diff --git a/.github/workflows/ros2.yml b/.github/workflows/ros2.yml
index 2ce1de81..09ff843c 100644
--- a/.github/workflows/ros2.yml
+++ b/.github/workflows/ros2.yml
@@ -35,11 +35,11 @@ jobs:
             zenoh: false
           - distro: kilted
             container: carter12s/roslibrust-ci-kilted:rust_1_94
-            features: ros2_zenoh_test,rosbridge_ros2_test,ros2_test
+            features: hiroz_test,rosbridge_ros2_test,ros2_test
             zenoh: true
           - distro: rolling
             container: carter12s/roslibrust-ci-rolling:rust_1_94
-            features: ros2_zenoh_test,rosbridge_ros2_test,ros2_test
+            features: rosbridge_ros2_test,ros2_test
             zenoh: true
 
     name: ${{ matrix.distro }}
diff --git a/Cargo.lock b/Cargo.lock
index 63decad9..8057a3b2 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1542,6 +1542,85 @@ version = "0.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7f24254aa9a54b5c858eaee2f5bccdb46aaf0e486a595ed5fd8f86ba55232a70"
 
+[[package]]
+name = "hiroz"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7fde4f6c23e467423403daaf19025fc8ecd5349d97940284ce05b2f257678399"
+dependencies = [
+ "byteorder",
+ "clap",
+ "csv",
+ "dashmap",
+ "event-listener",
+ "flume",
+ "hiroz-cdr",
+ "hiroz-derive",
+ "hiroz-protocol",
+ "hiroz-schema",
+ "json5",
+ "parking_lot",
+ "paste",
+ "serde",
+ "serde_json",
+ "serde_yaml",
+ "sha2",
+ "slab",
+ "strum",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "uuid",
+ "zenoh",
+ "zenoh-buffers",
+ "zenoh-ext",
+]
+
+[[package]]
+name = "hiroz-cdr"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dc63acccbb1978c3a4eab7ff6843e0490529c44e9d3b6846b482a5a3e59c990b"
+dependencies = [
+ "bytemuck",
+ "byteorder",
+ "serde",
+ "thiserror 1.0.69",
+ "zenoh-buffers",
+]
+
+[[package]]
+name = "hiroz-derive"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1f0b01b0f498b4d550b282aa4120550452ff44ffc02d3bf7be76144995521a3b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.114",
+]
+
+[[package]]
+name = "hiroz-protocol"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0b6ac9f1ff0b1ffeb8ae8150b0395c9d3cf2f3225dc8764132a0bb7ecab1f384"
+dependencies = [
+ "zenoh",
+]
+
+[[package]]
+name = "hiroz-schema"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a1caf5110f3ad485b0b320fbfc2610c5c51f54d6ee27a563fdff31ea556d7c18"
+dependencies = [
+ "hex",
+ "serde",
+ "serde_json",
+ "sha2",
+]
+
 [[package]]
 name = "hmac"
 version = "0.12.1"
@@ -3366,80 +3445,6 @@ dependencies = [
  "unicode-ident",
 ]
 
