diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
index 2994c108f..1b4f73bc3 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
@@ -1,580 +1,583 @@
-// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RMW_FASTRTPS_SHARED_CPP__RMW_COMMON_HPP_
-#define RMW_FASTRTPS_SHARED_CPP__RMW_COMMON_HPP_
-
-#include "./visibility_control.h"
-
-#include "rmw/error_handling.h"
-#include "rmw/event.h"
-#include "rmw/features.h"
-#include "rmw/rmw.h"
-#include "rmw/topic_endpoint_info_array.h"
-#include "rmw/types.h"
-#include "rmw/names_and_types.h"
-#include "rmw/network_flow_endpoint_array.h"
-
-namespace rmw_fastrtps_shared_cpp
-{
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_destroy_client(
-  const char * identifier,
-  rmw_node_t * node,
-  rmw_client_t * client);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_compare_gids_equal(
-  const char * identifier,
-  const rmw_gid_t * gid1,
-  const rmw_gid_t * gid2,
-  bool * result);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_count_publishers(
-  const char * identifier,
-  const rmw_node_t * node,
-  const char * topic_name,
-  size_t * count);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_count_subscribers(
-  const char * identifier,
-  const rmw_node_t * node,
-  const char * topic_name,
-  size_t * count);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_count_clients(
-  const char * identifier,
-  const rmw_node_t * node,
-  const char * service_name,
-  size_t * count);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_count_services(
-  const char * identifier,
-  const rmw_node_t * node,
-  const char * service_name,
-  size_t * count);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_get_gid_for_publisher(
-  const char * identifier,
-  const rmw_publisher_t * publisher,
-  rmw_gid_t * gid);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_get_gid_for_client(
-  const char * identifier,
-  const rmw_client_t * client,
-  rmw_gid_t * gid);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_guard_condition_t *
-__rmw_create_guard_condition(const char * identifier);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_destroy_guard_condition(rmw_guard_condition_t * guard_condition);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_trigger_guard_condition(
-  const char * identifier,
-  const rmw_guard_condition_t * guard_condition_handle);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_set_log_severity(rmw_log_severity_t severity);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_node_t *
-__rmw_create_node(
-  rmw_context_t * context,
-  const char * identifier,
-  const char * name,
-  const char * namespace_);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_destroy_node(
-  const char * identifier,
-  rmw_node_t * node);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-const rmw_guard_condition_t *
-__rmw_node_get_graph_guard_condition(const rmw_node_t * node);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_get_node_names(
-  const char * identifier,
-  const rmw_node_t * node,
-  rcutils_string_array_t * node_names,
-  rcutils_string_array_t * node_namespaces);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_init_event(
-  const char * identifier,
-  rmw_event_t * rmw_event,
-  const char * topic_endpoint_impl_identifier,
-  void * data,
-  rmw_event_type_t event_type);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_get_node_names_with_enclaves(
-  const char * identifier,
-  const rmw_node_t * node,
-  rcutils_string_array_t * node_names,
-  rcutils_string_array_t * node_namespaces,
-  rcutils_string_array_t * enclaves);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_publish(
-  const char * identifier,
-  const rmw_publisher_t * publisher,
-  const void * ros_message,
-  rmw_publisher_allocation_t * allocation);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_publish_serialized_message(
-  const char * identifier,
-  const rmw_publisher_t * publisher,
-  const rmw_serialized_message_t * serialized_message,
-  rmw_publisher_allocation_t * allocation);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_borrow_loaned_message(
-  const char * identifier,
-  const rmw_publisher_t * publisher,
-  const rosidl_message_type_support_t * type_support,
-  void ** ros_message);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_return_loaned_message_from_publisher(
-  const char * identifier,
-  const rmw_publisher_t * publisher,
-  void * loaned_message);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_publish_loaned_message(
-  const char * identifier,
-  const rmw_publisher_t * publisher,
-  const void * ros_message,
-  rmw_publisher_allocation_t * allocation);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_publisher_assert_liveliness(
-  const char * identifier,
