diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index 185fa804..732cd470 100644
--- a/rmw_zenoh_cpp/CMakeLists.txt
+++ b/rmw_zenoh_cpp/CMakeLists.txt
@@ -21,6 +21,7 @@ find_package(rcutils REQUIRED)
 find_package(rosidl_typesupport_fastrtps_c REQUIRED)
 find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 find_package(rmw REQUIRED)
+find_package(tracetools REQUIRED)
 find_package(zenoh_cpp_vendor REQUIRED)
 
 add_library(rmw_zenoh_cpp SHARED
@@ -67,6 +68,7 @@ target_link_libraries(rmw_zenoh_cpp
     rosidl_typesupport_fastrtps_c::rosidl_typesupport_fastrtps_c
     rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp
     rmw::rmw
+    tracetools::tracetools
     zenohcxx::zenohc
 )
 
diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml
index 79272665..9376b716 100644
--- a/rmw_zenoh_cpp/package.xml
+++ b/rmw_zenoh_cpp/package.xml
@@ -25,6 +25,7 @@
   <depend>rosidl_typesupport_fastrtps_c</depend>
   <depend>rosidl_typesupport_fastrtps_cpp</depend>
   <depend>rmw</depend>
+  <depend>tracetools</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
index 1c24570d..2cb07ffb 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
@@ -44,6 +44,8 @@
 #include "rmw/get_topic_endpoint_info.h"
 #include "rmw/impl/cpp/macros.hpp"
 
+#include "tracetools/tracetools.h"
+
 namespace rmw_zenoh_cpp
 {
 ///=============================================================================
@@ -363,6 +365,12 @@ rmw_ret_t ClientData::send_request(
   size_t data_length = ser.get_serialized_data_length();
   *sequence_id = sequence_number_++;
 
+  TRACETOOLS_TRACEPOINT(
+    rmw_send_request,
+    static_cast<const void *>(rmw_client_),
+    static_cast<const void *>(ros_request),
+    *sequence_id);
+
   // Send request
   zenoh::Session::GetOptions opts = zenoh::Session::GetOptions::create_default();
   std::array<uint8_t, RMW_GID_STORAGE_SIZE> local_gid = entity_->copy_gid();
diff --git a/rmw_zenoh_cpp/src/detail/rmw_client_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_client_data.hpp
index 44b187ba..f3e665ab 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_client_data.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_client_data.hpp
@@ -118,6 +118,7 @@ class ClientData final : public std::enable_shared_from_this<ClientData>
   mutable std::recursive_mutex mutex_;
   // The parent node.
   const rmw_node_t * rmw_node_;
+  // The rmw client.
   const rmw_client_t * rmw_client_;
   // The Entity generated for the service.
   std::shared_ptr<liveliness::Entity> entity_;
diff --git a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
index ed1b5b2b..23ca5e78 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
@@ -141,6 +141,7 @@ bool NodeData::create_pub_data(
 
   auto pub_data = PublisherData::make(
     session,
+    publisher,
     node_,
     entity_->node_info(),
     id_,
@@ -276,6 +277,7 @@ bool NodeData::create_service_data(
   auto service_data = ServiceData::make(
     session,
     node_,
+    service,
     entity_->node_info(),
     id_,
     std::move(id),
diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
index 7d83eec6..dcdd8787 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
@@ -37,6 +37,8 @@
 #include "rmw/get_topic_endpoint_info.h"
 #include "rmw/impl/cpp/macros.hpp"
 
+#include "tracetools/tracetools.h"
+
 namespace rmw_zenoh_cpp
 {
 // TODO(yuyuan): SHM, make this configurable
@@ -45,6 +47,7 @@ namespace rmw_zenoh_cpp
 ///=============================================================================
 std::shared_ptr<PublisherData> PublisherData::make(
   std::shared_ptr<zenoh::Session> session,
+  const rmw_publisher_t * const rmw_publisher,
   const rmw_node_t * const node,
   liveliness::NodeInfo node_info,
   std::size_t node_id,
@@ -158,6 +161,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
 
   return std::shared_ptr<PublisherData>(
     new PublisherData{
+      rmw_publisher,
       node,
       std::move(entity),
       std::move(session),
@@ -171,6 +175,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
 
