diff --git a/rclcpp/include/rclcpp/message_memory_strategy.hpp b/rclcpp/include/rclcpp/message_memory_strategy.hpp
index d67f12e..bee6280 100644
--- a/rclcpp/include/rclcpp/message_memory_strategy.hpp
+++ b/rclcpp/include/rclcpp/message_memory_strategy.hpp
@@ -102,7 +102,7 @@ public:
           if (ret != RCL_RET_OK) {
             RCUTILS_LOG_ERROR_NAMED(
               "rclcpp",
-              "failed to destroy serialized message: %s", rcl_get_error_string_safe());
+              "failed to destroy serialized message: %s", rcl_get_error_string().str);
           }
         });
 
diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
index 13ddb2d..4ce0cde 100644
--- a/rclcpp/include/rclcpp/service.hpp
+++ b/rclcpp/include/rclcpp/service.hpp
@@ -121,7 +121,7 @@ public:
             RCLCPP_ERROR(
               rclcpp::get_logger(rcl_node_get_logger_name(handle.get())).get_child("rclcpp"),
               "Error in destruction of rcl service handle: %s",
-              rcl_get_error_string_safe());
+              rcl_get_error_string().str);
             rcl_reset_error();
           }
         } else {
@@ -164,7 +164,7 @@ public:
     any_callback_(any_callback)
   {
     // check if service handle was initialized
-    if (!rcl_service_is_valid(service_handle.get(), nullptr)) {
+    if (!rcl_service_is_valid(service_handle.get())) {
       // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
       throw std::runtime_error(
         std::string("rcl_service_t in constructor argument must be initialized beforehand."));
@@ -182,7 +182,7 @@ public:
     any_callback_(any_callback)
   {
     // check if service handle was initialized
-    if (!rcl_service_is_valid(service_handle, nullptr)) {
+    if (!rcl_service_is_valid(service_handle)) {
       // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
       throw std::runtime_error(
         std::string("rcl_service_t in constructor argument must be initialized beforehand."));
diff --git a/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp b/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
index 1b01681..e46bb6d 100644
--- a/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
+++ b/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
@@ -186,7 +186,7 @@ public:
       if (rcl_wait_set_add_subscription(wait_set, subscription.get()) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
-          "Couldn't add subscription to wait set: %s", rcl_get_error_string_safe());
+          "Couldn't add subscription to wait set: %s", rcl_get_error_string().str);
         return false;
       }
     }
@@ -195,7 +195,7 @@ public:
       if (rcl_wait_set_add_client(wait_set, client.get()) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
-          "Couldn't add client to wait set: %s", rcl_get_error_string_safe());
+          "Couldn't add client to wait set: %s", rcl_get_error_string().str);
         return false;
       }
     }
@@ -204,7 +204,7 @@ public:
       if (rcl_wait_set_add_service(wait_set, service.get()) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
-          "Couldn't add service to wait set: %s", rcl_get_error_string_safe());
+          "Couldn't add service to wait set: %s", rcl_get_error_string().str);
         return false;
       }
     }
@@ -213,7 +213,7 @@ public:
       if (rcl_wait_set_add_timer(wait_set, timer.get()) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
-          "Couldn't add timer to wait set: %s", rcl_get_error_string_safe());
+          "Couldn't add timer to wait set: %s", rcl_get_error_string().str);
         return false;
       }
     }
@@ -223,7 +223,7 @@ public:
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
           "Couldn't add guard_condition to wait set: %s",
-          rcl_get_error_string_safe());
+          rcl_get_error_string().str);
         return false;
       }
     }
diff --git a/rclcpp/src/rclcpp/client.cpp b/rclcpp/src/rclcpp/client.cpp
index f7966a9..0008976 100644
--- a/rclcpp/src/rclcpp/client.cpp
+++ b/rclcpp/src/rclcpp/client.cpp
@@ -48,7 +48,7 @@ ClientBase::ClientBase(
         if (rcl_client_fini(client, handle.get()) != RCL_RET_OK) {
           RCLCPP_ERROR(
             rclcpp::get_logger(rcl_node_get_logger_name(handle.get())).get_child("rclcpp"),
-            "Error in destruction of rcl client handle: %s", rcl_get_error_string_safe());
+            "Error in destruction of rcl client handle: %s", rcl_get_error_string().str);
           rcl_reset_error();
         }
       } else {
diff --git a/rclcpp/src/rclcpp/exceptions.cpp b/rclcpp/src/rclcpp/exceptions.cpp
index b10523c..84469b5 100644
--- a/rclcpp/src/rclcpp/exceptions.cpp
+++ b/rclcpp/src/rclcpp/exceptions.cpp
@@ -75,7 +75,7 @@ throw_from_rcl_error(
 
