diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt
index 160aae1f4..108e67071 100644
--- a/rmw_fastrtps_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_cpp/CMakeLists.txt
@@ -53,7 +53,6 @@ add_library(rmw_fastrtps_cpp
   src/get_service.cpp
   src/get_subscriber.cpp
   src/identifier.cpp
-  src/qos.cpp
   src/rmw_logging.cpp
   src/rmw_client.cpp
   src/rmw_compare_gids_equal.cpp
diff --git a/rmw_fastrtps_cpp/src/qos.cpp b/rmw_fastrtps_cpp/src/qos.cpp
deleted file mode 100644
index 53b2b6262..000000000
--- a/rmw_fastrtps_cpp/src/qos.cpp
+++ /dev/null
@@ -1,160 +0,0 @@
-// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <limits>
-
-#include "qos.hpp"
-
-#include "fastrtps/attributes/PublisherAttributes.h"
-#include "fastrtps/attributes/SubscriberAttributes.h"
-
-#include "rmw/error_handling.h"
-
-extern "C"
-{
-bool
-get_datareader_qos(
-  const rmw_qos_profile_t & qos_policies,
-  eprosima::fastrtps::SubscriberAttributes & sattr)
-{
-  switch (qos_policies.history) {
-    case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
-      sattr.topic.historyQos.kind = eprosima::fastrtps::KEEP_LAST_HISTORY_QOS;
-      break;
-    case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
-      sattr.topic.historyQos.kind = eprosima::fastrtps::KEEP_ALL_HISTORY_QOS;
-      break;
-    case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
-      break;
-    default:
-      RMW_SET_ERROR_MSG("Unknown QoS history policy");
-      return false;
-  }
-
-  switch (qos_policies.reliability) {
-    case RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT:
-      sattr.qos.m_reliability.kind = eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS;
-      break;
-    case RMW_QOS_POLICY_RELIABILITY_RELIABLE:
-      sattr.qos.m_reliability.kind = eprosima::fastrtps::RELIABLE_RELIABILITY_QOS;
-      break;
-    case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
-      break;
-    default:
-      RMW_SET_ERROR_MSG("Unknown QoS reliability policy");
-      return false;
-  }
-
-  switch (qos_policies.durability) {
-    case RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:
-      sattr.qos.m_durability.kind = eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS;
-      break;
-    case RMW_QOS_POLICY_DURABILITY_VOLATILE:
-      sattr.qos.m_durability.kind = eprosima::fastrtps::VOLATILE_DURABILITY_QOS;
-      break;
-    case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
-      break;
-    default:
-      RMW_SET_ERROR_MSG("Unknown QoS durability policy");
-      return false;
-  }
-
-  if (qos_policies.depth != RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT) {
-    sattr.topic.historyQos.depth = static_cast<int32_t>(qos_policies.depth);
-  }
-
-  // ensure the history depth is at least the requested queue size
-  assert(sattr.topic.historyQos.depth >= 0);
-  if (
-    eprosima::fastrtps::KEEP_LAST_HISTORY_QOS == sattr.topic.historyQos.kind &&
-    static_cast<size_t>(sattr.topic.historyQos.depth) < qos_policies.depth)
-  {
-    if (qos_policies.depth > (std::numeric_limits<int32_t>::max)()) {
-      RMW_SET_ERROR_MSG(
-        "failed to set history depth since the requested queue size exceeds the DDS type");
-      return false;
-    }
-    sattr.topic.historyQos.depth = static_cast<int32_t>(qos_policies.depth);
-  }
-
-  return true;
-}
-
-bool
-get_datawriter_qos(
-  const rmw_qos_profile_t & qos_policies, eprosima::fastrtps::PublisherAttributes & pattr)
-{
-  switch (qos_policies.history) {
-    case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
-      pattr.topic.historyQos.kind = eprosima::fastrtps::KEEP_LAST_HISTORY_QOS;
-      break;
-    case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
-      pattr.topic.historyQos.kind = eprosima::fastrtps::KEEP_ALL_HISTORY_QOS;
-      break;
-    case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
-      break;
-    default:
-      RMW_SET_ERROR_MSG("Unknown QoS history policy");
-      return false;
-  }
-
-  switch (qos_policies.durability) {
-    case RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:
-      pattr.qos.m_durability.kind = eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS;
-      break;
-    case RMW_QOS_POLICY_DURABILITY_VOLATILE:
-      pattr.qos.m_durability.kind = eprosima::fastrtps::VOLATILE_DURABILITY_QOS;
-      break;
-    case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
-      break;
-    default:
-      RMW_SET_ERROR_MSG("Unknown QoS durability policy");
-      return false;
-  }
-
-  switch (qos_policies.reliability) {
-    case RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT:
-      pattr.qos.m_reliability.kind = eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS;
-      break;
-    case RMW_QOS_POLICY_RELIABILITY_RELIABLE:
-      pattr.qos.m_reliability.kind = eprosima::fastrtps::RELIABLE_RELIABILITY_QOS;
-      break;
-    case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
-      break;
-    default:
-      RMW_SET_ERROR_MSG("Unknown QoS reliability policy");
-      return false;
-  }
-
-  if (qos_policies.depth != RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT) {
-    pattr.topic.historyQos.depth = static_cast<int32_t>(qos_policies.depth);
-  }
-
-  // ensure the history depth is at least the requested queue size
-  assert(pattr.topic.historyQos.depth >= 0);
-  if (
-    eprosima::fastrtps::KEEP_LAST_HISTORY_QOS == pattr.topic.historyQos.kind &&
-    static_cast<size_t>(pattr.topic.historyQos.depth) < qos_policies.depth)
-  {
-    if (qos_policies.depth > (std::numeric_limits<int32_t>::max)()) {
-      RMW_SET_ERROR_MSG(
-        "failed to set history depth since the requested queue size exceeds the DDS type");
-      return false;
-    }
-    pattr.topic.historyQos.depth = static_cast<int32_t>(qos_policies.depth);
-  }
-
-  return true;
-}
-}  // extern "C"
diff --git a/rmw_fastrtps_cpp/src/qos.hpp b/rmw_fastrtps_cpp/src/qos.hpp
deleted file mode 100644
index c490929b6..000000000
--- a/rmw_fastrtps_cpp/src/qos.hpp
+++ /dev/null
@@ -1,45 +0,0 @@
-// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef QOS_HPP_
-#define QOS_HPP_
-
-#include "rmw/rmw.h"
-
-namespace eprosima
-{
-namespace fastrtps
-{
-class SubscriberAttributes;
-class PublisherAttributes;
-}  // namespace fastrtps
-}  // namespace eprosima
-
-extern "C"
-{
-RMW_LOCAL
-bool
-get_datareader_qos(
-  const rmw_qos_profile_t & qos_policies,
-  eprosima::fastrtps::SubscriberAttributes & sattr);
-
-RMW_LOCAL
-bool
-get_datawriter_qos(
-  const rmw_qos_profile_t & qos_policies,
-  eprosima::fastrtps::PublisherAttributes & pattr);
-}
-// extern "C"
-
-#endif  // QOS_HPP_
diff --git a/rmw_fastrtps_cpp/src/rmw_client.cpp b/rmw_fastrtps_cpp/src/rmw_client.cpp
index b70c47ef2..74048cb90 100644
--- a/rmw_fastrtps_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_client.cpp
@@ -22,11 +22,11 @@
 #include "rmw_fastrtps_shared_cpp/custom_client_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
 #include "rmw_fastrtps_cpp/identifier.hpp"
 
