diff --git a/rclcpp/include/rclcpp/any_service_callback.hpp b/rclcpp/include/rclcpp/any_service_callback.hpp
index 294d2f2..c683345 100644
--- a/rclcpp/include/rclcpp/any_service_callback.hpp
+++ b/rclcpp/include/rclcpp/any_service_callback.hpp
@@ -102,6 +102,7 @@ public:
 
   void register_callback_for_tracing()
   {
+#ifndef TRACETOOLS_DISABLED
     if (shared_ptr_callback_) {
       TRACEPOINT(
         rclcpp_callback_register,
@@ -113,6 +114,7 @@ public:
         (const void *)this,
         get_symbol(shared_ptr_with_request_header_callback_));
     }
+#endif  // TRACETOOLS_DISABLED
   }
 };
 
diff --git a/rclcpp/include/rclcpp/any_subscription_callback.hpp b/rclcpp/include/rclcpp/any_subscription_callback.hpp
index f6b669f..1909b85 100644
--- a/rclcpp/include/rclcpp/any_subscription_callback.hpp
+++ b/rclcpp/include/rclcpp/any_subscription_callback.hpp
@@ -234,6 +234,7 @@ public:
 
   void register_callback_for_tracing()
   {
+#ifndef TRACETOOLS_DISABLED
     if (shared_ptr_callback_) {
       TRACEPOINT(
         rclcpp_callback_register,
@@ -255,6 +256,7 @@ public:
         (const void *)this,
         get_symbol(unique_ptr_with_info_callback_));
     }
+#endif  // TRACETOOLS_DISABLED
   }
 
 private:
diff --git a/rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp b/rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp
index 0c69d0e..618db3c 100644
--- a/rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp
+++ b/rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp
@@ -97,7 +97,9 @@ public:
     // The callback object gets copied, so if registration is done too early/before this point
     // (e.g. in `AnySubscriptionCallback::set()`), its address won't match any address used later
     // in subsequent tracepoints.
+#ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
+#endif
   }
 
   bool
diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
index 379dcde..9b7a120 100644
--- a/rclcpp/include/rclcpp/service.hpp
+++ b/rclcpp/include/rclcpp/service.hpp
@@ -159,7 +159,9 @@ public:
       rclcpp_service_callback_added,
       (const void *)get_service_handle().get(),
       (const void *)&any_callback_);
+#ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
+#endif
   }
 
   Service(
@@ -182,7 +184,9 @@ public:
       rclcpp_service_callback_added,
       (const void *)get_service_handle().get(),
       (const void *)&any_callback_);
+#ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
+#endif
   }
 
   Service(
@@ -207,7 +211,9 @@ public:
       rclcpp_service_callback_added,
       (const void *)get_service_handle().get(),
       (const void *)&any_callback_);
+#ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
+#endif
   }
 
   Service() = delete;
diff --git a/rclcpp/include/rclcpp/subscription.hpp b/rclcpp/include/rclcpp/subscription.hpp
index 4a33d81..c352d57 100644
--- a/rclcpp/include/rclcpp/subscription.hpp
+++ b/rclcpp/include/rclcpp/subscription.hpp
@@ -176,7 +176,9 @@ public:
     // The callback object gets copied, so if registration is done too early/before this point
     // (e.g. in `AnySubscriptionCallback::set()`), its address won't match any address used later
     // in subsequent tracepoints.
+#ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
+#endif
   }
 
   /// Called after construction to continue setup that requires shared_from_this().