diff --git a/AGENTS.md b/AGENTS.md
index 46ca2cd996..72506ed1b3 100644
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -64,7 +64,7 @@ Before adding ANY dependency, check all `pyproject.toml` files. Use exact versio
 
 ```toml
 aiohttp>=3.7.4,<=3.13.2
-eclipse-zenoh==1.4.0
+eclipse-zenoh==1.9.0
 fastapi-versioning==0.9.1
 fastapi==0.105.0
 loguru==0.5.3
diff --git a/core/frontend/bun.lockb b/core/frontend/bun.lockb
index b295391307..b74d69f312 100755
Binary files a/core/frontend/bun.lockb and b/core/frontend/bun.lockb differ
diff --git a/core/frontend/package.json b/core/frontend/package.json
index 06f9027812..00b12e0440 100644
--- a/core/frontend/package.json
+++ b/core/frontend/package.json
@@ -16,7 +16,7 @@
     "lint:css:fix": "stylelint 'src/**/*.{vue,css,scss}' --fix"
   },
   "dependencies": {
-    "@eclipse-zenoh/zenoh-ts": "1.3.4",
+    "@eclipse-zenoh/zenoh-ts": "1.9.0",
     "@ffmpeg/ffmpeg": "^0.12.15",
     "@ffmpeg/util": "^0.12.2",
     "@foxglove/rosmsg": "^5.0.4",
diff --git a/core/frontend/src/components/cloud/CloudTrayMenu.vue b/core/frontend/src/components/cloud/CloudTrayMenu.vue
index a08325ec7c..97928fbf0b 100644
--- a/core/frontend/src/components/cloud/CloudTrayMenu.vue
+++ b/core/frontend/src/components/cloud/CloudTrayMenu.vue
@@ -174,7 +174,7 @@
 
 <script lang="ts">
 import {
-  QueryTarget, Receiver, RecvErr, ReplyError, Sample, Session, Subscriber,
+  QueryTarget, ReplyError, Sample, Session, Subscriber,
 } from '@eclipse-zenoh/zenoh-ts'
 import axios from 'axios'
 import { StatusCodes } from 'http-status-codes'
@@ -191,7 +191,7 @@ import {
 import SpinningLogo from '@/components/common/SpinningLogo.vue'
 import PullProgress from '@/components/utils/PullProgress.vue'
 import filebrowser from '@/libs/filebrowser'
-import zenoh from '@/libs/zenoh'
+import zenoh, { receiveQueryReply, RecvErr } from '@/libs/zenoh'
 import bag from '@/store/bag'
 import { FilebrowserFile } from '@/types/filebrowser'
 import { InstalledExtensionData, RunningContainer } from '@/types/kraken'
@@ -447,30 +447,26 @@ export default Vue.extend({
       }
 
       try {
-        const receiver: void | Receiver = this.file_sync_session.get(topic, {
+        const receiver = await this.file_sync_session.get(topic, {
           target: QueryTarget.BestMatching,
         })
 
-        if (!(receiver instanceof Receiver)) {
+        if (!receiver) {
           console.warn(`[CloudTrayMenu] Query for ${topic} returned void receiver.`)
           return null
         }
 
-        let reply = await receiver.receive()
+        let reply = await receiveQueryReply(receiver)
         while (reply !== RecvErr.Disconnected) {
-          if (reply === RecvErr.MalformedReply) {
-            console.warn(`[CloudTrayMenu] Malformed reply while querying ${topic}.`)
-          } else {
-            const response = reply.result()
-            if (response instanceof Sample) {
-              const payload = response.payload().to_string()
-              return this.parseFileSyncQueue(payload)
-            }
-            const errorResponse: ReplyError = response
-            console.warn(`[CloudTrayMenu] Query error for ${topic}:`, errorResponse.payload().to_string())
+          const response = reply.result()
+          if (response instanceof Sample) {
+            const payload = response.payload().toString()
+            return this.parseFileSyncQueue(payload)
           }
+          const errorResponse: ReplyError = response
+          console.warn(`[CloudTrayMenu] Query error for ${topic}:`, errorResponse.payload().toString())
 
-          reply = await receiver.receive()
+          reply = await receiveQueryReply(receiver)
         }
       } catch (error) {
         console.error(`[CloudTrayMenu] Failed to query ${topic}:`, error)
@@ -518,13 +514,12 @@ export default Vue.extend({
       }
 
       try {
-        this.uploading_subscriber = await this.file_sync_session.declare_subscriber(
+        this.uploading_subscriber = await this.file_sync_session.declareSubscriber(
           MAJOR_TOM_FILE_SYNC_UPLOADING_TOPIC,
           {
             handler: (sample: Sample) => {
               this.handleUploadingSample(sample)
             },
-            history: true,
           },
         )
       } catch (error) {
@@ -533,7 +528,7 @@ export default Vue.extend({
     },
     handleUploadingSample(sample: Sample): void {
       try {
-        const payload = sample.payload().to_string()
+        const payload = sample.payload().toString()
         const event = JSON.parse(payload) as FileSyncUploadingEvent
         const transfer = this.normalizeUploadingEvent(event)