-  const rmw_publisher_t * publisher);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_publisher_wait_for_all_acked(
-  const char * identifier,
-  const rmw_publisher_t * publisher,
-  rmw_time_t wait_timeout);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_destroy_publisher(
-  const char * identifier,
-  const rmw_node_t * node,
-  rmw_publisher_t * publisher);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_publisher_count_matched_subscriptions(
-  const rmw_publisher_t * publisher,
-  size_t * subscription_count);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_publisher_get_actual_qos(
-  const rmw_publisher_t * publisher,
-  rmw_qos_profile_t * qos);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_send_request(
-  const char * identifier,
-  const rmw_client_t * client,
-  const void * ros_request,
-  int64_t * sequence_id);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_take_request(
-  const char * identifier,
-  const rmw_service_t * service,
-  rmw_service_info_t * request_header,
-  void * ros_request,
-  bool * taken);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_take_response(
-  const char * identifier,
-  const rmw_client_t * client,
-  rmw_service_info_t * request_header,
-  void * ros_response,
-  bool * taken);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_send_response(
-  const char * identifier,
-  const rmw_service_t * service,
-  rmw_request_id_t * request_header,
-  void * ros_response);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_destroy_service(
-  const char * identifier,
-  rmw_node_t * node,
-  rmw_service_t * service);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_get_service_names_and_types(
-  const char * identifier,
-  const rmw_node_t * node,
-  rcutils_allocator_t * allocator,
-  rmw_names_and_types_t * service_names_and_types);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_get_publisher_names_and_types_by_node(
-  const char * identifier,
-  const rmw_node_t * node,
-  rcutils_allocator_t * allocator,
-  const char * node_name,
-  const char * node_namespace,
-  bool no_demangle,
-  rmw_names_and_types_t * topic_names_and_types);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_get_service_names_and_types_by_node(
-  const char * identifier,
-  const rmw_node_t * node,
-  rcutils_allocator_t * allocator,
-  const char * node_name,
-  const char * node_namespace,
-  rmw_names_and_types_t * service_names_and_types);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_get_client_names_and_types_by_node(
-  const char * identifier,
-  const rmw_node_t * node,
-  rcutils_allocator_t * allocator,
-  const char * node_name,
-  const char * node_namespace,
-  rmw_names_and_types_t * service_names_and_types);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_get_subscriber_names_and_types_by_node(
-  const char * identifier,
-  const rmw_node_t * node,
-  rcutils_allocator_t * allocator,
-  const char * node_name,
-  const char * node_namespace,
-  bool no_demangle,
-  rmw_names_and_types_t * topic_names_and_types);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_service_server_is_available(
-  const char * identifier,
-  const rmw_node_t * node,
-  const rmw_client_t * client,
-  bool * is_available);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_destroy_subscription(
-  const char * identifier,
-  const rmw_node_t * node,
-  rmw_subscription_t * subscription,
-  bool reset_cft = false);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_subscription_count_matched_publishers(
-  const rmw_subscription_t * subscription,
-  size_t * publisher_count);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_subscription_get_actual_qos(
-  const rmw_subscription_t * subscription,
-  rmw_qos_profile_t * qos);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_subscription_set_content_filter(
-  rmw_subscription_t * subscription,
-  const rmw_subscription_content_filter_options_t * options);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_subscription_get_content_filter(
-  const rmw_subscription_t * subscription,
-  rcutils_allocator_t * allocator,
-  rmw_subscription_content_filter_options_t * options);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_service_response_publisher_get_actual_qos(
-  const rmw_service_t * service,
-  rmw_qos_profile_t * qos);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_service_request_subscription_get_actual_qos(
-  const rmw_service_t * service,
-  rmw_qos_profile_t * qos);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_client_request_publisher_get_actual_qos(
-  const rmw_client_t * client,
-  rmw_qos_profile_t * qos);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_client_response_subscription_get_actual_qos(
-  const rmw_client_t * client,
-  rmw_qos_profile_t * qos);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_take(
-  const char * identifier,