 RCLErrorBase::RCLErrorBase(rcl_ret_t ret, const rcl_error_state_t * error_state)
 : ret(ret), message(error_state->message), file(error_state->file), line(error_state->line_number),
-  formatted_message(rcl_get_error_string_safe())
+  formatted_message(rcl_get_error_string().str)
 {}
 
 RCLError::RCLError(
diff --git a/rclcpp/src/rclcpp/executor.cpp b/rclcpp/src/rclcpp/executor.cpp
index cd93ca5..bd892fa 100644
--- a/rclcpp/src/rclcpp/executor.cpp
+++ b/rclcpp/src/rclcpp/executor.cpp
@@ -45,7 +45,7 @@ Executor::Executor(const ExecutorArgs & args)
   {
     throw std::runtime_error(
             std::string("Failed to create interrupt guard condition in Executor constructor: ") +
-            rcl_get_error_string_safe());
+            rcl_get_error_string().str);
   }
 
   // The number of guard conditions is always at least 2: 1 for the ctrl-c guard cond,
@@ -63,12 +63,12 @@ Executor::Executor(const ExecutorArgs & args)
   {
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",
-      "failed to create wait set: %s", rcl_get_error_string_safe());
+      "failed to create wait set: %s", rcl_get_error_string().str);
     rcl_reset_error();
     if (rcl_guard_condition_fini(&interrupt_guard_condition_) != RCL_RET_OK) {
       RCUTILS_LOG_ERROR_NAMED(
         "rclcpp",
-        "failed to destroy guard condition: %s", rcl_get_error_string_safe());
+        "failed to destroy guard condition: %s", rcl_get_error_string().str);
       rcl_reset_error();
     }
     throw std::runtime_error("Failed to create wait set in Executor constructor");
@@ -91,14 +91,14 @@ Executor::~Executor()
   if (rcl_wait_set_fini(&wait_set_) != RCL_RET_OK) {
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",
-      "failed to destroy wait set: %s", rcl_get_error_string_safe());
+      "failed to destroy wait set: %s", rcl_get_error_string().str);
     rcl_reset_error();
   }
   // Finalize the interrupt guard condition.
   if (rcl_guard_condition_fini(&interrupt_guard_condition_) != RCL_RET_OK) {
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",
-      "failed to destroy guard condition: %s", rcl_get_error_string_safe());
+      "failed to destroy guard condition: %s", rcl_get_error_string().str);
     rcl_reset_error();
   }
   // Remove and release the sigint guard condition
@@ -127,7 +127,7 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
   if (notify) {
     // Interrupt waiting to handle new node
     if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
-      throw std::runtime_error(rcl_get_error_string_safe());
+      throw std::runtime_error(rcl_get_error_string().str);
     }
   }
   // Add the node's notify condition to the guard condition handles
@@ -161,7 +161,7 @@ Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node
     // If the node was matched and removed, interrupt waiting
     if (node_removed) {
       if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
-        throw std::runtime_error(rcl_get_error_string_safe());
+        throw std::runtime_error(rcl_get_error_string().str);
       }
     }
   }
@@ -247,7 +247,7 @@ Executor::cancel()
 {
   spinning.store(false);
   if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
-    throw std::runtime_error(rcl_get_error_string_safe());
+    throw std::runtime_error(rcl_get_error_string().str);
   }
 }
 
@@ -286,7 +286,7 @@ Executor::execute_any_executable(AnyExecutable & any_exec)
   // Wake the wait, because it may need to be recalculated or work that
   // was previously blocked is now available.
   if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
-    throw std::runtime_error(rcl_get_error_string_safe());
+    throw std::runtime_error(rcl_get_error_string().str);
   }
 }
 