-#include "./qos.hpp"
 #include "./type_support_common.hpp"
 
 using Domain = eprosima::fastrtps::Domain;
diff --git a/rmw_fastrtps_cpp/src/rmw_node.cpp b/rmw_fastrtps_cpp/src/rmw_node.cpp
index 8e37ed129..74c6e2e07 100644
--- a/rmw_fastrtps_cpp/src/rmw_node.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_node.cpp
@@ -57,6 +57,13 @@ rmw_destroy_node(rmw_node_t * node)
     eprosima_fastrtps_identifier, node);
 }
 
+rmw_ret_t
+rmw_node_assert_liveliness(const rmw_node_t * node)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_node_assert_liveliness(
+    eprosima_fastrtps_identifier, node);
+}
+
 const rmw_guard_condition_t *
 rmw_node_get_graph_guard_condition(const rmw_node_t * node)
 {
diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
index 873301f01..2c299f0bb 100644
--- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -18,14 +18,14 @@
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
-#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
 #include "rmw_fastrtps_cpp/identifier.hpp"
 
-#include "./qos.hpp"
 #include "./type_support_common.hpp"
 
 using Domain = eprosima::fastrtps::Domain;
@@ -111,6 +111,10 @@ rmw_create_publisher(
   eprosima::fastrtps::PublisherAttributes publisherParam;
   const eprosima::fastrtps::rtps::GUID_t * guid = nullptr;
 
