diff --git a/rmw_fastrtps_cpp/src/publisher.cpp b/rmw_fastrtps_cpp/src/publisher.cpp
index da9de0eb3..a93deeb87 100644
--- a/rmw_fastrtps_cpp/src/publisher.cpp
+++ b/rmw_fastrtps_cpp/src/publisher.cpp
@@ -256,7 +256,7 @@ rmw_fastrtps_cpp::create_publisher(
   }
 
   // Get QoS from RMW
-  if (!get_datawriter_qos(*qos_policies, writer_qos)) {
+  if (!get_datawriter_qos(*qos_policies, *type_supports->type_hash, writer_qos)) {
     RMW_SET_ERROR_MSG("create_publisher() failed setting data writer QoS");
     return nullptr;
   }
diff --git a/rmw_fastrtps_cpp/src/rmw_client.cpp b/rmw_fastrtps_cpp/src/rmw_client.cpp
index aa8c23b17..70a126ee0 100644
--- a/rmw_fastrtps_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_client.cpp
@@ -314,7 +314,9 @@ rmw_create_client(
     reader_qos.data_sharing().off();
   }
 
-  if (!get_datareader_qos(adapted_qos_policies, reader_qos)) {
+  if (!get_datareader_qos(
+      adapted_qos_policies, *type_supports->response_typesupport->type_hash, reader_qos))
+  {
     RMW_SET_ERROR_MSG("create_client() failed setting response DataReader QoS");
     return nullptr;
   }
@@ -368,7 +370,9 @@ rmw_create_client(
     writer_qos.data_sharing().off();
   }
 
-  if (!get_datawriter_qos(adapted_qos_policies, writer_qos)) {
+  if (!get_datawriter_qos(
+      adapted_qos_policies, *type_supports->request_typesupport->type_hash, writer_qos))
+  {
     RMW_SET_ERROR_MSG("create_client() failed setting request DataWriter QoS");
     return nullptr;
   }
diff --git a/rmw_fastrtps_cpp/src/rmw_service.cpp b/rmw_fastrtps_cpp/src/rmw_service.cpp
index 36767afdd..ed8cf4fa0 100644
--- a/rmw_fastrtps_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_service.cpp
@@ -313,7 +313,9 @@ rmw_create_service(
     reader_qos.data_sharing().off();
   }
 
-  if (!get_datareader_qos(adapted_qos_policies, reader_qos)) {
+  if (!get_datareader_qos(
+      adapted_qos_policies, *type_supports->request_typesupport->type_hash, reader_qos))
+  {
     RMW_SET_ERROR_MSG("create_service() failed setting request DataReader QoS");
     return nullptr;
   }
@@ -371,7 +373,9 @@ rmw_create_service(
     writer_qos.data_sharing().off();
   }
 
-  if (!get_datawriter_qos(adapted_qos_policies, writer_qos)) {
+  if (!get_datawriter_qos(
+      adapted_qos_policies, *type_supports->response_typesupport->type_hash, writer_qos))
+  {
     RMW_SET_ERROR_MSG("create_service() failed setting response DataWriter QoS");
     return nullptr;
   }
diff --git a/rmw_fastrtps_cpp/src/subscription.cpp b/rmw_fastrtps_cpp/src/subscription.cpp
index 9ce7ac111..a367c7626 100644
--- a/rmw_fastrtps_cpp/src/subscription.cpp
+++ b/rmw_fastrtps_cpp/src/subscription.cpp
@@ -280,7 +280,7 @@ create_subscription(
     reader_qos.data_sharing().off();
   }
 
-  if (!get_datareader_qos(*qos_policies, reader_qos)) {
+  if (!get_datareader_qos(*qos_policies, *type_supports->type_hash, reader_qos)) {
     RMW_SET_ERROR_MSG("create_subscription() failed setting data reader QoS");
     return nullptr;
   }
diff --git a/rmw_fastrtps_dynamic_cpp/src/publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/publisher.cpp
index cae4a7a13..6aa6f04bc 100644
--- a/rmw_fastrtps_dynamic_cpp/src/publisher.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/publisher.cpp
@@ -262,7 +262,7 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
   }
 
