diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
index 273c8315d3..3110d7641a 100644
--- a/rcl/CMakeLists.txt
+++ b/rcl/CMakeLists.txt
@@ -2,20 +2,29 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rcl)
 
+option(RCL_COMMAND_LINE_ENABLED "Enable/disable the rcl_yaml_param_parser tool" OFF)
+option(RCL_LOGGING_ENABLED "Enable/disable logging" OFF)
+
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(rcl_interfaces REQUIRED)
 find_package(rcl_logging_interface REQUIRED)
-find_package(rcl_yaml_param_parser REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_implementation REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
 find_package(tracetools REQUIRED)
 
+if(RCL_COMMAND_LINE_ENABLED)
+  find_package(rcl_yaml_param_parser REQUIRED)
+endif()
+
 include(cmake/rcl_set_symbol_visibility_hidden.cmake)
-include(cmake/get_default_rcl_logging_implementation.cmake)
-get_default_rcl_logging_implementation(RCL_LOGGING_IMPL)
+
+if(RCL_LOGGING_ENABLED)
+  include(cmake/get_default_rcl_logging_implementation.cmake)
+  get_default_rcl_logging_implementation(RCL_LOGGING_IMPL)
+endif()
 
 # Default to C11
 if(NOT CMAKE_C_STANDARD)
@@ -32,7 +41,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 set(${PROJECT_NAME}_sources
-  src/rcl/arguments.c
+  $<$<BOOL:${RCL_COMMAND_LINE_ENABLED}>:src/rcl/arguments.c>
   src/rcl/client.c
   src/rcl/common.c
   src/rcl/context.c
@@ -46,9 +55,9 @@ set(${PROJECT_NAME}_sources
   src/rcl/lexer.c
   src/rcl/lexer_lookahead.c
   src/rcl/localhost.c
-  src/rcl/logging_rosout.c
-  src/rcl/logging.c
-  src/rcl/log_level.c
+  $<$<BOOL:${RCL_LOGGING_ENABLED}>:src/rcl/logging_rosout.c>
+  $<$<BOOL:${RCL_LOGGING_ENABLED}>:src/rcl/logging.c>
+  $<$<BOOL:${RCL_LOGGING_ENABLED}>:src/rcl/log_level.c>
   src/rcl/node.c
   src/rcl/node_options.c
   src/rcl/publisher.c
@@ -73,15 +82,31 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 ament_target_dependencies(${PROJECT_NAME}
   "rcl_interfaces"
   "rcl_logging_interface"
-  "rcl_yaml_param_parser"
   "rcutils"
   "rmw"
   "rmw_implementation"
-  ${RCL_LOGGING_IMPL}
   "rosidl_runtime_c"
   "tracetools"
 )
 
+if(RCL_COMMAND_LINE_ENABLED)
+  ament_target_dependencies(${PROJECT_NAME}
+    "rcl_yaml_param_parser"
+  )
+endif()
+
+if(RCL_LOGGING_ENABLED)
+  ament_target_dependencies(${PROJECT_NAME}
+    ${RCL_LOGGING_IMPL}
+  )
+endif()
+
+target_compile_definitions(${PROJECT_NAME}
+  PRIVATE
+    $<$<BOOL:${RCL_COMMAND_LINE_ENABLED}>:RCL_COMMAND_LINE_ENABLED>
+    $<$<BOOL:${RCL_LOGGING_ENABLED}>:RCL_LOGGING_ENABLED>
+  )
+
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_BUILDING_DLL")
@@ -111,14 +136,20 @@ ament_export_targets(${PROJECT_NAME})
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl_interfaces)
 ament_export_dependencies(rcl_logging_interface)
-ament_export_dependencies(rcl_yaml_param_parser)
 ament_export_dependencies(rmw_implementation)
 ament_export_dependencies(rmw)
 ament_export_dependencies(rcutils)
-ament_export_dependencies(${RCL_LOGGING_IMPL})
 ament_export_dependencies(rosidl_runtime_c)
 ament_export_dependencies(tracetools)
 
+if(RCL_COMMAND_LINE_ENABLED)
+  ament_export_dependencies(rcl_yaml_param_parser)
+endif()
+
+if(RCL_LOGGING_ENABLED)
+  ament_export_dependencies(${RCL_LOGGING_IMPL})
+endif()
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h
index bd2c25d965..1f4e37df22 100644
--- a/rcl/include/rcl/arguments.h
+++ b/rcl/include/rcl/arguments.h
@@ -20,7 +20,11 @@
 #include "rcl/macros.h"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl_yaml_param_parser/types.h"
+#else
+typedef bool rcl_params_t;
+#endif // RCL_COMMAND_LINE_ENABLED
 