+  if (!is_valid_qos(*qos_policies)) {
+    return nullptr;
+  }
+
   // Load default XML profile.
   Domain::getDefaultPublisherAttributes(publisherParam);
 
@@ -233,6 +237,13 @@ rmw_publisher_count_matched_subscriptions(
     publisher, subscription_count);
 }
 
+rmw_ret_t
+rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_publisher_assert_liveliness(
+    eprosima_fastrtps_identifier, publisher);
+}
+
 rmw_ret_t
 rmw_publisher_get_actual_qos(
   const rmw_publisher_t * publisher,
diff --git a/rmw_fastrtps_cpp/src/rmw_service.cpp b/rmw_fastrtps_cpp/src/rmw_service.cpp
index 0409ff820..54b61b386 100644
--- a/rmw_fastrtps_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_service.cpp
@@ -30,15 +30,15 @@
 #include "rmw/allocators.h"
 #include "rmw/rmw.h"
 
-#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_service_info.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
 #include "rmw_fastrtps_cpp/identifier.hpp"
 
 #include "./type_support_common.hpp"
-#include "./qos.hpp"
 
 using Domain = eprosima::fastrtps::Domain;
 using Participant = eprosima::fastrtps::Participant;
diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
index 4d92c958f..f21995001 100644
--- a/rmw_fastrtps_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -19,17 +19,17 @@
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
-#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
 #include "fastrtps/participant/Participant.h"
 #include "fastrtps/subscriber/Subscriber.h"
 
 #include "rmw_fastrtps_cpp/identifier.hpp"
 
-#include "./qos.hpp"
 #include "./type_support_common.hpp"
 
 using Domain = eprosima::fastrtps::Domain;
@@ -110,6 +110,10 @@ rmw_create_subscription(
     }
   }
 
