diff --git a/rmw/include/rmw/check_type_identifiers_match.h b/rmw/include/rmw/check_type_identifiers_match.h
new file mode 100644
index 00000000..b60d9019
--- /dev/null
+++ b/rmw/include/rmw/check_type_identifiers_match.h
@@ -0,0 +1,84 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// 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__CHECK_TYPE_IDENTIFIERS_MATCH_H_
+#define RMW__CHECK_TYPE_IDENTIFIERS_MATCH_H_
+
+#include <string.h>
+
+#include "rcutils/snprintf.h"
+
+#include "rmw/allocators.h"
+#include "rmw/error_handling.h"
+#include "rmw/impl/config.h"  // For RMW_AVOID_MEMORY_ALLOCATION
+
+#if RMW_AVOID_MEMORY_ALLOCATION
+#define RMW_CHECK_TYPE_IDENTIFIERS_MATCH(ElementName, ElementTypeID, ExpectedTypeID, OnFailure) \
+  do { \
+    if (ElementTypeID != ExpectedTypeID) { \
+      char __msg[1024]; \
+      int ret = rcutils_snprintf( \
+        __msg, sizeof(__msg), \
+        #ElementName " implementation '%s'(%p) does not match rmw implementation '%s'(%p)", \
+        ElementTypeID, (const void *)ElementTypeID, \
+        ExpectedTypeID, (const void *)ExpectedTypeID); \
+      if (ret < 0) { \
+        static const char error_msg[] = \
+          "RMW_CHECK_TYPE_IDENTIFIERS_MATCH(): rcutils_snprintf() failed"; \
+        memmove(__msg, error_msg, sizeof(error_msg)); \
+      } \
+      RMW_SET_ERROR_MSG(__msg); \
+      OnFailure; \
+    } \
+  } while(0)
+#else  // RMW_AVOID_MEMORY_ALLOCATION
+#define RMW_CHECK_TYPE_IDENTIFIERS_MATCH(ElementName, ElementTypeID, ExpectedTypeID, OnFailure) \
+  do { \
+    if (ElementTypeID != ExpectedTypeID) { \
+      int __bytes_that_would_have_been_written = rcutils_snprintf( \
+        NULL, 0, \
+        #ElementName " implementation '%s'(%p) does not match rmw implementation '%s'(%p)", \
+        ElementTypeID, (const void *)ElementTypeID, \
+        ExpectedTypeID, (const void *)ExpectedTypeID); \
+      if (__bytes_that_would_have_been_written < 0) { \
+        RMW_SET_ERROR_MSG( \
+          "RMW_CHECK_TYPE_IDENTIFIERS_MATCH(): rcutils_snprintf(NULL, 0, ...) failed"); \
+        OnFailure; \
+      } else { \
+        char * __msg = \
+          (char *)rmw_allocate(__bytes_that_would_have_been_written + 1); \
+        if (NULL == __msg) { \
+          RMW_SET_ERROR_MSG( \
+            "RMW_CHECK_TYPE_IDENTIFIERS_MATCH(): rmw_allocate() failed"); \
+        } else { \
+          int ret = rcutils_snprintf( \
+            __msg, __bytes_that_would_have_been_written + 1, \
+            #ElementName " implementation '%s'(%p) does not match rmw implementation '%s'(%p)", \
+            ElementTypeID, (const void *)ElementTypeID, \
+            ExpectedTypeID, (const void *)ExpectedTypeID); \
+          if (ret < 0) { \
+            RMW_SET_ERROR_MSG( \
+              "RMW_CHECK_TYPE_IDENTIFIERS_MATCH(): rcutils_snprintf() failed"); \
+          } else { \
+            RMW_SET_ERROR_MSG(__msg); \
+          } \
+        } \
+        rmw_free(__msg); \
+        OnFailure; \
+      } \
+    } \
+  } while(0)
+#endif  // RMW_AVOID_MEMORY_ALLOCATION
+
+#endif  // RMW__CHECK_TYPE_IDENTIFIERS_MATCH_H_
diff --git a/rmw/include/rmw/impl/cpp/macros.hpp b/rmw/include/rmw/impl/cpp/macros.hpp
index e9a3f6f7..375867f5 100644
--- a/rmw/include/rmw/impl/cpp/macros.hpp
+++ b/rmw/include/rmw/impl/cpp/macros.hpp
@@ -17,13 +17,11 @@
 
 #include <iostream>
 #include <sstream>
+#include <stdexcept>
 #include <string>
 
-#include "rcutils/snprintf.h"
-
-#include "rmw/allocators.h"
+#include "rmw/check_type_identifiers_match.h"
 #include "rmw/error_handling.h"
-#include "rmw/impl/config.h"  // For RMW_AVOID_MEMORY_ALLOCATION
 #include "rmw/impl/cpp/demangle.hpp"  // For demangle.
 
