diff --git a/rmw_cyclonedds_cpp/src/rmw_node.cpp b/rmw_cyclonedds_cpp/src/rmw_node.cpp
index f83e58e..144f1f8 100644
--- a/rmw_cyclonedds_cpp/src/rmw_node.cpp
+++ b/rmw_cyclonedds_cpp/src/rmw_node.cpp
@@ -102,7 +102,6 @@ using namespace std::literals::chrono_literals;
 #define RET_ALLOC_X(var, code) do {if (!var) {RET_ERR_X("failed to allocate " #var, code);} \
 } while (0)
 #define RET_WRONG_IMPLID_X(var, code) do { \
-    RET_NULL_X(var, code); \
     if ((var)->implementation_identifier != eclipse_cyclonedds_identifier) { \
       RET_ERR_X(#var " not from this implementation", code); \
     } \
@@ -115,7 +114,7 @@ using namespace std::literals::chrono_literals;
 #define RET_ERR(msg) RET_ERR_X(msg, return RMW_RET_ERROR)
 #define RET_NULL(var) RET_NULL_X(var, return RMW_RET_ERROR)
 #define RET_ALLOC(var) RET_ALLOC_X(var, return RMW_RET_ERROR)
-#define RET_WRONG_IMPLID(var) RET_WRONG_IMPLID_X(var, return RMW_RET_ERROR)
+#define RET_WRONG_IMPLID(var) RET_WRONG_IMPLID_X(var, return RMW_RET_INCORRECT_RMW_IMPLEMENTATION)
 #define RET_NULL_OR_EMPTYSTR(var) RET_NULL_OR_EMPTYSTR_X(var, return RMW_RET_ERROR)
 
 using rmw_dds_common::msg::ParticipantEntitiesInfo;
@@ -1354,6 +1353,7 @@ extern "C" rmw_ret_t rmw_destroy_node(rmw_node_t * node)
 
 extern "C" const rmw_guard_condition_t * rmw_node_get_graph_guard_condition(const rmw_node_t * node)
 {
+  RET_NULL_X(node, return nullptr);
   RET_WRONG_IMPLID_X(node, return nullptr);
   auto node_impl = static_cast<CddsNode *>(node->data);
   RET_NULL_X(node_impl, return nullptr);
@@ -1505,6 +1505,7 @@ extern "C" rmw_ret_t rmw_publish(
   rmw_publisher_allocation_t * allocation)
 {
   static_cast<void>(allocation);    // unused
+  RET_NULL(publisher);
   RET_WRONG_IMPLID(publisher);
   RET_NULL(ros_message);
   auto pub = static_cast<CddsPublisher *>(publisher->data);
@@ -1522,6 +1523,7 @@ extern "C" rmw_ret_t rmw_publish_serialized_message(
   const rmw_serialized_message_t * serialized_message, rmw_publisher_allocation_t * allocation)
 {
   static_cast<void>(allocation);    // unused
+  RET_NULL(publisher);
   RET_WRONG_IMPLID(publisher);
   RET_NULL(serialized_message);
   auto pub = static_cast<CddsPublisher *>(publisher->data);
@@ -2019,6 +2021,7 @@ extern "C" rmw_publisher_t * rmw_create_publisher(
 
 extern "C" rmw_ret_t rmw_get_gid_for_publisher(const rmw_publisher_t * publisher, rmw_gid_t * gid)
 {
+  RET_NULL(publisher);
   RET_WRONG_IMPLID(publisher);
   RET_NULL(gid);
   auto pub = static_cast<const CddsPublisher *>(publisher->data);
@@ -2034,7 +2037,9 @@ extern "C" rmw_ret_t rmw_compare_gids_equal(
   const rmw_gid_t * gid1, const rmw_gid_t * gid2,
   bool * result)
 {
+  RET_NULL(gid1);
   RET_WRONG_IMPLID(gid1);
+  RET_NULL(gid2);
   RET_WRONG_IMPLID(gid2);
   RET_NULL(result);
   /* alignment is potentially lost because of the translation to an array of bytes, so use
@@ -2047,6 +2052,7 @@ extern "C" rmw_ret_t rmw_publisher_count_matched_subscriptions(
   const rmw_publisher_t * publisher,
   size_t * subscription_count)
 {
+  RET_NULL(publisher);
   RET_WRONG_IMPLID(publisher);
   auto pub = static_cast<CddsPublisher *>(publisher->data);
   dds_publication_matched_status_t status;
@@ -2060,6 +2066,7 @@ extern "C" rmw_ret_t rmw_publisher_count_matched_subscriptions(
 
