diff --git a/rmw_cyclonedds_cpp/src/rmw_node.cpp b/rmw_cyclonedds_cpp/src/rmw_node.cpp
index 219d01a..ff0b6ea 100644
--- a/rmw_cyclonedds_cpp/src/rmw_node.cpp
+++ b/rmw_cyclonedds_cpp/src/rmw_node.cpp
@@ -2267,32 +2267,41 @@ static rmw_subscription_t * create_subscription(
       dds_ppant, dds_sub, type_supports, topic_name, qos_policies,
       subscription_options->ignore_local_publications)) == nullptr)
   {
-    goto fail_common_init;
+    return nullptr;
   }
+  auto cleanup_subscription = rcpputils::make_scope_exit(
+    [sub]() {
+      if (dds_delete(sub->rdcondh) < 0) {
+        RMW_SAFE_FWRITE_TO_STDERR(
+          "failed to delete readcondition during '"
+          RCUTILS_STRINGIFY(__function__) "' cleanup\n");
+      }
+      if (dds_delete(sub->enth) < 0) {
+        RMW_SAFE_FWRITE_TO_STDERR(
+          "failed to delete reader during '"
+          RCUTILS_STRINGIFY(__function__) "' cleanup\n");
+      }
+      delete sub;
+    });
   rmw_subscription = rmw_subscription_allocate();
-  RET_ALLOC_X(rmw_subscription, goto fail_subscription);
+  RET_ALLOC_X(rmw_subscription, return nullptr);
+  auto cleanup_rmw_subscription = rcpputils::make_scope_exit(
+    [rmw_subscription]() {
+      rmw_free(const_cast<char *>(rmw_subscription->topic_name));
+      rmw_subscription_free(rmw_subscription);
+    });
   rmw_subscription->implementation_identifier = eclipse_cyclonedds_identifier;
   rmw_subscription->data = sub;
   rmw_subscription->topic_name =
-    reinterpret_cast<const char *>(rmw_allocate(strlen(topic_name) + 1));
-  RET_ALLOC_X(rmw_subscription->topic_name, goto fail_topic_name);
+    static_cast<const char *>(rmw_allocate(strlen(topic_name) + 1));
+  RET_ALLOC_X(rmw_subscription->topic_name, return nullptr);
   memcpy(const_cast<char *>(rmw_subscription->topic_name), topic_name, strlen(topic_name) + 1);
   rmw_subscription->options = *subscription_options;
   rmw_subscription->can_loan_messages = false;
+
+  cleanup_subscription.cancel();
+  cleanup_rmw_subscription.cancel();
   return rmw_subscription;
-fail_topic_name:
-  rmw_subscription_free(rmw_subscription);
-fail_subscription:
-  if (dds_delete(sub->rdcondh) < 0) {
-    RCUTILS_LOG_ERROR_NAMED(
-      "rmw_cyclonedds_cpp", "failed to delete readcondition during error handling");
-  }
-  if (dds_delete(sub->enth) < 0) {
-    RCUTILS_LOG_ERROR_NAMED("rmw_cyclonedds_cpp", "failed to delete reader during error handling");
-  }
-  delete sub;
-fail_common_init:
-  return nullptr;
 }
 
 extern "C" rmw_subscription_t * rmw_create_subscription(
@@ -2300,29 +2309,69 @@ extern "C" rmw_subscription_t * rmw_create_subscription(
   const char * topic_name, const rmw_qos_profile_t * qos_policies,
   const rmw_subscription_options_t * subscription_options)
 {
-  RET_WRONG_IMPLID_X(node, return nullptr);
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, nullptr);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    eclipse_cyclonedds_identifier,
+    return nullptr);
+  RMW_CHECK_ARGUMENT_FOR_NULL(type_supports, nullptr);
+  RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, nullptr);
+  if (0 == strlen(topic_name)) {
+    RMW_SET_ERROR_MSG("topic_name argument is an empty string");
+    return nullptr;
+  }
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos_policies, nullptr);
+  if (!qos_policies->avoid_ros_namespace_conventions) {
+    int validation_result = RMW_TOPIC_VALID;
+    rmw_ret_t ret = rmw_validate_full_topic_name(topic_name, &validation_result, nullptr);
+    if (RMW_RET_OK != ret) {
+      return nullptr;
+    }
+    if (RMW_TOPIC_VALID != validation_result) {
+      const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
+      RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("invalid topic_name argument: %s", reason);
+      return nullptr;
+    }
+  }
+  RMW_CHECK_ARGUMENT_FOR_NULL(subscription_options, nullptr);
+
   rmw_subscription_t * sub = create_subscription(
     node->context->impl->ppant, node->context->impl->dds_sub,
     type_supports, topic_name, qos_policies,
     subscription_options);
-  if (sub != nullptr) {
-    // Update graph
-    auto common = &node->context->impl->common;
-    const auto cddssub = static_cast<const CddsSubscription *>(sub->data);
-    std::lock_guard<std::mutex> guard(common->node_update_mutex);
-    rmw_dds_common::msg::ParticipantEntitiesInfo msg =
-      common->graph_cache.associate_reader(cddssub->gid, common->gid, node->name, node->namespace_);
-    if (RMW_RET_OK != rmw_publish(
-        common->pub,
-        static_cast<void *>(&msg),
-        nullptr))
-    {
-      static_cast<void>(common->graph_cache.dissociate_reader(
-        cddssub->gid, common->gid, node->name, node->namespace_));
-      static_cast<void>(destroy_subscription(sub));
-      return nullptr;
-    }
+  if (sub == nullptr) {
+    return nullptr;
   }
+  auto cleanup_subscription = rcpputils::make_scope_exit(
+    [sub]() {
+      rmw_error_state_t error_state = *rmw_get_error_state();
+      rmw_reset_error();
+      if (RMW_RET_OK != destroy_subscription(sub)) {
+        RMW_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
+        RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "' cleanup\n");
+        rmw_reset_error();
+      }
+      rmw_set_error_state(error_state.message, error_state.file, error_state.line_number);
+    });
+
+  // Update graph
+  auto common = &node->context->impl->common;
+  const auto cddssub = static_cast<const CddsSubscription *>(sub->data);
+  std::lock_guard<std::mutex> guard(common->node_update_mutex);
+  rmw_dds_common::msg::ParticipantEntitiesInfo msg =
+    common->graph_cache.associate_reader(cddssub->gid, common->gid, node->name, node->namespace_);
+  if (RMW_RET_OK != rmw_publish(
+      common->pub,
+      static_cast<void *>(&msg),
+      nullptr))
+  {
+    static_cast<void>(common->graph_cache.dissociate_reader(
+      cddssub->gid, common->gid, node->name, node->namespace_));
+    return nullptr;
+  }
+
+  cleanup_subscription.cancel();
   return sub;
 }
 
