diff --git a/rmw_connextdds_common/CMakeLists.txt b/rmw_connextdds_common/CMakeLists.txt
index 86ba0671..c8d39703 100644
--- a/rmw_connextdds_common/CMakeLists.txt
+++ b/rmw_connextdds_common/CMakeLists.txt
@@ -112,6 +112,7 @@ set(RMW_CONNEXT_DEPS
     rcpputils
     rmw
     rmw_dds_common
+    tracetools
     fastcdr
     rosidl_runtime_c
     rosidl_runtime_cpp
@@ -128,6 +129,7 @@ endforeach()
 ################################################################################
 # Common Source Configuration
 ################################################################################
+
 set(RMW_CONNEXT_DIR     ${CMAKE_CURRENT_SOURCE_DIR})
 
 set(RMW_CONNEXT_COMMON_SOURCE_CPP
@@ -172,6 +174,7 @@ set(RMW_CONNEXT_COMMON_SOURCE
     ${RMW_CONNEXT_COMMON_SOURCE_CPP}
     ${RMW_CONNEXT_COMMON_SOURCE_HPP})
 
+
 ################################################################################
 # Check if additional Connext components are needed (e.g. security)
 ################################################################################
diff --git a/rmw_connextdds_common/include/rmw_connextdds/dds_api.hpp b/rmw_connextdds_common/include/rmw_connextdds/dds_api.hpp
index 11b052f5..55a3a0b9 100644
--- a/rmw_connextdds_common/include/rmw_connextdds/dds_api.hpp
+++ b/rmw_connextdds_common/include/rmw_connextdds/dds_api.hpp
@@ -46,9 +46,20 @@ enum RMW_Connext_MessageType
   RMW_CONNEXT_MESSAGE_REPLY
 };
 
+struct RMW_Connext_WriteParams
+{
+  DDS_Time_t timestamp{DDS_TIME_INVALID};
+  int64_t sequence_number{0};
+};
+
 RMW_CONNEXTDDS_PUBLIC extern const char * const RMW_CONNEXTDDS_ID;
 extern const char * const RMW_CONNEXTDDS_SERIALIZATION_FORMAT;
 
+rmw_ret_t
+rmw_connextdds_get_current_time(
+  DDS_DomainParticipant * domain_participant,
+  struct DDS_Time_t * current_time);
+
 rmw_ret_t
 rmw_connextdds_set_log_verbosity(rmw_log_severity_t severity);
 
@@ -132,7 +143,7 @@ rmw_ret_t
 rmw_connextdds_write_message(
   RMW_Connext_Publisher * const pub,
   RMW_Connext_Message * const message,
-  int64_t * const sn_out);
+  RMW_Connext_WriteParams * const params = nullptr);
 
 rmw_ret_t
 rmw_connextdds_take_samples(
diff --git a/rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp b/rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp
index 45e15717..56fffdad 100644
--- a/rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp
+++ b/rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp
@@ -35,6 +35,9 @@
  * General helpers and utilities.
  ******************************************************************************/
 
+#define dds_time_to_u64(t_) \
+  ((1000000000ULL * (uint64_t)(t_)->sec) + (uint64_t)(t_)->nanosec)
+
 rcutils_ret_t
 rcutils_uint8_array_copy(
   rcutils_uint8_array_t * const dst,
@@ -151,7 +154,7 @@ class RMW_Connext_Publisher
   write(
     const void * const ros_message,
     const bool serialized,
-    int64_t * const sn_out = nullptr);
+    RMW_Connext_WriteParams * const params);
 
   rmw_ret_t
   enable() const
diff --git a/rmw_connextdds_common/package.xml b/rmw_connextdds_common/package.xml
index 7813cf99..20350dd3 100644
--- a/rmw_connextdds_common/package.xml
+++ b/rmw_connextdds_common/package.xml
@@ -22,6 +22,7 @@
   <depend>rosidl_typesupport_fastrtps_cpp</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_connextdds_common/src/common/rmw_impl.cpp b/rmw_connextdds_common/src/common/rmw_impl.cpp
index a42032be..bb56a933 100644
--- a/rmw_connextdds_common/src/common/rmw_impl.cpp
+++ b/rmw_connextdds_common/src/common/rmw_impl.cpp
@@ -21,6 +21,8 @@
 
 #include "rcpputils/scope_exit.hpp"
 
+#include "tracetools/tracetools.h"
+
 #include "rmw_dds_common/time_utils.hpp"
 #include "rmw_dds_common/qos.hpp"
 