+  if (!is_valid_qos(*qos_policies)) {
+    return nullptr;
+  }
+
   (void)ignore_local_publications;
   CustomSubscriberInfo * info = nullptr;
   rmw_subscription_t * rmw_subscription = nullptr;
diff --git a/rmw_fastrtps_cpp/src/rmw_take.cpp b/rmw_fastrtps_cpp/src/rmw_take.cpp
index 228df03e8..3cf729047 100644
--- a/rmw_fastrtps_cpp/src/rmw_take.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_take.cpp
@@ -69,4 +69,14 @@ rmw_take_serialized_message_with_info(
     eprosima_fastrtps_identifier, subscription, serialized_message, taken, message_info,
     allocation);
 }
+
+rmw_ret_t
+rmw_take_event(
+  const rmw_event_t * event_handle,
+  void * event_info,
+  bool * taken)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_take_event(
+    eprosima_fastrtps_identifier, event_handle, event_info, taken);
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_cpp/src/rmw_wait.cpp b/rmw_fastrtps_cpp/src/rmw_wait.cpp
index 5ec82be64..c58b0b9be 100644
--- a/rmw_fastrtps_cpp/src/rmw_wait.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_wait.cpp
@@ -25,10 +25,11 @@ rmw_wait(
   rmw_guard_conditions_t * guard_conditions,
   rmw_services_t * services,
   rmw_clients_t * clients,
+  rmw_events_t * events,
   rmw_wait_set_t * wait_set,
   const rmw_time_t * wait_timeout)
 {
   return rmw_fastrtps_shared_cpp::__rmw_wait(
-    subscriptions, guard_conditions, services, clients, wait_set, wait_timeout);
+    subscriptions, guard_conditions, services, clients, events, wait_set, wait_timeout);
 }
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
index 8551ad6f0..51f335679 100644
--- a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
@@ -54,7 +54,6 @@ add_library(rmw_fastrtps_dynamic_cpp
   src/get_service.cpp
   src/get_subscriber.cpp
   src/identifier.cpp
-  src/qos.cpp
   src/rmw_logging.cpp
   src/rmw_client.cpp
   src/rmw_compare_gids_equal.cpp
diff --git a/rmw_fastrtps_dynamic_cpp/src/qos.cpp b/rmw_fastrtps_dynamic_cpp/src/qos.cpp
deleted file mode 100644
index 53b2b6262..000000000
--- a/rmw_fastrtps_dynamic_cpp/src/qos.cpp
+++ /dev/null
@@ -1,160 +0,0 @@
-// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <limits>
-
-#include "qos.hpp"
-
-#include "fastrtps/attributes/PublisherAttributes.h"
-#include "fastrtps/attributes/SubscriberAttributes.h"
-
-#include "rmw/error_handling.h"
-
-extern "C"
-{
-bool
-get_datareader_qos(
-  const rmw_qos_profile_t & qos_policies,
-  eprosima::fastrtps::SubscriberAttributes & sattr)
-{
-  switch (qos_policies.history) {
-    case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
-      sattr.topic.historyQos.kind = eprosima::fastrtps::KEEP_LAST_HISTORY_QOS;
-      break;
-    case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
-      sattr.topic.historyQos.kind = eprosima::fastrtps::KEEP_ALL_HISTORY_QOS;
-      break;
-    case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
-      break;
-    default:
-      RMW_SET_ERROR_MSG("Unknown QoS history policy");
-      return false;
-  }
-
-  switch (qos_policies.reliability) {
-    case RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT:
-      sattr.qos.m_reliability.kind = eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS;
-      break;
-    case RMW_QOS_POLICY_RELIABILITY_RELIABLE:
-      sattr.qos.m_reliability.kind = eprosima::fastrtps::RELIABLE_RELIABILITY_QOS;
-      break;
-    case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
-      break;
-    default:
-      RMW_SET_ERROR_MSG("Unknown QoS reliability policy");
-      return false;
-  }
-
-  switch (qos_policies.durability) {
-    case RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:
-      sattr.qos.m_durability.kind = eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS;
-      break;
-    case RMW_QOS_POLICY_DURABILITY_VOLATILE:
-      sattr.qos.m_durability.kind = eprosima::fastrtps::VOLATILE_DURABILITY_QOS;
-      break;
-    case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
-      break;
-    default:
-      RMW_SET_ERROR_MSG("Unknown QoS durability policy");
-      return false;
-  }
-
-  if (qos_policies.depth != RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT) {
-    sattr.topic.historyQos.depth = static_cast<int32_t>(qos_policies.depth);
-  }
-
-  // ensure the history depth is at least the requested queue size
-  assert(sattr.topic.historyQos.depth >= 0);
-  if (
-    eprosima::fastrtps::KEEP_LAST_HISTORY_QOS == sattr.topic.historyQos.kind &&
-    static_cast<size_t>(sattr.topic.historyQos.depth) < qos_policies.depth)
-  {
-    if (qos_policies.depth > (std::numeric_limits<int32_t>::max)()) {
-      RMW_SET_ERROR_MSG(
-        "failed to set history depth since the requested queue size exceeds the DDS type");
-      return false;
-    }
-    sattr.topic.historyQos.depth = static_cast<int32_t>(qos_policies.depth);
-  }
-
-  return true;
-}
-
-bool
-get_datawriter_qos(
-  const rmw_qos_profile_t & qos_policies, eprosima::fastrtps::PublisherAttributes & pattr)
-{
-  switch (qos_policies.history) {
-    case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
-      pattr.topic.historyQos.kind = eprosima::fastrtps::KEEP_LAST_HISTORY_QOS;
-      break;
-    case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
-      pattr.topic.historyQos.kind = eprosima::fastrtps::KEEP_ALL_HISTORY_QOS;
-      break;
-    case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
-      break;
-    default:
-      RMW_SET_ERROR_MSG("Unknown QoS history policy");
-      return false;
-  }
-
-  switch (qos_policies.durability) {
-    case RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:
-      pattr.qos.m_durability.kind = eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS;
-      break;
-    case RMW_QOS_POLICY_DURABILITY_VOLATILE:
-      pattr.qos.m_durability.kind = eprosima::fastrtps::VOLATILE_DURABILITY_QOS;
-      break;
-    case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
-      break;
-    default:
-      RMW_SET_ERROR_MSG("Unknown QoS durability policy");
-      return false;
-  }
-
-  switch (qos_policies.reliability) {
-    case RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT:
-      pattr.qos.m_reliability.kind = eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS;
-      break;
-    case RMW_QOS_POLICY_RELIABILITY_RELIABLE:
-      pattr.qos.m_reliability.kind = eprosima::fastrtps::RELIABLE_RELIABILITY_QOS;
-      break;
-    case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
-      break;
-    default:
-      RMW_SET_ERROR_MSG("Unknown QoS reliability policy");
-      return false;
-  }
-
-  if (qos_policies.depth != RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT) {
-    pattr.topic.historyQos.depth = static_cast<int32_t>(qos_policies.depth);
-  }
-
-  // ensure the history depth is at least the requested queue size
-  assert(pattr.topic.historyQos.depth >= 0);
-  if (
-    eprosima::fastrtps::KEEP_LAST_HISTORY_QOS == pattr.topic.historyQos.kind &&
-    static_cast<size_t>(pattr.topic.historyQos.depth) < qos_policies.depth)
-  {
-    if (qos_policies.depth > (std::numeric_limits<int32_t>::max)()) {
-      RMW_SET_ERROR_MSG(
-        "failed to set history depth since the requested queue size exceeds the DDS type");
-      return false;
-    }
-    pattr.topic.historyQos.depth = static_cast<int32_t>(qos_policies.depth);
-  }
-
-  return true;
-}
-}  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/qos.hpp b/rmw_fastrtps_dynamic_cpp/src/qos.hpp
deleted file mode 100644
index c490929b6..000000000
--- a/rmw_fastrtps_dynamic_cpp/src/qos.hpp
+++ /dev/null
@@ -1,45 +0,0 @@
-// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef QOS_HPP_
-#define QOS_HPP_
-
-#include "rmw/rmw.h"
-
-namespace eprosima
-{
-namespace fastrtps
-{
-class SubscriberAttributes;
-class PublisherAttributes;
-}  // namespace fastrtps
-}  // namespace eprosima
-
-extern "C"
-{
-RMW_LOCAL
-bool
-get_datareader_qos(
-  const rmw_qos_profile_t & qos_policies,
-  eprosima::fastrtps::SubscriberAttributes & sattr);
-
-RMW_LOCAL
-bool
-get_datawriter_qos(
-  const rmw_qos_profile_t & qos_policies,
-  eprosima::fastrtps::PublisherAttributes & pattr);
-}
-// extern "C"
-
-#endif  // QOS_HPP_
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
index 0cbf937b2..3121319eb 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
@@ -23,15 +23,17 @@
 
