diff --git a/rmw_opensplice_cpp/CMakeLists.txt b/rmw_opensplice_cpp/CMakeLists.txt
index 6e3b3de..27cf376 100644
--- a/rmw_opensplice_cpp/CMakeLists.txt
+++ b/rmw_opensplice_cpp/CMakeLists.txt
@@ -79,6 +79,7 @@ add_library(rmw_opensplice_cpp SHARED
   src/rmw_wait_set.cpp
   src/serialization_format.cpp
   src/types.cpp
+  src/rmw_get_topic_endpoint_info.cpp
 )
 ament_target_dependencies(rmw_opensplice_cpp
   "rcpputils"
diff --git a/rmw_opensplice_cpp/src/rmw_get_topic_endpoint_info.cpp b/rmw_opensplice_cpp/src/rmw_get_topic_endpoint_info.cpp
new file mode 100644
index 0000000..090adc5
--- /dev/null
+++ b/rmw_opensplice_cpp/src/rmw_get_topic_endpoint_info.cpp
@@ -0,0 +1,45 @@
+// Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// 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.
+
+#include "rmw/error_handling.h"
+#include "rmw/get_topic_endpoint_info.h"
+#include "rmw/topic_endpoint_info_array.h"
+
+#include "identifier.hpp"
+#include "types.hpp"
+
+extern "C"
+{
+rmw_ret_t
+rmw_get_publishers_info_by_topic(
+  const rmw_node_t * /* unused_param */,
+  rcutils_allocator_t * /* unused_param */,
+  const char * /* unused_param */,
+  bool /* unused_param */,
+  rmw_topic_endpoint_info_array_t * /* unused_param */)
+{
+  return RMW_RET_UNSUPPORTED;
+}
+
+rmw_ret_t
+rmw_get_subscriptions_info_by_topic(
+  const rmw_node_t * /* unused_param */,
+  rcutils_allocator_t * /* unused_param */,
+  const char * /* unused_param */,
+  bool /* unused_param */,
+  rmw_topic_endpoint_info_array_t * /* unused_param */)
+{
+  return RMW_RET_UNSUPPORTED;
+}
+}  // extern "C"
diff --git a/rmw_opensplice_cpp/src/rmw_node_info_and_types.cpp b/rmw_opensplice_cpp/src/rmw_node_info_and_types.cpp
index e37739b..f95db33 100644
--- a/rmw_opensplice_cpp/src/rmw_node_info_and_types.cpp
+++ b/rmw_opensplice_cpp/src/rmw_node_info_and_types.cpp
@@ -38,10 +38,10 @@ extern "C"
  * Check to see if a node name and namespace match the user data QoS policy
  * of a node.
  *
- * @param user_data_qos to inspect
- * @param node_name to match
- * @param node_namespace to match
- * @return true if match
+ * \param user_data_qos to inspect
+ * \param node_name to match
+ * \param node_namespace to match
+ * \return true if match
  */
 bool
 __is_node_match(
@@ -69,12 +69,12 @@ __is_node_match(
  * Get a DDS GUID key for the discovered participant which matches the
  * node_name and node_namepace supplied.
  *
- * @param node_info to discover nodes
- * @param node_name to match
- * @param node_namespace to match
- * @param key [out] key (an InstanceHandle) that matches the node name and namespace
+ * \param node_info to discover nodes
+ * \param node_name to match
+ * \param node_namespace to match
+ * \param key [out] key (an InstanceHandle) that matches the node name and namespace
  *
- * @return RMW_RET_OK if success, ERROR otherwise
+ * \return RMW_RET_OK if success, ERROR otherwise
  */
 rmw_ret_t
 __get_key(
@@ -93,7 +93,7 @@ __get_key(
 
