diff --git a/rcl/include/rcl/event.h b/rcl/include/rcl/event.h
index fea87d782..30858b68d 100644
--- a/rcl/include/rcl/event.h
+++ b/rcl/include/rcl/event.h
@@ -38,6 +38,7 @@ typedef enum rcl_publisher_event_type_e
   RCL_PUBLISHER_OFFERED_DEADLINE_MISSED,
   RCL_PUBLISHER_LIVELINESS_LOST,
   RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS,
+  RCL_PUBLISHER_INCOMPATIBLE_TYPE,
 } rcl_publisher_event_type_t;
 
 /// Enumeration of all of the subscription events that may fire.
@@ -47,6 +48,7 @@ typedef enum rcl_subscription_event_type_e
   RCL_SUBSCRIPTION_LIVELINESS_CHANGED,
   RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS,
   RCL_SUBSCRIPTION_MESSAGE_LOST,
+  RCL_SUBSCRIPTION_INCOMPATIBLE_TYPE,
 } rcl_subscription_event_type_t;
 
 /// Internal rcl implementation struct.
diff --git a/rcl/src/rcl/event.c b/rcl/src/rcl/event.c
index 6196442d1..d71fafc62 100644
--- a/rcl/src/rcl/event.c
+++ b/rcl/src/rcl/event.c
@@ -64,6 +64,9 @@ rcl_publisher_event_init(
     case RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS:
       rmw_event_type = RMW_EVENT_OFFERED_QOS_INCOMPATIBLE;
       break;
+    case RCL_PUBLISHER_INCOMPATIBLE_TYPE:
+      rmw_event_type = RMW_EVENT_PUBLISHER_INCOMPATIBLE_TYPE;
+      break;
     default:
       RCL_SET_ERROR_MSG("Event type for publisher not supported");
       return RCL_RET_INVALID_ARGUMENT;
@@ -118,6 +121,9 @@ rcl_subscription_event_init(
     case RCL_SUBSCRIPTION_MESSAGE_LOST:
       rmw_event_type = RMW_EVENT_MESSAGE_LOST;
       break;
+    case RCL_SUBSCRIPTION_INCOMPATIBLE_TYPE:
+      rmw_event_type = RMW_EVENT_SUBSCRIPTION_INCOMPATIBLE_TYPE;
+      break;
     default:
       RCL_SET_ERROR_MSG("Event type for subscription not supported");
       return RCL_RET_INVALID_ARGUMENT;