diff --git a/src/modules/zenoh/publishers/uorb_publisher.hpp b/src/modules/zenoh/publishers/uorb_publisher.hpp
index d96f8a6db6..c924d7aef5 100644
--- a/src/modules/zenoh/publishers/uorb_publisher.hpp
+++ b/src/modules/zenoh/publishers/uorb_publisher.hpp
@@ -78,10 +78,10 @@ public:
 		memcpy(buf, ros2_header, sizeof(ros2_header));
 
 		dds_ostream_t os;
-		os.m_buffer = buf;
-		os.m_index = (uint32_t)sizeof(ros2_header);
+		os.m_buffer = &buf[4];
+		os.m_index = 0;
 		os.m_size = (uint32_t)sizeof(ros2_header) + _uorb_meta->o_size + CDR_SAFETY_MARGIN;
-		os.m_xcdr_version = DDSI_RTPS_CDR_ENC_VERSION_2;
+		os.m_xcdr_version = DDSI_RTPS_CDR_ENC_VERSION_1;
 
 		if (dds_stream_write(&os,
 				     &dds_allocator,
diff --git a/src/modules/zenoh/subscribers/uorb_subscriber.hpp b/src/modules/zenoh/subscribers/uorb_subscriber.hpp
index 694193d718..b9ba7f1c06 100644
--- a/src/modules/zenoh/subscribers/uorb_subscriber.hpp
+++ b/src/modules/zenoh/subscribers/uorb_subscriber.hpp
@@ -80,8 +80,8 @@ public:
 		if (z_bytes_get_contiguous_view(payload, &view) == Z_OK) {
 			const uint8_t *ptr = z_slice_data(z_loan(view));
 
-			dds_istream_t is = {.m_buffer = (unsigned char *)(ptr), .m_size = static_cast<int>(len),
-					    .m_index = 4, .m_xcdr_version = DDSI_RTPS_CDR_ENC_VERSION_2
+			dds_istream_t is = {.m_buffer = (unsigned char *)(ptr + 4), .m_size = static_cast<int>(len),
+					    .m_index = 0, .m_xcdr_version = DDSI_RTPS_CDR_ENC_VERSION_1
 					   };
 			dds_stream_read(&is, data, &dds_allocator, _cdr_ops);
 
@@ -92,8 +92,8 @@ public:
 			z_bytes_reader_t reader = z_bytes_get_reader(payload);
 			z_bytes_reader_read(&reader, reassembled_payload, len);
 
-			dds_istream_t is = {.m_buffer = reassembled_payload, .m_size = static_cast<int>(len),
-					    .m_index = 4, .m_xcdr_version = DDSI_RTPS_CDR_ENC_VERSION_2
+			dds_istream_t is = {.m_buffer = &reassembled_payload[4], .m_size = static_cast<int>(len),
+					    .m_index = 0, .m_xcdr_version = DDSI_RTPS_CDR_ENC_VERSION_1
 					   };
 			dds_stream_read(&is, data, &dds_allocator, _cdr_ops);
 		}