-  const rmw_subscription_t * subscription,
-  void * ros_message,
-  bool * taken,
-  rmw_subscription_allocation_t * allocation);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_take_sequence(
-  const char * identifier,
-  const rmw_subscription_t * subscription,
-  size_t count,
-  rmw_message_sequence_t * message_sequencxe,
-  rmw_message_info_sequence_t * message_info_sequence,
-  size_t * taken,
-  rmw_subscription_allocation_t * allocation);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_take_loaned_message_internal(
-  const char * identifier,
-  const rmw_subscription_t * subscription,
-  void ** loaned_message,
-  bool * taken,
-  rmw_message_info_t * message_info);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_return_loaned_message_from_subscription(
-  const char * identifier,
-  const rmw_subscription_t * subscription,
-  void * loaned_message);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_take_event(
-  const char * identifier,
-  const rmw_event_t * event_handle,
-  void * event_info,
-  bool * taken);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_take_with_info(
-  const char * identifier,
-  const rmw_subscription_t * subscription,
-  void * ros_message,
-  bool * taken,
-  rmw_message_info_t * message_info,
-  rmw_subscription_allocation_t * allocation);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_take_serialized_message(
-  const char * identifier,
-  const rmw_subscription_t * subscription,
-  rmw_serialized_message_t * serialized_message,
-  bool * taken,
-  rmw_subscription_allocation_t * allocation);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_take_serialized_message_with_info(
-  const char * identifier,
-  const rmw_subscription_t * subscription,
-  rmw_serialized_message_t * serialized_message,
-  bool * taken,
-  rmw_message_info_t * message_info,
-  rmw_subscription_allocation_t * allocation);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_take_dynamic_message(
-  const char * identifier,
-  const rmw_subscription_t * subscription,
-  rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
-  bool * taken,
-  rmw_subscription_allocation_t * allocation);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_take_dynamic_message_with_info(
-  const char * identifier,
-  const rmw_subscription_t * subscription,
-  rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
-  bool * taken,
-  rmw_message_info_t * message_info,
-  rmw_subscription_allocation_t * allocation);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_get_topic_names_and_types(
-  const char * identifier,
-  const rmw_node_t * node,
-  rcutils_allocator_t * allocator,
-  bool no_demangle,
-  rmw_names_and_types_t * topic_names_and_types);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_wait(
-  const char * identifier,
-  rmw_subscriptions_t * subscriptions,
-  rmw_guard_conditions_t * guard_conditions,
-  rmw_services_t * services,
-  rmw_clients_t * clients,
-  rmw_events_t * events,
-  rmw_wait_set_t * wait_set,
-  const rmw_time_t * wait_timeout);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_wait_set_t *
-__rmw_create_wait_set(const char * identifier, rmw_context_t * context, size_t max_conditions);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_destroy_wait_set(const char * identifier, rmw_wait_set_t * wait_set);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_get_publishers_info_by_topic(
-  const char * identifier,
-  const rmw_node_t * node,
-  rcutils_allocator_t * allocator,
-  const char * topic_name,
-  bool no_mangle,
-  rmw_topic_endpoint_info_array_t * publishers_info);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_get_subscriptions_info_by_topic(
-  const char * identifier,
-  const rmw_node_t * node,
-  rcutils_allocator_t * allocator,
-  const char * topic_name,
-  bool no_mangle,
-  rmw_topic_endpoint_info_array_t * subscriptions_info);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_qos_profile_check_compatible(
-  const rmw_qos_profile_t publisher_profile,
-  const rmw_qos_profile_t subscription_profile,
-  rmw_qos_compatibility_type_t * compatibility,
-  char * reason,
-  size_t reason_size);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_publisher_get_network_flow_endpoints(
-  const rmw_publisher_t * publisher,
-  rcutils_allocator_t * allocator,
-  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_subscription_get_network_flow_endpoints(
-  const rmw_subscription_t * subscription,
-  rcutils_allocator_t * allocator,
-  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_subscription_set_on_new_message_callback(
-  rmw_subscription_t * rmw_subscription,
-  rmw_event_callback_t callback,
-  const void * user_data);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_service_set_on_new_request_callback(
-  rmw_service_t * rmw_service,
-  rmw_event_callback_t callback,
