diff --git a/distros/humble/overrides.nix b/distros/humble/overrides.nix
index 16e5bc96cef..bfd7a85c57c 100644
--- a/distros/humble/overrides.nix
+++ b/distros/humble/overrides.nix
@@ -310,4 +310,55 @@ in with lib; {
       })
     ];
   });
+
+  zenoh-cpp-vendor = (lib.patchAmentVendorGit rosSuper.zenoh-cpp-vendor {}).overrideAttrs(finalAttrs: {
+    nativeBuildInputs ? [], postPatch ? "", passthru ? {}, ...
+  }: let
+    outputHashes = {
+      "zenoh-1.5.1" = "sha256-EeigSU9l7LCnSkm4/jP0WcdO3Hw9m91zUh8jzVXYhKw=";
+    };
+    zenoh-c-source = finalAttrs.passthru.amentVendorSrcs.zenoh_c_vendor;
+  in {
+    postPatch = postPatch + ''
+      ln -s ${zenoh-c-source}/Cargo.lock Cargo.lock
+    '';
+    nativeBuildInputs = nativeBuildInputs ++ [
+      self.rustPlatform.cargoSetupHook
+      self.rustc
+    ];
+    cargoDeps = self.rustPlatform.importCargoLock {
+      lockFile = "${zenoh-c-source}/Cargo.lock";
+      inherit outputHashes;
+    };
+
+    # Patch the build.rs script to be able to build internal
+    # opaque-types crate without network access.
+    passthru = lib.recursiveUpdate passthru {
+      amentVendorSrcs.zenoh_c_vendor = let
+        src = passthru.amentVendorSrcs.zenoh_c_vendor;
+      in
+        self.applyPatches {
+          inherit src;
+          name = src.rev;
+          patches = [ ./zenoh-cpp-vendor/zenoh-c.patch ];
+        };
+    };
+
+    # Prepare vendored dependencies for internal opaque-types crate.
+    # Execute in subshell to not change variables set by the normal
+    # cargoSetupPostUnpackHook.
+    preBuild = ''
+      (
+        mkdir nix-zenoh-opaque-types
+        cd nix-zenoh-opaque-types
+        cargoDeps=${self.rustPlatform.importCargoLock {
+          lockFile = "${zenoh-c-source}/build-resources/opaque-types/Cargo.lock";
+          inherit outputHashes;
+        }}
+        cargoSetupPostUnpackHook
+      )
+      # Export information for use by our patched build.rs script.
+      export NIX_ZENOH_OPAQUE_TYPES_CARGO_CONFIG=$PWD/nix-zenoh-opaque-types/.cargo/config.toml
+    '';
+  });
 }
diff --git a/distros/humble/zenoh-cpp-vendor/vendored-source.json b/distros/humble/zenoh-cpp-vendor/vendored-source.json
new file mode 100644
index 00000000000..1e6f70c645e
--- /dev/null
+++ b/distros/humble/zenoh-cpp-vendor/vendored-source.json
@@ -0,0 +1,12 @@
+{
+  "zenoh_c_vendor": {
+    "url": "https://github.com/eclipse-zenoh/zenoh-c.git",
+    "rev": "8f9ce70e4c4b55d150632730fd4c48abffbde765",
+    "hash": "sha256-kbDIatj4GFhUyDo9yCc6FzPYszHE+Vd79w4r452p77Y="
+  },
+  "zenoh_cpp_vendor": {
+    "url": "https://github.com/eclipse-zenoh/zenoh-cpp",
+    "rev": "05533d20db70ffc1d53a0e07f39caa999e82febd",
+    "hash": "sha256-lEicWShyKo5NSFyDeMqItZIweY3syXKF629x7woSQ0o="
+  }
+}
diff --git a/distros/humble/zenoh-cpp-vendor/zenoh-c.patch b/distros/humble/zenoh-cpp-vendor/zenoh-c.patch
new file mode 100644
index 00000000000..a2c5bc1e616
--- /dev/null
+++ b/distros/humble/zenoh-cpp-vendor/zenoh-c.patch
@@ -0,0 +1,25 @@
+diff --git a/buildrs/opaque_types_generator.rs b/buildrs/opaque_types_generator.rs
+index c1d0bdd3..2d190518 100644
+--- a/buildrs/opaque_types_generator.rs
++++ b/buildrs/opaque_types_generator.rs
+@@ -14,7 +14,10 @@ pub fn generate_opaque_types() {
+     let data_in = std::fs::read_to_string(path_in).unwrap();
+ 
+     // Check for cargo-level errors (dependency resolution, manifest parsing, etc.)