@@ -919,7 +921,7 @@ rmw_ret_t
 RMW_Connext_Publisher::write(
   const void * const ros_message,
   const bool serialized,
-  int64_t * const sn_out)
+  RMW_Connext_WriteParams * const params)
 {
   RMW_Connext_Message user_msg;
   if (RMW_RET_OK != RMW_Connext_Message_initialize(&user_msg, this->type_support, 0)) {
@@ -928,7 +930,7 @@ RMW_Connext_Publisher::write(
   user_msg.user_data = ros_message;
   user_msg.serialized = serialized;
 
-  return rmw_connextdds_write_message(this, &user_msg, sn_out);
+  return rmw_connextdds_write_message(this, &user_msg, params);
 }
 
 
@@ -1108,6 +1110,7 @@ rmw_connextdds_create_publisher(
     }
   }
 
+  TRACETOOLS_TRACEPOINT(rmw_publisher_init, rmw_publisher, rmw_pub_impl->gid()->data);
 
   scope_exit_rmw_writer_impl_delete.cancel();
   scope_exit_rmw_writer_delete.cancel();
@@ -1393,6 +1396,7 @@ RMW_Connext_Subscriber::create(
     RMW_CONNEXT_LOG_ERROR_SET("failed to allocate RMW subscriber")
     return nullptr;
   }
+
   scope_exit_dds_reader_delete.cancel();
   scope_exit_topic_delete.cancel();
   scope_exit_type_unregister.cancel();
@@ -1924,6 +1928,8 @@ rmw_connextdds_create_subscriber(
     }
   }
 
+  TRACETOOLS_TRACEPOINT(rmw_subscription_init, rmw_subscriber, rmw_sub_impl->gid()->data);
+
 #if RMW_CONNEXT_DEBUG && RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO
   scope_exit_enable_participant_on_error.cancel();
 #endif  // RMW_CONNEXT_DEBUG && RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO
@@ -1960,12 +1966,6 @@ rmw_connextdds_destroy_subscriber(
   return RMW_RET_OK;
 }
 
-static
-constexpr uint64_t C_NANOSECONDS_PER_SEC = 1000000000ULL;
-
-#define dds_time_to_u64(t_) \
-  ((C_NANOSECONDS_PER_SEC * (uint64_t)(t_)->sec) + (uint64_t)(t_)->nanosec)
-
 void
 rmw_connextdds_message_info_from_dds(
   rmw_message_info_t * const to,
@@ -2723,7 +2723,21 @@ RMW_Connext_Client::send_request(
     reinterpret_cast<const uint32_t *>(rr_msg.gid.data)[3],
     rr_msg.sn)
 
-  rmw_ret_t rc = this->request_pub->write(&rr_msg, false /* serialized */, sequence_id);
+
+  RMW_Connext_WriteParams write_params;
+
+  if (DDS_RETCODE_OK !=
+    rmw_connextdds_get_current_time(
+      this->request_pub->dds_participant(),
+      &write_params.timestamp))
+  {
+    RMW_CONNEXT_LOG_ERROR_SET("failed to get current time")
+    return RMW_RET_ERROR;
+  }
+
+  rmw_ret_t rc = this->request_pub->write(&rr_msg, false /* serialized */, &write_params);
+
+  *sequence_id = write_params.sequence_number;
 
   RMW_CONNEXT_LOG_DEBUG_A(
     "[%s] SENT REQUEST: "
@@ -2998,6 +3012,17 @@ RMW_Connext_Service::send_response(
   rr_msg.gid.implementation_identifier = RMW_CONNEXTDDS_ID;
   rr_msg.payload = const_cast<void *>(ros_response);
 
+  RMW_Connext_WriteParams write_params;
+
+  if (DDS_RETCODE_OK !=
+    rmw_connextdds_get_current_time(
+      this->reply_pub->dds_participant(),
+      &write_params.timestamp))
+  {
+    RMW_CONNEXT_LOG_ERROR_SET("failed to get current time")
+    return RMW_RET_ERROR;
+  }
+
   RMW_CONNEXT_LOG_DEBUG_A(
     "[%s] send RESPONSE: "
     "gid=%08X.%08X.%08X.%08X, "
@@ -3009,7 +3034,7 @@ RMW_Connext_Service::send_response(
     reinterpret_cast<const uint32_t *>(rr_msg.gid.data)[3],
     rr_msg.sn)
 
-  return this->reply_pub->write(&rr_msg, false /* serialized */);
+  return this->reply_pub->write(&rr_msg, false /* serialized */, &write_params);
 }
 
 rmw_ret_t
diff --git a/rmw_connextdds_common/src/common/rmw_publication.cpp b/rmw_connextdds_common/src/common/rmw_publication.cpp
index 99b977d8..f3a2f56c 100644
--- a/rmw_connextdds_common/src/common/rmw_publication.cpp
+++ b/rmw_connextdds_common/src/common/rmw_publication.cpp
@@ -19,6 +19,8 @@
 
 #include "rmw/validate_full_topic_name.h"
 