-[[package]]
-name = "ros-z"
-version = "0.1.0"
-source = "git+https://github.com/ZettaScaleLabs/ros-z.git?rev=9bb6305#9bb63050e74ff0a27559534255f0508a19491d08"
-dependencies = [
- "byteorder",
- "clap",
- "csv",
- "dashmap",
- "event-listener",
- "flume",
- "json5",
- "parking_lot",
- "paste",
- "ros-z-cdr",
- "ros-z-derive",
- "ros-z-protocol",
- "ros-z-schema",
- "serde",
- "serde_json",
- "serde_yaml",
- "sha2",
- "slab",
- "strum",
- "tokio",
- "tokio-util",
- "tracing",
- "uuid",
- "zenoh",
- "zenoh-buffers",
- "zenoh-ext",
-]
-
-[[package]]
-name = "ros-z-cdr"
-version = "0.1.0"
-source = "git+https://github.com/ZettaScaleLabs/ros-z.git?rev=9bb6305#9bb63050e74ff0a27559534255f0508a19491d08"
-dependencies = [
- "bytemuck",
- "byteorder",
- "serde",
- "thiserror 1.0.69",
- "zenoh-buffers",
-]
-
-[[package]]
-name = "ros-z-derive"
-version = "0.1.0"
-source = "git+https://github.com/ZettaScaleLabs/ros-z.git?rev=9bb6305#9bb63050e74ff0a27559534255f0508a19491d08"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.114",
-]
-
-[[package]]
-name = "ros-z-protocol"
-version = "0.1.0"
-source = "git+https://github.com/ZettaScaleLabs/ros-z.git?rev=9bb6305#9bb63050e74ff0a27559534255f0508a19491d08"
-dependencies = [
- "zenoh",
-]
-
-[[package]]
-name = "ros-z-schema"
-version = "0.1.0"
-source = "git+https://github.com/ZettaScaleLabs/ros-z.git?rev=9bb6305#9bb63050e74ff0a27559534255f0508a19491d08"
-dependencies = [
- "hex",
- "serde",
- "serde_json",
- "sha2",
-]
-
 [[package]]
 name = "roslibrust"
 version = "0.21.0"
@@ -3451,6 +3456,7 @@ dependencies = [
  "roslibrust_codegen",
  "roslibrust_codegen_macro",
  "roslibrust_common",
+ "roslibrust_hiroz",
  "roslibrust_mock",
  "roslibrust_ros1",
  "roslibrust_rosbridge",
@@ -3531,6 +3537,24 @@ dependencies = [
  "serde_json",
 ]
 
+[[package]]
+name = "roslibrust_hiroz"
+version = "0.1.0"
+dependencies = [
+ "anyhow",
+ "cdr",
+ "env_logger 0.11.8",
+ "hiroz",
+ "log",
+ "roslibrust_common",
+ "roslibrust_test",
+ "serde",
+ "tokio",
+ "tokio-util",
+ "zenoh",
+ "zenoh-buffers",
+]
+
 [[package]]
 name = "roslibrust_mcap"
 version = "0.1.0"
@@ -3588,24 +3612,6 @@ dependencies = [
  "ureq",
 ]
 
-[[package]]
-name = "roslibrust_ros2"
-version = "0.1.0"
-dependencies = [
- "anyhow",
- "cdr",
- "env_logger 0.11.8",
- "log",
- "ros-z",
- "roslibrust_common",
- "roslibrust_test",
- "serde",
- "tokio",
- "tokio-util",
- "zenoh",
- "zenoh-buffers",
-]
-
 [[package]]
 name = "roslibrust_rosapi"
 version = "0.1.0"
@@ -3656,12 +3662,12 @@ dependencies = [
  "diffy",
  "env_logger 0.10.2",
  "hex",
+ "hiroz",
  "lazy_static",
  "log",
  "pprof",
- "ros-z",
  "roslibrust",
- "roslibrust_ros2",
+ "roslibrust_hiroz",
  "roslibrust_rosbridge",
  "roslibrust_zenoh",
  "test-log",
@@ -5455,7 +5461,7 @@ version = "0.1.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c2a7b1c03c876122aa43f3020e6c3c3ee5c05081c9a00739faf7503aeba10d22"
 dependencies = [
- "windows-sys 0.48.0",
+ "windows-sys 0.61.2",
 ]
 
 [[package]]
diff --git a/Cargo.toml b/Cargo.toml
index 82b68e8a..adc9cab6 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -18,7 +18,7 @@ members = [
     "roslibrust_zenoh",
     "roslibrust",
     "roslibrust_rosapi",
-    "roslibrust_ros2",
+    "roslibrust_hiroz",
 ]
 
 [workspace.dependencies]
diff --git a/README.md b/README.md
index 2e354561..8ec4d396 100644
--- a/README.md
+++ b/README.md
@@ -30,7 +30,7 @@ async fn relay<T: TopicProvider>(ros: T) -> roslibrust::Result<()> {
 