@@ -309,7 +309,7 @@ Executor::execute_subscription(
       RCUTILS_LOG_ERROR_NAMED(
         "rclcpp",
         "take_serialized failed for subscription on topic '%s': %s",
-        subscription->get_topic_name(), rcl_get_error_string_safe());
+        subscription->get_topic_name(), rcl_get_error_string().str);
       rcl_reset_error();
     }
     subscription->return_serialized_message(serialized_msg);
@@ -324,7 +324,7 @@ Executor::execute_subscription(
       RCUTILS_LOG_ERROR_NAMED(
         "rclcpp",
         "could not deserialize serialized message on topic '%s': %s",
-        subscription->get_topic_name(), rcl_get_error_string_safe());
+        subscription->get_topic_name(), rcl_get_error_string().str);
       rcl_reset_error();
     }
     subscription->return_message(message);
@@ -349,7 +349,7 @@ Executor::execute_intra_process_subscription(
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",
       "take failed for intra process subscription on topic '%s': %s",
-      subscription->get_topic_name(), rcl_get_error_string_safe());
+      subscription->get_topic_name(), rcl_get_error_string().str);
     rcl_reset_error();
   }
 }
@@ -377,7 +377,7 @@ Executor::execute_service(
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",
       "take request failed for server of service '%s': %s",
-      service->get_service_name(), rcl_get_error_string_safe());
+      service->get_service_name(), rcl_get_error_string().str);
     rcl_reset_error();
   }
 }
@@ -398,7 +398,7 @@ Executor::execute_client(
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",
       "take response failed for client of service '%s': %s",
-      client->get_service_name(), rcl_get_error_string_safe());
+      client->get_service_name(), rcl_get_error_string().str);
     rcl_reset_error();
   }
 }
@@ -433,7 +433,7 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
     memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services());
   if (RCL_RET_OK != ret) {
     throw std::runtime_error(
-            std::string("Couldn't resize the wait set : ") + rcl_get_error_string_safe());
+            std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
   }
 
   if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
diff --git a/rclcpp/src/rclcpp/expand_topic_or_service_name.cpp b/rclcpp/src/rclcpp/expand_topic_or_service_name.cpp
index 99fd858..b6976e2 100644
--- a/rclcpp/src/rclcpp/expand_topic_or_service_name.cpp
+++ b/rclcpp/src/rclcpp/expand_topic_or_service_name.cpp
@@ -51,14 +51,7 @@ rclcpp::expand_topic_or_service_name(
   }
   rcl_ret_t ret = rcl_get_default_topic_name_substitutions(&substitutions_map);
   if (ret != RCL_RET_OK) {
-    rcutils_error_state_t error_state;
-    if (rcutils_error_state_copy(rcl_get_error_state(), &error_state) != RCUTILS_RET_OK) {
-      throw std::bad_alloc();
-    }
-    auto error_state_scope_exit = rclcpp::make_scope_exit(
-      [&error_state]() {
-        rcutils_error_state_fini(&error_state);
-      });
+    const rcutils_error_state_t * error_state = rcl_get_error_state();
     // finalize the string map before throwing
     rcutils_ret = rcutils_string_map_fini(&substitutions_map);
     if (rcutils_ret != RCUTILS_RET_OK) {
@@ -66,10 +59,10 @@ rclcpp::expand_topic_or_service_name(
         "rclcpp",
         "failed to fini string_map (%d) during error handling: %s",
         rcutils_ret,
-        rcutils_get_error_string_safe());
+        rcutils_get_error_string().str);
       rcutils_reset_error();
     }
-    throw_from_rcl_error(ret, "", &error_state);
+    throw_from_rcl_error(ret, "", error_state);
   }
 
   ret = rcl_expand_topic_name(
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_base.cpp b/rclcpp/src/rclcpp/node_interfaces/node_base.cpp
index f57c807..3673ea0 100644
--- a/rclcpp/src/rclcpp/node_interfaces/node_base.cpp
+++ b/rclcpp/src/rclcpp/node_interfaces/node_base.cpp
@@ -54,7 +54,7 @@ NodeBase::NodeBase(
       if (rcl_guard_condition_fini(&notify_guard_condition_) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
-          "failed to destroy guard condition: %s", rcl_get_error_string_safe());
+          "failed to destroy guard condition: %s", rcl_get_error_string().str);
       }
     };
 