         if (!transfer) {
diff --git a/core/frontend/src/components/kraken/modals/ExtensionLogsModal.vue b/core/frontend/src/components/kraken/modals/ExtensionLogsModal.vue
index 76fbc4d584..3c2e9b7d90 100644
--- a/core/frontend/src/components/kraken/modals/ExtensionLogsModal.vue
+++ b/core/frontend/src/components/kraken/modals/ExtensionLogsModal.vue
@@ -214,7 +214,7 @@ export default Vue.extend({
       this.modal_subscriber = await kraken.createExtensionLogsSubscriber(topic, this.handleSubscriber)
     },
     async handleSubscriber(sample: Sample) {
-      const payloadString = sample.payload().to_string()
+      const payloadString = sample.payload().toString()
 
       let message = payloadString
       try {
diff --git a/core/frontend/src/components/zenoh-inspector/ZenohInspector.vue b/core/frontend/src/components/zenoh-inspector/ZenohInspector.vue
index 90be66625b..a28a0c3f2a 100644
--- a/core/frontend/src/components/zenoh-inspector/ZenohInspector.vue
+++ b/core/frontend/src/components/zenoh-inspector/ZenohInspector.vue
@@ -182,7 +182,7 @@ export default Vue.extend({
       if (!this.current_message?.payload || !this.video_reader) {
         return null
       }
-      const msg: { data: Uint8Array } = this.video_reader.readMessage(this.current_message.payload.to_bytes())
+      const msg: { data: Uint8Array } = this.video_reader.readMessage(this.current_message.payload.toBytes())
       return msg.data
     },
   },
@@ -215,12 +215,17 @@ export default Vue.extend({
       }
 
       if (message.encoding === Encoding.TEXT_PLAIN.toString()) {
-        formattedMessage.payload = message.payload.to_string()
+        formattedMessage.payload = message.payload.toString()
       } else if (message.encoding === Encoding.APPLICATION_JSON.toString()) {
-        formattedMessage.payload = JSON.parse(message.payload.to_string())
+        try {
+          formattedMessage.payload = JSON.parse(message.payload.toString())
+        } catch (exception) {
+          // Keep the raw payload if it's not valid JSON
+          formattedMessage.payload = message.payload.toString()
+        }
       } else if (message.encoding === Encoding.ZENOH_BYTES.toString()) {
         try {
-          formattedMessage.payload = JSON.parse(message.payload.to_string())
+          formattedMessage.payload = JSON.parse(message.payload.toString())
         } catch (exception) {
           // Keep the raw payload if it's not valid JSON
           formattedMessage.payload = message.payload.toString()
@@ -234,7 +239,7 @@ export default Vue.extend({
         this.session = await zenoh.getSession()
 
         // Setup regular message subscriber
-        this.subscriber = await this.session.declare_subscriber('**', {
+        this.subscriber = await this.session.declareSubscriber('**', {
           handler: async (sample: Sample) => {
             const topic = sample.keyexpr().toString()
             const payload = sample.payload()
@@ -261,7 +266,7 @@ export default Vue.extend({
         // Setup liveliness subscriber
         const lv_ke = '@/**/@ros2_lv/**'
 
-        this.liveliness_subscriber = await this.session.liveliness().declare_subscriber(lv_ke, {
+        this.liveliness_subscriber = await this.session.liveliness().declareSubscriber(lv_ke, {
           handler: (sample: Sample) => {
             // Parse the liveliness token using regex
             // eslint-disable-next-line max-len
diff --git a/core/frontend/src/components/zenoh-inspector/ZenohNetwork.vue b/core/frontend/src/components/zenoh-inspector/ZenohNetwork.vue
index 1951ab6a25..17c4498a63 100644
--- a/core/frontend/src/components/zenoh-inspector/ZenohNetwork.vue
+++ b/core/frontend/src/components/zenoh-inspector/ZenohNetwork.vue
@@ -57,13 +57,13 @@
 
 <script lang="ts">
 import {
-  QueryTarget, Receiver, RecvErr, ReplyError, Sample, Session,
+  QueryTarget, ReplyError, Sample, Session,
 } from '@eclipse-zenoh/zenoh-ts'
 import cytoscape, { Core } from 'cytoscape'
 import fcose, { FcoseLayoutOptions } from 'cytoscape-fcose'
 import Vue from 'vue'
 
-import zenoh from '@/libs/zenoh'
+import zenoh, { receiveQueryReply, RecvErr } from '@/libs/zenoh'
 
 interface NetworkNode {
   id: string
@@ -114,13 +114,13 @@ export default Vue.extend({
         const elements = this.prepareCytoscapeElements()
         cytoscape.use(fcose)
 
-        this.cy = cytoscape({
+        // Object.freeze keeps Vue 2 from making the cytoscape Core deeply reactive; without it the
+        // fcose layout's per-frame position mutations trigger reactivity over the whole Core and
+        // peg the CPU/freeze the tab.
