diff --git a/debian/patches/0001-Add-EventsExecutor.patch b/debian/patches/0001-Add-EventsExecutor.patch
new file mode 100644
index 0000000..a58151a
--- /dev/null
+++ b/debian/patches/0001-Add-EventsExecutor.patch
@@ -0,0 +1,63 @@
+From: Timon Engelke <timon.engelke@online.de>
+Date: Thu, 9 Jun 2022 12:22:52 +0200
+Subject: Add EventsExecutor
+
+---
+ src/rmw_client.cpp       | 2 ++
+ src/rmw_event.cpp        | 2 ++
+ src/rmw_service.cpp      | 2 ++
+ src/rmw_subscription.cpp | 2 ++
+ 4 files changed, 8 insertions(+)
+
+diff --git a/src/rmw_client.cpp b/src/rmw_client.cpp
+index 72c7ea4..d376bdc 100644
+--- a/src/rmw_client.cpp
++++ b/src/rmw_client.cpp
+@@ -537,6 +537,8 @@ rmw_client_set_on_new_response_callback(
+   rmw_event_callback_t callback,
+   const void * user_data)
+ {
++  RMW_CHECK_ARGUMENT_FOR_NULL(rmw_client, RMW_RET_INVALID_ARGUMENT);
++
+   return rmw_fastrtps_shared_cpp::__rmw_client_set_on_new_response_callback(
+     rmw_client,
+     callback,
+diff --git a/src/rmw_event.cpp b/src/rmw_event.cpp
+index 9bdc819..56d8779 100644
+--- a/src/rmw_event.cpp
++++ b/src/rmw_event.cpp
+@@ -54,6 +54,8 @@ rmw_event_set_callback(
+   rmw_event_callback_t callback,
+   const void * user_data)
+ {
++  RMW_CHECK_ARGUMENT_FOR_NULL(rmw_event, RMW_RET_INVALID_ARGUMENT);
++
+   return rmw_fastrtps_shared_cpp::__rmw_event_set_callback(
+     rmw_event,
+     callback,
+diff --git a/src/rmw_service.cpp b/src/rmw_service.cpp
+index e99fccc..a14d609 100644
+--- a/src/rmw_service.cpp
++++ b/src/rmw_service.cpp
+@@ -536,6 +536,8 @@ rmw_service_set_on_new_request_callback(
+   rmw_event_callback_t callback,
+   const void * user_data)
+ {
++  RMW_CHECK_ARGUMENT_FOR_NULL(rmw_service, RMW_RET_INVALID_ARGUMENT);
++
+   return rmw_fastrtps_shared_cpp::__rmw_service_set_on_new_request_callback(
+     rmw_service,
+     callback,
+diff --git a/src/rmw_subscription.cpp b/src/rmw_subscription.cpp
+index 2793f55..41172d2 100644
+--- a/src/rmw_subscription.cpp
++++ b/src/rmw_subscription.cpp
+@@ -227,6 +227,8 @@ rmw_subscription_set_on_new_message_callback(
+   rmw_event_callback_t callback,
+   const void * user_data)
+ {
++  RMW_CHECK_ARGUMENT_FOR_NULL(rmw_subscription, RMW_RET_INVALID_ARGUMENT);
++
+   return rmw_fastrtps_shared_cpp::__rmw_subscription_set_on_new_message_callback(
+     rmw_subscription,
+     callback,
diff --git a/debian/patches/0001-Add-stuff.patch b/debian/patches/0001-Add-stuff.patch
deleted file mode 100644
index 33d96c4..0000000
--- a/debian/patches/0001-Add-stuff.patch
+++ /dev/null
@@ -1,94 +0,0 @@
-From: Timon <todo@todo.todo>
-Date: Sat, 21 May 2022 15:09:05 +0000
-Subject: Add stuff
-
----
- CHANGELOG.rst            | 5 +++++
- package.xml              | 2 +-
- src/rmw_client.cpp       | 2 ++
- src/rmw_event.cpp        | 2 ++
- src/rmw_service.cpp      | 2 ++
- src/rmw_subscription.cpp | 2 ++
- 6 files changed, 14 insertions(+), 1 deletion(-)
-
-diff --git a/CHANGELOG.rst b/CHANGELOG.rst
-index 76de097..264e64b 100644
---- a/CHANGELOG.rst
-+++ b/CHANGELOG.rst
-@@ -2,6 +2,11 @@