 #[tokio::main]
 async fn main() -> roslibrust::Result<()> {
-    // Experimental support in roslibrust_ros2, not yet released on crates.io
+    // Experimental support in roslibrust_hiroz, not yet released on crates.io
     // Relay messages over a native ROS2 connection using Zenoh
     // #[cfg(feature = "ros2")]
     // {
diff --git a/book/src/introduction.md b/book/src/introduction.md
index 60982fe8..c6909636 100644
--- a/book/src/introduction.md
+++ b/book/src/introduction.md
@@ -91,7 +91,7 @@ RosLibRust provides several implementations of the `Ros` trait:
 - [roslibrust_ros1](https://docs.rs/roslibrust_ros1/latest/roslibrust_ros1/) - Implements the TCPROS protocol that was the backbone of ROS1
 - [roslibrust_zenoh](https://docs.rs/roslibrust_zenoh/latest/roslibrust_zenoh/) - Implements a variant of ROS1 communication used by [zenoh-ros1-bridge](https://github.com/eclipse-zenoh/zenoh-plugin-ros1)
 - [roslibrust_rosbridge](https://docs.rs/roslibrust_rosbridge/latest/roslibrust_rosbridge/) - Implements the [rosbridge_suite](https://github.com/RobotWebTools/rosbridge_suite) websocket protocol
-- COMING SOON [roslibrust_ros2](https://docs.rs/roslibrust_ros2/latest/roslibrust_ros2/) - Implements the Zenoh communication used by [rmw_zenoh](https://github.com/ros2/rmw_zenoh) in ROS2 from Kilted onwards
+- COMING SOON `roslibrust_hiroz` - Implements the Zenoh communication used by [rmw_zenoh](https://github.com/ros2/rmw_zenoh) in ROS2 from Kilted onwards
 - [roslibrust_mock](https://docs.rs/roslibrust_mock/latest/roslibrust_mock/) - Implements a mock ROS perfect for testing
 
 Typically we don't depend on these crates directly, but instead use them by enabling their corresponding features on `roslibrust`.
@@ -107,7 +107,7 @@ The full list of features is:
 - `zenoh` - Enables the [roslibrust_zenoh](https://docs.rs/roslibrust_zenoh/latest/roslibrust_zenoh/) backend
 - `rosbridge` - Enables the [roslibrust_rosbridge](https://docs.rs/roslibrust_rosbridge/latest/roslibrust_rosbridge/) backend
 - `mock` - Enables the [roslibrust_mock](https://docs.rs/roslibrust_mock/latest/roslibrust_mock/) backend
-- `ros2` - COMING SOON Enables the [roslibrust_ros2](https://docs.rs/roslibrust_ros2/latest/roslibrust_ros2/) backend
+- `hiroz` - COMING SOON Enables the `roslibrust_hiroz` backend
 - `codegen` - Provides access to the [roslibrust_codegen](https://docs.rs/roslibrust_codegen/latest/roslibrust_codegen/) crate for generating ROS message types in build.rs.
 - `macro` - Provides access to the [roslibrust_codegen_macro](https://docs.rs/roslibrust_codegen_macro/latest/roslibrust_codegen_macro/) crate for generating ROS message types using a proc-macro.
 - `all` - Enables all of the above features.
@@ -141,4 +141,3 @@ The second approach is brittle, slow, and often a bottle neck for test times.
 
 RosLibRust provides a mock implementation of ROS for testing that allows deterministic "time traveling" tests.
 See [extended getting started guide](extended_getting_started.md#writing-tests-for-our-node) for an example.
-
diff --git a/docker/kilted_compose.yaml b/docker/kilted_compose.yaml
index 84db1e8a..99557f9f 100644
--- a/docker/kilted_compose.yaml
+++ b/docker/kilted_compose.yaml
@@ -10,5 +10,5 @@ services:
     volumes:
       # Mounting in the repo for internal development, and devcontainer access
       - ../:/roslibrust
-      # Mount in sibling ros-z repo so we can also test it within the docker image
-      - ../../ros-z:/ros-z
+      # Mount a sibling hiroz repo so it can also be tested within the docker image
+      - ../../hiroz:/hiroz
diff --git a/docker/rolling_compose.yaml b/docker/rolling_compose.yaml
index 34f9389e..76ab3d27 100644
--- a/docker/rolling_compose.yaml
+++ b/docker/rolling_compose.yaml
@@ -10,6 +10,5 @@ services:
     volumes:
       # Mounting in the repo for internal development, and devcontainer access
       - ../:/roslibrust
-      # Mount in sibling ros-z repo so we can also test it within the docker image
-      - ../../ros-z:/ros-z
-
+      # Mount a sibling hiroz repo so it can also be tested within the docker image
+      - ../../hiroz:/hiroz
diff --git a/roslibrust/Cargo.toml b/roslibrust/Cargo.toml
index b4abe614..4f862e65 100644
--- a/roslibrust/Cargo.toml
+++ b/roslibrust/Cargo.toml
@@ -16,6 +16,7 @@ roslibrust_ros1 = { path = "../roslibrust_ros1", version = "0.21", optional = tr
 roslibrust_rosbridge = { path = "../roslibrust_rosbridge", version = "0.21", optional = true }
 roslibrust_zenoh = { path = "../roslibrust_zenoh", version = "0.21", optional = true }
 roslibrust_mock = { path = "../roslibrust_mock", version = "0.21", optional = true }
+roslibrust_hiroz = { path = "../roslibrust_hiroz", optional = true }
 roslibrust_codegen = { path = "../roslibrust_codegen", version = "0.21", optional = true }
 roslibrust_codegen_macro = { path = "../roslibrust_codegen_macro", version = "0.21", optional = true }
 
