-c";
+        rev = zenoh-c-rev;
+        hash = zenoh-c-hash;
+      };
+    in {
+    nativeBuildInputs = nativeBuildInputs ++ [
+      self.rustPlatform.cargoSetupHook
+      self.cargo
+      self.rustc
+    ];
+    postPatch = postPatch + ''
+      ln -s ${zenoh-c-source.outPath}/Cargo.lock Cargo.lock
+      echo "set(ZENOH-C-VENDOR $(awk '/ament_vendor\(zenoh_c_vendor/,/VCS_VERSION/ {if (/VCS_VERSION/) print $2}' CMakeLists.txt))" >> CMakeLists.txt
+      echo "set(ZENOH-CPP-VENDOR $(awk '/ament_vendor\(zenoh_cpp_vendor/,/VCS_VERSION/ {if (/VCS_VERSION/) print $2}' CMakeLists.txt))" >> CMakeLists.txt
+
+      cat >> CMakeLists.txt <<'EOF'
+        if(NOT ''${ZENOH-CPP-VENDOR} STREQUAL "${zenoh-cpp-rev}")
+          message(FATAL_ERROR "Mismatch in VCS_VERSION for zenoh_cpp_vendor (Nix: ${zenoh-cpp-rev}, upstream: ''${ZENOH-CPP-VENDOR}) Fix this in overrides.nix.")
+        endif()
+        if(NOT ''${ZENOH-C-VENDOR} STREQUAL "${zenoh-c-rev}")
+          message(FATAL_ERROR "Mismatch in VCS_VERSION for zenoh_c_vendor (Nix: ${zenoh-c-rev}, upstream: ''${ZENOH-C-VENDOR}) Fix this in overrides.nix.")
+        endif()
+      EOF
+    '';
+    cargoDeps = self.rustPlatform.importCargoLock {
+      lockFile = "${zenoh-c-source.outPath}/Cargo.lock";
+      outputHashes = {
+        "zenoh-1.2.1" = "sha256-9oeeiS84Ymyra7yh7+GuocCsXfejlEgbQgKJlig6siY=";
+      };
+    };
+  });
 }
diff --git a/distros/rolling/overrides.nix b/distros/rolling/overrides.nix
index d6dcedea7a9..9003a4bfe63 100644
--- a/distros/rolling/overrides.nix
+++ b/distros/rolling/overrides.nix
@@ -233,4 +233,56 @@ in {
       })
     ];
   });
+
+  zenoh-cpp-vendor = let
+    zenoh-c-url = "https://github.com/eclipse-zenoh/zenoh-c.git";
+    zenoh-c-rev = "e6a1971139f405f7887bf5bb54f0efe402123032";
+    zenoh-c-hash = "sha256-eJbnb1UJbtuYb+dSpKqVgI1p/97bSc+KTcbO1GNg9jU=";
+    zenoh-cpp-url = "https://github.com/eclipse-zenoh/zenoh-cpp";
+    zenoh-cpp-rev = "8ad67f6c7a9031acd437c8739bbc8ddab0ca8173";
+    zenoh-cpp-hash = "sha256-0iRhmMtrhDdM7X0ByiICT4s7lDFcGLSR1dEImzT1mWs=";
+  in (lib.patchAmentVendorGitZenoh (lib.patchAmentVendorGitZenoh rosSuper.zenoh-cpp-vendor {
+    url = zenoh-cpp-url;
+    rev = zenoh-cpp-rev;
+    fetchgitArgs.hash = zenoh-cpp-hash;
+  }) {
+    url = zenoh-c-url;
+    rev = zenoh-c-rev;
+    fetchgitArgs.hash = zenoh-c-hash;
+  }).overrideAttrs ({
+     nativeBuildInputs ? [], postPatch ? "", ...
+  }: let
+      zenoh-c-source = self.fetchFromGitHub {
+        owner = "eclipse-zenoh";
+        repo = "zenoh-c";
+        rev = zenoh-c-rev;
+        hash = zenoh-c-hash;
+      };
+    in {
+    nativeBuildInputs = nativeBuildInputs ++ [
+      self.rustPlatform.cargoSetupHook
+      self.cargo
+      self.rustc
+    ];
+    postPatch = postPatch + ''
+      ln -s ${zenoh-c-source.outPath}/Cargo.lock Cargo.lock
+      echo "set(ZENOH-C-VENDOR $(awk '/ament_vendor\(zenoh_c_vendor/,/VCS_VERSION/ {if (/VCS_VERSION/) print $2}' CMakeLists.txt))" >> CMakeLists.txt
+      echo "set(ZENOH-CPP-VENDOR $(awk '/ament_vendor\(zenoh_cpp_vendor/,/VCS_VERSION/ {if (/VCS_VERSION/) print $2}' CMakeLists.txt))" >> CMakeLists.txt
+
+      cat >> CMakeLists.txt <<'EOF'
+        if(NOT ''${ZENOH-CPP-VENDOR} STREQUAL "${zenoh-cpp-rev}")
+          message(FATAL_ERROR "Mismatch in VCS_VERSION for zenoh_cpp_vendor (Nix: ${zenoh-cpp-rev}, upstream: ''${ZENOH-CPP-VENDOR}) Fix this in overrides.nix.")
+        endif()
+        if(NOT ''${ZENOH-C-VENDOR} STREQUAL "${zenoh-c-rev}")
+          message(FATAL_ERROR "Mismatch in VCS_VERSION for zenoh_c_vendor (Nix: ${zenoh-c-rev}, upstream: ''${ZENOH-C-VENDOR}) Fix this in overrides.nix.")
+        endif()
+      EOF
+    '';
+    cargoDeps = self.rustPlatform.importCargoLock {
+      lockFile = "${zenoh-c-source.outPath}/Cargo.lock";
+      outputHashes = {
+        "zenoh-1.2.1" = "sha256-9oeeiS84Ymyra7yh7+GuocCsXfejlEgbQgKJlig6siY=";
+      };
+    };
+  });
 }
diff --git a/lib/default.nix b/lib/default.nix
index 66b1debd860..5d1fb533418 100644
--- a/lib/default.nix
+++ b/lib/default.nix
@@ -78,6 +78,38 @@
     '' + postPatch;
   });
 
+  # Patch a vendored download that uses ament_vendor() with a Git repo as the
+  # source.
+  # older version only for zenoh because of multiple ament_vendor calls
+  patchAmentVendorGitZenoh = pkg: {
+    url,
+    originalUrl ? url,
+    rev, # Must correspond to the VCS_VERSION argument
+    file ? "CMakeLists.txt",
+    fetchgitArgs ? {},
+    tarSourceArgs ? {}
+  }: pkg.overrideAttrs ({
+    nativeBuildInputs ? [],
+    postPatch ? "", ...
+  }: let
+    # ament_vendor doesn't allow patches for path inputs, so we have to pack it
+    # into a tar first. Additionally, vcstool only accepts tarballs with the
+    # version number as the root directory name.
+    vendor = lib.tarSource tarSourceArgs (self.fetchgit (fetchgitArgs // {
+      name = rev;
+      inherit url rev;
+    }));
+  in {
+    # CMake ExternalProject patches are applied with git apply
+    nativeBuildInputs = nativeBuildInputs ++ [ self.git ];
+    postPatch = ''
+      sed -i '\|VCS_URL\s*${originalUrl}|c\
+        VCS_URL "file://${vendor}"\
+        VCS_TYPE tar' \
+        ${lib.escapeShellArg file}
+    '' + postPatch;
+  });
+
   # Patch a vendored download that uses ament_vendor() with a Git repo as the
   # source.
   patchAmentVendorGit = pkg: {