@@ -2344,39 +2393,62 @@ extern "C" rmw_ret_t rmw_subscription_get_actual_qos(
   const rmw_subscription_t * subscription,
   rmw_qos_profile_t * qos)
 {
-  RET_NULL(qos);
-  RET_WRONG_IMPLID(subscription);
+  RMW_CHECK_ARGUMENT_FOR_NULL(subscription, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    subscription,
+    subscription->implementation_identifier,
+    eclipse_cyclonedds_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
   auto sub = static_cast<CddsSubscription *>(subscription->data);
   if (get_readwrite_qos(sub->enth, qos)) {
     return RMW_RET_OK;
-  } else {
-    return RMW_RET_ERROR;
   }
+  return RMW_RET_ERROR;
 }
 
 static rmw_ret_t destroy_subscription(rmw_subscription_t * subscription)
 {
-  RET_WRONG_IMPLID(subscription);
+  rmw_ret_t ret = RMW_RET_OK;
   auto sub = static_cast<CddsSubscription *>(subscription->data);
-  if (sub != nullptr) {
-    clean_waitset_caches();
-    if (dds_delete(sub->rdcondh) < 0) {
-      RMW_SET_ERROR_MSG("failed to delete readcondition");
-    }
-    if (dds_delete(sub->enth) < 0) {
-      RMW_SET_ERROR_MSG("failed to delete reader");
-    }
-    delete sub;
+  clean_waitset_caches();
+  if (dds_delete(sub->rdcondh) < 0) {
+    RMW_SET_ERROR_MSG("failed to delete readcondition");
+    ret = RMW_RET_ERROR;
   }
+  if (dds_delete(sub->enth) < 0) {
+    if (RMW_RET_OK == ret) {
+      RMW_SET_ERROR_MSG("failed to delete reader");
+      ret = RMW_RET_ERROR;
+    } else {
+      RMW_SAFE_FWRITE_TO_STDERR("failed to delete reader\n");
+    }
+  }
+  delete sub;
   rmw_free(const_cast<char *>(subscription->topic_name));
-  subscription->topic_name = nullptr;
   rmw_subscription_free(subscription);
-  return RMW_RET_OK;
+  return ret;
 }
 
 extern "C" rmw_ret_t rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription)
 {
-  RET_WRONG_IMPLID(node);
+  RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(subscription, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    eclipse_cyclonedds_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    subscription,
+    subscription->implementation_identifier,
+    eclipse_cyclonedds_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+
+  rmw_ret_t ret = RMW_RET_OK;
+  rmw_error_state_t error_state;
+  rmw_error_string_t error_string;
   {
     auto common = &node->context->impl->common;
     const auto cddssub = static_cast<const CddsSubscription *>(subscription->data);
@@ -2385,12 +2457,26 @@ extern "C" rmw_ret_t rmw_destroy_subscription(rmw_node_t * node, rmw_subscriptio
       common->graph_cache.dissociate_writer(
       cddssub->gid, common->gid, node->name,
       node->namespace_);
-    if (RMW_RET_OK != rmw_publish(common->pub, static_cast<void *>(&msg), nullptr)) {
-      RMW_SET_ERROR_MSG(
-        "failed to publish ParticipantEntitiesInfo message after dissociating reader");
+    ret = rmw_publish(common->pub, static_cast<void *>(&msg), nullptr);
+    if (RMW_RET_OK != ret) {
+      error_state = *rmw_get_error_state();
+      error_string = rmw_get_error_string();
+      rmw_reset_error();
     }
   }
-  return destroy_subscription(subscription);
+
+  rmw_ret_t local_ret = destroy_subscription(subscription);
+  if (RMW_RET_OK != local_ret) {
+    if (RMW_RET_OK != ret) {
+      RMW_SAFE_FWRITE_TO_STDERR(error_string.str);
+      RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "'\n");
+    }
+    ret = local_ret;
+  } else if (RMW_RET_OK != ret) {
+    rmw_set_error_state(error_state.message, error_state.file, error_state.line_number);
+  }
+
+  return ret;
 }
 
 static rmw_ret_t rmw_take_int(