diff --git a/tracetools/include/tracetools/tracetools.h b/tracetools/include/tracetools/tracetools.h
new file mode 100644
index 0000000..19c977f
--- /dev/null
+++ b/tracetools/include/tracetools/tracetools.h
@@ -0,0 +1,30 @@
+#ifndef __TRACETOOLS_TRACETOOLS_H_
+#define __TRACETOOLS_TRACETOOLS_H_
+
+#include <stdint.h>
+#include <string.h>
+#include <stdbool.h>
+
+#define TRACEPOINT(event_name, ...) \
+    (ros_trace_##event_name)(__VA_ARGS__)
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/**
+ * Report whether tracing is compiled in
+ */
+bool ros_trace_compile_status();
+
+/**
+ * tp: rcl_init
+ */
+void ros_trace_rcl_init();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __TRACETOOLS_TRACETOOLS_H_ */
diff --git a/tracetools/src/.gitignore b/tracetools/src/.gitignore
new file mode 100644
index 0000000..2b36a18
--- /dev/null
+++ b/tracetools/src/.gitignore
@@ -0,0 +1,3 @@
+# generated files (LTTng)
+tp_call.c
+tp_call.h
diff --git a/tracetools/src/status.c b/tracetools/src/status.c
new file mode 100644
index 0000000..fc54ea0
--- /dev/null
+++ b/tracetools/src/status.c
@@ -0,0 +1,14 @@
+#include <stdio.h>
+#include "tracetools/tracetools.h"
+
+int main()
+{
+  printf("Tracing ");
+  if (ros_trace_compile_status()) {
+    printf("enabled\n");
+    return 0;
+  } else {
+    printf("disabled\n");
+    return 1;
+  }
+}
diff --git a/tracetools/src/tracetools.c b/tracetools/src/tracetools.c
new file mode 100644
index 0000000..d3003b1
--- /dev/null
+++ b/tracetools/src/tracetools.c
@@ -0,0 +1,20 @@
+#include "tracetools/tracetools.h"
+
+#ifdef WITH_LTTNG
+#include "tp_call.h"
+#endif
+
+
+bool ros_trace_compile_status() {
+#ifdef WITH_LTTNG
+    return true;
+#else
+    return false;
+#endif
+}
+
+void ros_trace_rcl_init() {
+#ifdef WITH_LTTNG
+    tracepoint(ros2, rcl_init);
+#endif
+}