   DDS::DomainParticipantQos dpqos;
   auto dds_ret = participant->get_qos(dpqos);
-  // @todo: ross-desmond implement self discovery
+  // \todo: ross-desmond implement self discovery
   if (dds_ret == DDS::RETCODE_OK && __is_node_match(dpqos.user_data, node_name, node_namespace)) {
     key = node_info->participant->get_instance_handle();
     return RMW_RET_OK;
diff --git a/rmw_opensplice_cpp/src/topic_cache.hpp b/rmw_opensplice_cpp/src/topic_cache.hpp
index c834ce3..9e853df 100644
--- a/rmw_opensplice_cpp/src/topic_cache.hpp
+++ b/rmw_opensplice_cpp/src/topic_cache.hpp
@@ -53,7 +53,7 @@ class TopicCache
   typedef std::map<GUID_t, TopicInfo> TopicGuidToInfo;
 
   /**
-   * @return a map of topic name to the vector of topic types used.
+   * \return a map of topic name to the vector of topic types used.
    */
   const TopicGuidToInfo & getTopicGuidToInfo() const
   {
@@ -61,7 +61,7 @@ class TopicCache
   }
 
   /**
-   * @return a map of participant guid to the vector of topic names used.
+   * \return a map of participant guid to the vector of topic names used.
    */
   const ParticipantToTopicGuidMap & getParticipantToTopicGuidMap() const
   {
@@ -71,10 +71,10 @@ class TopicCache
   /**
    * Add a topic based on discovery.
    *
-   * @param participant_guid
-   * @param topic_name
-   * @param type_name
-   * @return true if a change has been recorded
+   * \param participant_guid
+   * \param topic_name
+   * \param type_name
+   * \return true if a change has been recorded
    */
   bool addTopic(
     const GUID_t & participant_guid,
@@ -101,43 +101,43 @@ class TopicCache
 
   /**
    * Get topic info based on the topic guid
-   * @param topic_guid to search
-   * @param topic_info [out] result
-   * @return true if it exists
+   * \param topic_guid to search
+   * \param topic_endpoint_info [out] result
+   * \return true if it exists
    */
-  bool getTopic(const GUID_t & topic_guid, TopicInfo & topic_info) const
+  bool getTopic(const GUID_t & topic_guid, TopicInfo & topic_endpoint_info) const
   {
-    auto topic_info_it = topic_guid_to_info_.find(topic_guid);
-    if (topic_info_it == topic_guid_to_info_.end()) {
+    auto topic_endpoint_info_it = topic_guid_to_info_.find(topic_guid);
+    if (topic_endpoint_info_it == topic_guid_to_info_.end()) {
       RCUTILS_LOG_DEBUG_NAMED(
         "rmw_opensplice_shared_cpp",
         "topic not available.");
       return false;
     }
-    topic_info = topic_info_it->second;
+    topic_endpoint_info = topic_endpoint_info_it->second;
     return true;
   }
 
   /**
    * Remove a topic based on discovery.
    *
-   * @param guid
-   * @return true if a change has been recorded
+   * \param guid
+   * \return true if a change has been recorded
    */
   bool removeTopic(const GUID_t & topic_guid)
   {
-    auto topic_info_it = topic_guid_to_info_.find(topic_guid);
-    if (topic_info_it == topic_guid_to_info_.end()) {
+    auto topic_endpoint_info_it = topic_guid_to_info_.find(topic_guid);
+    if (topic_endpoint_info_it == topic_guid_to_info_.end()) {
       RCUTILS_LOG_DEBUG_NAMED(
         "rmw_opensplice_shared_cpp",
         "unexpected topic removal.");
       return false;
     }
 
-    std::string topic_name = topic_info_it->second.name;
-    std::string type_name = topic_info_it->second.type;
+    std::string topic_name = topic_endpoint_info_it->second.name;
+    std::string type_name = topic_endpoint_info_it->second.type;
 
-    auto participant_guid = topic_info_it->second.participant_guid;
+    auto participant_guid = topic_endpoint_info_it->second.participant_guid;
     auto participant_to_topic_guid = participant_to_topic_guids_.find(participant_guid);
     if (participant_to_topic_guid == participant_to_topic_guids_.end()) {
       RCUTILS_LOG_WARN_NAMED(
@@ -158,7 +158,7 @@ class TopicCache
       return false;
     }
 