+-    if data_in.contains("error: failed to") || data_in.contains("Caused by:") {
++    if data_in.contains("error: failed to")
++        || data_in.contains("error: no matching package named")
++        || data_in.contains("Caused by:")
++    {
+         panic!(
+             "Failed to generate opaque types due to cargo error:\n\nCommand executed:\n\n{command}\n\nCargo output:\n\n{data_in}"
+         );
+@@ -127,6 +130,8 @@ fn produce_opaque_types_data() -> (String, PathBuf) {
+         .arg("build")
+         .args(feature_args)
+         .args(linker_args)
++        .arg("--config")
++        .arg(std::env::var("NIX_ZENOH_OPAQUE_TYPES_CARGO_CONFIG").unwrap())
+         .arg("--target")
+         .arg(target)
+         .arg("--manifest-path")
diff --git a/distros/jazzy/overrides.nix b/distros/jazzy/overrides.nix
index 5b5337a0ab9..83e487861a3 100644
--- a/distros/jazzy/overrides.nix
+++ b/distros/jazzy/overrides.nix
@@ -275,5 +275,54 @@ in {
     ];
   });
 
-  zenoh-cpp-vendor = lib.patchAmentVendorGit rosSuper.zenoh-cpp-vendor { };
+  zenoh-cpp-vendor = (lib.patchAmentVendorGit rosSuper.zenoh-cpp-vendor {}).overrideAttrs(finalAttrs: {
+    nativeBuildInputs ? [], postPatch ? "", passthru ? {}, ...
+  }: let
+    outputHashes = {
+      "zenoh-1.5.1" = "sha256-EeigSU9l7LCnSkm4/jP0WcdO3Hw9m91zUh8jzVXYhKw=";
+    };
+    zenoh-c-source = finalAttrs.passthru.amentVendorSrcs.zenoh_c_vendor;
+  in {
+    postPatch = postPatch + ''
+      ln -s ${zenoh-c-source}/Cargo.lock Cargo.lock
+    '';
+    nativeBuildInputs = nativeBuildInputs ++ [
+      self.rustPlatform.cargoSetupHook
+      self.rustc
+    ];
+    cargoDeps = self.rustPlatform.importCargoLock {
+      lockFile = "${zenoh-c-source}/Cargo.lock";
+      inherit outputHashes;
+    };
+
+    # Patch the build.rs script to be able to build internal
+    # opaque-types crate without network access.
+    passthru = lib.recursiveUpdate passthru {
+      amentVendorSrcs.zenoh_c_vendor = let
+        src = passthru.amentVendorSrcs.zenoh_c_vendor;
+      in
+        self.applyPatches {
+          inherit src;
+          name = src.rev;
+          patches = [ ./zenoh-cpp-vendor/zenoh-c.patch ];
+        };
+    };
+
+    # Prepare vendored dependencies for internal opaque-types crate.
+    # Execute in subshell to not change variables set by the normal
+    # cargoSetupPostUnpackHook.