+        this.cy = Object.freeze(cytoscape({
           container,
           boxSelectionEnabled: false,
           elements,
-          ready: () => {
-            this.makeEvents(this.cy)
-          },
           layout: {
             name: 'fcose',
             animationDuration: 1500,
@@ -131,7 +131,7 @@ export default Vue.extend({
             nodeRepulsion: 25000,
           },
           style: this.getCytoscapeStyle(),
-        })
+        }))
 
         console.log('[Zenoh Network] Cytoscape initialized successfully')
       } catch (error) {
@@ -295,84 +295,80 @@ export default Vue.extend({
     },
     async queryRouters() {
       try {
-        const receiver: void | Receiver = this.session!.get('@/*/router', {
+        const receiver = await this.session!.get('@/*/router', {
           target: QueryTarget.BestMatching,
         })
 
-        if (!(receiver instanceof Receiver)) {
+        if (!receiver) {
           console.warn('[Zenoh Network] Router query returned void')
           return
         }
 
-        let reply = await receiver.receive()
+        let reply = await receiveQueryReply(receiver)
         let responseCount = 0
 
         while (reply !== RecvErr.Disconnected && responseCount < 10) { // Limit responses to prevent infinite loops
-          if (reply === RecvErr.MalformedReply) {
-            console.warn('[Zenoh Network] MalformedReply from router query')
-          } else {
-            const resp = reply.result()
-            if (resp instanceof Sample) {
-              const sample: Sample = resp
-              responseCount += 1
-
-              try {
-                const payload = sample.payload().to_string()
-                console.debug('[Zenoh Network] Router payload:', payload)
-
-                const data = JSON.parse(payload)
-
-                // Add router node
-                const zid = data.zid || 'unknown-router'
-                const metadata = data.metadata || {}
-                this.networkData.nodes.push({
-                  id: zid,
-                  whatami: 'router',
-                  metadata,
-                })
-
-                // Add connected sessions
-                if (data.sessions && Array.isArray(data.sessions)) {
-                  for (const sess of data.sessions) {
-                    const peer = sess.peer || 'unknown-peer'
-                    const whatami = sess.whatami || 'unknown'
-
-                    let linkProtocols = 'unknown'
-                    try {
-                      if (sess.links && Array.isArray(sess.links)) {
-                        // eslint-disable-next-line @typescript-eslint/no-explicit-any
-                        linkProtocols = sess.links.map((link: any) => {
-                          if (typeof link === 'string') {
-                            return link.split('/')[0]
-                          }
-                          return link.src?.split('/')[0] || 'unknown'
-                        }).join(',')
-                      }
-                    } catch (error) {
-                      console.warn('Error parsing link protocols:', error)
+          const resp = reply.result()
+          if (resp instanceof Sample) {
+            const sample: Sample = resp
+            responseCount += 1
+
+            try {
+              const payload = sample.payload().toString()
+              console.debug('[Zenoh Network] Router payload:', payload)
+
+              const data = JSON.parse(payload)
+
+              // Add router node
+              const zid = data.zid || 'unknown-router'
+              const metadata = data.metadata || {}
+              this.networkData.nodes.push({
+                id: zid,
+                whatami: 'router',
+                metadata,
+              })
+
+              // Add connected sessions
+              if (data.sessions && Array.isArray(data.sessions)) {
+                for (const sess of data.sessions) {
+                  const peer = sess.peer || 'unknown-peer'
+                  const whatami = sess.whatami || 'unknown'
+
+                  let linkProtocols = 'unknown'
+                  try {
+                    if (sess.links && Array.isArray(sess.links)) {
+                      // eslint-disable-next-line @typescript-eslint/no-explicit-any
+                      linkProtocols = sess.links.map((link: any) => {
+                        if (typeof link === 'string') {
+                          return link.split('/')[0]
+                        }
+                        return link.src?.split('/')[0] || 'unknown'
+                      }).join(',')