-    topic_guid_to_info_.erase(topic_info_it);
+    topic_guid_to_info_.erase(topic_endpoint_info_it);
     participant_to_topic_guid->second.erase(topic_guid_to_remove);
     if (participant_to_topic_guids_.empty()) {
       participant_to_topic_guids_.erase(participant_to_topic_guid);
@@ -169,8 +169,8 @@ class TopicCache
   /**
    * Get topic types by guid.
    *
-   * @param participant_guid to find topic types
-   * @return topic types corresponding to that guid
+   * \param participant_guid to find topic types
+   * \return topic types corresponding to that guid
    */
   TopicsTypes getTopicTypesByGuid(const GUID_t & participant_guid)
   {
@@ -182,16 +182,16 @@ class TopicCache
     }
 
     for (auto & topic_guid : participant_to_topic_guids->second) {
-      auto topic_info = topic_guid_to_info_.find(topic_guid);
-      if (topic_info == topic_guid_to_info_.end()) {
+      auto topic_endpoint_info = topic_guid_to_info_.find(topic_guid);
+      if (topic_endpoint_info == topic_guid_to_info_.end()) {
         continue;
       }
-      auto topic_name = topic_info->second.name;
+      auto topic_name = topic_endpoint_info->second.name;
       auto topic_entry = topics_types.find(topic_name);
       if (topic_entry == topics_types.end()) {
         topics_types[topic_name] = std::set<std::string>();
       }
-      topics_types[topic_name].insert(topic_info->second.type);
+      topics_types[topic_name].insert(topic_endpoint_info->second.type);
     }
     return topics_types;
   }
@@ -215,8 +215,8 @@ class TopicCache
   /**
    * Helper function to initialize the set inside a participant map.
    *
-   * @param map
-   * @param participant_guid
+   * \param map
+   * \param participant_guid
    */
   void initializeParticipantMap(
     ParticipantToTopicGuidMap & map,
diff --git a/rmw_opensplice_cpp/src/types.cpp b/rmw_opensplice_cpp/src/types.cpp
index 06ee76b..3103e96 100644
--- a/rmw_opensplice_cpp/src/types.cpp
+++ b/rmw_opensplice_cpp/src/types.cpp
@@ -213,9 +213,10 @@ void CustomDataReaderListener::remove_information(
   const EndPointType endpoint_type)
 {
   if (print_discovery_logging_) {
-    TopicCache<DDS::InstanceHandle_t>::TopicInfo topic_info;
-    if (topic_cache.getTopic(topic, topic_info)) {
-      print_discovery_logging("-", topic_info.name, topic_info.type, endpoint_type);
+    TopicCache<DDS::InstanceHandle_t>::TopicInfo topic_endpoint_info;
+    if (topic_cache.getTopic(topic, topic_endpoint_info)) {
+      print_discovery_logging("-", topic_endpoint_info.name, topic_endpoint_info.type,
+        endpoint_type);
     }
   }
   topic_cache.removeTopic(topic);
diff --git a/rmw_opensplice_cpp/src/types.hpp b/rmw_opensplice_cpp/src/types.hpp
index b7e1e57..9f6bf21 100644
--- a/rmw_opensplice_cpp/src/types.hpp
+++ b/rmw_opensplice_cpp/src/types.hpp
@@ -111,11 +111,11 @@ class CustomDataReaderListener
   /**
    * Add topic pub/sub information to discovery cache.
    *
-   * @param participant the topic is related to
-   * @param topic the topic reader/writer unique id
-   * @param topic_name the topic name
-   * @param topic_type the topic type
-   * @param endpoint_type the endpoint type of this topic instance
+   * \param participant the topic is related to
+   * \param topic the topic reader/writer unique id
+   * \param topic_name the topic name
+   * \param topic_type the topic type
+   * \param endpoint_type the endpoint type of this topic instance
    */
   void add_information(
     const DDS::InstanceHandle_t & participant,
@@ -126,8 +126,8 @@ class CustomDataReaderListener
 
   /**
    * Remove topic pub/sub information from the discovery cache.
-   * @param topic the topic reader/writer unique id
-   * @param endpoint_type the endpoint type of this topic instance
+   * \param topic the topic reader/writer unique id
+   * \param endpoint_type the endpoint type of this topic instance
    */
   void remove_information(
     const DDS::InstanceHandle_t & topic,