-  const void * user_data);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_client_set_on_new_response_callback(
-  rmw_client_t * rmw_client,
-  rmw_event_callback_t callback,
-  const void * user_data);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-rmw_ret_t
-__rmw_event_set_callback(
-  rmw_event_t * rmw_event,
-  rmw_event_callback_t callback,
-  const void * user_data);
-
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-bool
-__rmw_feature_supported(rmw_feature_t feature);
-
-}  // namespace rmw_fastrtps_shared_cpp
-
-#endif  // RMW_FASTRTPS_SHARED_CPP__RMW_COMMON_HPP_
+// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW_FASTRTPS_SHARED_CPP__RMW_COMMON_HPP_
+#define RMW_FASTRTPS_SHARED_CPP__RMW_COMMON_HPP_
+
+#include "./visibility_control.h"
+
+#include "rcutils/allocator.h"
+#include "rcutils/types/string_array.h"
+
+#include "rmw/error_handling.h"
+#include "rmw/event.h"
+#include "rmw/features.h"
+#include "rmw/rmw.h"
+#include "rmw/topic_endpoint_info_array.h"
+#include "rmw/types.h"
+#include "rmw/names_and_types.h"
+#include "rmw/network_flow_endpoint_array.h"
+
+namespace rmw_fastrtps_shared_cpp
+{
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_destroy_client(
+  const char * identifier,
+  rmw_node_t * node,
+  rmw_client_t * client);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_compare_gids_equal(
+  const char * identifier,
+  const rmw_gid_t * gid1,
+  const rmw_gid_t * gid2,
+  bool * result);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_count_publishers(
+  const char * identifier,
+  const rmw_node_t * node,
+  const char * topic_name,
+  size_t * count);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_count_subscribers(
+  const char * identifier,
+  const rmw_node_t * node,
+  const char * topic_name,
+  size_t * count);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_count_clients(
+  const char * identifier,
+  const rmw_node_t * node,
+  const char * service_name,
+  size_t * count);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_count_services(
+  const char * identifier,
+  const rmw_node_t * node,
+  const char * service_name,
+  size_t * count);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_gid_for_publisher(
+  const char * identifier,
+  const rmw_publisher_t * publisher,
+  rmw_gid_t * gid);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_gid_for_client(
+  const char * identifier,
+  const rmw_client_t * client,
+  rmw_gid_t * gid);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_guard_condition_t *
+__rmw_create_guard_condition(const char * identifier);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_destroy_guard_condition(rmw_guard_condition_t * guard_condition);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_trigger_guard_condition(
+  const char * identifier,
+  const rmw_guard_condition_t * guard_condition_handle);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_set_log_severity(rmw_log_severity_t severity);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_node_t *
+__rmw_create_node(
+  rmw_context_t * context,
+  const char * identifier,
+  const char * name,
+  const char * namespace_);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_destroy_node(
+  const char * identifier,
+  rmw_node_t * node);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+const rmw_guard_condition_t *
+__rmw_node_get_graph_guard_condition(const rmw_node_t * node);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_node_names(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_string_array_t * node_names,
+  rcutils_string_array_t * node_namespaces);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_init_event(
+  const char * identifier,
+  rmw_event_t * rmw_event,
+  const char * topic_endpoint_impl_identifier,
+  void * data,
+  rmw_event_type_t event_type);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_node_names_with_enclaves(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_string_array_t * node_names,
+  rcutils_string_array_t * node_namespaces,
+  rcutils_string_array_t * enclaves);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_publish(
+  const char * identifier,
+  const rmw_publisher_t * publisher,
+  const void * ros_message,
+  rmw_publisher_allocation_t * allocation);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_publish_serialized_message(
+  const char * identifier,
+  const rmw_publisher_t * publisher,
+  const rmw_serialized_message_t * serialized_message,
+  rmw_publisher_allocation_t * allocation);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_borrow_loaned_message(
+  const char * identifier,
+  const rmw_publisher_t * publisher,
+  const rosidl_message_type_support_t * type_support,
+  void ** ros_message);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_return_loaned_message_from_publisher(
+  const char * identifier,