 #include "rosidl_typesupport_introspection_c/identifier.h"
 
-#include "client_service_common.hpp"
-#include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
-#include "qos.hpp"
-#include "type_support_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_client_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
+#include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
+
+#include "client_service_common.hpp"
+#include "type_support_common.hpp"
+
 using Domain = eprosima::fastrtps::Domain;
 using Participant = eprosima::fastrtps::Participant;
 using TopicDataType = eprosima::fastrtps::TopicDataType;
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_node.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_node.cpp
index 9c740eb63..5bf5072ec 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_node.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_node.cpp
@@ -57,6 +57,13 @@ rmw_destroy_node(rmw_node_t * node)
     eprosima_fastrtps_identifier, node);
 }
 
+rmw_ret_t
+rmw_node_assert_liveliness(const rmw_node_t * node)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_node_assert_liveliness(
+    eprosima_fastrtps_identifier, node);
+}
+
 const rmw_guard_condition_t *
 rmw_node_get_graph_guard_condition(const rmw_node_t * node)
 {
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
index 5eb9f967a..ea78585bc 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
@@ -18,13 +18,14 @@
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
-#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
 #include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
-#include "qos.hpp"
+
 #include "type_support_common.hpp"
 
 using Domain = eprosima::fastrtps::Domain;
@@ -105,6 +106,10 @@ rmw_create_publisher(
     }
   }
 
+  if (!is_valid_qos(*qos_policies)) {
+    return nullptr;
+  }
+
   CustomPublisherInfo * info = nullptr;
   rmw_publisher_t * rmw_publisher = nullptr;
   eprosima::fastrtps::PublisherAttributes publisherParam;
@@ -228,6 +233,13 @@ rmw_publisher_count_matched_subscriptions(
     publisher, subscription_count);
 }
 
+rmw_ret_t
+rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_publisher_assert_liveliness(
+    eprosima_fastrtps_identifier, publisher);
+}
+
 rmw_ret_t
 rmw_publisher_get_actual_qos(
   const rmw_publisher_t * publisher,
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
index f11c8b0b1..86db42797 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
@@ -35,13 +35,15 @@
 #include "rosidl_typesupport_introspection_cpp/identifier.hpp"
 #include "rosidl_typesupport_introspection_c/identifier.h"
 