 #define RMW_TRY_PLACEMENT_NEW(Destination, BufferForNew, FailureAction, Type, ...) \
@@ -72,62 +70,4 @@
     (std::cerr << ss.str()).flush(); \
   }
 
-#if RMW_AVOID_MEMORY_ALLOCATION
-#define RMW_CHECK_TYPE_IDENTIFIERS_MATCH(ElementName, ElementTypeID, ExpectedTypeID, OnFailure) \
-  { \
-    if (ElementTypeID != ExpectedTypeID) { \
-      char __msg[1024]; \
-      int ret = rcutils_snprintf( \
-        __msg, sizeof(__msg), \
-        #ElementName " implementation '%s'(%p) does not match rmw implementation '%s'(%p)", \
-        ElementTypeID, reinterpret_cast<const void *>(ElementTypeID), \
-        ExpectedTypeID, reinterpret_cast<const void *>(ExpectedTypeID)); \
-      if (ret < 0) { \
-        static const char error_msg[] = \
-          "RMW_CHECK_TYPE_IDENTIFIERS_MATCH(): rcutils_snprintf() failed"; \
-        memmove(__msg, error_msg, sizeof(error_msg)); \
-      } \
-      RMW_SET_ERROR_MSG(__msg); \
-      OnFailure; \
-    } \
-  }
-#else  // RMW_AVOID_MEMORY_ALLOCATION
-#define RMW_CHECK_TYPE_IDENTIFIERS_MATCH(ElementName, ElementTypeID, ExpectedTypeID, OnFailure) \
-  { \
-    if (ElementTypeID != ExpectedTypeID) { \
-      int __bytes_that_would_have_been_written = rcutils_snprintf( \
-        NULL, 0, \
-        #ElementName " implementation '%s'(%p) does not match rmw implementation '%s'(%p)", \
-        ElementTypeID, reinterpret_cast<const void *>(ElementTypeID), \
-        ExpectedTypeID, reinterpret_cast<const void *>(ExpectedTypeID)); \
-      if (__bytes_that_would_have_been_written < 0) { \
-        RMW_SET_ERROR_MSG( \
-          "RMW_CHECK_TYPE_IDENTIFIERS_MATCH(): rcutils_snprintf(NULL, 0, ...) failed"); \
-        OnFailure; \
-      } else { \
-        char * __msg = \
-          reinterpret_cast<char *>(rmw_allocate(__bytes_that_would_have_been_written + 1)); \
-        if (NULL == __msg) { \
-          RMW_SET_ERROR_MSG( \
-            "RMW_CHECK_TYPE_IDENTIFIERS_MATCH(): rmw_allocate() failed"); \
-        } else { \
-          int ret = rcutils_snprintf( \
-            __msg, __bytes_that_would_have_been_written + 1, \
-            #ElementName " implementation '%s'(%p) does not match rmw implementation '%s'(%p)", \
-            ElementTypeID, reinterpret_cast<const void *>(ElementTypeID), \
-            ExpectedTypeID, reinterpret_cast<const void *>(ExpectedTypeID)); \
-          if (ret < 0) { \
-            RMW_SET_ERROR_MSG( \
-              "RMW_CHECK_TYPE_IDENTIFIERS_MATCH(): rcutils_snprintf() failed"); \
-          } else { \
-            RMW_SET_ERROR_MSG(__msg); \
-          } \
-        } \
-        rmw_free(__msg); \
-        OnFailure; \
-      } \
-    } \
-  }
-#endif  // RMW_AVOID_MEMORY_ALLOCATION
-
 #endif  // RMW__IMPL__CPP__MACROS_HPP_
diff --git a/rmw/include/rmw/macros.h b/rmw/include/rmw/macros.h
index 99b57886..7bb5e4f7 100644
--- a/rmw/include/rmw/macros.h
+++ b/rmw/include/rmw/macros.h
@@ -20,7 +20,8 @@
 /// Expand the argument to its literal text
 #define RMW_STRINGIFY(x) RCUTILS_STRINGIFY(x)
 
-/// Indicate that a variable is not used, and prevent compiler from issuing warnings
+/// Indicate that the caller of a method must check the return value,
+/// otherwise the compiler will issue a warning.
 #define RMW_WARN_UNUSED RCUTILS_WARN_UNUSED
 
 #endif  // RMW__MACROS_H_