                     }
+                  } catch (error) {
+                    console.warn('Error parsing link protocols:', error)
+                  }
 
-                    this.networkData.nodes.push({
-                      id: peer,
-                      whatami,
-                    })
+                  this.networkData.nodes.push({
+                    id: peer,
+                    whatami,
+                  })
 
-                    this.networkData.edges.push({
-                      source: zid,
-                      target: peer,
-                      protocol: linkProtocols,
-                    })
-                  }
+                  this.networkData.edges.push({
+                    source: zid,
+                    target: peer,
+                    protocol: linkProtocols,
+                  })
                 }
-              } catch (parseError) {
-                console.error('[Zenoh Network] Error parsing router response:', parseError)
               }
-            } else {
-              const replyError: ReplyError = resp
-              console.error('[Zenoh Network] Router query error:', replyError.payload().to_string())
+            } catch (parseError) {
+              console.error('[Zenoh Network] Error parsing router response:', parseError)
             }
+          } else {
+            const replyError: ReplyError = resp
+            console.error('[Zenoh Network] Router query error:', replyError.payload().toString())
           }
-          reply = await receiver.receive()
+          reply = await receiveQueryReply(receiver)
         }
       } catch (error) {
         console.warn('[Zenoh Network] Router query failed:', error)
@@ -380,46 +376,42 @@ export default Vue.extend({
     },
     async queryPeers() {
       try {
-        const receiver: void | Receiver = this.session!.get('@/*/peer', {
+        const receiver = await this.session!.get('@/*/peer', {
           target: QueryTarget.BestMatching,
         })
 
-        if (!(receiver instanceof Receiver)) {
+        if (!receiver) {
           console.warn('[Zenoh Network] Peer query returned void')
           return
         }
 
-        let reply = await receiver.receive()
+        let reply = await receiveQueryReply(receiver)
         let responseCount = 0
 
         while (reply !== RecvErr.Disconnected && responseCount < 10) { // Limit responses
-          if (reply === RecvErr.MalformedReply) {
-            console.warn('[Zenoh Network] MalformedReply from peer query')
-          } else {
-            const resp = reply.result()
-            if (resp instanceof Sample) {
-              const sample: Sample = resp
-              responseCount += 1
-
-              try {
-                const payload = sample.payload().to_string()
-                const data = JSON.parse(payload)
-                const peerId = data.zid || data.id || 'unknown-peer'
-                if (!this.networkData.nodes.find((n) => n.id === peerId)) {
-                  this.networkData.nodes.push({
-                    id: peerId,
-                    whatami: 'peer',
-                  })
-                }
-              } catch (parseError) {
-                console.error('[Zenoh Network] Error parsing peer response:', parseError)
+          const resp = reply.result()
+          if (resp instanceof Sample) {
+            const sample: Sample = resp
+            responseCount += 1
+
+            try {
+              const payload = sample.payload().toString()
+              const data = JSON.parse(payload)
+              const peerId = data.zid || data.id || 'unknown-peer'
+              if (!this.networkData.nodes.find((n) => n.id === peerId)) {
+                this.networkData.nodes.push({
+                  id: peerId,
+                  whatami: 'peer',
+                })
               }
-            } else {
-              const replyError: ReplyError = resp
-              console.error('[Zenoh Network] Peer query error:', replyError.payload().to_string())
+            } catch (parseError) {
+              console.error('[Zenoh Network] Error parsing peer response:', parseError)
             }
+          } else {
+            const replyError: ReplyError = resp
+            console.error('[Zenoh Network] Peer query error:', replyError.payload().toString())
           }
-          reply = await receiver.receive()
+          reply = await receiveQueryReply(receiver)
         }
       } catch (error) {
         console.warn('[Zenoh Network] Peer query failed:', error)
@@ -430,31 +422,26 @@ export default Vue.extend({
       try {