@@ -122,7 +122,7 @@ NodeBase::NodeBase(
       // Print message because exception will be thrown later in this code block
       RCUTILS_LOG_ERROR_NAMED(
         "rclcpp",
-        "Failed to fini arguments during error handling: %s", rcl_get_error_string_safe());
+        "Failed to fini arguments during error handling: %s", rcl_get_error_string().str);
       rcl_reset_error();
     }
 
@@ -180,7 +180,7 @@ NodeBase::NodeBase(
       if (rcl_node_fini(node) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
-          "Error in destruction of rcl node handle: %s", rcl_get_error_string_safe());
+          "Error in destruction of rcl node handle: %s", rcl_get_error_string().str);
       }
       delete node;
     });
@@ -197,7 +197,7 @@ NodeBase::NodeBase(
     // print message because throwing would prevent the destructor from being called
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",
-      "Failed to fini arguments: %s", rcl_get_error_string_safe());
+      "Failed to fini arguments: %s", rcl_get_error_string().str);
     rcl_reset_error();
   }
 }
@@ -211,7 +211,7 @@ NodeBase::~NodeBase()
     if (rcl_guard_condition_fini(&notify_guard_condition_) != RCL_RET_OK) {
       RCUTILS_LOG_ERROR_NAMED(
         "rclcpp",
-        "failed to destroy guard condition: %s", rcl_get_error_string_safe());
+        "failed to destroy guard condition: %s", rcl_get_error_string().str);
     }
   }
 }
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_graph.cpp b/rclcpp/src/rclcpp/node_interfaces/node_graph.cpp
index 036605f..35cd5e2 100644
--- a/rclcpp/src/rclcpp/node_interfaces/node_graph.cpp
+++ b/rclcpp/src/rclcpp/node_interfaces/node_graph.cpp
@@ -59,13 +59,13 @@ NodeGraph::get_topic_names_and_types(bool no_demangle) const
     &topic_names_and_types);
   if (ret != RCL_RET_OK) {
     auto error_msg = std::string("failed to get topic names and types: ") +
-      rcl_get_error_string_safe();
+      rcl_get_error_string().str;
     rcl_reset_error();
     if (rcl_names_and_types_fini(&topic_names_and_types) != RCL_RET_OK) {
       error_msg += std::string(", failed also to cleanup topic names and types, leaking memory: ") +
-        rcl_get_error_string_safe();
+        rcl_get_error_string().str;
     }
-    throw std::runtime_error(error_msg + rcl_get_error_string_safe());
+    throw std::runtime_error(error_msg + rcl_get_error_string().str);
   }
 
   std::map<std::string, std::vector<std::string>> topics_and_types;
@@ -80,7 +80,7 @@ NodeGraph::get_topic_names_and_types(bool no_demangle) const
   if (ret != RCL_RET_OK) {
     // *INDENT-OFF*
     throw std::runtime_error(
-      std::string("could not destroy topic names and types: ") + rcl_get_error_string_safe());
+      std::string("could not destroy topic names and types: ") + rcl_get_error_string().str);
     // *INDENT-ON*
   }
 
@@ -99,14 +99,14 @@ NodeGraph::get_service_names_and_types() const
     &service_names_and_types);
   if (ret != RCL_RET_OK) {
     auto error_msg = std::string("failed to get service names and types: ") +
-      rcl_get_error_string_safe();
+      rcl_get_error_string().str;
     rcl_reset_error();
     if (rcl_names_and_types_fini(&service_names_and_types) != RCL_RET_OK) {
       error_msg +=
         std::string(", failed also to cleanup service names and types, leaking memory: ") +
-        rcl_get_error_string_safe();
+        rcl_get_error_string().str;
     }
-    throw std::runtime_error(error_msg + rcl_get_error_string_safe());
+    throw std::runtime_error(error_msg + rcl_get_error_string().str);
   }
 
   std::map<std::string, std::vector<std::string>> services_and_types;
@@ -121,7 +121,7 @@ NodeGraph::get_service_names_and_types() const
   if (ret != RCL_RET_OK) {
     // *INDENT-OFF*
     throw std::runtime_error(
-      std::string("could not destroy service names and types: ") + rcl_get_error_string_safe());
+      std::string("could not destroy service names and types: ") + rcl_get_error_string().str);
     // *INDENT-ON*
   }
 
