diff --git a/rmw_cyclonedds_cpp/CMakeLists.txt b/rmw_cyclonedds_cpp/CMakeLists.txt
index 4111a73..8d399f5 100644
--- a/rmw_cyclonedds_cpp/CMakeLists.txt
+++ b/rmw_cyclonedds_cpp/CMakeLists.txt
@@ -27,6 +27,7 @@ endif()
 
 find_package(ament_cmake_ros REQUIRED)
 
+find_package(tracetools REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rcpputils REQUIRED)
 
@@ -44,6 +45,7 @@ find_package(rosidl_runtime_c REQUIRED)
 find_package(rosidl_typesupport_introspection_c REQUIRED)
 find_package(rosidl_typesupport_introspection_cpp REQUIRED)
 
+ament_export_dependencies(tracetools)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rcpputils)
 ament_export_dependencies(rmw)
@@ -84,6 +86,7 @@ endif()
 
 
 ament_target_dependencies(rmw_cyclonedds_cpp
+  "tracetools"
   "rcutils"
   "rcpputils"
   "rosidl_typesupport_introspection_c"
diff --git a/rmw_cyclonedds_cpp/package.xml b/rmw_cyclonedds_cpp/package.xml
index 98ac06e..266ca6d 100644
--- a/rmw_cyclonedds_cpp/package.xml
+++ b/rmw_cyclonedds_cpp/package.xml
@@ -9,6 +9,7 @@
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
+  <depend>tracetools</depend>
   <depend>cyclonedds</depend>
   <depend>rcutils</depend>
   <depend>rcpputils</depend>
diff --git a/rmw_cyclonedds_cpp/src/rmw_node.cpp b/rmw_cyclonedds_cpp/src/rmw_node.cpp
index 393e522..71ced30 100644
--- a/rmw_cyclonedds_cpp/src/rmw_node.cpp
+++ b/rmw_cyclonedds_cpp/src/rmw_node.cpp
@@ -74,6 +74,8 @@
 
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
+#include "tracetools/tracetools.h"
+
 #include "namespace_prefix.hpp"
 
 #include "dds/dds.h"
@@ -1544,6 +1546,8 @@ extern "C" rmw_ret_t rmw_publish(
     return RMW_RET_INVALID_ARGUMENT);
   auto pub = static_cast<CddsPublisher *>(publisher->data);
   assert(pub);
+  const dds_time_t tstamp = dds_time();
+  TRACEPOINT(rmw_publish, (const void *)publisher, ros_message, tstamp);
   if (dds_write(pub->enth, ros_message) >= 0) {
     return RMW_RET_OK;
   } else {
@@ -1567,6 +1571,9 @@ extern "C" rmw_ret_t rmw_publish_serialized_message(
     serialized_message, "serialized message handle is null",
     return RMW_RET_INVALID_ARGUMENT);
   auto pub = static_cast<CddsPublisher *>(publisher->data);
+  const dds_time_t tstamp = dds_time();
+  TRACEPOINT(rmw_publish, (const void *)publisher, serialized_message, tstamp);
+
   struct ddsi_serdata * d = serdata_rmw_from_serialized_message(
     pub->sertopic, serialized_message->buffer, serialized_message->buffer_length);
   const bool ok = (dds_writecdr(pub->enth, d) >= 0);
@@ -2062,6 +2069,7 @@ extern "C" rmw_publisher_t * rmw_create_publisher(
   }
 
   cleanup_publisher.cancel();
+  TRACEPOINT(rmw_publisher_init, static_cast<const void *>(pub), cddspub->gid.data);
   return pub;
 }
 
@@ -2442,6 +2450,7 @@ extern "C" rmw_subscription_t * rmw_create_subscription(
   }
 
   cleanup_subscription.cancel();
+  TRACEPOINT(rmw_subscription_init, static_cast<const void *>(sub), cddssub->gid.data);
   return sub;
 }
 
@@ -2597,10 +2606,17 @@ static rmw_ret_t rmw_take_int(
         fprintf(stderr, "** sample in history for %.fms\n", static_cast<double>(dt) / 1e6);
       }
 #endif
-      return RMW_RET_OK;
+      goto take_done;
     }
   }
   *taken = false;
+take_done:
+  TRACEPOINT(
+    rmw_take,
+    static_cast<const void *>(subscription),
+    static_cast<const void *>(ros_message),
+    (message_info ? message_info->source_timestamp : 0LL),
+    *taken);
   return RMW_RET_OK;
 }
 