         const keyexpr = `@/${zid}/${whatami}`
 
-        const receiver: void | Receiver = this.session!.get(keyexpr, {
+        const receiver = await this.session!.get(keyexpr, {
           target: QueryTarget.BestMatching,
         })
 
-        if (!(receiver instanceof Receiver)) {
+        if (!receiver) {
           console.warn(`[Zenoh Network] Specific node query for ${keyexpr} returned void`)
           return null
         }
 
-        const reply = await receiver.receive()
+        const reply = await receiveQueryReply(receiver)
         if (reply === RecvErr.Disconnected) {
           console.debug(`[Zenoh Network] No response for ${keyexpr}`)
           return null
         }
 
-        if (reply === RecvErr.MalformedReply) {
-          console.warn(`[Zenoh Network] MalformedReply from ${keyexpr}`)
-          return null
-        }
-
         const resp = reply.result()
         if (resp instanceof Sample) {
           const sample: Sample = resp
           try {
-            const payload = sample.payload().to_string()
+            const payload = sample.payload().toString()
             console.debug(`[Zenoh Network] Specific node response for ${keyexpr}:`, payload)
             const data = JSON.parse(payload)
 
@@ -469,7 +456,7 @@ export default Vue.extend({
           }
         } else {
           const replyError: ReplyError = resp
-          console.error(`[Zenoh Network] Specific node query error for ${keyexpr}:`, replyError.payload().to_string())
+          console.error(`[Zenoh Network] Specific node query error for ${keyexpr}:`, replyError.payload().toString())
           return null
         }
       } catch (error) {
diff --git a/core/frontend/src/libs/console-logger.ts b/core/frontend/src/libs/console-logger.ts
index fcfb8d49c6..d93b2162e3 100644
--- a/core/frontend/src/libs/console-logger.ts
+++ b/core/frontend/src/libs/console-logger.ts
@@ -34,7 +34,9 @@ class ConsoleLogger {
 
   private static readonly STACK_LINE_REGEX = /\(?([^\s()]+):(\d+):\d+\)?/
 
-  private static readonly LOG_ENCODING = Encoding.from_string(Encoding.APPLICATION_JSON.toString())
+  private static readonly LOG_ENCODING = Encoding.fromString(
+    Encoding.APPLICATION_JSON.toString(),
+  ).withSchema('foxglove.Log')
 
   readonly originalConsole: {
     log: typeof console.log
@@ -52,8 +54,6 @@ class ConsoleLogger {
       error: console.error,
       debug: console.debug,
     }
-
-    ConsoleLogger.LOG_ENCODING.with_schema('foxglove.Log')
   }
 
   async initialize(): Promise<void> {
@@ -145,7 +145,12 @@ class ConsoleLogger {
       const topic = `frontend/${frontend.frontend_id}/logs`
       const payload = JSON.stringify(message)
 
+      // put() is async in zenoh 1.9; swallow rejections via `originalConsole` so a failed publish
+      // cannot surface as an `unhandledrejection` and re-enter `publishMessage` (infinite feedback loop).
       this.session.put(topic, payload, { encoding: ConsoleLogger.LOG_ENCODING })
+        .catch((publishError) => {
+          this.originalConsole.error('[ConsoleLogger] Failed to publish message:', publishError)
+        })
     } catch (error) {
       this.originalConsole.error('[ConsoleLogger] Failed to publish message:', error)
     }
diff --git a/core/frontend/src/libs/zenoh/index.ts b/core/frontend/src/libs/zenoh/index.ts
index 9f186a94fd..f401e5cbb7 100644
--- a/core/frontend/src/libs/zenoh/index.ts
+++ b/core/frontend/src/libs/zenoh/index.ts
@@ -1,4 +1,20 @@
-import { Config, QueryTarget, Receiver, RecvErr, Sample, Session, Subscriber } from '@eclipse-zenoh/zenoh-ts'
+import { ChannelReceiver, Config, QueryTarget, Reply, Sample, Session, Subscriber } from '@eclipse-zenoh/zenoh-ts'
+
+// zenoh-ts 1.9 no longer exports Receiver/RecvErr; the get() channel rejects receive() on close
+// (and the query has its own timeout), so we just map that rejection to Disconnected.
+export enum RecvErr {
+  Disconnected,
+}
+
+export type Receiver = ChannelReceiver<Reply>
+
+export async function receiveQueryReply(receiver: Receiver): Promise<Reply | RecvErr> {
+  try {
+    return await receiver.receive()
+  } catch {
+    return RecvErr.Disconnected
+  }
+}
 
 class ZenohManager {
   private static instance: ZenohManager
@@ -38,11 +54,11 @@ class ZenohManager {
       return null
     }
 
-    const receiver: Receiver | void = session.get(key, {
+    const receiver = await session.get(key, {
       target,
     })
 
-    if (!(receiver instanceof Receiver)) {
+    if (!receiver) {
       console.error('Failed to create query receiver. No queryable found or connection error.')
