diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index 7c4a27eb..7a80d2ca 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_c_vendor REQUIRED)
 find_package(zenohc_debug QUIET)
 if(NOT zenohc_debug_FOUND)
@@ -72,6 +73,7 @@ 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
     zenohc::lib
 )
 
diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml
index e1d2a24a..97695c92 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_node_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
index bd3f3f6e..83677515 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
@@ -145,6 +145,7 @@ bool NodeData::create_pub_data(
 
   auto pub_data = PublisherData::make(
     std::move(session),
+    publisher,
     node_,
     entity_->node_info(),
     id_,
diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
index b2ea8235..53c23843 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
@@ -35,11 +35,14 @@
 #include "rmw/get_topic_endpoint_info.h"
 #include "rmw/impl/cpp/macros.hpp"
 
+#include "tracetools/tracetools.h"
+
 namespace rmw_zenoh_cpp
 {
 ///=============================================================================
 std::shared_ptr<PublisherData> PublisherData::make(
   z_session_t session,
+  const rmw_publisher_t * const rmw_publisher,
   const rmw_node_t * const node,
   liveliness::NodeInfo node_info,
   std::size_t node_id,
@@ -189,6 +192,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
 
   return std::shared_ptr<PublisherData>(
     new PublisherData{
+      rmw_publisher,
       node,
       std::move(entity),
       std::move(pub),
@@ -201,6 +205,7 @@ 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,
   z_owned_publisher_t pub,
@@ -208,7 +213,8 @@ PublisherData::PublisherData(
   zc_owned_liveliness_token_t 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)),
   pub_(std::move(pub)),
   pub_cache_(std::move(pub_cache)),
@@ -296,6 +302,7 @@ rmw_ret_t PublisherData::publish(
 
   const size_t data_length = ser.get_serialized_data_length();
 
+  int64_t source_timestamp = 0;
   z_owned_bytes_map_t map =
     create_map_and_set_sequence_num(
     sequence_number_++,
@@ -308,7 +315,8 @@ rmw_ret_t PublisherData::publish(
       gid_bytes.len = RMW_GID_STORAGE_SIZE;
       gid_bytes.start = local_gid;
       z_bytes_map_insert_by_copy(map, z_bytes_new(key), gid_bytes);
-    });
+    },
+    &source_timestamp);
   if (!z_check(map)) {
     // create_map_and_set_sequence_num already set the error
     return RMW_RET_ERROR;
@@ -325,6 +333,8 @@ rmw_ret_t PublisherData::publish(
   z_publisher_put_options_t options = z_publisher_put_options_default();
   options.attachment = z_bytes_map_as_attachment(&map);
 
+  TRACETOOLS_TRACEPOINT(
+    rmw_publish, static_cast<const void *>(rmw_publisher_), ros_message, source_timestamp);
   if (shmbuf.has_value()) {
     zc_shmbuf_set_length(&shmbuf.value(), data_length);
     zc_owned_payload_t payload = zc_shmbuf_into_payload(z_move(shmbuf.value()));
@@ -360,6 +370,7 @@ rmw_ret_t PublisherData::publish_serialized_message(
 
   std::lock_guard<std::mutex> lock(mutex_);
 
+  int64_t source_timestamp = 0;
   z_owned_bytes_map_t map = rmw_zenoh_cpp::create_map_and_set_sequence_num(
     sequence_number_++,
     [this](z_owned_bytes_map_t * map, const char * key)
@@ -372,7 +383,8 @@ rmw_ret_t PublisherData::publish_serialized_message(
       gid_bytes.len = RMW_GID_STORAGE_SIZE;
       gid_bytes.start = local_gid;
       z_bytes_map_insert_by_copy(map, z_bytes_new(key), gid_bytes);
-    });
+    },
+    &source_timestamp);
 
   if (!z_check(map)) {
     // create_map_and_set_sequence_num already set the error
@@ -391,6 +403,8 @@ rmw_ret_t PublisherData::publish_serialized_message(
   z_publisher_put_options_t options = z_publisher_put_options_default();
   options.attachment = z_bytes_map_as_attachment(&map);
 
+  TRACETOOLS_TRACEPOINT(
+    rmw_publish, static_cast<const void *>(rmw_publisher_), serialized_message, source_timestamp);
   // Returns 0 if success.
   int8_t ret = z_publisher_put(
     z_loan(pub_),
diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
index 7b124cc3..df2c1d93 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
@@ -43,6 +43,7 @@ class PublisherData final
   // Make a shared_ptr of PublisherData.
   static std::shared_ptr<PublisherData> make(
     z_session_t session,
+    const rmw_publisher_t * const rmw_publisher,
     const rmw_node_t * const node,
     liveliness::NodeInfo node_info,
     std::size_t node_id,
@@ -88,6 +89,7 @@ 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,
     z_owned_publisher_t pub,
@@ -98,6 +100,8 @@ 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/zenoh_utils.cpp b/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
index 2e6c8e0c..5bf1e6af 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
@@ -27,7 +27,8 @@ namespace rmw_zenoh_cpp
 z_owned_bytes_map_t
 create_map_and_set_sequence_num(
   int64_t sequence_number,
-  GIDCopier gid_copier)
+  GIDCopier gid_copier,
+  int64_t * source_timestamp)
 {
   z_owned_bytes_map_t map = z_bytes_map_new();
   if (!z_check(map)) {
@@ -50,9 +51,12 @@ create_map_and_set_sequence_num(
 
   auto now = std::chrono::system_clock::now().time_since_epoch();
   auto now_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(now);
+  if (nullptr != source_timestamp) {
+    *source_timestamp = now_ns.count();
+  }
   char source_ts_str[20];
   if (rcutils_snprintf(source_ts_str, sizeof(source_ts_str), "%" PRId64, now_ns.count()) < 0) {
-    RMW_SET_ERROR_MSG("failed to print sequence_number into buffer");
+    RMW_SET_ERROR_MSG("failed to print source_timestamp into buffer");
     return z_bytes_map_null();
   }
   z_bytes_map_insert_by_copy(&map, z_bytes_new("source_timestamp"), z_bytes_new(source_ts_str));
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp b/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp
index f7ec26b2..d614428b 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp
@@ -31,7 +31,8 @@ namespace rmw_zenoh_cpp
 using GIDCopier = std::function<void (z_owned_bytes_map_t *, const char *)>;
 ///=============================================================================
 z_owned_bytes_map_t
-create_map_and_set_sequence_num(int64_t sequence_number, GIDCopier gid_copier);
+create_map_and_set_sequence_num(
+  int64_t sequence_number, GIDCopier gid_copier, 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 eebe1c4b..289ffc0b 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 +456,13 @@ rmw_create_publisher(
   free_topic_name.cancel();
   free_rmw_publisher.cancel();
 
+  if (TRACETOOLS_TRACEPOINT_ENABLED(rmw_publisher_init)) {
+    rmw_gid_t gid{};
+    if (RMW_RET_OK == rmw_get_gid_for_publisher(rmw_publisher, &gid)) {
+      TRACETOOLS_DO_TRACEPOINT(
+        rmw_publisher_init, static_cast<const void *>(rmw_publisher), gid.data);
+    }
+  }
   return rmw_publisher;
 }
 
@@ -990,6 +999,11 @@ 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 +1148,18 @@ 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 +1188,14 @@ 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 +1301,18 @@ __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