@@ -155,16 +155,16 @@ NodeGraph::get_node_names_and_namespaces() const
     &node_names_c,
     &node_namespaces_c);
   if (ret != RCL_RET_OK) {
-    auto error_msg = std::string("failed to get node names: ") + rcl_get_error_string_safe();
+    auto error_msg = std::string("failed to get node names: ") + rcl_get_error_string().str;
     rcl_reset_error();
     if (rcutils_string_array_fini(&node_names_c) != RCUTILS_RET_OK) {
       error_msg += std::string(", failed also to cleanup node names, leaking memory: ") +
-        rcl_get_error_string_safe();
+        rcl_get_error_string().str;
       rcl_reset_error();
     }
     if (rcutils_string_array_fini(&node_namespaces_c) != RCUTILS_RET_OK) {
       error_msg += std::string(", failed also to cleanup node namespaces, leaking memory: ") +
-        rcl_get_error_string_safe();
+        rcl_get_error_string().str;
       rcl_reset_error();
     }
     // TODO(karsten1987): Append rcutils_error_message once it's in master
@@ -217,7 +217,7 @@ NodeGraph::count_publishers(const std::string & topic_name) const
   if (ret != RMW_RET_OK) {
     // *INDENT-OFF*
     throw std::runtime_error(
-      std::string("could not count publishers: ") + rmw_get_error_string_safe());
+      std::string("could not count publishers: ") + rmw_get_error_string().str);
     // *INDENT-ON*
   }
   return count;
@@ -239,7 +239,7 @@ NodeGraph::count_subscribers(const std::string & topic_name) const
   if (ret != RMW_RET_OK) {
     // *INDENT-OFF*
     throw std::runtime_error(
-      std::string("could not count subscribers: ") + rmw_get_error_string_safe());
+      std::string("could not count subscribers: ") + rmw_get_error_string().str);
     // *INDENT-ON*
   }
   return count;
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
index 34e1fb5..9e0cc40 100644
--- a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
+++ b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
@@ -123,7 +123,7 @@ NodeParameters::NodeParameters(
     if (!rcl_parse_yaml_file(yaml_path.c_str(), yaml_params)) {
       std::ostringstream ss;
       ss << "Failed to parse parameters from file '" << yaml_path << "': " <<
-        rcl_get_error_string_safe();
+        rcl_get_error_string().str;
       rcl_reset_error();
       throw std::runtime_error(ss.str());
     }
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_services.cpp b/rclcpp/src/rclcpp/node_interfaces/node_services.cpp
index 7c13438..0e74f58 100644
--- a/rclcpp/src/rclcpp/node_interfaces/node_services.cpp
+++ b/rclcpp/src/rclcpp/node_interfaces/node_services.cpp
@@ -45,8 +45,8 @@ NodeServices::add_service(
     auto notify_guard_condition_lock = node_base_->acquire_notify_guard_condition_lock();
     if (rcl_trigger_guard_condition(node_base_->get_notify_guard_condition()) != RCL_RET_OK) {
       throw std::runtime_error(
-              std::string(
-                "Failed to notify wait set on service creation: ") + rmw_get_error_string()
+              std::string("Failed to notify wait set on service creation: ") +
+              rmw_get_error_string().str
       );
     }
   }
@@ -72,7 +72,8 @@ NodeServices::add_client(
     auto notify_guard_condition_lock = node_base_->acquire_notify_guard_condition_lock();
     if (rcl_trigger_guard_condition(node_base_->get_notify_guard_condition()) != RCL_RET_OK) {
       throw std::runtime_error(
-              std::string("Failed to notify wait set on client creation: ") + rmw_get_error_string()