       return null
     }
@@ -51,7 +67,7 @@ class ZenohManager {
       setTimeout(() => resolve(null), timeout)
     })
 
-    const replyPromise = receiver.receive()
+    const replyPromise = receiveQueryReply(receiver)
     const reply = await Promise.race([replyPromise, timeoutPromise])
 
     if (reply === null || reply === RecvErr.Disconnected) {
@@ -67,7 +83,7 @@ class ZenohManager {
 
     const payload = (reply as { result: () => Sample }).result()
     try {
-      return JSON.parse(payload.payload().to_string())
+      return JSON.parse(payload.payload().toString())
     } catch (error) {
       console.error('Error parsing response:', error)
       return null
@@ -81,7 +97,7 @@ class ZenohManager {
       return null
     }
 
-    return session.declare_subscriber(topic, {
+    return session.declareSubscriber(topic, {
       handler,
     })
   }
diff --git a/core/frontend/yarn.lock b/core/frontend/yarn.lock
index b487731dba..e6424fcd9d 100644
--- a/core/frontend/yarn.lock
+++ b/core/frontend/yarn.lock
@@ -1132,16 +1132,15 @@
   resolved "https://registry.yarnpkg.com/@csstools/selector-specificity/-/selector-specificity-6.0.0.tgz#ef28e27c1ded1d8e5c54879a9399e7055aed1920"
   integrity sha512-4sSgl78OtOXEX/2d++8A83zHNTgwCJMaR24FvsYL7Uf/VS8HZk9PTwR51elTbGqMuwH3szLvvOXEaVnqn0Z3zA==
 
-"@eclipse-zenoh/zenoh-ts@1.3.4":
-  version "1.3.4"
-  resolved "https://registry.yarnpkg.com/@eclipse-zenoh/zenoh-ts/-/zenoh-ts-1.3.4.tgz#6d99546c5e3dc2ea029b345658187794facba011"
-  integrity sha512-6KOPy0A0T92/Urig8wIRBbmLArwnN2lPJ7Xpu6cit6t7hZvztGtixIXSRRlHRVfYJAyVDUZhucc00//MqNvNDQ==
+"@eclipse-zenoh/zenoh-ts@1.9.0":
+  version "1.9.0"
+  resolved "https://registry.yarnpkg.com/@eclipse-zenoh/zenoh-ts/-/zenoh-ts-1.9.0.tgz#3c76f892d261d4c80ceaa32e4b2e891eff8e5423"
+  integrity sha512-qG3VR9Yt81+KjH0WOybyKcNVS0vtBmmhyUJ7dCc5n+8AeAEYTpEvMBTh43Lwu8P+imzMYvFqjaMAO2HFK+x9hA==
   dependencies:
     "@thi.ng/leb128" "^3.1.36"
     base64-arraybuffer "^1.0.2"
     channel-ts "^0.1.2"
     eslint "^9.10.0"
-    text-encoding "^0.7.0"
     tslog "^4.9.3"
     typed-duration "^2.0.0"
     uuid "^10.0.0"
@@ -1891,13 +1890,6 @@
   resolved "https://registry.yarnpkg.com/@types/file-saver/-/file-saver-2.0.5.tgz#9ee342a5d1314bb0928375424a2f162f97c310c7"
   integrity sha512-zv9kNf3keYegP5oThGLaPk8E081DFDuwfqjtiTzm6PoxChdJ1raSuADf2YGCVIyrSynLrgc8JWv296s7Q7pQSQ==
 
-"@types/jquery@*":
-  version "3.5.16"
-  resolved "https://registry.yarnpkg.com/@types/jquery/-/jquery-3.5.16.tgz#632131baf30951915b0317d48c98e9890bdf051d"
-  integrity sha512-bsI7y4ZgeMkmpG9OM710RRzDFp+w4P1RGiIt30C1mSBT+ExCleeh4HObwgArnDFELmRrOpXgSYN9VF1hj+f1lw==
-  dependencies:
-    "@types/sizzle" "*"
-
 "@types/json-schema@*", "@types/json-schema@^7.0.5", "@types/json-schema@^7.0.8", "@types/json-schema@^7.0.9":
   version "7.0.11"
   resolved "https://registry.yarnpkg.com/@types/json-schema/-/json-schema-7.0.11.tgz#d421b6c527a3037f7c84433fd2c4229e016863d3"
@@ -1955,18 +1947,6 @@
   resolved "https://registry.yarnpkg.com/@types/semver/-/semver-7.3.13.tgz#da4bfd73f49bd541d28920ab0e2bf0ee80f71c91"
   integrity sha512-21cFJr9z3g5dW8B0CVI9g2O9beqaThGQ6ZFBqHfwhzLDKUxaqTIy3vnfah/UPkfOiF2pLq+tGz+W8RyCskuslw==
 
-"@types/sizzle@*":
-  version "2.3.3"