+    preBuild = ''
+      (
+        mkdir nix-zenoh-opaque-types
+        cd nix-zenoh-opaque-types
+        cargoDeps=${self.rustPlatform.importCargoLock {
+          lockFile = "${zenoh-c-source}/build-resources/opaque-types/Cargo.lock";
+          inherit outputHashes;
+        }}
+        cargoSetupPostUnpackHook
+      )
+      # Export information for use by our patched build.rs script.
+      export NIX_ZENOH_OPAQUE_TYPES_CARGO_CONFIG=$PWD/nix-zenoh-opaque-types/.cargo/config.toml
+    '';
+  });
 }
diff --git a/distros/jazzy/zenoh-cpp-vendor/zenoh-c.patch b/distros/jazzy/zenoh-cpp-vendor/zenoh-c.patch
new file mode 100644
index 00000000000..a2c5bc1e616
--- /dev/null
+++ b/distros/jazzy/zenoh-cpp-vendor/zenoh-c.patch
@@ -0,0 +1,25 @@
+diff --git a/buildrs/opaque_types_generator.rs b/buildrs/opaque_types_generator.rs
+index c1d0bdd3..2d190518 100644
+--- a/buildrs/opaque_types_generator.rs
++++ b/buildrs/opaque_types_generator.rs
+@@ -14,7 +14,10 @@ pub fn generate_opaque_types() {
+     let data_in = std::fs::read_to_string(path_in).unwrap();
+ 
+     // Check for cargo-level errors (dependency resolution, manifest parsing, etc.)
+-    if data_in.contains("error: failed to") || data_in.contains("Caused by:") {
++    if data_in.contains("error: failed to")
++        || data_in.contains("error: no matching package named")
++        || data_in.contains("Caused by:")
++    {
+         panic!(
+             "Failed to generate opaque types due to cargo error:\n\nCommand executed:\n\n{command}\n\nCargo output:\n\n{data_in}"
+         );
+@@ -127,6 +130,8 @@ fn produce_opaque_types_data() -> (String, PathBuf) {
+         .arg("build")
+         .args(feature_args)
+         .args(linker_args)
++        .arg("--config")
++        .arg(std::env::var("NIX_ZENOH_OPAQUE_TYPES_CARGO_CONFIG").unwrap())
+         .arg("--target")
+         .arg(target)
+         .arg("--manifest-path")
diff --git a/distros/kilted/overrides.nix b/distros/kilted/overrides.nix
index d68a9ada456..4834c435fd2 100644
--- a/distros/kilted/overrides.nix
+++ b/distros/kilted/overrides.nix
@@ -233,4 +233,55 @@ in {
       })
     ];
   });
+
+  zenoh-cpp-vendor = (lib.patchAmentVendorGit rosSuper.zenoh-cpp-vendor {}).overrideAttrs(finalAttrs: {
+    nativeBuildInputs ? [], postPatch ? "", passthru ? {}, ...
+  }: let
+    outputHashes = {
+      "zenoh-1.5.1" = "sha256-EeigSU9l7LCnSkm4/jP0WcdO3Hw9m91zUh8jzVXYhKw=";
+    };
+    zenoh-c-source = finalAttrs.passthru.amentVendorSrcs.zenoh_c_vendor;
+  in {
+    postPatch = postPatch + ''
+      ln -s ${zenoh-c-source}/Cargo.lock Cargo.lock
+    '';
+    nativeBuildInputs = nativeBuildInputs ++ [
+      self.rustPlatform.cargoSetupHook
+      self.rustc
+    ];
+    cargoDeps = self.rustPlatform.importCargoLock {
+      lockFile = "${zenoh-c-source}/Cargo.lock";
+      inherit outputHashes;
+    };
+
+    # Patch the build.rs script to be able to build internal
+    # opaque-types crate without network access.
+    passthru = lib.recursiveUpdate passthru {
+      amentVendorSrcs.zenoh_c_vendor = let
+        src = passthru.amentVendorSrcs.zenoh_c_vendor;
+      in
+        self.applyPatches {
+          inherit src;
+          name = src.rev;
+          patches = [ ./zenoh-cpp-vendor/zenoh-c.patch ];
+        };
+    };
+
+    # Prepare vendored dependencies for internal opaque-types crate.