 ///=============================================================================
 PublisherData::PublisherData(
+  const rmw_publisher_t * const rmw_publisher,
   const rmw_node_t * rmw_node,
   std::shared_ptr<liveliness::Entity> entity,
   std::shared_ptr<zenoh::Session> sess,
@@ -179,7 +184,8 @@ PublisherData::PublisherData(
   zenoh::LivelinessToken token,
   const void * type_support_impl,
   std::unique_ptr<MessageTypeSupport> type_support)
-: rmw_node_(rmw_node),
+: rmw_publisher_(rmw_publisher),
+  rmw_node_(rmw_node),
   entity_(std::move(entity)),
   sess_(std::move(sess)),
   pub_(std::move(pub)),
@@ -246,10 +252,10 @@ rmw_ret_t PublisherData::publish(
   // session use different encoding formats. In our case, all key expressions
   // will be encoded with CDR so it does not really matter.
   zenoh::ZResult result;
+  int64_t source_timestamp = 0;
   auto options = zenoh::Publisher::PutOptions::create_default();
   options.attachment = create_map_and_set_sequence_num(
-    sequence_number_++,
-    entity_->copy_gid());
+    sequence_number_++, entity_->copy_gid(), &source_timestamp);
 
   // TODO(ahcorde): shmbuf
   std::vector<uint8_t> raw_data(
@@ -257,6 +263,8 @@ rmw_ret_t PublisherData::publish(
     reinterpret_cast<const uint8_t *>(msg_bytes) + data_length);
   zenoh::Bytes payload(std::move(raw_data));
 
+  TRACETOOLS_TRACEPOINT(
+    rmw_publish, static_cast<const void *>(rmw_publisher_), ros_message, source_timestamp);
   pub_.put(std::move(payload), std::move(options), &result);
   if (result != Z_OK) {
     if (result == Z_ESESSION_CLOSED) {
@@ -292,14 +300,18 @@ rmw_ret_t PublisherData::publish_serialized_message(
   // session use different encoding formats. In our case, all key expressions
   // will be encoded with CDR so it does not really matter.
   zenoh::ZResult result;
+  int64_t source_timestamp = 0;
   auto options = zenoh::Publisher::PutOptions::create_default();
-  options.attachment = create_map_and_set_sequence_num(sequence_number_++, entity_->copy_gid());
+  options.attachment = create_map_and_set_sequence_num(
+    sequence_number_++, entity_->copy_gid(), &source_timestamp);
 
   std::vector<uint8_t> raw_data(
     serialized_message->buffer,
     serialized_message->buffer + data_length);
   zenoh::Bytes payload(std::move(raw_data));
 
+  TRACETOOLS_TRACEPOINT(
+    rmw_publish, static_cast<const void *>(rmw_publisher_), serialized_message, source_timestamp);
   pub_.put(std::move(payload), std::move(options), &result);
   if (result != Z_OK) {
     if (result == Z_ESESSION_CLOSED) {
diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
index 52c22523..7cec5406 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
@@ -45,6 +45,7 @@ class PublisherData final
   // Make a shared_ptr of PublisherData.
   static std::shared_ptr<PublisherData> make(
     std::shared_ptr<zenoh::Session> session,
+    const rmw_publisher_t * const rmw_publisher,
     const rmw_node_t * const node,
     liveliness::NodeInfo node_info,
     std::size_t node_id,
@@ -90,6 +91,7 @@ class PublisherData final
 private:
   // Constructor.
   PublisherData(
+    const rmw_publisher_t * const rmw_publisher,
     const rmw_node_t * rmw_node,
     std::shared_ptr<liveliness::Entity> entity,
     std::shared_ptr<zenoh::Session> session,
@@ -101,6 +103,8 @@ class PublisherData final
 