   // Get QoS from RMW
-  if (!get_datawriter_qos(*qos_policies, writer_qos)) {
+  if (!get_datawriter_qos(*qos_policies, *type_supports->type_hash, writer_qos)) {
     RMW_SET_ERROR_MSG("create_publisher() failed setting data writer QoS");
     return nullptr;
   }
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
index 3731f850f..5ba119381 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
@@ -345,7 +345,9 @@ rmw_create_client(
     reader_qos.data_sharing().off();
   }
 
-  if (!get_datareader_qos(adapted_qos_policies, reader_qos)) {
+  if (!get_datareader_qos(
+      adapted_qos_policies, *type_supports->response_typesupport->type_hash, reader_qos))
+  {
     RMW_SET_ERROR_MSG("create_client() failed setting response DataReader QoS");
     return nullptr;
   }
@@ -399,7 +401,9 @@ rmw_create_client(
     writer_qos.data_sharing().off();
   }
 
-  if (!get_datawriter_qos(adapted_qos_policies, writer_qos)) {
+  if (!get_datawriter_qos(
+      adapted_qos_policies, *type_supports->request_typesupport->type_hash, writer_qos))
+  {
     RMW_SET_ERROR_MSG("create_client() failed setting request DataWriter QoS");
     return nullptr;
   }
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
index 6b5486ff9..0ae48d98d 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
@@ -344,7 +344,9 @@ rmw_create_service(
     reader_qos.data_sharing().off();
   }
 
-  if (!get_datareader_qos(adapted_qos_policies, reader_qos)) {
+  if (!get_datareader_qos(
+      adapted_qos_policies, *type_supports->request_typesupport->type_hash, reader_qos))
+  {
     RMW_SET_ERROR_MSG("create_service() failed setting request DataReader QoS");
     return nullptr;
   }
@@ -402,7 +404,9 @@ rmw_create_service(
     writer_qos.data_sharing().off();
   }
 
-  if (!get_datawriter_qos(adapted_qos_policies, writer_qos)) {
+  if (!get_datawriter_qos(
+      adapted_qos_policies, *type_supports->response_typesupport->type_hash, writer_qos))
+  {
     RMW_SET_ERROR_MSG("create_service() failed setting response DataWriter QoS");
     return nullptr;
   }
diff --git a/rmw_fastrtps_dynamic_cpp/src/subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/subscription.cpp
index fc147c0fe..511ffb9a9 100644
--- a/rmw_fastrtps_dynamic_cpp/src/subscription.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/subscription.cpp
@@ -32,6 +32,8 @@
 #include "rmw/rmw.h"
 #include "rmw/validate_full_topic_name.h"
 
+#include "rosidl_runtime_c/type_hash.h"
+
 #include "rcpputils/scope_exit.hpp"
 
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
@@ -264,7 +266,7 @@ create_subscription(
     reader_qos.data_sharing().off();
   }
 
-  if (!get_datareader_qos(*qos_policies, reader_qos)) {
+  if (!get_datareader_qos(*qos_policies, *type_supports->type_hash, reader_qos)) {
     RMW_SET_ERROR_MSG("create_subscription() failed setting data reader QoS");
     return nullptr;
   }
diff --git a/rmw_fastrtps_shared_cpp/CMakeLists.txt b/rmw_fastrtps_shared_cpp/CMakeLists.txt
index 7c5b196dc..6890a9519 100644
--- a/rmw_fastrtps_shared_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_shared_cpp/CMakeLists.txt
@@ -39,6 +39,7 @@ find_package(ament_cmake_ros REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw_dds_common REQUIRED)
+find_package(rosidl_runtime_c REQUIRED)
 find_package(rosidl_typesupport_introspection_c REQUIRED)
 find_package(rosidl_typesupport_introspection_cpp REQUIRED)
 find_package(tracetools REQUIRED)
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp
index 0f3013ce5..36b710301 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp
@@ -40,6 +40,7 @@
 #include "rmw/rmw.h"
 
 #include "rmw_dds_common/context.hpp"
+#include "rmw_dds_common/qos.hpp"
 
