diff --git a/rmw_cyclonedds_cpp/CMakeLists.txt b/rmw_cyclonedds_cpp/CMakeLists.txt
index 2253a605..c1171a5c 100644
--- a/rmw_cyclonedds_cpp/CMakeLists.txt
+++ b/rmw_cyclonedds_cpp/CMakeLists.txt
@@ -29,6 +29,7 @@ find_package(ament_cmake_ros REQUIRED)
 
 find_package(rcutils REQUIRED)
 find_package(rcpputils REQUIRED)
+find_package(tracetools REQUIRED)
 
 #find_package(cyclonedds_cmake_module REQUIRED)
 find_package(CycloneDDS QUIET CONFIG)
@@ -77,6 +78,7 @@ ament_target_dependencies(rmw_cyclonedds_cpp
   "rmw"
   "rmw_dds_common"
   "rosidl_runtime_c"
+  "tracetools"
 )
 
 configure_rmw_library(rmw_cyclonedds_cpp)
diff --git a/rmw_cyclonedds_cpp/package.xml b/rmw_cyclonedds_cpp/package.xml
index 27ff047f..5f7b4f34 100644
--- a/rmw_cyclonedds_cpp/package.xml
+++ b/rmw_cyclonedds_cpp/package.xml
@@ -18,6 +18,7 @@
   <depend>rosidl_runtime_c</depend>
   <depend>rosidl_typesupport_introspection_c</depend>
   <depend>rosidl_typesupport_introspection_cpp</depend>
+  <depend>tracetools</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/rmw_cyclonedds_cpp/src/rmw_node.cpp b/rmw_cyclonedds_cpp/src/rmw_node.cpp
index 7ebc84a5..59ab4d0b 100644
--- a/rmw_cyclonedds_cpp/src/rmw_node.cpp
+++ b/rmw_cyclonedds_cpp/src/rmw_node.cpp
@@ -75,6 +75,8 @@
 
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
+#include "tracetools/tracetools.h"
+
 #include "namespace_prefix.hpp"
 
 #include "dds/dds.h"
@@ -1543,6 +1545,7 @@ extern "C" rmw_ret_t rmw_publish(
     return RMW_RET_INVALID_ARGUMENT);
   auto pub = static_cast<CddsPublisher *>(publisher->data);
   assert(pub);
+  TRACEPOINT(rmw_publish, static_cast<const void *>(publisher), ros_message);
   if (dds_write(pub->enth, ros_message) >= 0) {
     return RMW_RET_OK;
   } else {