+    # Execute in subshell to not change variables set by the normal
+    # cargoSetupPostUnpackHook.
+    preBuild = ''
+      (
+        mkdir nix-zenoh-opaque-types
+        cd nix-zenoh-opaque-types
+        cargoDeps=${self.rustPlatform.importCargoLock {
+          lockFile = "${zenoh-c-source}/build-resources/opaque-types/Cargo.lock";
+          inherit outputHashes;
+        }}
+        cargoSetupPostUnpackHook
+      )
+      # Export information for use by our patched build.rs script.
+      export NIX_ZENOH_OPAQUE_TYPES_CARGO_CONFIG=$PWD/nix-zenoh-opaque-types/.cargo/config.toml
+    '';
+  });
 }
diff --git a/distros/kilted/zenoh-cpp-vendor/vendored-source.json b/distros/kilted/zenoh-cpp-vendor/vendored-source.json
new file mode 100644
index 00000000000..1e6f70c645e
--- /dev/null
+++ b/distros/kilted/zenoh-cpp-vendor/vendored-source.json
@@ -0,0 +1,12 @@
+{
+  "zenoh_c_vendor": {
+    "url": "https://github.com/eclipse-zenoh/zenoh-c.git",
+    "rev": "8f9ce70e4c4b55d150632730fd4c48abffbde765",
+    "hash": "sha256-kbDIatj4GFhUyDo9yCc6FzPYszHE+Vd79w4r452p77Y="
+  },
+  "zenoh_cpp_vendor": {
+    "url": "https://github.com/eclipse-zenoh/zenoh-cpp",
+    "rev": "05533d20db70ffc1d53a0e07f39caa999e82febd",
+    "hash": "sha256-lEicWShyKo5NSFyDeMqItZIweY3syXKF629x7woSQ0o="
+  }
+}
diff --git a/distros/kilted/zenoh-cpp-vendor/zenoh-c.patch b/distros/kilted/zenoh-cpp-vendor/zenoh-c.patch
new file mode 100644
index 00000000000..a2c5bc1e616
--- /dev/null
+++ b/distros/kilted/zenoh-cpp-vendor/zenoh-c.patch
@@ -0,0 +1,25 @@
+diff --git a/buildrs/opaque_types_generator.rs b/buildrs/opaque_types_generator.rs
+index c1d0bdd3..2d190518 100644
+--- a/buildrs/opaque_types_generator.rs
++++ b/buildrs/opaque_types_generator.rs
+@@ -14,7 +14,10 @@ pub fn generate_opaque_types() {
+     let data_in = std::fs::read_to_string(path_in).unwrap();
+ 
+     // Check for cargo-level errors (dependency resolution, manifest parsing, etc.)
+-    if data_in.contains("error: failed to") || data_in.contains("Caused by:") {
++    if data_in.contains("error: failed to")
++        || data_in.contains("error: no matching package named")
++        || data_in.contains("Caused by:")
++    {
+         panic!(
+             "Failed to generate opaque types due to cargo error:\n\nCommand executed:\n\n{command}\n\nCargo output:\n\n{data_in}"
+         );
+@@ -127,6 +130,8 @@ fn produce_opaque_types_data() -> (String, PathBuf) {
+         .arg("build")
+         .args(feature_args)
+         .args(linker_args)
++        .arg("--config")
++        .arg(std::env::var("NIX_ZENOH_OPAQUE_TYPES_CARGO_CONFIG").unwrap())
+         .arg("--target")
+         .arg(target)
+         .arg("--manifest-path")
diff --git a/distros/rolling/overrides.nix b/distros/rolling/overrides.nix
index 312a16e3472..545a16e44b7 100644
--- a/distros/rolling/overrides.nix
+++ b/distros/rolling/overrides.nix
@@ -233,4 +233,55 @@ in {
       })
     ];
   });
+
+  zenoh-cpp-vendor = (lib.patchAmentVendorGit rosSuper.zenoh-cpp-vendor {}).overrideAttrs(finalAttrs: {
+    nativeBuildInputs ? [], postPatch ? "", passthru ? {}, ...