-#include "type_support_common.hpp"
-#include "client_service_common.hpp"
-#include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
-#include "qos.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_service_info.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
+
+#include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
+
+#include "type_support_common.hpp"
+#include "client_service_common.hpp"
 
 using Domain = eprosima::fastrtps::Domain;
 using Participant = eprosima::fastrtps::Participant;
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
index 08e3c3e90..93e35ea03 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
@@ -19,17 +19,17 @@
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
-#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
 #include "fastrtps/participant/Participant.h"
 #include "fastrtps/subscriber/Subscriber.h"
 
 #include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
 
-#include "qos.hpp"
 #include "type_support_common.hpp"
 
 using Domain = eprosima::fastrtps::Domain;
@@ -110,6 +110,10 @@ rmw_create_subscription(
     }
   }
 
+  if (!is_valid_qos(*qos_policies)) {
+    return nullptr;
+  }
+
   (void)ignore_local_publications;
   CustomSubscriberInfo * info = nullptr;
   rmw_subscription_t * rmw_subscription = nullptr;
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp
index 9c2ea1533..e9c936169 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp
@@ -69,4 +69,14 @@ rmw_take_serialized_message_with_info(
     eprosima_fastrtps_identifier, subscription, serialized_message, taken, message_info,
     allocation);
 }
+
+rmw_ret_t
+rmw_take_event(
+  const rmw_event_t * event_handle,
+  void * event_info,
+  bool * taken)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_take_event(
+    eprosima_fastrtps_identifier, event_handle, event_info, taken);
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_wait.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_wait.cpp
index 5ec82be64..c58b0b9be 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_wait.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_wait.cpp
@@ -25,10 +25,11 @@ rmw_wait(
   rmw_guard_conditions_t * guard_conditions,
   rmw_services_t * services,
   rmw_clients_t * clients,
+  rmw_events_t * events,
   rmw_wait_set_t * wait_set,
   const rmw_time_t * wait_timeout)
 {
   return rmw_fastrtps_shared_cpp::__rmw_wait(
-    subscriptions, guard_conditions, services, clients, wait_set, wait_timeout);
+    subscriptions, guard_conditions, services, clients, events, wait_set, wait_timeout);
 }
 }  // extern "C"
diff --git a/rmw_fastrtps_shared_cpp/src/qos.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
similarity index 72%
rename from rmw_fastrtps_shared_cpp/src/qos.hpp
rename to rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
index c490929b6..90f77f24a 100644
--- a/rmw_fastrtps_shared_cpp/src/qos.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
@@ -12,11 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef QOS_HPP_
-#define QOS_HPP_
+#ifndef RMW_FASTRTPS_SHARED_CPP__QOS_HPP_
+#define RMW_FASTRTPS_SHARED_CPP__QOS_HPP_
 
 #include "rmw/rmw.h"
 
+#include "./visibility_control.h"
+
 namespace eprosima
 {
 namespace fastrtps
@@ -26,20 +28,26 @@ class PublisherAttributes;
 }  // namespace fastrtps
 }  // namespace eprosima
 
-extern "C"
-{
-RMW_LOCAL
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
 bool
 get_datareader_qos(
   const rmw_qos_profile_t & qos_policies,
   eprosima::fastrtps::SubscriberAttributes & sattr);
 
-RMW_LOCAL
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
 bool
 get_datawriter_qos(
   const rmw_qos_profile_t & qos_policies,
   eprosima::fastrtps::PublisherAttributes & pattr);
-}
-// extern "C"
 
-#endif  // QOS_HPP_
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+bool
+is_time_default(
+  const rmw_time_t & time);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+bool
+is_valid_qos(
+  const rmw_qos_profile_t & qos_policies);
+
+#endif  // RMW_FASTRTPS_SHARED_CPP__QOS_HPP_
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
index ee38c769b..9dfcdc689 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
@@ -20,6 +20,7 @@
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 #include "rmw/types.h"
+#include "rmw/event.h"
 #include "rmw/names_and_types.h"
 