-  resolved "https://registry.yarnpkg.com/@types/sizzle/-/sizzle-2.3.3.tgz#ff5e2f1902969d305225a047c8a0fd5c915cebef"
-  integrity sha512-JYM8x9EGF163bEyhdJBpR2QX1R5naCJHC8ucJylJ3w9/CVBaskdQ8WqBf8MmQrd1kRvp/a4TS8HJ+bxzR7ZJYQ==
-
-"@types/timeago@^1.6.0":
-  version "1.6.0"
-  resolved "https://registry.yarnpkg.com/@types/timeago/-/timeago-1.6.0.tgz#67c9c5db18e49cc6e47bbaa096dbc4721b79f295"
-  integrity sha512-dceiGGFid1+p/+QXv5GT2Kz+ihVUvNLKVdVPWRgsdr0ozot8qnlImla4nFN3kHpfAye/5YJ/d0nNGb+vZuxW/g==
-  dependencies:
-    "@types/jquery" "*"
-
 "@types/trusted-types@^2.0.2":
   version "2.0.3"
   resolved "https://registry.yarnpkg.com/@types/trusted-types/-/trusted-types-2.0.3.tgz#a136f83b0758698df454e328759dbd3d44555311"
@@ -5071,13 +5051,6 @@ javascript-natural-sort@^0.7.1:
   resolved "https://registry.yarnpkg.com/javascript-natural-sort/-/javascript-natural-sort-0.7.1.tgz#f9e2303d4507f6d74355a73664d1440fb5a0ef59"
   integrity sha512-nO6jcEfZWQXDhOiBtG2KvKyEptz7RVbpGP4vTD2hLBdmNQSsCiicO2Ioinv6UI4y9ukqnBpy+XZ9H6uLNgJTlw==
 
-javascript-time-ago@^2.3.11:
-  version "2.5.9"
-  resolved "https://registry.yarnpkg.com/javascript-time-ago/-/javascript-time-ago-2.5.9.tgz#3c5d8012cd493d764c6b26a0ffe6e8b20afcf1fe"
-  integrity sha512-pQ8mNco/9g9TqWXWWjP0EWl6i/lAQScOyEeXy5AB+f7MfLSdgyV9BJhiOD1zrIac/lrxPYOWNbyl/IW8CW5n0A==
-  dependencies:
-    relative-time-format "^1.1.6"
-
 jest-worker@^26.2.1:
   version "26.6.2"
   resolved "https://registry.yarnpkg.com/jest-worker/-/jest-worker-26.6.2.tgz#7f72cbc4d643c365e27b9fd775f9d0eaa9c7a8ed"
@@ -6387,11 +6360,6 @@ regjsparser@^0.9.1:
   dependencies:
     jsesc "~0.5.0"
 
-relative-time-format@^1.1.6:
-  version "1.1.6"
-  resolved "https://registry.yarnpkg.com/relative-time-format/-/relative-time-format-1.1.6.tgz#724a5fbc3794b8e0471b6b61419af2ce699eb9f1"
-  integrity sha512-aCv3juQw4hT1/P/OrVltKWLlp15eW1GRcwP1XdxHrPdZE9MtgqFpegjnTjLhi2m2WI9MT/hQQtE+tjEWG1hgkQ==
-
 request@^2.44.0:
   version "2.88.2"
   resolved "https://registry.yarnpkg.com/request/-/request-2.88.2.tgz#d73c918731cb5a87da047e207234146f664d12b3"
@@ -7137,11 +7105,6 @@ terser@^5.0.0, terser@^5.16.5:
     commander "^2.20.0"
     source-map-support "~0.5.20"
 
-text-encoding@^0.7.0:
-  version "0.7.0"
-  resolved "https://registry.yarnpkg.com/text-encoding/-/text-encoding-0.7.0.tgz#f895e836e45990624086601798ea98e8f36ee643"
-  integrity sha512-oJQ3f1hrOnbRLOcwKz0Liq2IcrvDeZRHXhd9RgLrsT+DjWY/nty1Hi7v3dtkaEYbPYe0mUoOfzRrMwfXXwgPUA==
-
 text-table@^0.2.0:
   version "0.2.0"
   resolved "https://registry.yarnpkg.com/text-table/-/text-table-0.2.0.tgz#7f5ee823ae805207c00af2df4a84ec3fcfa570b4"
diff --git a/core/libs/commonwealth/pyproject.toml b/core/libs/commonwealth/pyproject.toml
index 25aff818f3..74918bc7cc 100644
--- a/core/libs/commonwealth/pyproject.toml
+++ b/core/libs/commonwealth/pyproject.toml
@@ -7,7 +7,7 @@ requires-python = ">=3.11"
 dependencies = [
     "aiohttp>=3.7.4,<=3.13.2",
     "appdirs==1.4.4",
-    "eclipse-zenoh==1.4.0",
+    "eclipse-zenoh==1.9.0",
     "loguru>=0.5.3,<=0.7.3",
     "packaging>=20.4,<=25.0",
     "psutil>=5.7.2,<=7.1.3",
diff --git a/core/python-venv2/uv.lock b/core/python-venv2/uv.lock
index 91215ea527..0d108f7165 100644
--- a/core/python-venv2/uv.lock