 rmw_ret_t rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher)
 {
+  RET_NULL(publisher);
   RET_WRONG_IMPLID(publisher);
   auto pub = static_cast<CddsPublisher *>(publisher->data);
   if (dds_assert_liveliness(pub->enth) < 0) {
@@ -2378,6 +2385,7 @@ extern "C" rmw_subscription_t * rmw_create_subscription(
 extern "C" rmw_ret_t rmw_subscription_count_matched_publishers(
   const rmw_subscription_t * subscription, size_t * publisher_count)
 {
+  RET_NULL(subscription);
   RET_WRONG_IMPLID(subscription);
   auto sub = static_cast<CddsSubscription *>(subscription->data);
   dds_subscription_matched_status_t status;
@@ -2485,6 +2493,7 @@ static rmw_ret_t rmw_take_int(
 {
   RET_NULL(taken);
   RET_NULL(ros_message);
+  RET_NULL(subscription);
   RET_WRONG_IMPLID(subscription);
   CddsSubscription * sub = static_cast<CddsSubscription *>(subscription->data);
   RET_NULL(sub);
@@ -2527,6 +2536,7 @@ static rmw_ret_t rmw_take_seq(
   RET_NULL(taken);
   RET_NULL(message_sequence);
   RET_NULL(message_info_sequence);
+  RET_NULL(subscription);
   RET_WRONG_IMPLID(subscription);
 
   if (count > message_sequence->capacity) {
@@ -2606,6 +2616,7 @@ static rmw_ret_t rmw_take_ser_int(
 {
   RET_NULL(taken);
   RET_NULL(serialized_message);
+  RET_NULL(subscription);
   RET_WRONG_IMPLID(subscription);
   CddsSubscription * sub = static_cast<CddsSubscription *>(subscription->data);
   RET_NULL(sub);
@@ -2773,7 +2784,8 @@ static rmw_ret_t init_rmw_event(
 extern "C" rmw_ret_t rmw_publisher_event_init(
   rmw_event_t * rmw_event, const rmw_publisher_t * publisher, rmw_event_type_t event_type)
 {
-  RET_WRONG_IMPLID_X(publisher, return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RET_NULL(publisher);
+  RET_WRONG_IMPLID(publisher);
   return init_rmw_event(
     rmw_event,
     publisher->implementation_identifier,
@@ -2784,7 +2796,8 @@ extern "C" rmw_ret_t rmw_publisher_event_init(
 extern "C" rmw_ret_t rmw_subscription_event_init(
   rmw_event_t * rmw_event, const rmw_subscription_t * subscription, rmw_event_type_t event_type)
 {
-  RET_WRONG_IMPLID_X(subscription, return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RET_NULL(subscription);
+  RET_WRONG_IMPLID(subscription);
   return init_rmw_event(
     rmw_event,
     subscription->implementation_identifier,
@@ -2796,6 +2809,7 @@ extern "C" rmw_ret_t rmw_take_event(
   const rmw_event_t * event_handle, void * event_info,
   bool * taken)
 {
+  RET_NULL(event_handle);
   RET_WRONG_IMPLID(event_handle);
   RET_NULL(taken);
   RET_NULL(event_info);
@@ -2956,6 +2970,7 @@ extern "C" rmw_ret_t rmw_destroy_guard_condition(rmw_guard_condition_t * guard_c
 extern "C" rmw_ret_t rmw_trigger_guard_condition(
   const rmw_guard_condition_t * guard_condition_handle)
 {
+  RET_NULL(guard_condition_handle);
   RET_WRONG_IMPLID(guard_condition_handle);
   auto * gcond_impl = static_cast<CddsGuardCondition *>(guard_condition_handle->data);
   dds_set_guardcondition(gcond_impl->gcondh, true);
@@ -3024,6 +3039,7 @@ fail_alloc_wait_set:
 