 #ifdef __cplusplus
 extern "C"
diff --git a/rcl/include/rcl/context.h b/rcl/include/rcl/context.h
index 9275364dba..8b15045ec0 100644
--- a/rcl/include/rcl/context.h
+++ b/rcl/include/rcl/context.h
@@ -23,7 +23,9 @@ extern "C"
 #include "rmw/init.h"
 
 #include "rcl/allocator.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "rcl/init_options.h"
 #include "rcl/macros.h"
 #include "rcl/types.h"
@@ -107,9 +109,11 @@ struct rcl_context_impl_t;
  */
 typedef struct rcl_context_t
 {
+#ifdef RCL_COMMAND_LINE_ENABLED
   /// Global arguments for all nodes which share this context.
   /** Typically generated by the parsing of argc/argv in `rcl_init()`. */
   rcl_arguments_t global_arguments;
+#endif // RCL_COMMAND_LINE_ENABLED
 
   /// Implementation specific pointer.
   struct rcl_context_impl_t * impl;
diff --git a/rcl/include/rcl/node.h b/rcl/include/rcl/node.h
index 011347fd35..f2031c0209 100644
--- a/rcl/include/rcl/node.h
+++ b/rcl/include/rcl/node.h
@@ -23,7 +23,9 @@ extern "C"
 #include <stdint.h>
 
 #include "rcl/allocator.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "rcl/context.h"
 #include "rcl/macros.h"
 #include "rcl/node_options.h"
diff --git a/rcl/include/rcl/node_options.h b/rcl/include/rcl/node_options.h
index acb3f1a746..c4c839fe51 100644
--- a/rcl/include/rcl/node_options.h
+++ b/rcl/include/rcl/node_options.h
@@ -21,7 +21,10 @@ extern "C"
 #endif
 
 #include "rcl/allocator.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
+#include "rcl/macros.h"
 
 #include "rcl/domain_id.h"
 
@@ -44,8 +47,10 @@ typedef struct rcl_node_options_t
   /// If false then only use arguments in this struct, otherwise use global arguments also.
   bool use_global_arguments;
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   /// Command line arguments that apply only to this node.
   rcl_arguments_t arguments;
+#endif // RCL_COMMAND_LINE_ENABLED
 
   /// Flag to enable rosout for this node
   bool enable_rosout;
diff --git a/rcl/src/rcl/arguments_impl.h b/rcl/src/rcl/arguments_impl.h
index 18b8cd781f..2b7ee59dce 100644
--- a/rcl/src/rcl/arguments_impl.h
+++ b/rcl/src/rcl/arguments_impl.h
@@ -17,7 +17,11 @@
 
 #include "rcl/arguments.h"
 #include "rcl/log_level.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl_yaml_param_parser/types.h"
+#else
+typedef bool rcl_params_t;
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "./remap_impl.h"
 
 #ifdef __cplusplus
diff --git a/rcl/src/rcl/context.c b/rcl/src/rcl/context.c
index 5414cc5e94..67cd89d9f1 100644
--- a/rcl/src/rcl/context.c
+++ b/rcl/src/rcl/context.c
@@ -33,7 +33,9 @@ rcl_get_zero_initialized_context(void)
     .instance_id_storage = {0},
   };
   // this is not constexpr so it cannot be in the struct initialization
+#ifdef RCL_COMMAND_LINE_ENABLED
   context.global_arguments = rcl_get_zero_initialized_arguments();
+#endif // RCL_COMMAND_LINE_ENABLED
   // ensure assumption about static storage
   static_assert(
     sizeof(context.instance_id_storage) >= sizeof(atomic_uint_least64_t),
@@ -112,6 +114,7 @@ __cleanup_context(rcl_context_t * context)
   // reset the instance id to 0 to indicate "invalid" (should already be 0, but this is defensive)
   rcutils_atomic_store((atomic_uint_least64_t *)(&context->instance_id_storage), 0);
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   // clean up global_arguments if initialized
   if (NULL != context->global_arguments.impl) {
     ret = rcl_arguments_fini(&(context->global_arguments));
@@ -124,6 +127,7 @@ __cleanup_context(rcl_context_t * context)
       rcl_reset_error();
     }
   }
+#endif // RCL_COMMAND_LINE_ENABLED
 