 #include "rmw_fastrtps_shared_cpp/create_rmw_gid.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_event_info.hpp"
@@ -205,12 +206,28 @@ class ParticipantListener : public eprosima::fastdds::dds::DomainParticipantList
         rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
         rtps_qos_to_rmw_qos(proxyData.m_qos, &qos_profile);
 
+        const auto & userDataValue = proxyData.m_qos.m_userData.getValue();
+        rosidl_type_hash_t type_hash;
+        if (RMW_RET_OK != rmw_dds_common::parse_type_hash_from_user_data(
+            userDataValue.data(), userDataValue.size(), type_hash))
+        {
+          RCUTILS_LOG_WARN_NAMED(
+            "rmw_fastrtps_shared_cpp",
+            "Failed to parse type hash for topic '%s' with type '%s' from USER_DATA '%*s'.",
+            proxyData.topicName().c_str(),
+            proxyData.typeName().c_str(),
+            static_cast<int>(userDataValue.size()),
+            reinterpret_cast<const char *>(userDataValue.data()));
+          type_hash = rosidl_get_zero_initialized_type_hash();
+        }
+
         context->graph_cache.add_entity(
           rmw_fastrtps_shared_cpp::create_rmw_gid(
             identifier_,
             proxyData.guid()),
           proxyData.topicName().to_string(),
           proxyData.typeName().to_string(),
+          type_hash,
           rmw_fastrtps_shared_cpp::create_rmw_gid(
             identifier_,
             iHandle2GUID(proxyData.RTPSParticipantKey())),
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
index ad5799452..694745b35 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
@@ -27,6 +27,8 @@
 
 #include "rmw_fastrtps_shared_cpp/visibility_control.h"
 
+#include "rosidl_runtime_c/type_hash.h"
+
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 bool
 is_valid_qos(const rmw_qos_profile_t & qos_policies);
@@ -35,12 +37,14 @@ RMW_FASTRTPS_SHARED_CPP_PUBLIC
 bool
 get_datareader_qos(
   const rmw_qos_profile_t & qos_policies,
+  const rosidl_type_hash_t & type_hash,
   eprosima::fastdds::dds::DataReaderQos & reader_qos);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 bool
 get_datawriter_qos(
   const rmw_qos_profile_t & qos_policies,
+  const rosidl_type_hash_t & type_hash,
   eprosima::fastdds::dds::DataWriterQos & writer_qos);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
diff --git a/rmw_fastrtps_shared_cpp/package.xml b/rmw_fastrtps_shared_cpp/package.xml
index 5a04ea49e..e0b5dc3c8 100644
--- a/rmw_fastrtps_shared_cpp/package.xml
+++ b/rmw_fastrtps_shared_cpp/package.xml
@@ -27,6 +27,7 @@
   <build_depend>rcutils</build_depend>
   <build_depend>rmw</build_depend>
   <build_depend>rmw_dds_common</build_depend>
+  <build_depend>rosidl_runtime_c</build_depend>
   <build_depend>rosidl_typesupport_introspection_c</build_depend>
   <build_depend>rosidl_typesupport_introspection_cpp</build_depend>
   <build_depend>tracetools</build_depend>
diff --git a/rmw_fastrtps_shared_cpp/src/qos.cpp b/rmw_fastrtps_shared_cpp/src/qos.cpp
index 74464b778..1adae0bba 100644
--- a/rmw_fastrtps_shared_cpp/src/qos.cpp
+++ b/rmw_fastrtps_shared_cpp/src/qos.cpp
@@ -13,6 +13,9 @@
 // limitations under the License.
 
