diff --git a/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em b/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
index 41eb34f947..6307297bbf 100644
--- a/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
+++ b/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
@@ -159,6 +159,20 @@ Zenoh_Subscriber* genSubscriber(const char *name) {
     return NULL;
 }
 
+const char* genTypeName(const char *name, const uint8_t* hash) {
+    const char *pch;
+    for (auto &sub : _topics) {
+        pch = strstr(name, sub.orb_meta->o_name);
+        if(pch) {
+            if(hash == sub.hash) {
+                return sub.orb_meta->o_name;
+            }
+        }
+    }
+    return NULL;
+}
+
+
 const uint8_t* getRIHS01_Hash(const orb_metadata *meta) {
     for (auto &sub : _topics) {
         if(sub.orb_meta->o_id == meta->o_id) {
diff --git a/src/modules/zenoh/zenoh.cpp b/src/modules/zenoh/zenoh.cpp
index 5f71076ac8..0b30a5a7ba 100644
--- a/src/modules/zenoh/zenoh.cpp
+++ b/src/modules/zenoh/zenoh.cpp
@@ -162,35 +162,41 @@ void ZENOH::run()
 
 			if (_zenoh_subscribers[i] != 0) {
 				const uint8_t *rihs_hash = getRIHS01_Hash(type);
-				toCamelCase(type); // Convert uORB type to camel case
-				snprintf(keyexpr, KEYEXPR_SIZE, "%" PRId32 "/%s/"
-					 KEYEXPR_MSG_NAME "%s_/RIHS01_"
-					 "%02x%02x%02x%02x%02x%02x%02x%02x"
-					 "%02x%02x%02x%02x%02x%02x%02x%02x"
-					 "%02x%02x%02x%02x%02x%02x%02x%02x"
-					 "%02x%02x%02x%02x%02x%02x%02x%02x",
-					 _zenoh_domain_id.get(), topic, type,
-					 rihs_hash[0], rihs_hash[1], rihs_hash[2], rihs_hash[3],
-					 rihs_hash[4], rihs_hash[5], rihs_hash[6], rihs_hash[7],
-					 rihs_hash[8], rihs_hash[9], rihs_hash[10], rihs_hash[11],
-					 rihs_hash[12], rihs_hash[13], rihs_hash[14], rihs_hash[15],
-					 rihs_hash[16], rihs_hash[17], rihs_hash[18], rihs_hash[19],
-					 rihs_hash[20], rihs_hash[21], rihs_hash[22], rihs_hash[23],
-					 rihs_hash[24], rihs_hash[25], rihs_hash[26], rihs_hash[27],
-					 rihs_hash[28], rihs_hash[29], rihs_hash[30], rihs_hash[31]
-					);
-				_zenoh_subscribers[i]->declare_subscriber(s, keyexpr);
+				const char *type_name = genTypeName(type, rihs_hash);
+
+				if (type_name) {
+					strcpy(type, type_name);
+					toCamelCase(type); // Convert uORB type to camel case
+					snprintf(keyexpr, KEYEXPR_SIZE, "%" PRId32 "/%s/"
+						 KEYEXPR_MSG_NAME "%s_/RIHS01_"
+						 "%02x%02x%02x%02x%02x%02x%02x%02x"
+						 "%02x%02x%02x%02x%02x%02x%02x%02x"
+						 "%02x%02x%02x%02x%02x%02x%02x%02x"
+						 "%02x%02x%02x%02x%02x%02x%02x%02x",
+						 _zenoh_domain_id.get(), topic, type,
+						 rihs_hash[0], rihs_hash[1], rihs_hash[2], rihs_hash[3],
+						 rihs_hash[4], rihs_hash[5], rihs_hash[6], rihs_hash[7],
+						 rihs_hash[8], rihs_hash[9], rihs_hash[10], rihs_hash[11],
+						 rihs_hash[12], rihs_hash[13], rihs_hash[14], rihs_hash[15],
+						 rihs_hash[16], rihs_hash[17], rihs_hash[18], rihs_hash[19],
+						 rihs_hash[20], rihs_hash[21], rihs_hash[22], rihs_hash[23],
+						 rihs_hash[24], rihs_hash[25], rihs_hash[26], rihs_hash[27],
+						 rihs_hash[28], rihs_hash[29], rihs_hash[30], rihs_hash[31]
+						);
+					_zenoh_subscribers[i]->declare_subscriber(s, keyexpr);
+
+				} else {
+					PX4_ERR("Could not create a subscriber for type %s", type);
+				}
 
