diff --git a/src/modules/zenoh/Kconfig.topics b/src/modules/zenoh/Kconfig.topics
index 07f002273df3..1fdcc510bb36 100644
--- a/src/modules/zenoh/Kconfig.topics
+++ b/src/modules/zenoh/Kconfig.topics
@@ -789,6 +789,10 @@ menu "Zenoh publishers/subscribers"
 		bool "vtol_vehicle_status"
 		default n
 
+	config ZENOH_PUBSUB_WHEEL_ENCODERS
+		bool "wheel_encoders"
+		default n
+
 	config ZENOH_PUBSUB_WIND
 		bool "wind"
 		default n
@@ -999,6 +1003,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_VEHICLE_TRAJECTORY_BEZIER
 	select ZENOH_PUBSUB_VEHICLE_TRAJECTORY_WAYPOINT
 	select ZENOH_PUBSUB_VTOL_VEHICLE_STATUS
+	select ZENOH_PUBSUB_WHEEL_ENCODERS
 	select ZENOH_PUBSUB_WIND
 	select ZENOH_PUBSUB_YAW_ESTIMATOR_STATUS