+  const rmw_publisher_t * publisher,
+  void * loaned_message);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_publish_loaned_message(
+  const char * identifier,
+  const rmw_publisher_t * publisher,
+  const void * ros_message,
+  rmw_publisher_allocation_t * allocation);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_publisher_assert_liveliness(
+  const char * identifier,
+  const rmw_publisher_t * publisher);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_publisher_wait_for_all_acked(
+  const char * identifier,
+  const rmw_publisher_t * publisher,
+  rmw_time_t wait_timeout);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_destroy_publisher(
+  const char * identifier,
+  const rmw_node_t * node,
+  rmw_publisher_t * publisher);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_publisher_count_matched_subscriptions(
+  const rmw_publisher_t * publisher,
+  size_t * subscription_count);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_publisher_get_actual_qos(
+  const rmw_publisher_t * publisher,
+  rmw_qos_profile_t * qos);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_send_request(
+  const char * identifier,
+  const rmw_client_t * client,
+  const void * ros_request,
+  int64_t * sequence_id);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_take_request(
+  const char * identifier,
+  const rmw_service_t * service,
+  rmw_service_info_t * request_header,
+  void * ros_request,
+  bool * taken);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_take_response(
+  const char * identifier,
+  const rmw_client_t * client,
+  rmw_service_info_t * request_header,
+  void * ros_response,
+  bool * taken);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_send_response(
+  const char * identifier,
+  const rmw_service_t * service,
+  rmw_request_id_t * request_header,
+  void * ros_response);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_destroy_service(
+  const char * identifier,
+  rmw_node_t * node,
+  rmw_service_t * service);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_service_names_and_types(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  rmw_names_and_types_t * service_names_and_types);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_publisher_names_and_types_by_node(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * node_name,
+  const char * node_namespace,
+  bool no_demangle,
+  rmw_names_and_types_t * topic_names_and_types);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_service_names_and_types_by_node(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * node_name,
+  const char * node_namespace,
+  rmw_names_and_types_t * service_names_and_types);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_client_names_and_types_by_node(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * node_name,
+  const char * node_namespace,
+  rmw_names_and_types_t * service_names_and_types);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_subscriber_names_and_types_by_node(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * node_name,
+  const char * node_namespace,
+  bool no_demangle,
+  rmw_names_and_types_t * topic_names_and_types);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_service_server_is_available(
+  const char * identifier,
+  const rmw_node_t * node,
+  const rmw_client_t * client,
+  bool * is_available);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_destroy_subscription(
+  const char * identifier,
+  const rmw_node_t * node,
+  rmw_subscription_t * subscription,
+  bool reset_cft = false);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_subscription_count_matched_publishers(
+  const rmw_subscription_t * subscription,
+  size_t * publisher_count);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_subscription_get_actual_qos(
+  const rmw_subscription_t * subscription,
+  rmw_qos_profile_t * qos);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_subscription_set_content_filter(
+  rmw_subscription_t * subscription,
+  const rmw_subscription_content_filter_options_t * options);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_subscription_get_content_filter(
+  const rmw_subscription_t * subscription,
+  rcutils_allocator_t * allocator,
+  rmw_subscription_content_filter_options_t * options);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_service_response_publisher_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_service_request_subscription_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_client_request_publisher_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_client_response_subscription_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_take(
+  const char * identifier,
+  const rmw_subscription_t * subscription,
+  void * ros_message,
+  bool * taken,
+  rmw_subscription_allocation_t * allocation);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_take_sequence(
