diff --git a/rmw_cyclonedds_cpp/src/rmw_node.cpp b/rmw_cyclonedds_cpp/src/rmw_node.cpp
index acfc33d4..36cf47ea 100644
--- a/rmw_cyclonedds_cpp/src/rmw_node.cpp
+++ b/rmw_cyclonedds_cpp/src/rmw_node.cpp
@@ -511,11 +511,57 @@ static void dds_listener_callback(dds_entity_t entity, void * arg)
 MAKE_DDS_EVENT_CALLBACK_FN(requested_deadline_missed, REQUESTED_DEADLINE_MISSED)
 MAKE_DDS_EVENT_CALLBACK_FN(liveliness_lost, LIVELINESS_LOST)
 MAKE_DDS_EVENT_CALLBACK_FN(offered_deadline_missed, OFFERED_DEADLINE_MISSED)
-MAKE_DDS_EVENT_CALLBACK_FN(requested_incompatible_qos, REQUESTED_INCOMPATIBLE_QOS)
 MAKE_DDS_EVENT_CALLBACK_FN(sample_lost, SAMPLE_LOST)
-MAKE_DDS_EVENT_CALLBACK_FN(offered_incompatible_qos, OFFERED_INCOMPATIBLE_QOS)
 MAKE_DDS_EVENT_CALLBACK_FN(liveliness_changed, LIVELINESS_CHANGED)
 
+/**
+ * Because the inconsistent topic is not raised by CycloneDDS when a reader/writer fail to match because of differing type definitions
+ * this callback is signalled via the incompatible qos handlers
+ */
+// MAKE_DDS_EVENT_CALLBACK_FN(inconsistent_topic, INCONSISTENT_TOPIC)
+
+static void on_requested_incompatible_qos_fn(
+  dds_entity_t entity,
+  const dds_requested_incompatible_qos_status_t status,
+  void * arg)
+{
+  (void)entity;
+  auto data = static_cast<user_callback_data_t *>(arg);
+  std::lock_guard<std::mutex> guard(data->mutex);
+  uint32_t type = DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS_ID;
+  if (DDS_TYPE_CONSISTENCY_ENFORCEMENT_QOS_POLICY_ID == status.last_policy_id) {
+    /* incompatible types */
+    type = DDS_INCONSISTENT_TOPIC_STATUS_ID;
+  }
+  auto cb = data->event_callback[type];
+  if (cb) {
+    cb(data->event_data[type], 1);
+  } else {
+    data->event_unread_count[type]++;
+  }
+}
+
+static void on_offered_incompatible_qos_fn(
+  dds_entity_t entity,
+  const dds_offered_incompatible_qos_status_t status,
+  void * arg)
+{
+  (void)entity;
+  auto data = static_cast<user_callback_data_t *>(arg);
+  std::lock_guard<std::mutex> guard(data->mutex);
+  uint32_t type = DDS_OFFERED_INCOMPATIBLE_QOS_STATUS_ID;
+  if (DDS_TYPE_CONSISTENCY_ENFORCEMENT_QOS_POLICY_ID == status.last_policy_id) {
+    /* incompatible types */
+    type = DDS_INCONSISTENT_TOPIC_STATUS_ID;
+  }
+  auto cb = data->event_callback[type];
+  if (cb) {
+    cb(data->event_data[type], 1);
+  } else {
+    data->event_unread_count[type]++;
+  }
+}
+
 static void listener_set_event_callbacks(dds_listener_t * l, void * arg)
 {
   dds_lset_requested_deadline_missed_arg(l, on_requested_deadline_missed_fn, arg, false);
@@ -716,6 +762,24 @@ extern "C" rmw_ret_t rmw_event_set_callback(
         break;
       }
 
+    case RMW_EVENT_PUBLISHER_INCOMPATIBLE_TYPE:
+      {
+        auto pub_event = static_cast<CddsPublisher *>(rmw_event->data);
+        event_set_callback(
+          pub_event, DDS_INCONSISTENT_TOPIC_STATUS_ID,
+          callback, user_data);
+        break;
+      }
+
+    case RMW_EVENT_SUBSCRIPTION_INCOMPATIBLE_TYPE:
+      {
+        auto sub_event = static_cast<CddsSubscription *>(rmw_event->data);
+        event_set_callback(
+          sub_event, DDS_INCONSISTENT_TOPIC_STATUS_ID,
+          callback, user_data);
+        break;
+      }
+
     case RMW_EVENT_INVALID:
       {
         return RMW_RET_INVALID_ARGUMENT;
@@ -3627,6 +3691,8 @@ static const std::unordered_map<rmw_event_type_t, uint32_t> mask_map{
   {RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE, DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS},
   {RMW_EVENT_OFFERED_QOS_INCOMPATIBLE, DDS_OFFERED_INCOMPATIBLE_QOS_STATUS},
   {RMW_EVENT_MESSAGE_LOST, DDS_SAMPLE_LOST_STATUS},
+  {RMW_EVENT_PUBLISHER_INCOMPATIBLE_TYPE, DDS_INCONSISTENT_TOPIC_STATUS},
+  {RMW_EVENT_SUBSCRIPTION_INCOMPATIBLE_TYPE, DDS_INCONSISTENT_TOPIC_STATUS},
 };
 
 static bool is_event_supported(const rmw_event_type_t event_t)
@@ -3799,6 +3865,40 @@ extern "C" rmw_ret_t rmw_take_event(
         }
       }
 
+    case RMW_EVENT_PUBLISHER_INCOMPATIBLE_TYPE: {
+        auto it = static_cast<rmw_incompatible_type_status_t *>(event_info);
+        auto pub = static_cast<CddsPublisher *>(event_handle->data);
+
+        const dds_entity_t topic = dds_get_topic(pub->enth);
+        dds_inconsistent_topic_status_t st;
+        if (dds_get_inconsistent_topic_status(topic, &st) < 0) {
+          *taken = false;
+          return RMW_RET_ERROR;
+        } else {
+          it->total_count = static_cast<int32_t>(st.total_count);
+          it->total_count_change = st.total_count_change;
+          *taken = true;
+          return RMW_RET_OK;
+        }
+      }
+
+    case RMW_EVENT_SUBSCRIPTION_INCOMPATIBLE_TYPE: {
+        auto it = static_cast<rmw_incompatible_type_status_t *>(event_info);
+        auto sub = static_cast<CddsSubscription *>(event_handle->data);
+
+        const dds_entity_t topic = dds_get_topic(sub->enth);
+        dds_inconsistent_topic_status_t st;
+        if (dds_get_inconsistent_topic_status(topic, &st) < 0) {
+          *taken = false;
+          return RMW_RET_ERROR;
+        } else {
+          it->total_count = static_cast<int32_t>(st.total_count);
+          it->total_count_change = st.total_count_change;
+          *taken = true;
+          return RMW_RET_OK;
+        }
+      }
+
     case RMW_EVENT_INVALID: {
         break;
       }