 #include <limits>
+#include <vector>
+
+#include "rcutils/logging_macros.h"
 
 #include "rmw_fastrtps_shared_cpp/qos.hpp"
 
@@ -22,6 +25,10 @@
 
 #include "rmw/error_handling.h"
 
+#include "rmw_dds_common/qos.hpp"
+
+#include "rosidl_runtime_c/type_hash.h"
+
 #include "time_utils.hpp"
 
 static
@@ -142,20 +149,45 @@ bool fill_entity_qos_from_profile(
   return true;
 }
 
+template<typename DDSEntityQos>
+bool
+fill_data_entity_qos_from_profile(
+  const rmw_qos_profile_t & qos_policies,
+  const rosidl_type_hash_t & type_hash,
+  DDSEntityQos & entity_qos)
+{
+  if (!fill_entity_qos_from_profile(qos_policies, entity_qos)) {
+    return false;
+  }
+  std::string user_data_str;
+  if (RMW_RET_OK != rmw_dds_common::encode_type_hash_for_user_data_qos(type_hash, user_data_str)) {
+    RCUTILS_LOG_WARN_NAMED(
+      "rmw_fastrtps_shared_cpp",
+      "Failed to encode type hash for topic, will not distribute it in USER_DATA.");
+    user_data_str.clear();
+  }
+  std::vector<uint8_t> user_data(user_data_str.begin(), user_data_str.end());
+  entity_qos.user_data().resize(user_data.size());
+  entity_qos.user_data().setValue(user_data);
+  return true;
+}
+
 bool
 get_datareader_qos(
   const rmw_qos_profile_t & qos_policies,
+  const rosidl_type_hash_t & type_hash,
   eprosima::fastdds::dds::DataReaderQos & datareader_qos)
 {
-  return fill_entity_qos_from_profile(qos_policies, datareader_qos);
+  return fill_data_entity_qos_from_profile(qos_policies, type_hash, datareader_qos);
 }
 
 bool
 get_datawriter_qos(
   const rmw_qos_profile_t & qos_policies,
+  const rosidl_type_hash_t & type_hash,
   eprosima::fastdds::dds::DataWriterQos & datawriter_qos)
 {
-  return fill_entity_qos_from_profile(qos_policies, datawriter_qos);
+  return fill_data_entity_qos_from_profile(qos_policies, type_hash, datawriter_qos);
 }
 
 bool
diff --git a/rmw_fastrtps_shared_cpp/test/test_rmw_qos_to_dds_attributes.cpp b/rmw_fastrtps_shared_cpp/test/test_rmw_qos_to_dds_attributes.cpp
index b080a1393..136ec993a 100644
--- a/rmw_fastrtps_shared_cpp/test/test_rmw_qos_to_dds_attributes.cpp
+++ b/rmw_fastrtps_shared_cpp/test/test_rmw_qos_to_dds_attributes.cpp
@@ -25,11 +25,15 @@
 
 #include "rmw/error_handling.h"
 
+#include "rosidl_runtime_c/type_hash.h"
+
 
 using eprosima::fastdds::dds::DataReaderQos;
 static const eprosima::fastrtps::Duration_t InfiniteDuration =
   eprosima::fastrtps::rtps::c_RTPSTimeInfinite.to_duration_t();
 
+static const rosidl_type_hash_t zero_type_hash = rosidl_get_zero_initialized_type_hash();
+
 class GetDataReaderQoSTest : public ::testing::Test
 {
 protected:
@@ -39,28 +43,28 @@ class GetDataReaderQoSTest : public ::testing::Test
 
 TEST_F(GetDataReaderQoSTest, test_unknown_history_policy_conversion_fails) {
   qos_profile_.history = RMW_QOS_POLICY_HISTORY_UNKNOWN;
-  EXPECT_FALSE(get_datareader_qos(qos_profile_, subscriber_qos_));
+  EXPECT_FALSE(get_datareader_qos(qos_profile_, zero_type_hash, subscriber_qos_));
   EXPECT_TRUE(rmw_error_is_set());
   rmw_reset_error();
 }
 
 TEST_F(GetDataReaderQoSTest, unknown_reliability_policy_conversion_fails) {
   qos_profile_.reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
-  EXPECT_FALSE(get_datareader_qos(qos_profile_, subscriber_qos_));
+  EXPECT_FALSE(get_datareader_qos(qos_profile_, zero_type_hash, subscriber_qos_));
   EXPECT_TRUE(rmw_error_is_set());
   rmw_reset_error();
 }
 