+              std::string("Failed to notify wait set on client creation: ") +
+              rmw_get_error_string().str
       );
     }
   }
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_timers.cpp b/rclcpp/src/rclcpp/node_interfaces/node_timers.cpp
index 70073d2..f9d5d72 100644
--- a/rclcpp/src/rclcpp/node_interfaces/node_timers.cpp
+++ b/rclcpp/src/rclcpp/node_interfaces/node_timers.cpp
@@ -41,7 +41,7 @@ NodeTimers::add_timer(
   }
   if (rcl_trigger_guard_condition(node_base_->get_notify_guard_condition()) != RCL_RET_OK) {
     throw std::runtime_error(
-            std::string(
-              "Failed to notify wait set on timer creation: ") + rmw_get_error_string());
+            std::string("Failed to notify wait set on timer creation: ") +
+            rmw_get_error_string().str);
   }
 }
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_topics.cpp b/rclcpp/src/rclcpp/node_interfaces/node_topics.cpp
index 882ac1f..b390add 100644
--- a/rclcpp/src/rclcpp/node_interfaces/node_topics.cpp
+++ b/rclcpp/src/rclcpp/node_interfaces/node_topics.cpp
@@ -73,8 +73,8 @@ NodeTopics::add_publisher(
     auto notify_guard_condition_lock = node_base_->acquire_notify_guard_condition_lock();
     if (rcl_trigger_guard_condition(node_base_->get_notify_guard_condition()) != RCL_RET_OK) {
       throw std::runtime_error(
-              std::string(
-                "Failed to notify wait set on publisher creation: ") + rmw_get_error_string());
+              std::string("Failed to notify wait set on publisher creation: ") +
+              rmw_get_error_string().str);
     }
   }
 }
@@ -123,8 +123,8 @@ NodeTopics::add_subscription(
     auto notify_guard_condition_lock = node_base_->acquire_notify_guard_condition_lock();
     if (rcl_trigger_guard_condition(node_base_->get_notify_guard_condition()) != RCL_RET_OK) {
       throw std::runtime_error(
-              std::string(
-                "Failed to notify wait set on subscription creation: ") + rmw_get_error_string()
+              std::string("Failed to notify wait set on subscription creation: ") +
+              rmw_get_error_string().str
       );
     }
   }
diff --git a/rclcpp/src/rclcpp/publisher.cpp b/rclcpp/src/rclcpp/publisher.cpp
index a3d32b1..45097c5 100644
--- a/rclcpp/src/rclcpp/publisher.cpp
+++ b/rclcpp/src/rclcpp/publisher.cpp
@@ -66,12 +66,12 @@ PublisherBase::PublisherBase(
   // Life time of this object is tied to the publisher handle.
   rmw_publisher_t * publisher_rmw_handle = rcl_publisher_get_rmw_handle(&publisher_handle_);
   if (!publisher_rmw_handle) {
-    auto msg = std::string("failed to get rmw handle: ") + rcl_get_error_string_safe();
+    auto msg = std::string("failed to get rmw handle: ") + rcl_get_error_string().str;
     rcl_reset_error();
     throw std::runtime_error(msg);
   }
   if (rmw_get_gid_for_publisher(publisher_rmw_handle, &rmw_gid_) != RMW_RET_OK) {
-    auto msg = std::string("failed to get publisher gid: ") + rmw_get_error_string_safe();
+    auto msg = std::string("failed to get publisher gid: ") + rmw_get_error_string().str;
     rmw_reset_error();
     throw std::runtime_error(msg);
   }
@@ -83,7 +83,7 @@ PublisherBase::~PublisherBase()
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",
       "Error in destruction of intra process rcl publisher handle: %s",
-      rcl_get_error_string_safe());
+      rcl_get_error_string().str);
     rcl_reset_error();
   }
 