   // Internal mutex.
   mutable std::mutex mutex_;
+  // The rmw publisher
+  const rmw_publisher_t * rmw_publisher_;
   // The parent node.
   const rmw_node_t * rmw_node_;
   // The Entity generated for the publisher.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
index 9fe075a9..7248394a 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
@@ -40,12 +40,15 @@
 #include "rmw/get_topic_endpoint_info.h"
 #include "rmw/impl/cpp/macros.hpp"
 
+#include "tracetools/tracetools.h"
+
 namespace rmw_zenoh_cpp
 {
 ///=============================================================================
 std::shared_ptr<ServiceData> ServiceData::make(
   std::shared_ptr<zenoh::Session> session,
   const rmw_node_t * const node,
+  const rmw_service_t * rmw_service,
   liveliness::NodeInfo node_info,
   std::size_t node_id,
   std::size_t service_id,
@@ -128,6 +131,7 @@ std::shared_ptr<ServiceData> ServiceData::make(
   auto service_data = std::shared_ptr<ServiceData>(
     new ServiceData{
       node,
+      rmw_service,
       std::move(entity),
       session,
       request_members,
@@ -192,6 +196,7 @@ std::shared_ptr<ServiceData> ServiceData::make(
 ///=============================================================================
 ServiceData::ServiceData(
   const rmw_node_t * rmw_node,
+  const rmw_service_t * rmw_service,
   std::shared_ptr<liveliness::Entity> entity,
   std::shared_ptr<zenoh::Session> session,
   const void * request_type_support_impl,
@@ -199,6 +204,7 @@ ServiceData::ServiceData(
   std::unique_ptr<RequestTypeSupport> request_type_support,
   std::unique_ptr<ResponseTypeSupport> response_type_support)
 : rmw_node_(rmw_node),
+  rmw_service_(rmw_service),
   entity_(std::move(entity)),
   sess_(std::move(session)),
   request_type_support_impl_(request_type_support_impl),
@@ -438,9 +444,11 @@ rmw_ret_t ServiceData::send_response(
   zenoh::Query::ReplyOptions options = zenoh::Query::ReplyOptions::create_default();
   std::array<uint8_t, RMW_GID_STORAGE_SIZE> writer_gid;
   memcpy(writer_gid.data(), request_id->writer_guid, RMW_GID_STORAGE_SIZE);
+  int64_t source_timestamp = 0;
   options.attachment = create_map_and_set_sequence_num(
     request_id->sequence_number,
-    writer_gid);
+    writer_gid,
+    &source_timestamp);
 
   std::vector<uint8_t> raw_bytes(
     reinterpret_cast<const uint8_t *>(response_bytes),
@@ -454,6 +462,13 @@ rmw_ret_t ServiceData::send_response(
     return RMW_RET_ERROR;
   }
 
+  TRACETOOLS_TRACEPOINT(
+    rmw_send_response,
+    static_cast<const void *>(rmw_service_),
+    static_cast<const void *>(ros_response),
+    request_id->writer_guid,
+    request_id->sequence_number,
+    source_timestamp);
   loaned_query.reply(service_ke, std::move(payload), std::move(options), &result);
   if (result != Z_OK) {
     RMW_SET_ERROR_MSG("unable to reply");
diff --git a/rmw_zenoh_cpp/src/detail/rmw_service_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_service_data.hpp
index eeeeee6c..1c557370 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_service_data.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_service_data.hpp
@@ -49,6 +49,7 @@ class ServiceData final : public std::enable_shared_from_this<ServiceData>
   static std::shared_ptr<ServiceData> make(
     std::shared_ptr<zenoh::Session> session,
     const rmw_node_t * const node,
+    const rmw_service_t * rmw_service,
     liveliness::NodeInfo node_info,
     std::size_t node_id,
     std::size_t service_id,
@@ -98,6 +99,7 @@ class ServiceData final : public std::enable_shared_from_this<ServiceData>
   // Constructor.
   ServiceData(
     const rmw_node_t * rmw_node,
+    const rmw_service_t * rmw_service,
     std::shared_ptr<liveliness::Entity> entity,
     std::shared_ptr<zenoh::Session> session,
     const void * request_type_support_impl,
@@ -109,6 +111,8 @@ class ServiceData final : public std::enable_shared_from_this<ServiceData>
   mutable std::mutex mutex_;
   // The parent node.
   const rmw_node_t * rmw_node_;
+  // The rmw service.
+  const rmw_service_t * rmw_service_;
   // The Entity generated for the service.
   std::shared_ptr<liveliness::Entity> entity_;
 