 TEST_F(GetDataReaderQoSTest, unknown_durability_policy_conversion_fails) {
   qos_profile_.durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN;
-  EXPECT_FALSE(get_datareader_qos(qos_profile_, subscriber_qos_));
+  EXPECT_FALSE(get_datareader_qos(qos_profile_, zero_type_hash, subscriber_qos_));
   EXPECT_TRUE(rmw_error_is_set());
   rmw_reset_error();
 }
 
 TEST_F(GetDataReaderQoSTest, unknown_liveliness_policy_conversion_fails) {
   qos_profile_.liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
-  EXPECT_FALSE(get_datareader_qos(qos_profile_, subscriber_qos_));
+  EXPECT_FALSE(get_datareader_qos(qos_profile_, zero_type_hash, subscriber_qos_));
   EXPECT_TRUE(rmw_error_is_set());
   rmw_reset_error();
 }
@@ -78,7 +82,7 @@ TEST_F(GetDataReaderQoSTest, nominal_conversion) {
   qos_profile_.liveliness_lease_duration.sec = 10u;
   qos_profile_.liveliness_lease_duration.nsec = 0u;
 
-  EXPECT_TRUE(get_datareader_qos(qos_profile_, subscriber_qos_));
+  EXPECT_TRUE(get_datareader_qos(qos_profile_, zero_type_hash, subscriber_qos_));
 
   EXPECT_EQ(
     eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS,
@@ -106,7 +110,7 @@ TEST_F(GetDataReaderQoSTest, large_depth_conversion) {
   qos_profile_.depth = depth;
   qos_profile_.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
 
-  EXPECT_TRUE(get_datareader_qos(qos_profile_, subscriber_qos_));
+  EXPECT_TRUE(get_datareader_qos(qos_profile_, zero_type_hash, subscriber_qos_));
 
   EXPECT_EQ(
     eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS,
@@ -117,12 +121,12 @@ TEST_F(GetDataReaderQoSTest, large_depth_conversion) {
   constexpr size_t max_depth = static_cast<size_t>(std::numeric_limits<depth_type>::max());
 
   qos_profile_.depth = max_depth;
-  EXPECT_TRUE(get_datareader_qos(qos_profile_, subscriber_qos_));
+  EXPECT_TRUE(get_datareader_qos(qos_profile_, zero_type_hash, subscriber_qos_));
   EXPECT_LE(depth, static_cast<size_t>(subscriber_qos_.history().depth));
 
   if (max_depth < std::numeric_limits<size_t>::max()) {
     qos_profile_.depth = max_depth + 1;
-    EXPECT_FALSE(get_datareader_qos(qos_profile_, subscriber_qos_));
+    EXPECT_FALSE(get_datareader_qos(qos_profile_, zero_type_hash, subscriber_qos_));
   }
 }
 
@@ -137,28 +141,28 @@ class GetDataWriterQoSTest : public ::testing::Test
 
 TEST_F(GetDataWriterQoSTest, test_unknown_history_policy_conversion_fails) {
   qos_profile_.history = RMW_QOS_POLICY_HISTORY_UNKNOWN;
-  EXPECT_FALSE(get_datawriter_qos(qos_profile_, publisher_qos_));
+  EXPECT_FALSE(get_datawriter_qos(qos_profile_, zero_type_hash, publisher_qos_));
   EXPECT_TRUE(rmw_error_is_set());
   rmw_reset_error();
 }
 
 TEST_F(GetDataWriterQoSTest, unknown_reliability_policy_conversion_fails) {
   qos_profile_.reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
-  EXPECT_FALSE(get_datawriter_qos(qos_profile_, publisher_qos_));
+  EXPECT_FALSE(get_datawriter_qos(qos_profile_, zero_type_hash, publisher_qos_));
   EXPECT_TRUE(rmw_error_is_set());
   rmw_reset_error();
 }
 
 TEST_F(GetDataWriterQoSTest, unknown_durability_policy_conversion_fails) {
   qos_profile_.durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN;
-  EXPECT_FALSE(get_datawriter_qos(qos_profile_, publisher_qos_));
+  EXPECT_FALSE(get_datawriter_qos(qos_profile_, zero_type_hash, publisher_qos_));
   EXPECT_TRUE(rmw_error_is_set());
   rmw_reset_error();
 }
 