- Changelog for package rmw_fastrtps_cpp
- ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
- 
-+6.3.0 (2022-05-03)
-+------------------
-+* Handle 'best_available' QoS policies (`#598 <https://github.com/ros2/rmw_fastrtps/issues/598>`_)
-+* Contributors: Jacob Perron
-+
- 6.2.1 (2022-03-28)
- ------------------
- * Add pub/sub init, publish and take instrumentation using tracetools (`#591 <https://github.com/ros2/rmw_fastrtps/issues/591>`_)
-diff --git a/package.xml b/package.xml
-index 94821db..c820fa4 100644
---- a/package.xml
-+++ b/package.xml
-@@ -2,7 +2,7 @@
- <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
- <package format="3">
-   <name>rmw_fastrtps_cpp</name>
--  <version>6.2.1</version>
-+  <version>6.3.0</version>
-   <description>Implement the ROS middleware interface using eProsima FastRTPS static code generation in C++.</description>
-   <maintainer email="michel@ekumenlabs.com">Michel Hidalgo</maintainer>
-   <maintainer email="michael.jeronimo@openrobotics.org">Michael Jeronimo</maintainer>
-diff --git a/src/rmw_client.cpp b/src/rmw_client.cpp
-index c718243..875e99a 100644
---- a/src/rmw_client.cpp
-+++ b/src/rmw_client.cpp
-@@ -532,6 +532,8 @@ rmw_client_set_on_new_response_callback(
-   rmw_event_callback_t callback,
-   const void * user_data)
- {
-+  RMW_CHECK_ARGUMENT_FOR_NULL(rmw_client, RMW_RET_INVALID_ARGUMENT);
-+
-   return rmw_fastrtps_shared_cpp::__rmw_client_set_on_new_response_callback(
-     rmw_client,
-     callback,
-diff --git a/src/rmw_event.cpp b/src/rmw_event.cpp
-index 9bdc819..56d8779 100644
---- a/src/rmw_event.cpp
-+++ b/src/rmw_event.cpp
-@@ -54,6 +54,8 @@ rmw_event_set_callback(
-   rmw_event_callback_t callback,
-   const void * user_data)
- {
-+  RMW_CHECK_ARGUMENT_FOR_NULL(rmw_event, RMW_RET_INVALID_ARGUMENT);
-+
-   return rmw_fastrtps_shared_cpp::__rmw_event_set_callback(
-     rmw_event,
-     callback,
-diff --git a/src/rmw_service.cpp b/src/rmw_service.cpp
-index cac7dd8..6be16ca 100644
---- a/src/rmw_service.cpp
-+++ b/src/rmw_service.cpp
-@@ -531,6 +531,8 @@ rmw_service_set_on_new_request_callback(
-   rmw_event_callback_t callback,
-   const void * user_data)
- {
-+  RMW_CHECK_ARGUMENT_FOR_NULL(rmw_service, RMW_RET_INVALID_ARGUMENT);
-+
-   return rmw_fastrtps_shared_cpp::__rmw_service_set_on_new_request_callback(
-     rmw_service,
-     callback,
-diff --git a/src/rmw_subscription.cpp b/src/rmw_subscription.cpp
-index c254660..1917b6d 100644
---- a/src/rmw_subscription.cpp
-+++ b/src/rmw_subscription.cpp
-@@ -215,6 +215,8 @@ rmw_subscription_set_on_new_message_callback(
-   rmw_event_callback_t callback,
-   const void * user_data)
- {
-+  RMW_CHECK_ARGUMENT_FOR_NULL(rmw_subscription, RMW_RET_INVALID_ARGUMENT);
-+
-   return rmw_fastrtps_shared_cpp::__rmw_subscription_set_on_new_message_callback(
-     rmw_subscription,
-     callback,
diff --git a/debian/patches/series b/debian/patches/series
index af94f21..f222e3a 100644
--- a/debian/patches/series
+++ b/debian/patches/series
@@ -1 +1 @@
-0001-Add-stuff.patch
+0001-Add-EventsExecutor.patch