@@ -42,7 +43,7 @@ ntest = "0.9"
 # default feature is pure traits only with no implementations
 default = []
 # `all` enables all "useful" features to end users, other features are for testing purposes
-all = ["codegen", "macro", "ros1", "rosbridge", "zenoh", "mock"]
+all = ["codegen", "macro", "ros1", "rosbridge", "zenoh", "mock", "hiroz"]
 # Provides a ros1 xmlrpc / TCPROS client
 ros1 = ["roslibrust_ros1"]
 # Provides a backend using the rosbridge websocket protocol
@@ -51,6 +52,8 @@ rosbridge = ["roslibrust_rosbridge"]
 zenoh = ["roslibrust_zenoh"]
 # Provides a mock backend useful for writing tests around nodes
 mock = ["roslibrust_mock"]
+# Provides a native ROS 2 backend built on hiroz and rmw_zenoh.
+hiroz = ["roslibrust_hiroz"]
 # Provides a macro for generating types from ROS messages
 codegen = ["roslibrust_codegen"]
 # Provides macros for generating types from ROS messages
diff --git a/roslibrust/src/lib.rs b/roslibrust/src/lib.rs
index 9986f32f..d745bf0f 100644
--- a/roslibrust/src/lib.rs
+++ b/roslibrust/src/lib.rs
@@ -20,6 +20,10 @@ pub use roslibrust_zenoh as zenoh;
 #[cfg(feature = "mock")]
 pub use roslibrust_mock as mock;
 
+// If the hiroz feature is enabled, export the native ROS 2 backend under hiroz.
+#[cfg(feature = "hiroz")]
+pub use roslibrust_hiroz as hiroz;
+
 // If the codegen feature is enabled, export the roslibrust_codegen crate under codegen
 #[cfg(feature = "codegen")]
 pub use roslibrust_codegen as codegen;
diff --git a/roslibrust_ros2/Cargo.toml b/roslibrust_hiroz/Cargo.toml
similarity index 70%
rename from roslibrust_ros2/Cargo.toml
rename to roslibrust_hiroz/Cargo.toml
index 74b5a887..e0945444 100644
--- a/roslibrust_ros2/Cargo.toml
+++ b/roslibrust_hiroz/Cargo.toml
@@ -1,5 +1,5 @@
 [package]
-name = "roslibrust_ros2"
+name = "roslibrust_hiroz"
 version = "0.1.0"
 edition = "2021"
 publish = false
@@ -12,12 +12,11 @@ env_logger = "0.11"
 cdr = "0.2"
 roslibrust_common = { path = "../roslibrust_common", version = "0.21" }
 anyhow = "1.0"
-# Main as of May 16th 2026
-ros-z = { git = "https://github.com/ZettaScaleLabs/ros-z.git", rev = "9bb6305" }
+hiroz = { version = "0.1.0", default-features = false, features = ["kilted", "rmw-zenoh"] }
 log = "0.4"
 # Used for cancellation token
 tokio-util = "0.7"
-# Needed for now because of ros-z type incompatibility
+# Needed for the serde wrapper around roslibrust message types.
 serde = { workspace = true }
 
 [dev-dependencies]
@@ -25,4 +24,4 @@ roslibrust_test = { path = "../roslibrust_test" }
 
