diff --git a/src/modules/zenoh/CMakeLists.txt b/src/modules/zenoh/CMakeLists.txt
index cac47cbccc..61dc3b6c43 100644
--- a/src/modules/zenoh/CMakeLists.txt
+++ b/src/modules/zenoh/CMakeLists.txt
@@ -48,6 +48,16 @@ if(NOT DEFINED CONFIG_NET_TCPPROTO_OPTIONS AND CONFIG_PLATFORM_NUTTX)
     set(Z_FEATURE_TCP_NODELAY 0 CACHE STRING "Toggle TCP_NODELAY")
 endif()
 
+if(NOT DEFINED CONFIG_PTHREAD_MUTEX_TYPES AND CONFIG_PLATFORM_NUTTX)
+    message( SEND_ERROR "Pthread mutex is diabled, Zenoh will not function." )
+endif()
+
+set(FRAG_MAX_SIZE 512 CACHE STRING "Use this to override the maximum size for fragmented messages")
+set(BATCH_UNICAST_SIZE 256 CACHE STRING "Use this to override the maximum unicast batch size")
+set(BATCH_MULTICAST_SIZE 256 CACHE STRING "Use this to override the maximum multicast batch size")
+
+set(Z_FEATURE_UNSTABLE_API 1 CACHE STRING "Toggle unstable Zenoh-C API")
+
 px4_add_git_submodule(TARGET git_zenoh-pico PATH "zenoh-pico")
 add_subdirectory(zenoh-pico)
 unset(MESSAGE_QUIET)
@@ -59,11 +69,7 @@ target_compile_options(zenohpico_static PUBLIC -Wno-cast-align
 			-Wno-unused-result
 			-Wno-type-limits
 			-Wno-unused-variable
-			-Wno-maybe-uninitialized
-			-DZ_FEATURE_UNSTABLE_API
-			-DZ_BATCH_SIZE_RX=512
-			-DZ_BATCH_SIZE_TX=512)
-
+			-Wno-maybe-uninitialized)
 
 target_compile_options(zenohpico_static PRIVATE -Wno-missing-prototypes)
 if(CONFIG_PLATFORM_NUTTX)
diff --git a/src/modules/zenoh/Kconfig b/src/modules/zenoh/Kconfig
index ad2bde5dc8..6e98efc2e5 100644
--- a/src/modules/zenoh/Kconfig
+++ b/src/modules/zenoh/Kconfig
@@ -28,6 +28,13 @@ if MODULES_ZENOH
                 Declares liveliness tokens with key expressions in the way rmw_zenoh expects them
                 Allowing to construct ROS2 graphs
 
+    config ZENOH_PUB_ON_MATCHING
+        bool "[EXPERIMENTAL] Only publish data when having matching subscribers"
+        default n
+        ---help---
+                Uses the Zenoh matching feature to check whether a publisher has subscribers.
+                If so, only then publish the data. This is still experimental
+
 
     # Choose exactly one item
     choice ZENOH_PUBSUB_SELECTION
diff --git a/src/modules/zenoh/publishers/uorb_publisher.hpp b/src/modules/zenoh/publishers/uorb_publisher.hpp
index ef291b05f4..d96f8a6db6 100644
--- a/src/modules/zenoh/publishers/uorb_publisher.hpp
+++ b/src/modules/zenoh/publishers/uorb_publisher.hpp
@@ -63,6 +63,14 @@ public:
 	// Update the uORB Subscription and broadcast a Zenoh ROS2 message
 	virtual int8_t update() override
 	{
+#ifdef CONFIG_ZENOH_PUB_ON_MATCHING
+		z_matching_status_t status;
+
+		if (z_publisher_get_matching_status(z_loan(_pub), &status) == _Z_RES_OK && !status.matching) {
+			return _Z_RES_OK;
+		}
+
+#endif
 		uint8_t data[_uorb_meta->o_size];
 		orb_copy(_uorb_meta, _uorb_sub, data);
 
@@ -98,6 +106,11 @@ public:
 		Zenoh_Publisher::print();
 	}
 
+	const char *getName()
+	{
+		return _uorb_meta->o_name;
+	}
+
 private:
 	const orb_metadata *_uorb_meta;
 	int _uorb_sub;
diff --git a/src/modules/zenoh/publishers/zenoh_publisher.cpp b/src/modules/zenoh/publishers/zenoh_publisher.cpp
index 2fc958bca5..25f7a95c10 100644
--- a/src/modules/zenoh/publishers/zenoh_publisher.cpp
+++ b/src/modules/zenoh/publishers/zenoh_publisher.cpp
@@ -44,6 +44,8 @@
 
 Zenoh_Publisher::Zenoh_Publisher()
 {
+	attachment.sequence_number = 0;
+	attachment.rmw_gid_size = RMW_GID_STORAGE_SIZE;
 }
 