   // if impl is null, nothing else can be cleaned up
   if (NULL != context->impl) {
diff --git a/rcl/src/rcl/init.c b/rcl/src/rcl/init.c
index d8f7dd44ac..b642424fe7 100644
--- a/rcl/src/rcl/init.c
+++ b/rcl/src/rcl/init.c
@@ -27,15 +27,21 @@ extern "C"
 
 #include "tracetools/tracetools.h"
 
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "rcl/domain_id.h"
 #include "rcl/error_handling.h"
 #include "rcl/localhost.h"
+#ifdef RCL_LOGGING_ENABLED
 #include "rcl/logging.h"
+#endif // RCL_LOGGING_ENABLED
 #include "rcl/security.h"
 #include "rcl/validate_enclave_name.h"
 
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "./arguments_impl.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "./common.h"
 #include "./context_impl.h"
 #include "./init_options_impl.h"
@@ -80,8 +86,10 @@ rcl_init(
     return RCL_RET_ALREADY_INIT;
   }
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   // Zero initialize global arguments.
   context->global_arguments = rcl_get_zero_initialized_arguments();
+#endif // RCL_COMMAND_LINE_ENABLED
 
   // Setup impl for context.
   // use zero_allocate so the cleanup function will not try to clean up uninitialized parts later
@@ -123,6 +131,7 @@ rcl_init(
     }
   }
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   // Parse the ROS specific arguments.
   ret = rcl_parse_arguments(argc, argv, allocator, &context->global_arguments);
   if (RCL_RET_OK != ret) {
@@ -130,6 +139,7 @@ rcl_init(
     RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to parse global arguments");
     goto fail;
   }
+#endif // RCL_COMMAND_LINE_ENABLED
 
   // Set the instance id.
   uint64_t next_instance_id = rcutils_atomic_fetch_add_uint64_t(&__rcl_next_unique_id, 1);
@@ -164,6 +174,7 @@ rcl_init(
     }
   }
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   if (context->global_arguments.impl->enclave) {
     context->impl->init_options.impl->rmw_init_options.enclave = rcutils_strdup(
       context->global_arguments.impl->enclave,
@@ -178,6 +189,7 @@ rcl_init(
     fail_ret = RCL_RET_BAD_ALLOC;
     goto fail;
   }
+#endif //RCL_COMMAND_LINE_ENABLED
 
   int validation_result;
   size_t invalid_index;
diff --git a/rcl/src/rcl/logging.c b/rcl/src/rcl/logging.c
index 7fa76442bd..869f7edfae 100644
--- a/rcl/src/rcl/logging.c
+++ b/rcl/src/rcl/logging.c
@@ -67,9 +67,13 @@ rcl_logging_configure_with_output_handler(
   int default_level = -1;
   rcl_log_levels_t * log_levels = &global_args->impl->log_levels;
   const char * config_file = global_args->impl->external_log_config_file;
-  g_rcl_logging_stdout_enabled = !global_args->impl->log_stdout_disabled;
-  g_rcl_logging_rosout_enabled = !global_args->impl->log_rosout_disabled;
-  g_rcl_logging_ext_lib_enabled = !global_args->impl->log_ext_lib_disabled;
+  bool global_disable = false;
+  #ifdef RCUTILS_NO_LOGGING
+    global_disable = true;
+  #endif
+  g_rcl_logging_stdout_enabled = !global_args->impl->log_stdout_disabled && !global_disable;
+  g_rcl_logging_rosout_enabled = !global_args->impl->log_rosout_disabled && !global_disable;
+  g_rcl_logging_ext_lib_enabled = !global_args->impl->log_ext_lib_disabled && !global_disable;
   rcl_ret_t status = RCL_RET_OK;
   g_rcl_logging_num_out_handlers = 0;
 
diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
index fe8a947fb3..870a6b63a6 100644
--- a/rcl/src/rcl/node.c
+++ b/rcl/src/rcl/node.c
@@ -24,12 +24,16 @@ extern "C"
 #include <stdlib.h>
 #include <string.h>
 
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "rcl/error_handling.h"
 #include "rcl/init_options.h"
 #include "rcl/localhost.h"
+#ifdef RCL_LOGGING_ENABLED
 #include "rcl/logging.h"
 #include "rcl/logging_rosout.h"
+#endif // RCL_LOGGING_ENABLED
 #include "rcl/rcl.h"
 #include "rcl/remap.h"
 #include "rcl/security.h"
@@ -212,6 +216,7 @@ rcl_node_init(
     goto fail;
   }
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   // Remap the node name and namespace if remap rules are given
   rcl_arguments_t * global_args = NULL;
   if (node->impl->options.use_global_arguments) {
@@ -238,6 +243,7 @@ rcl_node_init(
     should_free_local_namespace_ = true;
     local_namespace_ = remapped_namespace;
   }
+#endif // RCL_COMMAND_LINE_ENABLED
 