 [features]
 # Used to enable tests that rely on a locally running ros2 rmw_zenohd
-ros2_zenoh_test = []
+hiroz_test = []
diff --git a/roslibrust_ros2/README.md b/roslibrust_hiroz/README.md
similarity index 73%
rename from roslibrust_ros2/README.md
rename to roslibrust_hiroz/README.md
index 539136ec..54c2f033 100644
--- a/roslibrust_ros2/README.md
+++ b/roslibrust_hiroz/README.md
@@ -1,3 +1,3 @@
-# roslibrust_ros2
+# roslibrust_hiroz
 
 Experimental ROS2 backend for roslibrust via zenoh.
diff --git a/roslibrust_ros2/examples/dump_zenoh_bytes.rs b/roslibrust_hiroz/examples/dump_zenoh_bytes.rs
similarity index 100%
rename from roslibrust_ros2/examples/dump_zenoh_bytes.rs
rename to roslibrust_hiroz/examples/dump_zenoh_bytes.rs
diff --git a/roslibrust_ros2/examples/service_server.rs b/roslibrust_hiroz/examples/service_server.rs
similarity index 89%
rename from roslibrust_ros2/examples/service_server.rs
rename to roslibrust_hiroz/examples/service_server.rs
index 13fb2868..cf5aa985 100644
--- a/roslibrust_ros2/examples/service_server.rs
+++ b/roslibrust_hiroz/examples/service_server.rs
@@ -1,19 +1,19 @@
 use log::*;
 use roslibrust_common::traits::*;
 // Required to get .build() method on ZContextBuilder
-use ros_z::Builder;
+use hiroz::Builder;
 
 #[tokio::main]
 async fn main() {
     env_logger::init();
 
-    let ctx = ros_z::context::ZContextBuilder::default()
+    let ctx = hiroz::context::ZContextBuilder::default()
         .with_domain_id(0)
         .with_connect_endpoints(["tcp/[::]:7447"])
         .build()
         .unwrap();
 
-    let client = roslibrust_ros2::ZenohClient::new(&ctx, "test_service_server_callable_node")
+    let client = roslibrust_hiroz::ZenohClient::new(&ctx, "test_service_server_callable_node")
         .await
         .unwrap();
 
diff --git a/roslibrust_ros2/src/lib.rs b/roslibrust_hiroz/src/lib.rs
similarity index 98%
rename from roslibrust_ros2/src/lib.rs
rename to roslibrust_hiroz/src/lib.rs
index 5c8b99c0..f298ca2a 100644
--- a/roslibrust_ros2/src/lib.rs
+++ b/roslibrust_hiroz/src/lib.rs
@@ -2,7 +2,7 @@ use log::*;
 use roslibrust_common::*;
 use std::result::Result as StdResult;
 
-use ros_z::{
+use hiroz::{
     context::ZContext,
     entity::{TypeHash, TypeInfo},
     msg::{SerdeCdrSerdes, ZMessage, ZService},
@@ -11,12 +11,12 @@ use ros_z::{
     Builder,
 };
 
-/// re-export ros_z for consumers
-pub use ros_z;
+/// Re-export hiroz for consumers.
+pub use hiroz;
 
 /// A "newtype" wrapper around ZNode so we can implement roslibrust's traits for it.
 pub struct ZenohClient {
-    node: ros_z::node::ZNode,
+    node: hiroz::node::ZNode,
 }
 
 type RosZSerdes<T> = SerdeCdrSerdes<RosZMessage<T>>;
@@ -187,11 +187,11 @@ impl Drop for ZenohServiceServer {
 }
 
 pub struct ZenohServiceClient<T: RosServiceType> {
-    client: ros_z::service::ZClient<Fake<T>>,
+    client: hiroz::service::ZClient<Fake<T>>,
     _marker: std::marker::PhantomData<T>,
 }
 