+  }: let
+    outputHashes = {
+      "zenoh-1.5.1" = "sha256-EeigSU9l7LCnSkm4/jP0WcdO3Hw9m91zUh8jzVXYhKw=";
+    };
+    zenoh-c-source = finalAttrs.passthru.amentVendorSrcs.zenoh_c_vendor;
+  in {
+    postPatch = postPatch + ''
+      ln -s ${zenoh-c-source}/Cargo.lock Cargo.lock
+    '';
+    nativeBuildInputs = nativeBuildInputs ++ [
+      self.rustPlatform.cargoSetupHook
+      self.rustc
+    ];
+    cargoDeps = self.rustPlatform.importCargoLock {
+      lockFile = "${zenoh-c-source}/Cargo.lock";
+      inherit outputHashes;
+    };
+
+    # Patch the build.rs script to be able to build internal
+    # opaque-types crate without network access.
+    passthru = lib.recursiveUpdate passthru {
+      amentVendorSrcs.zenoh_c_vendor = let
+        src = passthru.amentVendorSrcs.zenoh_c_vendor;
+      in
+        self.applyPatches {
+          inherit src;
+          name = src.rev;
+          patches = [ ./zenoh-cpp-vendor/zenoh-c.patch ];
+        };
+    };
+
+    # Prepare vendored dependencies for internal opaque-types crate.
+    # Execute in subshell to not change variables set by the normal
+    # cargoSetupPostUnpackHook.
+    preBuild = ''
+      (
+        mkdir nix-zenoh-opaque-types
+        cd nix-zenoh-opaque-types
+        cargoDeps=${self.rustPlatform.importCargoLock {
+          lockFile = "${zenoh-c-source}/build-resources/opaque-types/Cargo.lock";
+          inherit outputHashes;
+        }}
+        cargoSetupPostUnpackHook
+      )
+      # Export information for use by our patched build.rs script.
+      export NIX_ZENOH_OPAQUE_TYPES_CARGO_CONFIG=$PWD/nix-zenoh-opaque-types/.cargo/config.toml
+    '';
+  });
 }
diff --git a/distros/rolling/zenoh-cpp-vendor/vendored-source.json b/distros/rolling/zenoh-cpp-vendor/vendored-source.json
new file mode 100644
index 00000000000..1e6f70c645e
--- /dev/null
+++ b/distros/rolling/zenoh-cpp-vendor/vendored-source.json
@@ -0,0 +1,12 @@
+{
+  "zenoh_c_vendor": {
+    "url": "https://github.com/eclipse-zenoh/zenoh-c.git",
+    "rev": "8f9ce70e4c4b55d150632730fd4c48abffbde765",
+    "hash": "sha256-kbDIatj4GFhUyDo9yCc6FzPYszHE+Vd79w4r452p77Y="
+  },
+  "zenoh_cpp_vendor": {
+    "url": "https://github.com/eclipse-zenoh/zenoh-cpp",
+    "rev": "05533d20db70ffc1d53a0e07f39caa999e82febd",
+    "hash": "sha256-lEicWShyKo5NSFyDeMqItZIweY3syXKF629x7woSQ0o="
+  }
+}
diff --git a/distros/rolling/zenoh-cpp-vendor/zenoh-c.patch b/distros/rolling/zenoh-cpp-vendor/zenoh-c.patch
new file mode 100644
index 00000000000..a2c5bc1e616
--- /dev/null
+++ b/distros/rolling/zenoh-cpp-vendor/zenoh-c.patch
@@ -0,0 +1,25 @@
+diff --git a/buildrs/opaque_types_generator.rs b/buildrs/opaque_types_generator.rs
+index c1d0bdd3..2d190518 100644
+--- a/buildrs/opaque_types_generator.rs
++++ b/buildrs/opaque_types_generator.rs
+@@ -14,7 +14,10 @@ pub fn generate_opaque_types() {
+     let data_in = std::fs::read_to_string(path_in).unwrap();
+ 
+     // Check for cargo-level errors (dependency resolution, manifest parsing, etc.)