 namespace rmw_fastrtps_shared_cpp
@@ -96,6 +97,12 @@ __rmw_destroy_node(
   const char * identifier,
   rmw_node_t * node);
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_node_assert_liveliness(
+  const char * identifier,
+  const rmw_node_t * node);
+
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 const rmw_guard_condition_t *
 __rmw_node_get_graph_guard_condition(const rmw_node_t * node);
@@ -124,6 +131,12 @@ __rmw_publish_serialized_message(
   const rmw_serialized_message_t * serialized_message,
   rmw_publisher_allocation_t * allocation);
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_publisher_assert_liveliness(
+  const char * identifier,
+  const rmw_publisher_t * publisher);
+
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
 __rmw_destroy_publisher(
@@ -254,6 +267,14 @@ __rmw_take(
   bool * taken,
   rmw_subscription_allocation_t * allocation);
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_take_event(
+  const char * identifier,
+  const rmw_event_t * event_handle,
+  void * event_info,
+  bool * taken);
+
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
 __rmw_take_with_info(
@@ -299,6 +320,7 @@ __rmw_wait(
   rmw_guard_conditions_t * guard_conditions,
   rmw_services_t * services,
   rmw_clients_t * clients,
+  rmw_events_t * events,
   rmw_wait_set_t * wait_set,
   const rmw_time_t * wait_timeout);
 
diff --git a/rmw_fastrtps_shared_cpp/src/qos.cpp b/rmw_fastrtps_shared_cpp/src/qos.cpp
index 53b2b6262..4228b24bb 100644
--- a/rmw_fastrtps_shared_cpp/src/qos.cpp
+++ b/rmw_fastrtps_shared_cpp/src/qos.cpp
@@ -14,15 +14,13 @@
 
 #include <limits>
 
-#include "qos.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
 
 #include "fastrtps/attributes/PublisherAttributes.h"
 #include "fastrtps/attributes/SubscriberAttributes.h"
 
 #include "rmw/error_handling.h"
 
-extern "C"
-{
 bool
 get_datareader_qos(
   const rmw_qos_profile_t & qos_policies,
@@ -157,4 +155,31 @@ get_datawriter_qos(
 
   return true;
 }
-}  // extern "C"
+
+bool
+is_time_default(
+  const rmw_time_t & time)
+{
+  return time.sec == 0 && time.nsec == 0;
+}
+
+bool
+is_valid_qos(
+  const rmw_qos_profile_t & qos_policies)
+{
+  if (!is_time_default(qos_policies.deadline)) {
+    RMW_SET_ERROR_MSG("Deadline unsupported for fastrtps");
+    return false;
+  }
+  if (!is_time_default(qos_policies.lifespan)) {
+    RMW_SET_ERROR_MSG("Lifespan unsupported for fastrtps");
+    return false;
+  }
+  if (qos_policies.liveliness == RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE ||
+    qos_policies.liveliness == RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC)
+  {
+    RMW_SET_ERROR_MSG("Liveliness unsupported for fastrtps");
+    return false;
+  }
+  return true;
+}
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_client.cpp b/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
index 89976d472..b9f77310b 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
@@ -19,12 +19,12 @@
 #include "rmw/allocators.h"
 #include "rmw/rmw.h"
 
-#include "qos.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_client_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
-#include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+#include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
 using Domain = eprosima::fastrtps::Domain;
 using Participant = eprosima::fastrtps::Participant;
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_node.cpp b/rmw_fastrtps_shared_cpp/src/rmw_node.cpp
index 653bf1e4c..971426432 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_node.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_node.cpp
@@ -22,6 +22,7 @@
 
 #include "rmw/allocators.h"
 #include "rmw/error_handling.h"
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/rmw.h"
 
 #include "fastrtps/config.h"
@@ -363,6 +364,34 @@ __rmw_destroy_node(
   return result_ret;
 }
 
+rmw_ret_t
+__rmw_node_assert_liveliness(
+  const char * identifier,
+  const rmw_node_t * node)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+
+  auto node_info = static_cast<CustomParticipantInfo *>(node->data);
+  if (nullptr == node_info) {
+    RMW_SET_ERROR_MSG("node info handle is null");
+    return RMW_RET_ERROR;
+  }
+  if (nullptr == node_info->participant) {
+    RMW_SET_ERROR_MSG("node internal participant is invalid");
+    return RMW_RET_ERROR;
+  }
+
+  // node_info->participant->assert_liveliness();
+  RMW_SET_ERROR_MSG("assert_liveliness() of node is currently not supported");
+
+  return RMW_RET_UNSUPPORTED;
+}
+
 const rmw_guard_condition_t *
 __rmw_node_get_graph_guard_condition(const rmw_node_t * node)
 {
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
index 469e8faf3..f5c15def9 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
@@ -19,13 +19,14 @@
 
 #include "rmw/allocators.h"
 #include "rmw/error_handling.h"
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/rmw.h"
 
