diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
index 1a484b3..d3e9051 100644
--- a/rclcpp/include/rclcpp/executor.hpp
+++ b/rclcpp/include/rclcpp/executor.hpp
@@ -156,9 +156,11 @@ protected:
   {
     std::shared_ptr<void> message = subscription->create_message();
     bool taken = false;
-    rmw_take(subscription->subscription_handle_, message.get(), &taken);
-    if (taken) {
-      subscription->handle_message(message);
+    rmw_ret_t status = rmw_take(subscription->subscription_handle_, message.get(), &taken);
+    if (status == RMW_RET_OK) {
+      if (taken) {
+        subscription->handle_message(message);
+      }
     } else {
       std::cout << "[rclcpp::error] take failed for subscription on topic: " <<
         subscription->get_topic_name() << std::endl;
@@ -179,13 +181,15 @@ protected:
     std::shared_ptr<void> request_header = service->create_request_header();
     std::shared_ptr<void> request = service->create_request();
     bool taken = false;
-    rmw_take_request(
+    rmw_ret_t status = rmw_take_request(
       service->service_handle_,
       request_header.get(),
       request.get(),
       &taken);
-    if (taken) {
-      service->handle_request(request_header, request);
+    if (status == RMW_RET_OK) {
+      if (taken) {
+        service->handle_request(request_header, request);
+      }
     } else {
       std::cout << "[rclcpp::error] take failed for service on service: " <<
         service->get_service_name() << std::endl;
diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index f0bbafd..f4b5962 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -126,7 +126,8 @@ public:
     std::string topic_name,
     size_t queue_size,
     std::function<void(const std::shared_ptr<MessageT> &)> callback,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
+    bool ignore_local_publications = false);
 
   /* Create a timer. */
   rclcpp::timer::WallTimer::SharedPtr
diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index 61970e4..161f3f9 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -106,12 +106,13 @@ Node::create_subscription(
   std::string topic_name,
   size_t queue_size,
   std::function<void(const std::shared_ptr<MessageT> &)> callback,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::callback_group::CallbackGroup::SharedPtr group,
+  bool ignore_local_publications)
 {
   using rosidl_generator_cpp::get_message_type_support_handle;
   auto type_support_handle = get_message_type_support_handle<MessageT>();
   rmw_subscription_t * subscriber_handle = rmw_create_subscription(
-    node_handle_, type_support_handle, topic_name.c_str(), queue_size);
+    node_handle_, type_support_handle, topic_name.c_str(), queue_size, ignore_local_publications);
   if (!subscriber_handle) {
     throw std::runtime_error(
       std::string("could not create subscription: ") +
@@ -123,6 +124,7 @@ Node::create_subscription(
   auto sub = Subscription<MessageT>::make_shared(
     subscriber_handle,
     topic_name,
+    ignore_local_publications,
     callback);
   auto sub_base_ptr = std::dynamic_pointer_cast<SubscriptionBase>(sub);
   if (group) {
diff --git a/rclcpp/include/rclcpp/subscription.hpp b/rclcpp/include/rclcpp/subscription.hpp
index 8c13e7a..b93dbd2 100644
--- a/rclcpp/include/rclcpp/subscription.hpp
+++ b/rclcpp/include/rclcpp/subscription.hpp
@@ -44,8 +44,11 @@ public:
 
   SubscriptionBase(
     rmw_subscription_t * subscription_handle,
-    std::string & topic_name)
-  : subscription_handle_(subscription_handle), topic_name_(topic_name)
+    std::string & topic_name,
+    bool ignore_local_publications)
+  : subscription_handle_(subscription_handle),
+    topic_name_(topic_name),
+    ignore_local_publications_(ignore_local_publications)
   {}
 
   std::string get_topic_name()
@@ -61,6 +64,7 @@ private:
 
   rmw_subscription_t * subscription_handle_;
   std::string topic_name_;
+  bool ignore_local_publications_;
 
 };
 
@@ -74,8 +78,10 @@ public:
   Subscription(
     rmw_subscription_t * subscription_handle,
     std::string & topic_name,
+    bool ignore_local_publications,
     CallbackType callback)
-  : SubscriptionBase(subscription_handle, topic_name), callback_(callback)
+  : SubscriptionBase(subscription_handle, topic_name, ignore_local_publications),
+    callback_(callback)
   {}
 
   std::shared_ptr<void> create_message()