diff --git a/include/rcutils/error_handling.h b/include/rcutils/error_handling.h
index d5f7ea3b..47cfcb14 100644
--- a/include/rcutils/error_handling.h
+++ b/include/rcutils/error_handling.h
@@ -49,11 +49,13 @@ extern "C"
 #elif !defined(RCUTILS_NO_FILESYSTEM)
 #define RCUTILS_SAFE_FWRITE_TO_STDERR(msg) \
   do {fwrite(msg, sizeof(char), strlen(msg), stderr);} while (0)
-#else 
+#else
   #define RCUTILS_SAFE_FWRITE_TO_STDERR(msg)
 #endif
 
 // fixed constraints
+#if !defined(RCUTILS_AVOID_DYNAMIC_ALLOCATION)
+/// The maximum length a formatted number is allowed to have.
 #define RCUTILS_ERROR_STATE_LINE_NUMBER_STR_MAX_LENGTH 20  // "18446744073709551615"
 #define RCUTILS_ERROR_FORMATTING_CHARACTERS 6  // ', at ' + ':'
 
@@ -71,6 +73,13 @@ extern "C"
     RCUTILS_ERROR_STATE_LINE_NUMBER_STR_MAX_LENGTH - \
     RCUTILS_ERROR_FORMATTING_CHARACTERS - \
     1)
+#else
+#define RCUTILS_ERROR_STATE_LINE_NUMBER_STR_MAX_LENGTH 1
+#define RCUTILS_ERROR_FORMATTING_CHARACTERS 1
+#define RCUTILS_ERROR_MESSAGE_MAX_LENGTH 1
+#define RCUTILS_ERROR_STATE_MESSAGE_MAX_LENGTH 1
+#define RCUTILS_ERROR_STATE_FILE_MAX_LENGTH 1
+#endif  // RCUTILS_AVOID_DYNAMIC_ALLOCATION
 
 /// Struct wrapping a fixed-size c string used for returning the formatted error string.
 typedef struct rcutils_error_string_t
@@ -91,7 +100,7 @@ typedef struct rcutils_error_state_t
 } rcutils_error_state_t;
 
 // make sure our math is right...
-#if __STDC_VERSION__ >= 201112L
+#if __STDC_VERSION__ >= 201112L && !defined(RCUTILS_AVOID_DYNAMIC_ALLOCATION)
 static_assert(
   sizeof(rcutils_error_string_t) == (
     RCUTILS_ERROR_STATE_MESSAGE_MAX_LENGTH +
diff --git a/src/error_handling_helpers.h b/src/error_handling_helpers.h
index 70acb4e8..08779ed4 100644
--- a/src/error_handling_helpers.h
+++ b/src/error_handling_helpers.h
@@ -108,6 +108,7 @@ static
 void
 __rcutils_convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buffer_size)
 {
+#if !defined(RCUTILS_AVOID_DYNAMIC_ALLOCATION)
   assert(buffer != NULL);
   assert(buffer_size >= 21);
   (void)buffer_size;  // prevent warning in release builds where there is no assert(...)
@@ -131,6 +132,7 @@ __rcutils_convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buf
 
   // reverse the string in place
   __rcutils_reverse_str(buffer, strnlen(buffer, 21));
+#endif
 }
 
 // do not use externally, internal function which is only to be used by error_handling.c
@@ -140,6 +142,7 @@ __rcutils_format_error_string(
   rcutils_error_string_t * error_string,
   const rcutils_error_state_t * error_state)
 {
+#if !defined(RCUTILS_AVOID_DYNAMIC_ALLOCATION)
   assert(error_string != NULL);
   assert(error_state != NULL);
   static const char format_1[] = ", at ";
@@ -173,6 +176,7 @@ __rcutils_format_error_string(
   written = __rcutils_copy_string(offset, bytes_left, line_number_buffer);
   offset += written;
   offset[0] = '\0';
+#endif
 }
 
 #ifdef __cplusplus