 Zenoh_Publisher::~Zenoh_Publisher()
@@ -61,8 +63,6 @@ int Zenoh_Publisher::declare_publisher(z_owned_session_t s, const char *keyexpr,
 {
 	z_view_keyexpr_t ke;
 
-	this->rmw_gid = gid;
-
 	if (z_view_keyexpr_from_str(&ke, keyexpr) < 0) {
 		printf("%s is not a valid key expression\n", keyexpr);
 		return -1;
@@ -73,6 +73,8 @@ int Zenoh_Publisher::declare_publisher(z_owned_session_t s, const char *keyexpr,
 		return -1;
 	}
 
+	memcpy(attachment.rmw_gid, gid, RMW_GID_STORAGE_SIZE);
+
 	return 0;
 }
 
@@ -81,18 +83,13 @@ int8_t Zenoh_Publisher::publish(const uint8_t *buf, int size)
 	z_publisher_put_options_t options;
 	z_publisher_put_options_default(&options);
 
-	z_owned_bytes_t attachment;
-	z_bytes_empty(&attachment);
+	attachment.sequence_number++;
+	attachment.time = hrt_absolute_time();
 
-	ze_owned_serializer_t serializer;
-	ze_serializer_empty(&serializer);
+	z_owned_bytes_t z_attachment;
+	z_bytes_from_static_buf(&z_attachment, (const uint8_t *)&attachment, RMW_ATTACHEMENT_SIZE);
 
-	ze_serializer_serialize_int64(z_loan_mut(serializer), this->sequence_number++);
-	ze_serializer_serialize_int64(z_loan_mut(serializer), hrt_absolute_time());
-	ze_serializer_serialize_buf(z_loan_mut(serializer), rmw_gid, RMW_GID_STORAGE_SIZE);
-
-	ze_serializer_finish(z_move(serializer), &attachment);
-	options.attachment = z_move(attachment);
+	options.attachment = z_move(z_attachment);
 
 	z_owned_bytes_t payload;
 	z_bytes_copy_from_buf(&payload, buf, size);
diff --git a/src/modules/zenoh/publishers/zenoh_publisher.hpp b/src/modules/zenoh/publishers/zenoh_publisher.hpp
index e6bdf604e4..230048db32 100644
--- a/src/modules/zenoh/publishers/zenoh_publisher.hpp
+++ b/src/modules/zenoh/publishers/zenoh_publisher.hpp
@@ -48,8 +48,15 @@
 #include <containers/List.hpp>
 #include <zenoh-pico.h>
 
-
 #define RMW_GID_STORAGE_SIZE 16u
+#define RMW_ATTACHEMENT_SIZE (8u + 8u + 1u + RMW_GID_STORAGE_SIZE)
+
+typedef struct __attribute__((__packed__)) RmwAttachment {
+	int64_t sequence_number;
+	int64_t time;
+	uint8_t rmw_gid_size;
+	uint8_t rmw_gid[RMW_GID_STORAGE_SIZE];
+} RmwAttachment;
 
 class Zenoh_Publisher : public ListNode<Zenoh_Publisher *>
 {
@@ -69,8 +76,5 @@ protected:
 	int8_t publish(const uint8_t *, int size);
 
 	z_owned_publisher_t _pub;
-	int64_t sequence_number;
-
-	/* RMW_GID_STORAGE_SIZE bytes DDS-Like GID */
-	uint8_t *rmw_gid;
+	RmwAttachment attachment;
 };
diff --git a/src/modules/zenoh/zenoh.cpp b/src/modules/zenoh/zenoh.cpp
index 359bc2c8d4..318b770bd4 100644
--- a/src/modules/zenoh/zenoh.cpp
+++ b/src/modules/zenoh/zenoh.cpp
@@ -419,7 +419,7 @@ void ZENOH::run()
 					ret = _zenoh_publishers[i]->update();
 
 					if (ret < 0) {
-						PX4_WARN("Publisher error %i", ret);
+						PX4_WARN("%s Publisher error %i", _zenoh_publishers[i]->getName(), ret);
 
 					}
 				}
@@ -502,17 +502,21 @@ int ZENOH::print_status()
 
 	PX4_INFO("Publishers");
 
-	for (int i = 0; i < _pub_count; i++) {
-		if (_zenoh_publishers[i]) {
-			_zenoh_publishers[i]->print();
+	if (_zenoh_publishers) {
+		for (int i = 0; i < _pub_count; i++) {
+			if (_zenoh_publishers[i]) {
+				_zenoh_publishers[i]->print();
+			}
 		}
 	}
 
 	PX4_INFO("Subscribers");
 
-	for (int i = 0; i < _sub_count; i++) {
-		if (_zenoh_subscribers[i]) {
-			_zenoh_subscribers[i]->print();
+	if (_zenoh_subscribers) {
+		for (int i = 0; i < _sub_count; i++) {
+			if (_zenoh_subscribers[i]) {
+				_zenoh_subscribers[i]->print();
+			}
 		}
 	}