+#include "tracetools/tracetools.h"
+
 /******************************************************************************
  * Publication functions
  ******************************************************************************/
@@ -47,7 +49,21 @@ rmw_api_connextdds_publish(
   auto pub_impl = static_cast<RMW_Connext_Publisher *>(publisher->data);
   RMW_CHECK_ARGUMENT_FOR_NULL(pub_impl, RMW_RET_INVALID_ARGUMENT);
 
-  return pub_impl->write(ros_message, false /* serialized */);
+  RMW_Connext_WriteParams write_params;
+
+  if (DDS_RETCODE_OK !=
+    rmw_connextdds_get_current_time(
+      pub_impl->dds_participant(),
+      &write_params.timestamp))
+  {
+    RMW_CONNEXT_LOG_ERROR_SET("failed to get current time")
+    return RMW_RET_ERROR;
+  }
+
+  TRACETOOLS_TRACEPOINT(
+    rmw_publish, publisher, ros_message, dds_time_to_u64(&write_params.timestamp));
+
+  return pub_impl->write(ros_message, false /* serialized */, &write_params);
 }
 
 
@@ -74,7 +90,20 @@ rmw_api_connextdds_publish_serialized_message(
   auto pub_impl = static_cast<RMW_Connext_Publisher *>(publisher->data);
   RMW_CHECK_ARGUMENT_FOR_NULL(pub_impl, RMW_RET_INVALID_ARGUMENT);
 
-  return pub_impl->write(serialized_message, true /* serialized */);
+  RMW_Connext_WriteParams write_params;
+
+  if (DDS_RETCODE_OK !=
+    rmw_connextdds_get_current_time(
+      pub_impl->dds_participant(),
+      &write_params.timestamp))
+  {
+    RMW_CONNEXT_LOG_ERROR_SET("failed to get current time")
+    return RMW_RET_ERROR;
+  }
+
+  TRACETOOLS_TRACEPOINT(
+    rmw_publish, publisher, serialized_message, dds_time_to_u64(&write_params.timestamp));
+  return pub_impl->write(serialized_message, true /* serialized */, &write_params);
 }
 
 
diff --git a/rmw_connextdds_common/src/common/rmw_subscription.cpp b/rmw_connextdds_common/src/common/rmw_subscription.cpp
index 3ad3625d..8c667ee8 100644
--- a/rmw_connextdds_common/src/common/rmw_subscription.cpp
+++ b/rmw_connextdds_common/src/common/rmw_subscription.cpp
@@ -19,6 +19,8 @@
 
 #include "rmw/validate_full_topic_name.h"
 
+#include "tracetools/tracetools.h"
+
 /******************************************************************************
  * Subscription functions
  ******************************************************************************/
@@ -282,6 +284,7 @@ rmw_api_connextdds_take(
 
   rmw_ret_t rc = sub_impl->take_message(ros_message, nullptr, taken);
 
+  TRACETOOLS_TRACEPOINT(rmw_take, subscription, ros_message, 0LL, *taken);
   return rc;
 }
 
@@ -311,6 +314,13 @@ rmw_api_connextdds_take_with_info(
 
   rmw_ret_t rc = sub_impl->take_message(ros_message, message_info, taken);
 
+  TRACETOOLS_TRACEPOINT(
+    rmw_take,
+    subscription,
+    ros_message,
+    (message_info ? message_info->source_timestamp : 0LL),
+    *taken);
+
   return rc;
 }
 
diff --git a/rmw_connextdds_common/src/ndds/dds_api_ndds.cpp b/rmw_connextdds_common/src/ndds/dds_api_ndds.cpp
index be88c16e..658a1a06 100644
--- a/rmw_connextdds_common/src/ndds/dds_api_ndds.cpp
+++ b/rmw_connextdds_common/src/ndds/dds_api_ndds.cpp
@@ -36,6 +36,22 @@ struct rmw_connextdds_api_pro
 
 rmw_connextdds_api_pro * RMW_Connext_fv_FactoryContext = nullptr;
 
