diff --git a/tracetools_analysis/tracetools_analysis/data_model/ros.py b/tracetools_analysis/tracetools_analysis/data_model/ros.py
index e1064db..45e6fdf 100644
--- a/tracetools_analysis/tracetools_analysis/data_model/ros.py
+++ b/tracetools_analysis/tracetools_analysis/data_model/ros.py
@@ -56,6 +56,10 @@ class RosDataModel(DataModel):
                                                    'topic_name',
                                                    'depth'])
         self.subscriptions.set_index(['subscription_handle'], inplace=True, drop=True)
+        self.subscriptions_objects = pd.DataFrame(columns=['subscription',
+                                                          'timestamp',
+                                                          'subscription_handle'])
+        self.subscriptions_objects.set_index(['subscription'], inplace=True, drop=True)
         self.services = pd.DataFrame(columns=['service_handle',
                                               'timestamp',
                                               'node_handle',
@@ -74,10 +78,10 @@ class RosDataModel(DataModel):
                                             'tid'])
         self.timers.set_index(['timer_handle'], inplace=True, drop=True)
 
-        self.callback_objects = pd.DataFrame(columns=['handle',
+        self.callback_objects = pd.DataFrame(columns=['reference',
                                                       'timestamp',
                                                       'callback_object'])
-        self.callback_objects.set_index(['handle'], inplace=True, drop=True)
+        self.callback_objects.set_index(['reference'], inplace=True, drop=True)
         self.callback_symbols = pd.DataFrame(columns=['callback_object',
                                                       'timestamp',
                                                       'symbol'])
@@ -104,11 +108,16 @@ class RosDataModel(DataModel):
     ) -> None:
         self.publishers.loc[handle] = [timestamp, node_handle, rmw_handle, topic_name, depth]
 
-    def add_subscription(
+    def add_rcl_subscription(
         self, handle, timestamp, node_handle, rmw_handle, topic_name, depth
     ) -> None:
         self.subscriptions.loc[handle] = [timestamp, node_handle, rmw_handle, topic_name, depth]
 
+    def add_rclcpp_subscription(
+        self, subscription_pointer, timestamp, subscription_handle
+    ) -> None:
+        self.subscriptions_objects[subscription_pointer] = [timestamp, subscription_handle]
+
     def add_service(
         self, handle, timestamp, node_handle, rmw_handle, service_name
     ) -> None:
@@ -125,9 +134,9 @@ class RosDataModel(DataModel):
         self.timers.loc[handle] = [timestamp, period, tid]
 
     def add_callback_object(
-        self, handle, timestamp, callback_object
+        self, reference, timestamp, callback_object
     ) -> None:
-        self.callback_objects.loc[handle] = [timestamp, callback_object]
+        self.callback_objects.loc[reference] = [timestamp, callback_object]
 
     def add_callback_symbol(
         self, callback_object, timestamp, symbol
@@ -156,6 +165,8 @@ class RosDataModel(DataModel):
         print()
         print(f'Subscriptions:\n{self.subscriptions.to_string()}')
         print()
+        print(f'Subscription objects:\n{self.subscriptions_objects.to_string()}')
+        print()
         print(f'Services:\n{self.services.to_string()}')
         print()
         print(f'Clients:\n{self.clients.to_string()}')
diff --git a/tracetools_analysis/tracetools_analysis/processor/ros2.py b/tracetools_analysis/tracetools_analysis/processor/ros2.py
index 914086b..7b06888 100644
--- a/tracetools_analysis/tracetools_analysis/processor/ros2.py
+++ b/tracetools_analysis/tracetools_analysis/processor/ros2.py
@@ -43,7 +43,9 @@ class Ros2Handler(EventHandler):
             'ros2:rcl_publisher_init':
                 self._handle_rcl_publisher_init,
             'ros2:rcl_subscription_init':
-                self._handle_subscription_init,
+                self._handle_rcl_subscription_init,
+            'ros2:rclcpp_subscription_init':
+                self._handle_rclcpp_subscription_init,
             'ros2:rclcpp_subscription_callback_added':
                 self._handle_rclcpp_subscription_callback_added,
             'ros2:rcl_service_init':
@@ -108,7 +110,7 @@ class Ros2Handler(EventHandler):
         depth = get_field(event, 'queue_depth')
         self.data.add_publisher(handle, timestamp, node_handle, rmw_handle, topic_name, depth)
 
-    def _handle_subscription_init(
+    def _handle_rcl_subscription_init(
         self, event: Dict, metadata: EventMetadata
     ) -> None:
         handle = get_field(event, 'subscription_handle')
@@ -117,15 +119,23 @@ class Ros2Handler(EventHandler):
         rmw_handle = get_field(event, 'rmw_subscription_handle')
         topic_name = get_field(event, 'topic_name')
         depth = get_field(event, 'queue_depth')
-        self.data.add_subscription(handle, timestamp, node_handle, rmw_handle, topic_name, depth)
+        self.data.add_rcl_subscription(handle, timestamp, node_handle, rmw_handle, topic_name, depth)
+
+    def _handle_rclcpp_subscription_init(
+        self, event: Dict, metadata: EventMetadata,
+    ) -> None:
+        subscription_pointer = get_field(event, 'subscription')
+        timestamp = metadata.timestamp
+        handle = get_field(event, 'subscription_handle')
+        self.data.add_rclcpp_subscription(subscription_pointer, timestamp, handle)
 
     def _handle_rclcpp_subscription_callback_added(
         self, event: Dict, metadata: EventMetadata
     ) -> None:
-        handle = get_field(event, 'subscription_handle')
+        subscription_pointer = get_field(event, 'subscription')
         timestamp = metadata.timestamp
         callback_object = get_field(event, 'callback')
-        self.data.add_callback_object(handle, timestamp, callback_object)
+        self.data.add_callback_object(subscription_pointer, timestamp, callback_object)
 
     def _handle_rcl_service_init(
         self, event: Dict, metadata: EventMetadata