-// Orphan-rule shim: ZService (ros_z) cannot be impl'd for T: RosServiceType (roslibrust_common)
+// Orphan-rule shim: ZService (hiroz) cannot be impl'd for T: RosServiceType (roslibrust_common)
 // in a downstream crate. This unit struct bridges the two.
 struct Fake<T>(std::marker::PhantomData<T>);
 
diff --git a/roslibrust_ros2/tests/common/mod.rs b/roslibrust_hiroz/tests/common/mod.rs
similarity index 68%
rename from roslibrust_ros2/tests/common/mod.rs
rename to roslibrust_hiroz/tests/common/mod.rs
index 5254be75..ed31fdab 100644
--- a/roslibrust_ros2/tests/common/mod.rs
+++ b/roslibrust_hiroz/tests/common/mod.rs
@@ -1,6 +1,6 @@
-use ros_z::context::ZContext;
-use ros_z::context::ZContextBuilder;
-use ros_z::Builder;
+use hiroz::context::ZContext;
+use hiroz::context::ZContextBuilder;
+use hiroz::Builder;
 
 pub fn make_test_context() -> ZContext {
     ZContextBuilder::default()
diff --git a/roslibrust_ros2/tests/test_pubsub_basic.rs b/roslibrust_hiroz/tests/test_pubsub_basic.rs
similarity index 92%
rename from roslibrust_ros2/tests/test_pubsub_basic.rs
rename to roslibrust_hiroz/tests/test_pubsub_basic.rs
index 609c3192..20ffbd79 100644
--- a/roslibrust_ros2/tests/test_pubsub_basic.rs
+++ b/roslibrust_hiroz/tests/test_pubsub_basic.rs
@@ -1,9 +1,9 @@
-#![cfg(feature = "ros2_zenoh_test")]
+#![cfg(feature = "hiroz_test")]
 
 mod common;
 
 use roslibrust_common::traits::*;
-use roslibrust_ros2::ZenohClient;
+use roslibrust_hiroz::ZenohClient;
 
 #[tokio::test(flavor = "multi_thread")]
 async fn test_pubsub_basic() {
diff --git a/roslibrust_ros2/tests/test_service_server_callable.rs b/roslibrust_hiroz/tests/test_service_server_callable.rs
similarity index 95%
rename from roslibrust_ros2/tests/test_service_server_callable.rs
rename to roslibrust_hiroz/tests/test_service_server_callable.rs
index c02bc2bd..dd384e34 100644
--- a/roslibrust_ros2/tests/test_service_server_callable.rs
+++ b/roslibrust_hiroz/tests/test_service_server_callable.rs
@@ -1,9 +1,9 @@
-#![cfg(feature = "ros2_zenoh_test")]
+#![cfg(feature = "hiroz_test")]
 
 mod common;
 
 use roslibrust_common::traits::*;
-use roslibrust_ros2::ZenohClient;
+use roslibrust_hiroz::ZenohClient;
 
 #[tokio::test(flavor = "multi_thread")]
 async fn test_service_server_callable() {
diff --git a/roslibrust_ros2/tests/test_service_zenoh_to_zenoh.rs b/roslibrust_hiroz/tests/test_service_zenoh_to_zenoh.rs
similarity index 95%
rename from roslibrust_ros2/tests/test_service_zenoh_to_zenoh.rs
rename to roslibrust_hiroz/tests/test_service_zenoh_to_zenoh.rs
index 96b8bcc4..84d52921 100644
--- a/roslibrust_ros2/tests/test_service_zenoh_to_zenoh.rs
+++ b/roslibrust_hiroz/tests/test_service_zenoh_to_zenoh.rs
@@ -1,9 +1,9 @@
-#![cfg(feature = "ros2_zenoh_test")]
+#![cfg(feature = "hiroz_test")]
 
 mod common;
 
 use roslibrust_common::traits::*;
-use roslibrust_ros2::ZenohClient;
+use roslibrust_hiroz::ZenohClient;
 
 #[tokio::test(flavor = "multi_thread")]
 async fn test_service_zenoh_to_zenoh() {
diff --git a/roslibrust_ros2/tests/test_subscribe_basic.rs b/roslibrust_hiroz/tests/test_subscribe_basic.rs
similarity index 93%
rename from roslibrust_ros2/tests/test_subscribe_basic.rs
rename to roslibrust_hiroz/tests/test_subscribe_basic.rs
index 5e5f13e9..b8743745 100644
--- a/roslibrust_ros2/tests/test_subscribe_basic.rs
+++ b/roslibrust_hiroz/tests/test_subscribe_basic.rs
@@ -1,9 +1,9 @@
-#![cfg(feature = "ros2_zenoh_test")]
+#![cfg(feature = "hiroz_test")]
 
 mod common;
 
 use roslibrust_common::traits::*;
-use roslibrust_ros2::ZenohClient;
+use roslibrust_hiroz::ZenohClient;
 