+++ b/core/python-venv2/uv.lock
@@ -373,7 +373,7 @@ dependencies = [
 requires-dist = [
     { name = "aiohttp", specifier = ">=3.7.4,<=3.13.2" },
     { name = "appdirs", specifier = "==1.4.4" },
-    { name = "eclipse-zenoh", specifier = "==1.4.0" },
+    { name = "eclipse-zenoh", specifier = "==1.9.0" },
     { name = "loguru", specifier = ">=0.5.3,<=0.7.3" },
     { name = "packaging", specifier = ">=20.4,<=25.0" },
     { name = "psutil", specifier = ">=5.7.2,<=7.1.3" },
@@ -441,18 +441,18 @@ wheels = [
 
 [[package]]
 name = "eclipse-zenoh"
-version = "1.4.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ab/45/fdbccdadf83906ba93514e0c771dc604456d46fc57cb45736114c8b14079/eclipse_zenoh-1.4.0.tar.gz", hash = "sha256:c0704127f8bb5ffde7ee8886aaf202ec8f0440a3ee409b8981a9189ae94d0078", size = 123718, upload-time = "2025-05-22T15:33:51.458Z" }
-wheels = [
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-    { url = "https://files.pythonhosted.org/packages/b7/01/b9974ebd306d434e17c58027cda53bdb6801f4d474db8595cee77ccce9b0/eclipse_zenoh-1.4.0-cp38-abi3-macosx_10_12_x86_64.macosx_11_0_arm64.macosx_10_12_universal2.whl", hash = "sha256:b798c4e549ee2734a9a05f5ba5f8e4562b13007b5802870ada1424584ee0873e", size = 15558518, upload-time = "2025-05-22T15:33:39.084Z" },
-    { url = "https://files.pythonhosted.org/packages/85/fc/9e4aa24ed910881a34feb4ae25f649e60accfc4ead00038c71d23a1ac353/eclipse_zenoh-1.4.0-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:a1e068d8fc100fe47ea959aa7e44b0c60c46258601bf4331b51a8979b05b9398", size = 7960600, upload-time = "2025-05-22T15:33:41.654Z" },
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+    { url = "https://files.pythonhosted.org/packages/26/16/a94c4f37e3a088faadf4b5fbc64e5f69dea1023dc7efc49b3be0e0ecc953/eclipse_zenoh-1.9.0-cp39-abi3-win_amd64.whl", hash = "sha256:5dfb352eca4585b85edbbc84c6db58906008e202823ca280496c0b867f9719f0", size = 9124510, upload-time = "2026-04-10T13:23:34.119Z" },
 ]
 
 [[package]]
diff --git a/core/tools/zenoh/bootstrap.sh b/core/tools/zenoh/bootstrap.sh
index 473b7ebb19..d26fee40ff 100755
--- a/core/tools/zenoh/bootstrap.sh
+++ b/core/tools/zenoh/bootstrap.sh
@@ -4,7 +4,7 @@
 set -e
 
 PROJECT_NAME="zenoh"
-VERSION="1.3.4"
+VERSION="1.9.0"
 BINARIES=(
   "zenoh"
   "zenoh-plugin-webserver"
diff --git a/core/uv.lock b/core/uv.lock
index 6cdae411ce..dc171b0e30 100644
--- a/core/uv.lock
+++ b/core/uv.lock
@@ -464,7 +464,7 @@ dependencies = [
 requires-dist = [
     { name = "aiohttp", specifier = ">=3.7.4,<=3.13.2" },
     { name = "appdirs", specifier = "==1.4.4" },
-    { name = "eclipse-zenoh", specifier = "==1.4.0" },
+    { name = "eclipse-zenoh", specifier = "==1.9.0" },
     { name = "loguru", specifier = ">=0.5.3,<=0.7.3" },
     { name = "packaging", specifier = ">=20.4,<=25.0" },
     { name = "psutil", specifier = ">=5.7.2,<=7.1.3" },
@@ -584,18 +584,18 @@ wheels = [
 
 [[package]]
 name = "eclipse-zenoh"
-version = "1.4.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ab/45/fdbccdadf83906ba93514e0c771dc604456d46fc57cb45736114c8b14079/eclipse_zenoh-1.4.0.tar.gz", hash = "sha256:c0704127f8bb5ffde7ee8886aaf202ec8f0440a3ee409b8981a9189ae94d0078", size = 123718 }
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