@@ -2744,11 +2760,23 @@ static rmw_ret_t rmw_take_ser_int(
       serialized_message->buffer_length = d->size();
       ddsi_serdata_unref(dcmn);
       *taken = true;
+      TRACEPOINT(
+        rmw_take,
+        static_cast<const void *>(subscription),
+        static_cast<const void *>(serialized_message),
+        (message_info ? message_info->source_timestamp : 0LL),
+        *taken);
       return RMW_RET_OK;
     }
     ddsi_serdata_unref(dcmn);
   }
   *taken = false;
+  TRACEPOINT(
+    rmw_take,
+    static_cast<const void *>(subscription),
+    static_cast<const void *>(serialized_message),
+    0LL,
+    *taken);
   return RMW_RET_OK;
 }
 
@@ -3558,6 +3586,14 @@ extern "C" rmw_ret_t rmw_take_response(
     info->reqtime.erase(seq);
   }
 #endif
+  TRACEPOINT(
+    rmw_take_response,
+    static_cast<const void *>(client),
+    static_cast<const void *>(ros_response),
+    (nullptr != request_header ? request_header->request_id.sequence_number : 0LL),
+    (nullptr != request_header ? request_header->source_timestamp : 0LL),
+    // rmw_take_response_request() will not take if taken==nullptr
+    (nullptr != taken ? *taken : false));
   return ret;
 }
 
@@ -3589,9 +3625,21 @@ extern "C" rmw_ret_t rmw_take_request(
     service->implementation_identifier, eclipse_cyclonedds_identifier,
     return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
   auto info = static_cast<CddsService *>(service->data);
-  return rmw_take_response_request(
+
+  rmw_ret_t ret = rmw_take_response_request(
     &info->service, request_header, ros_request, taken, nullptr,
     false);
+  // Do not use the whole request_header->writer_guid, see the rmw_client_init tracepoint trigger
+  rmw_gid_t gid{};
+  memcpy(gid.data, &request_header->request_id.writer_guid, sizeof(info->service.pub->pubiid));
+  TRACEPOINT(
+    rmw_take_request,
+    static_cast<const void *>(service),
+    static_cast<const void *>(ros_request),
+    gid.data,
+    (nullptr != request_header ? request_header->request_id.sequence_number : 0LL),
+    *taken);
+  return ret;
 }
 
 static rmw_ret_t rmw_send_response_request(
@@ -3696,12 +3744,23 @@ extern "C" rmw_ret_t rmw_send_response(
     dds_sleepfor(DDS_MSECS(10));
     tnow = std::chrono::system_clock::now();
   }
+  rmw_gid_t gid{};
+  const dds_time_t timestamp = dds_time();
   switch (st) {
     case client_present_t::FAILURE:
       break;
     case client_present_t::MAYBE:
       return RMW_RET_TIMEOUT;
     case client_present_t::YES:
+      // Do not use request_header->writer_guid, see the rmw_client_init tracepoint trigger
+      memcpy(gid.data, &header.guid, sizeof(header.guid));
+      TRACEPOINT(
+        rmw_send_response,
+        static_cast<const void *>(service),
+        static_cast<const void *>(ros_response),
+        gid.data,
+        header.seq,
+        timestamp);
       return rmw_send_response_request(&info->service, header, ros_response);
     case client_present_t::GONE:
       return RMW_RET_OK;
@@ -3734,6 +3793,11 @@ extern "C" rmw_ret_t rmw_send_request(
   }
 #endif
 
+  TRACEPOINT(
+    rmw_send_request,
+    static_cast<const void *>(client),
+    static_cast<const void *>(ros_request),
+    header.seq);
   return rmw_send_response_request(&info->client, header, ros_request);
 }
 
@@ -3996,6 +4060,7 @@ extern "C" rmw_client_t * rmw_create_client(
   const char * service_name,
   const rmw_qos_profile_t * qos_policies)
 {
+  rmw_gid_t gid{};
   CddsClient * info = new CddsClient();
 #if REPORT_BLOCKED_REQUESTS
   info->lastcheck = 0;
@@ -4035,7 +4100,12 @@ extern "C" rmw_client_t * rmw_create_client(
       return nullptr;
     }
   }
-
+  // rmw_cyclonedds uses info->client.pub->pubiid as the internal request header GUID, which is
+  // the first half (8 bytes out of 16 bytes) of the rmw_request_id_t's writer_guid. The second
+  // half doesn't match when read from the client side and the service side, so only use the first
+  // half. The second half will be zeros on both client side and service side.
+  memcpy(gid.data, &info->client.pub->pubiid, sizeof(info->client.pub->pubiid));
+  TRACEPOINT(rmw_client_init, static_cast<const void *>(rmw_client), gid.data);
   return rmw_client;
 fail_service_name:
   rmw_client_free(rmw_client);