 #[tokio::test(flavor = "multi_thread")]
 async fn test_subscribe_basic() {
diff --git a/roslibrust_test/Cargo.toml b/roslibrust_test/Cargo.toml
index 46bad858..9caea621 100644
--- a/roslibrust_test/Cargo.toml
+++ b/roslibrust_test/Cargo.toml
@@ -19,9 +19,9 @@ pprof = { version = "0.15", features = ["flamegraph", "criterion"] }
 test-log = { workspace = true }
 hex = "0.4"
 roslibrust_zenoh = { path = "../roslibrust_zenoh" }
-roslibrust_ros2 = { path = "../roslibrust_ros2" }
+roslibrust_hiroz = { path = "../roslibrust_hiroz" }
 roslibrust_rosbridge = { path = "../roslibrust_rosbridge" }
-ros-z = { git = "https://github.com/ZettaScaleLabs/ros-z.git", rev = "9bb6305" }
+hiroz = { version = "0.1.0", default-features = false, features = ["kilted", "rmw-zenoh"] }
 
 [[bin]]
 path = "src/performance_ramp.rs"
@@ -33,6 +33,6 @@ harness = false
 
 [features]
 ros1_test = []
-ros2_zenoh_test = []
+hiroz_test = []
 rosbridge_ros1_test = []
 rosbridge_ros2_test = []
diff --git a/roslibrust_test/tests/graph_provider_tests.rs b/roslibrust_test/tests/graph_provider_tests.rs
index a12d7b45..e1373b96 100644
--- a/roslibrust_test/tests/graph_provider_tests.rs
+++ b/roslibrust_test/tests/graph_provider_tests.rs
@@ -6,7 +6,7 @@
 //! Run tests for specific backends:
 //! - Mock: cargo test --test graph_provider_tests (no feature needed)
 //! - ROS1: cargo test --test graph_provider_tests --features ros1_test
-//! - ROS2 Zenoh: cargo test --test graph_provider_tests --features ros2_zenoh_test
+//! - Hiroz: cargo test --test graph_provider_tests --features hiroz_test
 //! - Rosbridge ROS1: cargo test --test graph_provider_tests --features rosbridge_ros1_test
 //! - Rosbridge ROS2: cargo test --test graph_provider_tests --features rosbridge_ros2_test
 
@@ -168,17 +168,17 @@ mod ros1_tests {
 }
 
 // ============================================================================
-// ROS2 Zenoh Backend Tests
+// Hiroz Backend Tests
 // ============================================================================
 
-#[cfg(feature = "ros2_zenoh_test")]
-mod ros2_zenoh_tests {
+#[cfg(feature = "hiroz_test")]
+mod hiroz_tests {
     use super::*;
-    use ros_z::context::ZContextBuilder;
-    use ros_z::Builder;
-    use roslibrust_ros2::ZenohClient;
+    use hiroz::context::ZContextBuilder;
+    use hiroz::Builder;
+    use roslibrust_hiroz::ZenohClient;
 
-    fn make_test_context() -> ros_z::context::ZContext {
+    fn make_test_context() -> hiroz::context::ZContext {
         ZContextBuilder::default()
             .with_domain_id(0)
             .with_connect_endpoints(["tcp/[::]:7447"])
@@ -187,7 +187,7 @@ mod ros2_zenoh_tests {
     }
 
     #[test_log::test(tokio::test(flavor = "multi_thread", worker_threads = 1))]
-    async fn test_ros2_zenoh_graph_provider_topics() {
+    async fn test_hiroz_graph_provider_topics() {
         let ctx = make_test_context();
         let ros = ZenohClient::new(&ctx, "test_graph_provider_topics")
             .await
@@ -196,7 +196,7 @@ mod ros2_zenoh_tests {
     }
 
     #[test_log::test(tokio::test(flavor = "multi_thread", worker_threads = 1))]
-    async fn test_ros2_zenoh_graph_provider_services() {
+    async fn test_hiroz_graph_provider_services() {
         let ctx = make_test_context();
         let ros = ZenohClient::new(&ctx, "test_graph_provider_services")
             .await