-#include "qos.hpp"
-#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
 using Domain = eprosima::fastrtps::Domain;
@@ -102,6 +103,30 @@ __rmw_publisher_count_matched_subscriptions(
   return RMW_RET_OK;
 }
 
+rmw_ret_t
+__rmw_publisher_assert_liveliness(
+  const char * identifier,
+  const rmw_publisher_t * publisher)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    publisher,
+    publisher->implementation_identifier,
+    identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+
+  auto info = static_cast<CustomPublisherInfo *>(publisher->data);
+  if (nullptr == info) {
+    RMW_SET_ERROR_MSG("publisher internal data is invalid");
+    return RMW_RET_ERROR;
+  }
+
+  // info->publisher_->assert_liveliness();
+  RMW_SET_ERROR_MSG("assert_liveliness() of publisher is currently not supported");
+
+  return RMW_RET_UNSUPPORTED;
+}
+
 rmw_ret_t
 __rmw_publisher_get_actual_qos(
   const rmw_publisher_t * publisher,
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_service.cpp b/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
index b11fffe4d..bfed95105 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
@@ -30,10 +30,10 @@
 #include "rmw/allocators.h"
 #include "rmw/rmw.h"
 
-#include "qos.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_service_info.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
index 2556b7c76..9ecb309cf 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
@@ -24,11 +24,10 @@
 #include "fastrtps/participant/Participant.h"
 #include "fastrtps/subscriber/Subscriber.h"
 
-#include "qos.hpp"
-
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_take.cpp b/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
index fbdfdbf38..23383f714 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
@@ -82,6 +82,29 @@ _take(
   return RMW_RET_OK;
 }
 
+rmw_ret_t
+__rmw_take_event(
+  const char * identifier,
+  const rmw_event_t * event_handle,
+  void * event_info,
+  bool * taken)
+{
+  RCUTILS_CHECK_FOR_NULL_WITH_MSG(
+    event_handle, "event_handle pointer is null", return RMW_RET_ERROR);
+  RCUTILS_CHECK_FOR_NULL_WITH_MSG(
+    event_info, "event info output pointer is null", return RMW_RET_ERROR);
+  RCUTILS_CHECK_FOR_NULL_WITH_MSG(taken, "boolean flag for taken is null", return RMW_RET_ERROR);
+
+  *taken = false;
+
+  if (event_handle->implementation_identifier != identifier) {
+    RMW_SET_ERROR_MSG("event handle not from this implementation");
+    return RMW_RET_ERROR;
+  }
+
+  return RMW_RET_UNSUPPORTED;
+}
+
 rmw_ret_t
 __rmw_take(
   const char * identifier,
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp b/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp
index 3c3c4a837..4d0f70f1b 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp
@@ -83,6 +83,7 @@ __rmw_wait(
   rmw_guard_conditions_t * guard_conditions,
   rmw_services_t * services,
   rmw_clients_t * clients,
+  rmw_events_t * /*events*/,
   rmw_wait_set_t * wait_set,
   const rmw_time_t * wait_timeout)
 {
@@ -130,6 +131,15 @@ __rmw_wait(
     }
   }
 
+  // TODO(mm318): implement attachCondition for events when feature becomes available in fastrtps
+  // if (events) {
+  //   for (size_t i = 0; i < events->event_count; ++i) {
+  //     void * data = events->events[i];
+  //     auto custom_event_info = static_cast<CustomEventInfo *>(data);
+  //     custom_event_info->getListener()->attachCondition(conditionMutex, conditionVariable);
+  //   }
+  // }
+
   if (guard_conditions) {
     for (size_t i = 0; i < guard_conditions->guard_condition_count; ++i) {
       void * data = guard_conditions->guard_conditions[i];
@@ -203,6 +213,18 @@ __rmw_wait(
     }
   }
 
+  // TODO(mm318): implement detachCondition for events when feature becomes available in fastrtps
+  // if (events) {
+  //   for (size_t i = 0; i < events->event_count; ++i) {
+  //     void * data = events->events[i];
+  //     auto custom_event_info = static_cast<CustomEventInfo *>(data);
+  //     custom_event_info->getListener()->detachCondition();
+  //     if (!custom_event_info->getListener()->hasEvent()) {
+  //       services->services[i] = 0;
+  //     }
+  //   }
+  // }
+
   if (guard_conditions) {
     for (size_t i = 0; i < guard_conditions->guard_condition_count; ++i) {
       void * data = guard_conditions->guard_conditions[i];