+rmw_ret_t
+rmw_connextdds_get_current_time(
+  DDS_DomainParticipant * domain_participant,
+  struct DDS_Time_t * current_time)
+{
+  // Use DDS_DomainParticipant_get_current_time only with Micro since Pro's
+  // implementation is pretty slow. See #120 for details.
+  UNUSED_ARG(domain_participant);
+  RTINtpTime now;
+  if (!RTIOsapiUtility_getTime(&now)) {
+    return DDS_RETCODE_ERROR;
+  }
+  RTINtpTime_unpackToNanosec(current_time->sec, current_time->nanosec, now);
+  return DDS_RETCODE_OK;
+}
+
 rmw_ret_t
 rmw_connextdds_set_log_verbosity(rmw_log_severity_t severity)
 {
@@ -716,15 +732,19 @@ rmw_ret_t
 rmw_connextdds_write_message(
   RMW_Connext_Publisher * const pub,
   RMW_Connext_Message * const message,
-  int64_t * const sn_out)
+  RMW_Connext_WriteParams * const params)
 {
+  DDS_WriteParams_t write_params = DDS_WRITEPARAMS_DEFAULT;
+  if (nullptr != params && !DDS_Time_is_invalid(&params->timestamp)) {
+    write_params.source_timestamp = params->timestamp;
+  }
+
   if (pub->message_type_support()->type_requestreply() &&
     pub->message_type_support()->ctx()->request_reply_mapping ==
     RMW_Connext_RequestReplyMapping::Extended)
   {
     const RMW_Connext_RequestReplyMessage * const rr_msg =
       reinterpret_cast<const RMW_Connext_RequestReplyMessage *>(message->user_data);
-    DDS_WriteParams_t write_params = DDS_WRITEPARAMS_DEFAULT;
 
     if (!rr_msg->request) {
       /* If this is a reply, propagate the request's sample identity
@@ -745,36 +765,22 @@ rmw_connextdds_write_message(
       // enable WriteParams::replace_auto to retrieve SN of published message
       write_params.replace_auto = DDS_BOOLEAN_TRUE;
     }
-    if (DDS_RETCODE_OK !=
-      DDS_DataWriter_write_w_params_untypedI(
-        pub->writer(), message, &write_params))
-    {
-      RMW_CONNEXT_LOG_ERROR_SET(
-        "failed to write request/reply message to DDS")
-      return RMW_RET_ERROR;
-    }
-
-    if (rr_msg->request) {
-      int64_t sn = 0;
-
-      // Read assigned sn from write_params
-      rmw_connextdds_sn_dds_to_ros(
-        write_params.identity.sequence_number, sn);
-
-      *sn_out = sn;
-    }
-
-    return RMW_RET_OK;
   }
 
   if (DDS_RETCODE_OK !=
-    DDS_DataWriter_write_untypedI(
-      pub->writer(), message, &DDS_HANDLE_NIL))
+    DDS_DataWriter_write_w_params_untypedI(
+      pub->writer(), message, &write_params))
   {
     RMW_CONNEXT_LOG_ERROR_SET("failed to write message to DDS")
     return RMW_RET_ERROR;
   }
 
+  if (nullptr != params && write_params.replace_auto) {
+    // Read assigned sn from write_params
+    rmw_connextdds_sn_dds_to_ros(
+      write_params.identity.sequence_number, params->sequence_number);
+  }
+
   return RMW_RET_OK;
 }
 
diff --git a/rmw_connextdds_common/src/rtime/dds_api_rtime.cpp b/rmw_connextdds_common/src/rtime/dds_api_rtime.cpp
index b5ba5ca3..d0372f9a 100644
--- a/rmw_connextdds_common/src/rtime/dds_api_rtime.cpp
+++ b/rmw_connextdds_common/src/rtime/dds_api_rtime.cpp
@@ -378,6 +378,16 @@ struct rmw_connextdds_api_micro
 
 rmw_connextdds_api_micro * RMW_Connext_fv_FactoryContext = nullptr;
 
+rmw_ret_t
+rmw_connextdds_get_current_time(
+  DDS_DomainParticipant * domain_participant,
+  struct DDS_Time_t * current_time)
+{
+  // Use DDS_DomainParticipant_get_current_time only with Micro since Pro's
+  // implementation is pretty slow. See #120 for details.
+  return DDS_DomainParticipant_get_current_time(domain_participant, current_time);
+}
+
 const char * const RMW_CONNEXTDDS_ID = "rmw_connextddsmicro";
 const char * const RMW_CONNEXTDDS_SERIALIZATION_FORMAT = "cdr";
 
@@ -1153,12 +1163,14 @@ rmw_ret_t
 rmw_connextdds_write_message(
   RMW_Connext_Publisher * const pub,
   RMW_Connext_Message * const message,
-  int64_t * const sn_out)
+  RMW_Connext_WriteParams * const params)
 {
-  UNUSED_ARG(sn_out);
-
+  DDS_Time_t timestamp = DDS_TIME_INVALID;
+  if (nullptr != params && !DDS_Time_is_invalid(&params->timestamp)) {
+    timestamp = params->timestamp;
+  }
   if (DDS_RETCODE_OK !=
-    DDS_DataWriter_write(pub->writer(), message, &DDS_HANDLE_NIL))
+    DDS_DataWriter_write_w_timestamp(pub->writer(), message, &DDS_HANDLE_NIL, &timestamp))
   {
     RMW_CONNEXT_LOG_ERROR_SET("failed to write message to DDS")
     return RMW_RET_ERROR;