-			} else {
-				PX4_ERR("Could not create a subscriber for type %s", type);
 			}
 
-		}
-
-		if (z_config.getSubscriberMapping(topic, type) < 0) {
-			PX4_WARN("Subscriber mapping parsing error");
+			if (z_config.getSubscriberMapping(topic, type) < 0) {
+				PX4_WARN("Subscriber mapping parsing error");
+			}
 		}
 	}
+
 #endif
 
 #ifdef Z_PUBLISH
@@ -210,25 +216,31 @@ void ZENOH::run()
 
 			if (_zenoh_publishers[i] != 0) {
 				const uint8_t *rihs_hash = getRIHS01_Hash(type);
-				toCamelCase(type); // Convert uORB type to camel case
-				snprintf(keyexpr, KEYEXPR_SIZE, "%" PRId32 "/%s/"
-					 KEYEXPR_MSG_NAME "%s_/RIHS01_"
-					 "%02x%02x%02x%02x%02x%02x%02x%02x"
-					 "%02x%02x%02x%02x%02x%02x%02x%02x"
-					 "%02x%02x%02x%02x%02x%02x%02x%02x"
-					 "%02x%02x%02x%02x%02x%02x%02x%02x",
-					 _zenoh_domain_id.get(), topic, type,
-					 rihs_hash[0], rihs_hash[1], rihs_hash[2], rihs_hash[3],
-					 rihs_hash[4], rihs_hash[5], rihs_hash[6], rihs_hash[7],
-					 rihs_hash[8], rihs_hash[9], rihs_hash[10], rihs_hash[11],
-					 rihs_hash[12], rihs_hash[13], rihs_hash[14], rihs_hash[15],
-					 rihs_hash[16], rihs_hash[17], rihs_hash[18], rihs_hash[19],
-					 rihs_hash[20], rihs_hash[21], rihs_hash[22], rihs_hash[23],
-					 rihs_hash[24], rihs_hash[25], rihs_hash[26], rihs_hash[27],
-					 rihs_hash[28], rihs_hash[29], rihs_hash[30], rihs_hash[31]
-					);
-				_zenoh_publishers[i]->declare_publisher(s, keyexpr, (uint8_t *)&px4_guid);
-				_zenoh_publishers[i]->setPollFD(&pfds[i]);
+				const char *type_name = genTypeName(type, rihs_hash);
+
+				if (type_name) {
+					strcpy(type, type_name);
+					toCamelCase(type); // Convert uORB type to camel case
+					snprintf(keyexpr, KEYEXPR_SIZE, "%" PRId32 "/%s/"
+						 KEYEXPR_MSG_NAME "%s_/RIHS01_"
+						 "%02x%02x%02x%02x%02x%02x%02x%02x"
+						 "%02x%02x%02x%02x%02x%02x%02x%02x"
+						 "%02x%02x%02x%02x%02x%02x%02x%02x"
+						 "%02x%02x%02x%02x%02x%02x%02x%02x",
+						 _zenoh_domain_id.get(), topic, type,
+						 rihs_hash[0], rihs_hash[1], rihs_hash[2], rihs_hash[3],
+						 rihs_hash[4], rihs_hash[5], rihs_hash[6], rihs_hash[7],
+						 rihs_hash[8], rihs_hash[9], rihs_hash[10], rihs_hash[11],
+						 rihs_hash[12], rihs_hash[13], rihs_hash[14], rihs_hash[15],
+						 rihs_hash[16], rihs_hash[17], rihs_hash[18], rihs_hash[19],
+						 rihs_hash[20], rihs_hash[21], rihs_hash[22], rihs_hash[23],
+						 rihs_hash[24], rihs_hash[25], rihs_hash[26], rihs_hash[27],
+						 rihs_hash[28], rihs_hash[29], rihs_hash[30], rihs_hash[31]
+						);
+					_zenoh_publishers[i]->declare_publisher(s, keyexpr, (uint8_t *)&px4_guid);
+					_zenoh_publishers[i]->setPollFD(&pfds[i]);
+
+				}
 
 			} else {
 				PX4_ERR("Could not create a publisher for type %s", type);