+  const char * identifier,
+  const rmw_subscription_t * subscription,
+  size_t count,
+  rmw_message_sequence_t * message_sequencxe,
+  rmw_message_info_sequence_t * message_info_sequence,
+  size_t * taken,
+  rmw_subscription_allocation_t * allocation);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_take_loaned_message_internal(
+  const char * identifier,
+  const rmw_subscription_t * subscription,
+  void ** loaned_message,
+  bool * taken,
+  rmw_message_info_t * message_info);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_return_loaned_message_from_subscription(
+  const char * identifier,
+  const rmw_subscription_t * subscription,
+  void * loaned_message);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_take_event(
+  const char * identifier,
+  const rmw_event_t * event_handle,
+  void * event_info,
+  bool * taken);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_take_with_info(
+  const char * identifier,
+  const rmw_subscription_t * subscription,
+  void * ros_message,
+  bool * taken,
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_take_serialized_message(
+  const char * identifier,
+  const rmw_subscription_t * subscription,
+  rmw_serialized_message_t * serialized_message,
+  bool * taken,
+  rmw_subscription_allocation_t * allocation);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_take_serialized_message_with_info(
+  const char * identifier,
+  const rmw_subscription_t * subscription,
+  rmw_serialized_message_t * serialized_message,
+  bool * taken,
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_take_dynamic_message(
+  const char * identifier,
+  const rmw_subscription_t * subscription,
+  rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
+  bool * taken,
+  rmw_subscription_allocation_t * allocation);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_take_dynamic_message_with_info(
+  const char * identifier,
+  const rmw_subscription_t * subscription,
+  rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
+  bool * taken,
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_topic_names_and_types(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  bool no_demangle,
+  rmw_names_and_types_t * topic_names_and_types);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_wait(
+  const char * identifier,
+  rmw_subscriptions_t * subscriptions,
+  rmw_guard_conditions_t * guard_conditions,
+  rmw_services_t * services,
+  rmw_clients_t * clients,
+  rmw_events_t * events,
+  rmw_wait_set_t * wait_set,
+  const rmw_time_t * wait_timeout);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_wait_set_t *
+__rmw_create_wait_set(const char * identifier, rmw_context_t * context, size_t max_conditions);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_destroy_wait_set(const char * identifier, rmw_wait_set_t * wait_set);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_publishers_info_by_topic(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * topic_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * publishers_info);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_subscriptions_info_by_topic(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * topic_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * subscriptions_info);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_qos_profile_check_compatible(
+  const rmw_qos_profile_t publisher_profile,
+  const rmw_qos_profile_t subscription_profile,
+  rmw_qos_compatibility_type_t * compatibility,
+  char * reason,
+  size_t reason_size);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_publisher_get_network_flow_endpoints(
+  const rmw_publisher_t * publisher,
+  rcutils_allocator_t * allocator,
+  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_subscription_get_network_flow_endpoints(
+  const rmw_subscription_t * subscription,
+  rcutils_allocator_t * allocator,
+  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_subscription_set_on_new_message_callback(
+  rmw_subscription_t * rmw_subscription,
+  rmw_event_callback_t callback,
+  const void * user_data);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_service_set_on_new_request_callback(
+  rmw_service_t * rmw_service,
+  rmw_event_callback_t callback,
+  const void * user_data);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_client_set_on_new_response_callback(
+  rmw_client_t * rmw_client,
+  rmw_event_callback_t callback,
+  const void * user_data);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_event_set_callback(
+  rmw_event_t * rmw_event,
+  rmw_event_callback_t callback,
+  const void * user_data);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+bool
+__rmw_feature_supported(rmw_feature_t feature);
+
+}  // namespace rmw_fastrtps_shared_cpp
+
+#endif  // RMW_FASTRTPS_SHARED_CPP__RMW_COMMON_HPP_