   // compute fully qualfied name of the node.
   if ('/' == local_namespace_[strlen(local_namespace_) - 1]) {
@@ -282,6 +288,7 @@ rcl_node_init(
     // error message already set
     goto fail;
   }
+#ifdef RCL_LOGGING_ENABLED
   // The initialization for the rosout publisher requires the node to be in initialized to a point
   // that it can create new topic publishers
   if (rcl_logging_rosout_enabled() && node->impl->options.enable_rosout) {
@@ -291,6 +298,7 @@ rcl_node_init(
       goto fail;
     }
   }
+#endif // RCL_LOGGING_ENABLED
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Node initialized");
   ret = RCL_RET_OK;
   TRACEPOINT(
@@ -302,6 +310,7 @@ rcl_node_init(
   goto cleanup;
 fail:
   if (node->impl) {
+#ifdef RCL_LOGGING_ENABLED
     if (rcl_logging_rosout_enabled() &&
       node->impl->options.enable_rosout &&
       node->impl->logger_name)
@@ -312,6 +321,7 @@ rcl_node_init(
         ROS_PACKAGE_NAME, "Failed to fini publisher for node: %i", ret);
       allocator->deallocate((char *)node->impl->logger_name, allocator->state);
     }
+#endif // RCL_LOGGING_ENABLED
     if (node->impl->fq_name) {
       allocator->deallocate((char *)node->impl->fq_name, allocator->state);
     }
@@ -334,6 +344,8 @@ rcl_node_init(
       }
       allocator->deallocate(node->impl->graph_guard_condition, allocator->state);
     }
+
+#ifdef RCL_COMMAND_LINE_ENABLED
     if (NULL != node->impl->options.arguments.impl) {
       ret = rcl_arguments_fini(&(node->impl->options.arguments));
       if (ret != RCL_RET_OK) {
@@ -343,6 +355,7 @@ rcl_node_init(
         );
       }
     }
+#endif // RCL_COMMAND_LINE_ENABLED
     allocator->deallocate(node->impl, allocator->state);
   }
   *node = rcl_get_zero_initialized_node();
@@ -372,6 +385,7 @@ rcl_node_fini(rcl_node_t * node)
   rcl_allocator_t allocator = node->impl->options.allocator;
   rcl_ret_t result = RCL_RET_OK;
   rcl_ret_t rcl_ret = RCL_RET_OK;
+#ifdef RCL_LOGGING_ENABLED
   if (rcl_logging_rosout_enabled() && node->impl->options.enable_rosout) {
     rcl_ret = rcl_logging_rosout_fini_publisher_for_node(node);
     if (rcl_ret != RCL_RET_OK && rcl_ret != RCL_RET_NOT_INIT) {
@@ -379,6 +393,7 @@ rcl_node_fini(rcl_node_t * node)
       result = RCL_RET_ERROR;
     }
   }
+#endif // RCL_LOGGING_ENABLED
   rmw_ret_t rmw_ret = rmw_destroy_node(node->impl->rmw_node_handle);
   if (rmw_ret != RMW_RET_OK) {
     RCL_SET_ERROR_MSG(rmw_get_error_string().str);
@@ -393,12 +408,14 @@ rcl_node_fini(rcl_node_t * node)
   // assuming that allocate and deallocate are ok since they are checked in init
   allocator.deallocate((char *)node->impl->logger_name, allocator.state);
   allocator.deallocate((char *)node->impl->fq_name, allocator.state);
+#ifdef RCL_COMMAND_LINE_ENABLED
   if (NULL != node->impl->options.arguments.impl) {
     rcl_ret_t ret = rcl_arguments_fini(&(node->impl->options.arguments));
     if (ret != RCL_RET_OK) {
       return ret;
     }
   }
+#endif // RCL_COMMAND_LINE_ENABLED
   allocator.deallocate(node->impl, allocator.state);
   node->impl = NULL;
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Node finalized");
diff --git a/rcl/src/rcl/node_options.c b/rcl/src/rcl/node_options.c
index 34408f18b4..20832f881d 100644
--- a/rcl/src/rcl/node_options.c
+++ b/rcl/src/rcl/node_options.c
@@ -21,10 +21,14 @@ extern "C"
 