 TEST_F(GetDataWriterQoSTest, unknown_liveliness_policy_conversion_fails) {
   qos_profile_.liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
-  EXPECT_FALSE(get_datawriter_qos(qos_profile_, publisher_qos_));
+  EXPECT_FALSE(get_datawriter_qos(qos_profile_, zero_type_hash, publisher_qos_));
   EXPECT_TRUE(rmw_error_is_set());
   rmw_reset_error();
 }
@@ -176,7 +180,7 @@ TEST_F(GetDataWriterQoSTest, nominal_conversion) {
   qos_profile_.liveliness_lease_duration.sec = 10u;
   qos_profile_.liveliness_lease_duration.nsec = 0u;
 
-  EXPECT_TRUE(get_datawriter_qos(qos_profile_, publisher_qos_));
+  EXPECT_TRUE(get_datawriter_qos(qos_profile_, zero_type_hash, publisher_qos_));
 
   EXPECT_EQ(
     eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS,
@@ -204,7 +208,7 @@ TEST_F(GetDataWriterQoSTest, large_depth_conversion) {
   qos_profile_.depth = depth;
   qos_profile_.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
 
-  EXPECT_TRUE(get_datawriter_qos(qos_profile_, publisher_qos_));
+  EXPECT_TRUE(get_datawriter_qos(qos_profile_, zero_type_hash, publisher_qos_));
 
   EXPECT_EQ(
     eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS,
@@ -215,12 +219,12 @@ TEST_F(GetDataWriterQoSTest, large_depth_conversion) {
   constexpr size_t max_depth = static_cast<size_t>(std::numeric_limits<depth_type>::max());
 
   qos_profile_.depth = max_depth;
-  EXPECT_TRUE(get_datawriter_qos(qos_profile_, publisher_qos_));
+  EXPECT_TRUE(get_datawriter_qos(qos_profile_, zero_type_hash, publisher_qos_));
   EXPECT_LE(depth, static_cast<size_t>(publisher_qos_.history().depth));
 
   if (max_depth < std::numeric_limits<size_t>::max()) {
     qos_profile_.depth = max_depth + 1;
-    EXPECT_FALSE(get_datawriter_qos(qos_profile_, publisher_qos_));
+    EXPECT_FALSE(get_datawriter_qos(qos_profile_, zero_type_hash, publisher_qos_));
   }
 }
 
@@ -229,7 +233,7 @@ TEST_F(GetDataReaderQoSTest, infinite_duration_conversions)
   qos_profile_.lifespan = RMW_DURATION_INFINITE;
   qos_profile_.deadline = RMW_DURATION_INFINITE;
   qos_profile_.liveliness_lease_duration = RMW_DURATION_INFINITE;
-  EXPECT_TRUE(get_datareader_qos(qos_profile_, subscriber_qos_));
+  EXPECT_TRUE(get_datareader_qos(qos_profile_, zero_type_hash, subscriber_qos_));
   EXPECT_EQ(subscriber_qos_.lifespan().duration, InfiniteDuration);
   EXPECT_EQ(subscriber_qos_.deadline().period, InfiniteDuration);
   EXPECT_EQ(subscriber_qos_.liveliness().lease_duration, InfiniteDuration);
@@ -240,7 +244,7 @@ TEST_F(GetDataWriterQoSTest, infinite_duration_conversions)
   qos_profile_.lifespan = RMW_DURATION_INFINITE;
   qos_profile_.deadline = RMW_DURATION_INFINITE;
   qos_profile_.liveliness_lease_duration = RMW_DURATION_INFINITE;
-  EXPECT_TRUE(get_datawriter_qos(qos_profile_, publisher_qos_));
+  EXPECT_TRUE(get_datawriter_qos(qos_profile_, zero_type_hash, publisher_qos_));
   EXPECT_EQ(publisher_qos_.lifespan().duration, InfiniteDuration);
   EXPECT_EQ(publisher_qos_.deadline().period, InfiniteDuration);
   EXPECT_EQ(publisher_qos_.liveliness().lease_duration, InfiniteDuration);