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp b/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
index 3e6f8ef9..9e75c1f7 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
@@ -28,13 +28,18 @@ namespace rmw_zenoh_cpp
 {
 ///=============================================================================
 zenoh::Bytes create_map_and_set_sequence_num(
-  int64_t sequence_number, std::array<uint8_t, RMW_GID_STORAGE_SIZE> gid)
+  int64_t sequence_number,
+  std::array<uint8_t, RMW_GID_STORAGE_SIZE> gid,
+  int64_t * source_timestamp)
 {
   auto now = std::chrono::system_clock::now().time_since_epoch();
   auto now_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(now);
-  int64_t source_timestamp = now_ns.count();
+  int64_t timestamp = now_ns.count();
+  if (nullptr != source_timestamp) {
+    *source_timestamp = timestamp;
+  }
 
-  rmw_zenoh_cpp::AttachmentData data(sequence_number, source_timestamp, gid);
+  rmw_zenoh_cpp::AttachmentData data(sequence_number, timestamp, gid);
   return data.serialize_to_zbytes();
 }
 
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp b/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp
index 8da7aae4..afde9ca4 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp
@@ -28,7 +28,9 @@ namespace rmw_zenoh_cpp
 {
 ///=============================================================================
 zenoh::Bytes create_map_and_set_sequence_num(
-  int64_t sequence_number, std::array<uint8_t, RMW_GID_STORAGE_SIZE> gid);
+  int64_t sequence_number,
+  std::array<uint8_t, RMW_GID_STORAGE_SIZE> gid,
+  int64_t * source_timestamp = nullptr);
 
 ///=============================================================================
 // A class to store the replies to service requests.
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index 23220fdf..2e36cc91 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -56,6 +56,8 @@
 #include "rmw/validate_namespace.h"
 #include "rmw/validate_node_name.h"
 
+#include "tracetools/tracetools.h"
+
 namespace
 {
 //==============================================================================
@@ -454,6 +456,14 @@ rmw_create_publisher(
   free_topic_name.cancel();
   free_rmw_publisher.cancel();
 
+  if (TRACETOOLS_TRACEPOINT_ENABLED(rmw_publisher_init)) {
+    rmw_gid_t gid{};
+    // Trigger tracepoint even if we cannot get the GID
+    rmw_ret_t gid_ret = rmw_get_gid_for_publisher(rmw_publisher, &gid);
+    static_cast<void>(gid_ret);
+    TRACETOOLS_DO_TRACEPOINT(
+      rmw_publisher_init, static_cast<const void *>(rmw_publisher), gid.data);
+  }
   return rmw_publisher;
 }
 
@@ -990,6 +1000,11 @@ rmw_create_subscription(
   free_topic_name.cancel();
   free_rmw_subscription.cancel();
 
+  // rmw does not require GIDs for subscriptions, and GIDs in rmw_zenoh are not based on any ID of
+  // the underlying zenoh objects, so there is no need to collect a GID here
+  rmw_gid_t gid{};
+  TRACETOOLS_TRACEPOINT(
+    rmw_subscription_init, static_cast<const void *>(rmw_subscription), gid.data);
   return rmw_subscription;
 }
 