 #include "rcl/node_options.h"
 
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "rcl/domain_id.h"
 #include "rcl/error_handling.h"
+#ifdef RCL_LOGGING_ENABLED
 #include "rcl/logging_rosout.h"
+#endif // RCL_LOGGING_ENABLED
 
 rcl_node_options_t
 rcl_node_get_default_options()
@@ -33,9 +37,15 @@ rcl_node_get_default_options()
   rcl_node_options_t default_options = {
     .allocator = rcl_get_default_allocator(),
     .use_global_arguments = true,
+  #ifdef RCL_COMMAND_LINE_ENABLED
     .arguments = rcl_get_zero_initialized_arguments(),
+  #endif // RCL_COMMAND_LINE_ENABLED
+  #ifdef RCL_LOGGING_ENABLED
     .enable_rosout = true,
     .rosout_qos = rcl_qos_profile_rosout_default,
+  #else
+    .enable_rosout = false,
+  #endif // RCL_LOGGING_ENABLED
   };
   return default_options;
 }
@@ -53,17 +63,22 @@ rcl_node_options_copy(
     RCL_SET_ERROR_MSG("Attempted to copy options into itself");
     return RCL_RET_INVALID_ARGUMENT;
   }
+#ifdef RCL_COMMAND_LINE_ENABLED
   if (NULL != options_out->arguments.impl) {
     RCL_SET_ERROR_MSG("Options out must be zero initialized");
     return RCL_RET_INVALID_ARGUMENT;
   }
+#endif // RCL_COMMAND_LINE_ENABLED
+
   options_out->allocator = options->allocator;
   options_out->use_global_arguments = options->use_global_arguments;
   options_out->enable_rosout = options->enable_rosout;
   options_out->rosout_qos = options->rosout_qos;
+#ifdef RCL_COMMAND_LINE_ENABLED
   if (NULL != options->arguments.impl) {
     return rcl_arguments_copy(&(options->arguments), &(options_out->arguments));
   }
+#endif // RCL_COMMAND_LINE_ENABLED
   return RCL_RET_OK;
 }
 
@@ -75,6 +90,7 @@ rcl_node_options_fini(
   rcl_allocator_t allocator = options->allocator;
   RCL_CHECK_ALLOCATOR(&allocator, return RCL_RET_INVALID_ARGUMENT);
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   if (options->arguments.impl) {
     rcl_ret_t ret = rcl_arguments_fini(&options->arguments);
     if (RCL_RET_OK != ret) {
@@ -82,6 +98,7 @@ rcl_node_options_fini(
       return ret;
     }
   }
+#endif // RCL_COMMAND_LINE_ENABLED
 
   return RCL_RET_OK;
 }
diff --git a/rcl/src/rcl/node_resolve_name.c b/rcl/src/rcl/node_resolve_name.c
index 9c2667669a..5f01de4be5 100644
--- a/rcl/src/rcl/node_resolve_name.c
+++ b/rcl/src/rcl/node_resolve_name.c
@@ -75,6 +75,7 @@ rcl_resolve_name(
     goto cleanup;
   }
   // remap topic name
+#ifdef RCL_COMMAND_LINE_ENABLED
   if (!only_expand) {
     ret = rcl_remap_name(
       local_args, global_args, is_service ? RCL_SERVICE_REMAP : RCL_TOPIC_REMAP,
@@ -84,6 +85,7 @@ rcl_resolve_name(
       goto cleanup;
     }
   }
+#endif // RCL_COMMAND_LINE_ENABLED
   if (NULL == remapped_topic_name) {
     remapped_topic_name = expanded_topic_name;
     expanded_topic_name = NULL;
@@ -145,12 +147,18 @@ rcl_node_resolve_name(
     return RCL_RET_ERROR;
   }
   rcl_arguments_t * global_args = NULL;
+#ifdef RCL_COMMAND_LINE_ENABLED
   if (node_options->use_global_arguments) {
     global_args = &(node->context->global_arguments);
   }
+#endif // RCL_COMMAND_LINE_ENABLED
 
   return rcl_resolve_name(
+#ifdef RCL_COMMAND_LINE_ENABLED
     &(node_options->arguments),
+#else
+    NULL,
+#endif // RCL_COMMAND_LINE_ENABLED
     global_args,
     input_topic_name,
     rcl_node_get_name(node),