@@ -91,7 +91,7 @@ PublisherBase::~PublisherBase()
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",
       "Error in destruction of rcl publisher handle: %s",
-      rcl_get_error_string_safe());
+      rcl_get_error_string().str);
     rcl_reset_error();
   }
 }
@@ -107,7 +107,7 @@ PublisherBase::get_queue_size() const
 {
   const rcl_publisher_options_t * publisher_options = rcl_publisher_get_options(&publisher_handle_);
   if (!publisher_options) {
-    auto msg = std::string("failed to get publisher options: ") + rcl_get_error_string_safe();
+    auto msg = std::string("failed to get publisher options: ") + rcl_get_error_string().str;
     rcl_reset_error();
     throw std::runtime_error(msg);
   }
@@ -150,14 +150,14 @@ PublisherBase::operator==(const rmw_gid_t * gid) const
   bool result = false;
   auto ret = rmw_compare_gids_equal(gid, &this->get_gid(), &result);
   if (ret != RMW_RET_OK) {
-    auto msg = std::string("failed to compare gids: ") + rmw_get_error_string_safe();
+    auto msg = std::string("failed to compare gids: ") + rmw_get_error_string().str;
     rmw_reset_error();
     throw std::runtime_error(msg);
   }
   if (!result) {
     ret = rmw_compare_gids_equal(gid, &this->get_intra_process_gid(), &result);
     if (ret != RMW_RET_OK) {
-      auto msg = std::string("failed to compare gids: ") + rmw_get_error_string_safe();
+      auto msg = std::string("failed to compare gids: ") + rmw_get_error_string().str;
       rmw_reset_error();
       throw std::runtime_error(msg);
     }
@@ -204,7 +204,7 @@ PublisherBase::setup_intra_process(
   rmw_publisher_t * publisher_rmw_handle = rcl_publisher_get_rmw_handle(
     &intra_process_publisher_handle_);
   if (publisher_rmw_handle == nullptr) {
-    auto msg = std::string("Failed to get rmw publisher handle") + rcl_get_error_string_safe();
+    auto msg = std::string("Failed to get rmw publisher handle") + rcl_get_error_string().str;
     rcl_reset_error();
     throw std::runtime_error(msg);
   }
@@ -212,7 +212,7 @@ PublisherBase::setup_intra_process(
     publisher_rmw_handle, &intra_process_rmw_gid_);
   if (rmw_ret != RMW_RET_OK) {
     auto msg =
-      std::string("failed to create intra process publisher gid: ") + rmw_get_error_string_safe();
+      std::string("failed to create intra process publisher gid: ") + rmw_get_error_string().str;
     rmw_reset_error();
     throw std::runtime_error(msg);
   }
diff --git a/rclcpp/src/rclcpp/subscription.cpp b/rclcpp/src/rclcpp/subscription.cpp
index f06a12b..f20b689 100644
--- a/rclcpp/src/rclcpp/subscription.cpp
+++ b/rclcpp/src/rclcpp/subscription.cpp
@@ -43,7 +43,7 @@ SubscriptionBase::SubscriptionBase(
         RCLCPP_ERROR(
           rclcpp::get_logger(rcl_node_get_logger_name(node_handle.get())).get_child("rclcpp"),
           "Error in destruction of rcl subscription handle: %s",
-          rcl_get_error_string_safe());
+          rcl_get_error_string().str);
         rcl_reset_error();
       }
       delete rcl_subs;
diff --git a/rclcpp/src/rclcpp/timer.cpp b/rclcpp/src/rclcpp/timer.cpp
index 9922beb..c2a02d2 100644
--- a/rclcpp/src/rclcpp/timer.cpp
+++ b/rclcpp/src/rclcpp/timer.cpp
@@ -32,7 +32,7 @@ TimerBase::TimerBase(rclcpp::Clock::SharedPtr clock, std::chrono::nanoseconds pe
       if (rcl_timer_fini(timer) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
-          "Failed to clean up rcl timer handle: %s", rcl_get_error_string_safe());
+          "Failed to clean up rcl timer handle: %s", rcl_get_error_string().str);
         rcl_reset_error();
       }
       delete timer;
@@ -49,7 +49,7 @@ TimerBase::TimerBase(rclcpp::Clock::SharedPtr clock, std::chrono::nanoseconds pe
   {
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",
-      "Couldn't initialize rcl timer handle: %s\n", rcl_get_error_string_safe());
+      "Couldn't initialize rcl timer handle: %s\n", rcl_get_error_string().str);
     rcl_reset_error();
   }
 }
@@ -61,7 +61,7 @@ void
 TimerBase::cancel()
 {
   if (rcl_timer_cancel(timer_handle_.get()) != RCL_RET_OK) {
-    throw std::runtime_error(std::string("Couldn't cancel timer: ") + rcl_get_error_string_safe());
+    throw std::runtime_error(std::string("Couldn't cancel timer: ") + rcl_get_error_string().str);
   }
 }
 