 extern "C" rmw_ret_t rmw_destroy_wait_set(rmw_wait_set_t * wait_set)
 {
+  RET_NULL(wait_set);
   RET_WRONG_IMPLID(wait_set);
   auto result = RMW_RET_OK;
   auto ws = static_cast<CddsWaitset *>(wait_set->data);
@@ -3409,6 +3425,7 @@ extern "C" rmw_ret_t rmw_take_response(
   rmw_service_info_t * request_header, void * ros_response,
   bool * taken)
 {
+  RET_NULL(client);
   RET_WRONG_IMPLID(client);
   auto info = static_cast<CddsClient *>(client->data);
   dds_time_t source_timestamp;
@@ -3456,6 +3473,7 @@ extern "C" rmw_ret_t rmw_take_request(
   rmw_service_info_t * request_header, void * ros_request,
   bool * taken)
 {
+  RET_NULL(service);
   RET_WRONG_IMPLID(service);
   auto info = static_cast<CddsService *>(service->data);
   return rmw_take_response_request(
@@ -3530,6 +3548,7 @@ extern "C" rmw_ret_t rmw_send_response(
   const rmw_service_t * service,
   rmw_request_id_t * request_header, void * ros_response)
 {
+  RET_NULL(service);
   RET_WRONG_IMPLID(service);
   RET_NULL(request_header);
   RET_NULL(ros_response);
@@ -3579,6 +3598,7 @@ extern "C" rmw_ret_t rmw_send_request(
   int64_t * sequence_id)
 {
   static std::atomic_uint next_request_id;
+  RET_NULL(client);
   RET_WRONG_IMPLID(client);
   RET_NULL(ros_request);
   RET_NULL(sequence_id);
@@ -3650,6 +3670,7 @@ static rmw_ret_t rmw_init_cs(
   const char * service_name, const rmw_qos_profile_t * qos_policies,
   bool is_service)
 {
+  RET_NULL(node);
   RET_WRONG_IMPLID(node);
   RET_NULL_OR_EMPTYSTR(service_name);
   RET_NULL(qos_policies);
@@ -3783,7 +3804,9 @@ static void rmw_fini_cs(CddsCS * cs)
 
 static rmw_ret_t destroy_client(const rmw_node_t * node, rmw_client_t * client)
 {
+  RET_NULL(node);
   RET_WRONG_IMPLID(node);
+  RET_NULL(client);
   RET_WRONG_IMPLID(client);
   auto info = static_cast<CddsClient *>(client->data);
   clean_waitset_caches();
@@ -3875,7 +3898,9 @@ extern "C" rmw_ret_t rmw_destroy_client(rmw_node_t * node, rmw_client_t * client
 
 static rmw_ret_t destroy_service(const rmw_node_t * node, rmw_service_t * service)
 {
+  RET_NULL(node);
   RET_WRONG_IMPLID(node);
+  RET_NULL(service);
   RET_WRONG_IMPLID(service);
   auto info = static_cast<CddsService *>(service->data);
   clean_waitset_caches();
@@ -3974,6 +3999,7 @@ extern "C" rmw_ret_t rmw_get_node_names(
   rcutils_string_array_t * node_names,
   rcutils_string_array_t * node_namespaces)
 {
+  RET_NULL(node);
   RET_WRONG_IMPLID(node);
   if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_names) ||
     RMW_RET_OK != rmw_check_zero_rmw_string_array(node_namespaces))
@@ -3996,6 +4022,7 @@ extern "C" rmw_ret_t rmw_get_node_names_with_enclaves(
   rcutils_string_array_t * node_namespaces,
   rcutils_string_array_t * enclaves)
 {
+  RET_NULL(node);
   RET_WRONG_IMPLID(node);
   if (RMW_RET_OK != rmw_check_zero_rmw_string_array(node_names) ||
     RMW_RET_OK != rmw_check_zero_rmw_string_array(node_namespaces))
@@ -4017,6 +4044,7 @@ extern "C" rmw_ret_t rmw_get_topic_names_and_types(
   rcutils_allocator_t * allocator,
   bool no_demangle, rmw_names_and_types_t * tptyp)
 {
+  RET_NULL(node);
   RET_WRONG_IMPLID(node);
   RET_NULL(allocator);
   rmw_ret_t ret = rmw_names_and_types_check_zero(tptyp);
@@ -4116,7 +4144,9 @@ extern "C" rmw_ret_t rmw_service_server_is_available(
   const rmw_client_t * client,
   bool * is_available)
 {
+  RET_NULL(node);
   RET_WRONG_IMPLID(node);
+  RET_NULL(client);
   RET_WRONG_IMPLID(client);
   RET_NULL(is_available);
   *is_available = false;
@@ -4185,6 +4215,7 @@ static rmw_ret_t get_topic_names_and_types_by_node(
   GetNamesAndTypesByNodeFunction get_names_and_types_by_node,
   rmw_names_and_types_t * topic_names_and_types)
 {
+  RET_NULL(node);
   RET_WRONG_IMPLID(node);
   RET_NULL(allocator);
   RET_NULL(node_name);
@@ -4314,6 +4345,7 @@ extern "C" rmw_ret_t rmw_get_publishers_info_by_topic(
   bool no_mangle,
   rmw_topic_endpoint_info_array_t * publishers_info)
 {
+  RET_NULL(node);
   RET_WRONG_IMPLID(node);
   RET_NULL(allocator);
   RET_NULL(topic_name);
@@ -4339,6 +4371,7 @@ extern "C" rmw_ret_t rmw_get_subscriptions_info_by_topic(
   bool no_mangle,
   rmw_topic_endpoint_info_array_t * subscriptions_info)
 {
+  RET_NULL(node);
   RET_WRONG_IMPLID(node);
   RET_NULL(allocator);
   RET_NULL(topic_name);