diff --git a/rclcpp/include/rclcpp/publisher.hpp b/rclcpp/include/rclcpp/publisher.hpp
index 6c921fb..0cdca8c 100644
--- a/rclcpp/include/rclcpp/publisher.hpp
+++ b/rclcpp/include/rclcpp/publisher.hpp
@@ -158,7 +158,7 @@ public:
       // TODO(Karsten1987): support serialized message passed by intraprocess
       throw std::runtime_error("storing serialized messages in intra process is not supported yet");
     }
-    auto status = rcl_publish_serialized_message(&publisher_handle_, serialized_msg);
+    auto status = rcl_publish_serialized_message(&publisher_handle_, serialized_msg, nullptr);
     if (RCL_RET_OK != status) {
       rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish serialized message");
     }
@@ -179,7 +179,7 @@ protected:
   void
   do_inter_process_publish(const MessageT * msg)
   {
-    auto status = rcl_publish(&publisher_handle_, msg);
+    auto status = rcl_publish(&publisher_handle_, msg, nullptr);
     if (RCL_RET_PUBLISHER_INVALID == status) {
       rcl_reset_error();  // next call will reset error message if not context
       if (rcl_publisher_is_valid_except_context(&publisher_handle_)) {
@@ -201,7 +201,7 @@ protected:
     rcl_interfaces::msg::IntraProcessMessage ipm;
     ipm.publisher_id = intra_process_publisher_id_;
     ipm.message_sequence = message_seq;
-    auto status = rcl_publish(&intra_process_publisher_handle_, &ipm);
+    auto status = rcl_publish(&intra_process_publisher_handle_, &ipm, nullptr);
     if (RCL_RET_PUBLISHER_INVALID == status) {
       rcl_reset_error();  // next call will reset error message if not context
       if (rcl_publisher_is_valid_except_context(&intra_process_publisher_handle_)) {
diff --git a/rclcpp/src/rclcpp/executor.cpp b/rclcpp/src/rclcpp/executor.cpp
index ac83731..24cd18e 100644
--- a/rclcpp/src/rclcpp/executor.cpp
+++ b/rclcpp/src/rclcpp/executor.cpp
@@ -304,7 +304,7 @@ Executor::execute_subscription(
     auto serialized_msg = subscription->create_serialized_message();
     auto ret = rcl_take_serialized_message(
       subscription->get_subscription_handle().get(),
-      serialized_msg.get(), &message_info);
+      serialized_msg.get(), &message_info, nullptr);
     if (RCL_RET_OK == ret) {
       auto void_serialized_msg = std::static_pointer_cast<void>(serialized_msg);
       subscription->handle_message(void_serialized_msg, message_info);
@@ -320,7 +320,7 @@ Executor::execute_subscription(
     std::shared_ptr<void> message = subscription->create_message();
     auto ret = rcl_take(
       subscription->get_subscription_handle().get(),
-      message.get(), &message_info);
+      message.get(), &message_info, nullptr);
     if (RCL_RET_OK == ret) {
       subscription->handle_message(message, message_info);
     } else if (RCL_RET_SUBSCRIPTION_TAKE_FAILED != ret) {
@@ -343,7 +343,8 @@ Executor::execute_intra_process_subscription(
   rcl_ret_t status = rcl_take(
     subscription->get_intra_process_subscription_handle().get(),
     &ipm,
-    &message_info);
+    &message_info,
+    nullptr);
 
   if (status == RCL_RET_OK) {
     message_info.from_intra_process = true;