@@ -69,7 +69,7 @@ void
 TimerBase::reset()
 {
   if (rcl_timer_reset(timer_handle_.get()) != RCL_RET_OK) {
-    throw std::runtime_error(std::string("Couldn't reset timer: ") + rcl_get_error_string_safe());
+    throw std::runtime_error(std::string("Couldn't reset timer: ") + rcl_get_error_string().str);
   }
 }
 
@@ -78,7 +78,7 @@ TimerBase::is_ready()
 {
   bool ready = false;
   if (rcl_timer_is_ready(timer_handle_.get(), &ready) != RCL_RET_OK) {
-    throw std::runtime_error(std::string("Failed to check timer: ") + rcl_get_error_string_safe());
+    throw std::runtime_error(std::string("Failed to check timer: ") + rcl_get_error_string().str);
   }
   return ready;
 }
@@ -92,7 +92,7 @@ TimerBase::time_until_trigger()
   {
     throw std::runtime_error(
             std::string("Timer could not get time until next call: ") +
-            rcl_get_error_string_safe());
+            rcl_get_error_string().str);
   }
   return std::chrono::nanoseconds(time_until_next_call);
 }
diff --git a/rclcpp/src/rclcpp/utilities.cpp b/rclcpp/src/rclcpp/utilities.cpp
index b1b0041..6ac4bf0 100644
--- a/rclcpp/src/rclcpp/utilities.cpp
+++ b/rclcpp/src/rclcpp/utilities.cpp
@@ -120,7 +120,7 @@ trigger_interrupt_guard_condition(int signal_value)
       if (status != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
-          "failed to trigger guard condition: %s", rcl_get_error_string_safe());
+          "failed to trigger guard condition: %s", rcl_get_error_string().str);
       }
     }
   }
@@ -167,7 +167,7 @@ rclcpp::init(int argc, char const * const argv[])
   g_is_interrupted.store(false);
   if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) {
     std::string msg = "failed to initialize rmw implementation: ";
-    msg += rcl_get_error_string_safe();
+    msg += rcl_get_error_string().str;
     rcl_reset_error();
     throw std::runtime_error(msg);
   }
@@ -233,7 +233,7 @@ rclcpp::remove_ros_arguments(int argc, char const * const argv[])
     if (RCL_RET_OK != rcl_arguments_fini(&parsed_args)) {
       base_exc.formatted_message += std::string(
         ", failed also to cleanup parsed arguments, leaking memory: ") +
-        rcl_get_error_string_safe();
+        rcl_get_error_string().str;
       rcl_reset_error();
     }
     throw exceptions::RCLError(base_exc, "");
@@ -307,7 +307,7 @@ rclcpp::get_sigint_guard_condition(rcl_wait_set_t * wait_set)
     if (rcl_guard_condition_init(&handle, options) != RCL_RET_OK) {
       // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
       throw std::runtime_error(std::string(
-        "Couldn't initialize guard condition: ") + rcl_get_error_string_safe());
+        "Couldn't initialize guard condition: ") + rcl_get_error_string().str);
       // *INDENT-ON*
     }
     g_sigint_guard_cond_handles[wait_set] = handle;
@@ -325,7 +325,7 @@ rclcpp::release_sigint_guard_condition(rcl_wait_set_t * wait_set)
       // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
       throw std::runtime_error(std::string(
         "Failed to destroy sigint guard condition: ") +
-        rcl_get_error_string_safe());
+        rcl_get_error_string().str);
       // *INDENT-ON*
     }
     g_sigint_guard_cond_handles.erase(kv);
diff --git a/rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp b/rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
index 5367a60..16d5e95 100644
--- a/rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
+++ b/rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
@@ -356,7 +356,7 @@ public:
   {
     if (rcl_lifecycle_state_machine_is_initialized(&state_machine_) != RCL_RET_OK) {
       RCUTILS_LOG_ERROR("Unable to change state for state machine for %s: %s",
-        node_base_interface_->get_name(), rcl_get_error_string_safe());
+        node_base_interface_->get_name(), rcl_get_error_string().str);
       return RCL_RET_ERROR;
     }
 
@@ -368,7 +368,7 @@ public:
         &state_machine_, transition_id, publish_update) != RCL_RET_OK)
     {
       RCUTILS_LOG_ERROR("Unable to start transition %u from current state %s: %s",
-        transition_id, state_machine_.current_state->label, rcl_get_error_string_safe());
+        transition_id, state_machine_.current_state->label, rcl_get_error_string().str);
       return RCL_RET_ERROR;
     }