diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
index 59da94d..2056e65 100644
--- a/rcl/src/rcl/publisher.c
+++ b/rcl/src/rcl/publisher.c
@@ -315,6 +315,7 @@ rcl_publish(
     return RCL_RET_PUBLISHER_INVALID;  // error already set
   }
   RCL_CHECK_ARGUMENT_FOR_NULL(ros_message, RCL_RET_INVALID_ARGUMENT);
+  TRACEPOINT(rcl_publish, (const void *)publisher, (const void *)ros_message);
   if (rmw_publish(publisher->impl->rmw_handle, ros_message, allocation) != RMW_RET_OK) {
     RCL_SET_ERROR_MSG(rmw_get_error_string().str);
     return RCL_RET_ERROR;
@@ -332,6 +333,7 @@ rcl_publish_serialized_message(
     return RCL_RET_PUBLISHER_INVALID;  // error already set
   }
   RCL_CHECK_ARGUMENT_FOR_NULL(serialized_message, RCL_RET_INVALID_ARGUMENT);
+  TRACEPOINT(rcl_publish, (const void *)publisher, (const void *)serialized_message);
   rmw_ret_t ret = rmw_publish_serialized_message(
     publisher->impl->rmw_handle, serialized_message, allocation);
   if (ret != RMW_RET_OK) {
@@ -354,6 +356,7 @@ rcl_publish_loaned_message(
     return RCL_RET_PUBLISHER_INVALID;  // error already set
   }
   RCL_CHECK_ARGUMENT_FOR_NULL(ros_message, RCL_RET_INVALID_ARGUMENT);
+  TRACEPOINT(rcl_publish, (const void *)publisher, (const void *)ros_message);
   rmw_ret_t ret = rmw_publish_loaned_message(publisher->impl->rmw_handle, ros_message, allocation);
   if (ret != RMW_RET_OK) {
     RCL_SET_ERROR_MSG(rmw_get_error_string().str);
diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
index f3628b8..4a2d71c 100644
--- a/rcl/src/rcl/subscription.c
+++ b/rcl/src/rcl/subscription.c
@@ -290,6 +290,7 @@ rcl_take(
   }
   RCUTILS_LOG_DEBUG_NAMED(
     ROS_PACKAGE_NAME, "Subscription take succeeded: %s", taken ? "true" : "false");
+  TRACEPOINT(rcl_take, (const void *)ros_message);
   if (!taken) {
     return RCL_RET_SUBSCRIPTION_TAKE_FAILED;
   }
@@ -369,6 +370,7 @@ rcl_take_serialized_message(
   }
   RCUTILS_LOG_DEBUG_NAMED(
     ROS_PACKAGE_NAME, "Subscription serialized take succeeded: %s", taken ? "true" : "false");
+  TRACEPOINT(rcl_take, (const void *)serialized_message);
   if (!taken) {
     return RCL_RET_SUBSCRIPTION_TAKE_FAILED;
   }
diff --git a/rcl_lifecycle/CMakeLists.txt b/rcl_lifecycle/CMakeLists.txt
index 9344ba7..561aba5 100644
--- a/rcl_lifecycle/CMakeLists.txt
+++ b/rcl_lifecycle/CMakeLists.txt
@@ -4,6 +4,7 @@ project(rcl_lifecycle)
 
 find_package(ament_cmake_ros REQUIRED)
 
+find_package(tracetools REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rcutils REQUIRED)
@@ -45,6 +46,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 
 # specific order: dependents before dependencies
 ament_target_dependencies(rcl_lifecycle
+  "tracetools"
   "lifecycle_msgs"
   "rcl"
   "rcutils"
diff --git a/rcl_lifecycle/package.xml b/rcl_lifecycle/package.xml
index a9f43da..6309279 100644
--- a/rcl_lifecycle/package.xml
+++ b/rcl_lifecycle/package.xml
@@ -9,6 +9,7 @@
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
+  <build_depend>tracetools</build_depend>
   <build_depend>lifecycle_msgs</build_depend>
   <build_depend>rcl</build_depend>
   <build_depend>rcutils</build_depend>
diff --git a/rcl_lifecycle/src/rcl_lifecycle.c b/rcl_lifecycle/src/rcl_lifecycle.c
index 56dc6b4..14f8bba 100644
--- a/rcl_lifecycle/src/rcl_lifecycle.c
+++ b/rcl_lifecycle/src/rcl_lifecycle.c
@@ -33,6 +33,8 @@ extern "C"
 #include "rcl_lifecycle/default_state_machine.h"
 #include "rcl_lifecycle/transition_map.h"
 
+#include "tracetools/tracetools.h"
+
 #include "./com_interface.h"
 
 rcl_lifecycle_state_t
@@ -242,6 +244,10 @@ rcl_lifecycle_state_machine_init(
     }
   }
 
+  TRACEPOINT(
+    rcl_lifecycle_state_machine_init,
+    (const void *)node_handle,
+    (const void *)state_machine);
   return RCL_RET_OK;
 }
 
@@ -369,6 +375,11 @@ _trigger_transition(
     }
   }
 
+  TRACEPOINT(
+    rcl_lifecycle_transition,
+    (const void *)state_machine,
+    transition->start->label,
+    state_machine->current_state->label);
   return RCL_RET_OK;
 }