@@ -1134,7 +1149,18 @@ rmw_take(
     static_cast<rmw_zenoh_cpp::SubscriptionData *>(subscription->data);
   RMW_CHECK_ARGUMENT_FOR_NULL(sub_data, RMW_RET_INVALID_ARGUMENT);
 
-  return sub_data->take_one_message(ros_message, nullptr, taken);
+  if (!TRACETOOLS_TRACEPOINT_ENABLED(rmw_take)) {
+    return sub_data->take_one_message(ros_message, nullptr, taken);
+  }
+  rmw_message_info_t message_info{};
+  rmw_ret_t ret = sub_data->take_one_message(ros_message, &message_info, taken);
+  TRACETOOLS_DO_TRACEPOINT(
+    rmw_take,
+    static_cast<const void *>(subscription),
+    static_cast<const void *>(ros_message),
+    message_info.source_timestamp,
+    *taken);
+  return ret;
 }
 
 //==============================================================================
@@ -1163,7 +1189,14 @@ rmw_take_with_info(
     static_cast<rmw_zenoh_cpp::SubscriptionData *>(subscription->data);
   RMW_CHECK_ARGUMENT_FOR_NULL(sub_data, RMW_RET_INVALID_ARGUMENT);
 
-  return sub_data->take_one_message(ros_message, message_info, taken);
+  rmw_ret_t ret = sub_data->take_one_message(ros_message, message_info, taken);
+  TRACETOOLS_TRACEPOINT(
+    rmw_take,
+    static_cast<const void *>(subscription),
+    static_cast<const void *>(ros_message),
+    message_info->source_timestamp,
+    *taken);
+  return ret;
 }
 
 //==============================================================================
@@ -1269,11 +1302,18 @@ __rmw_take_serialized(
     static_cast<rmw_zenoh_cpp::SubscriptionData *>(subscription->data);
   RMW_CHECK_ARGUMENT_FOR_NULL(sub_data, RMW_RET_INVALID_ARGUMENT);
 
-  return sub_data->take_serialized_message(
+  rmw_ret_t ret = sub_data->take_serialized_message(
     serialized_message,
     taken,
     message_info
   );
+  TRACETOOLS_TRACEPOINT(
+    rmw_take,
+    static_cast<const void *>(subscription),
+    static_cast<const void *>(serialized_message),
+    message_info->source_timestamp,
+    *taken);
+  return ret;
 }
 }  // namespace
 
@@ -1467,6 +1507,11 @@ rmw_create_client(
   free_rmw_client.cancel();
   free_service_name.cancel();
 
+  if (TRACETOOLS_TRACEPOINT_ENABLED(rmw_client_init)) {
+    auto client_data = static_cast<rmw_zenoh_cpp::ClientData *>(rmw_client->data);
+    auto gid = client_data->copy_gid();
+    TRACETOOLS_DO_TRACEPOINT(rmw_client_init, static_cast<const void *>(rmw_client), gid.data());
+  }
   return rmw_client;
 }
 
@@ -1561,7 +1606,15 @@ rmw_take_response(
     client->data, "Unable to retrieve client_data from client.", RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(ros_response, RMW_RET_INVALID_ARGUMENT);
 
-  return client_data->take_response(request_header, ros_response, taken);
+  rmw_ret_t ret = client_data->take_response(request_header, ros_response, taken);
+  TRACETOOLS_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),
+    *taken);
+  return ret;
 }
 
 //==============================================================================
@@ -1779,10 +1832,18 @@ rmw_take_request(
   RMW_CHECK_ARGUMENT_FOR_NULL(request_header, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(ros_request, RMW_RET_INVALID_ARGUMENT);
 
-  return service_data->take_request(
+  rmw_ret_t ret = service_data->take_request(
     request_header,
     ros_request,
     taken);
+  TRACETOOLS_TRACEPOINT(
+    rmw_take_request,
+    static_cast<const void *>(service),
+    static_cast<const void *>(ros_request),
+    request_header->request_id.writer_guid,
+    request_header->request_id.sequence_number,
+    *taken);
+  return ret;
 }
 
 //==============================================================================