+-    if data_in.contains("error: failed to") || data_in.contains("Caused by:") {
++    if data_in.contains("error: failed to")
++        || data_in.contains("error: no matching package named")
++        || data_in.contains("Caused by:")
++    {
+         panic!(
+             "Failed to generate opaque types due to cargo error:\n\nCommand executed:\n\n{command}\n\nCargo output:\n\n{data_in}"
+         );
+@@ -127,6 +130,8 @@ fn produce_opaque_types_data() -> (String, PathBuf) {
+         .arg("build")
+         .args(feature_args)
+         .args(linker_args)
++        .arg("--config")
++        .arg(std::env::var("NIX_ZENOH_OPAQUE_TYPES_CARGO_CONFIG").unwrap())
+         .arg("--target")
+         .arg(target)
+         .arg("--manifest-path")
diff --git a/lib/default.nix b/lib/default.nix
index 3b91a57d0cd..4fae1b1e1a0 100644
--- a/lib/default.nix
+++ b/lib/default.nix
@@ -84,7 +84,7 @@
     file ? "CMakeLists.txt",
     fetchgitArgs ? {},
     tarSourceArgs ? {}
-  }: pkg.overrideAttrs ({
+  }: pkg.overrideAttrs (finalAttrs: {
     cmakeFlags ? [],
     nativeBuildInputs ? [],
     passthru ? {},
@@ -102,12 +102,13 @@
     '';
     sourceInfos = builtins.fromJSON (builtins.readFile vendoredSourceJson);
     # 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 = sourceInfo: lib.tarSource tarSourceArgs (
-      self.fetchgit (sourceInfo // fetchgitArgs // {
-        name = sourceInfo.rev;
-      }));
+    # into a tar first.
+    vendorTar = src: lib.tarSource tarSourceArgs src;
+    vendorSrc = sourceInfo: self.fetchgit (sourceInfo // fetchgitArgs // {
+      # vcstool only accepts tarballs with the version number as the
+      # root directory name.
+      name = sourceInfo.rev;
+    });
   in {
 
     nativeBuildInputs = [
@@ -118,10 +119,11 @@
       # CMake ExternalProject patches are applied with git apply
       self.git
     ];
-    cmakeFlags = cmakeFlags ++ lib.optionals (pathExists vendoredSourceJson)
-      (
+    cmakeFlags =
+      cmakeFlags
+      ++ (
         # Tell ament_vendor_wrapper.cmake where to find tarballs with vendored sources
-        attrValues (mapAttrs (n: v: "-DAMENT_VENDOR_NIX_TAR_${n}=${vendor v}") sourceInfos)
+        attrValues (mapAttrs (n: v: "-DAMENT_VENDOR_NIX_TAR_${n}=${vendorTar v}") finalAttrs.passthru.amentVendorSrcs)
       );
     postPatch =
       if pathExists vendoredSourceJson then
@@ -131,6 +133,10 @@
         exit 1
       '';
     passthru = passthru // {
+      # Expose vendored sources for eventual overriding
+      amentVendorSrcs = lib.optionalAttrs (pathExists vendoredSourceJson)
+        (mapAttrs (n: v: vendorSrc v) sourceInfos);
+
       # Script to automatically update vendored-source.json by running
       # CMake with injected modified version of ament_cmake macro.
       updateAmentVendor = let