diff --git a/rmw_fastrtps_shared_cpp/CMakeLists.txt b/rmw_fastrtps_shared_cpp/CMakeLists.txt
index 078c38c55..e1072c89a 100644
--- a/rmw_fastrtps_shared_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_shared_cpp/CMakeLists.txt
@@ -25,12 +25,17 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wthread-safety -Werror)
+endif()
+
 if(SECURITY)
   find_package(OpenSSL REQUIRED)
 endif()
 
 find_package(ament_cmake_ros REQUIRED)
 
+find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 
 find_package(fastrtps_cmake_module REQUIRED)
@@ -76,6 +81,7 @@ target_link_libraries(rmw_fastrtps_shared_cpp
 
 # specific order: dependents before dependencies
 ament_target_dependencies(rmw_fastrtps_shared_cpp
+  "rcpputils"
   "rcutils"
   "rmw"
 )
@@ -89,6 +95,7 @@ PRIVATE "RMW_FASTRTPS_SHARED_CPP_BUILDING_LIBRARY")
 ament_export_include_directories(include)
 ament_export_libraries(rmw_fastrtps_shared_cpp)
 
+ament_export_dependencies(rcpputils)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw)
 
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
index ead8eb8dc..ec6cefb6b 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
@@ -32,6 +32,8 @@
 #include "fastrtps/publisher/Publisher.h"
 #include "fastrtps/publisher/PublisherListener.h"
 
+#include "rcpputils/thread_safety_annotations.h"
+
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
 class ClientListener;
@@ -109,22 +111,11 @@ class ClientListener : public eprosima::fastrtps::SubscriberListener
   {
     std::lock_guard<std::mutex> lock(internalMutex_);
 
-    auto pop_response = [this](CustomClientResponse & response) -> bool
-      {
-        if (!list.empty()) {
-          response = std::move(list.front());
-          list.pop_front();
-          list_has_data_.store(!list.empty());
-          return true;
-        }
-        return false;
-      };
-
     if (conditionMutex_ != nullptr) {
       std::unique_lock<std::mutex> clock(*conditionMutex_);
-      return pop_response(response);
+      return popResponse(response);
     }
-    return pop_response(response);
+    return popResponse(response);
   }
 
   void
@@ -168,12 +159,23 @@ class ClientListener : public eprosima::fastrtps::SubscriberListener
   }
 
 private:
+  bool popResponse(CustomClientResponse & response) RCPPUTILS_TSA_REQUIRES(internalMutex_)
+  {
+    if (!list.empty()) {
+      response = std::move(list.front());
+      list.pop_front();
+      list_has_data_.store(!list.empty());
+      return true;
+    }
+    return false;
+  };
+
   CustomClientInfo * info_;
   std::mutex internalMutex_;
-  std::list<CustomClientResponse> list;
+  std::list<CustomClientResponse> list RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
   std::atomic_bool list_has_data_;
-  std::mutex * conditionMutex_;
-  std::condition_variable * conditionVariable_;
+  std::mutex * conditionMutex_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
+  std::condition_variable * conditionVariable_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
   std::set<eprosima::fastrtps::rtps::GUID_t> publishers_;
 };
 
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 fe22ffe68..e1d6369f8 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
@@ -166,10 +166,11 @@ class ParticipantListener : public eprosima::fastrtps::ParticipantListener
     {
       std::lock_guard<std::mutex> guard(topic_cache.getMutex());
       if (is_alive) {
-        trigger = topic_cache.addTopic(proxyData.RTPSParticipantKey(),
+
+        trigger = topic_cache().addTopic(proxyData.RTPSParticipantKey(),
             proxyData.topicName(), proxyData.typeName());
       } else {
-        trigger = topic_cache.removeTopic(proxyData.RTPSParticipantKey(),
+        trigger = topic_cache().removeTopic(proxyData.RTPSParticipantKey(),
             proxyData.topicName(), proxyData.typeName());
       }
     }
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp
index 486f10869..e6c1f317f 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp
@@ -21,6 +21,7 @@
 #include "fastrtps/publisher/Publisher.h"
 #include "fastrtps/publisher/PublisherListener.h"
 
+#include "rcpputils/thread_safety_annotations.h"
 #include "rmw/rmw.h"
 
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
@@ -65,7 +66,7 @@ class PubListener : public eprosima::fastrtps::PublisherListener
 
 private:
   std::mutex internalMutex_;
-  std::set<eprosima::fastrtps::rtps::GUID_t> subscriptions_;
+  std::set<eprosima::fastrtps::rtps::GUID_t> subscriptions_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
 };
 
 #endif  // RMW_FASTRTPS_SHARED_CPP__CUSTOM_PUBLISHER_INFO_HPP_
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
index 1792591e5..f6fe8743c 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
@@ -29,6 +29,8 @@
 #include "fastrtps/subscriber/SubscriberListener.h"
 #include "fastrtps/subscriber/SampleInfo.h"
 
+#include "rcpputils/thread_safety_annotations.h"
+
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
 class ServiceListener;
@@ -148,10 +150,10 @@ class ServiceListener : public eprosima::fastrtps::SubscriberListener
 private:
   CustomServiceInfo * info_;
   std::mutex internalMutex_;
-  std::list<CustomServiceRequest> list;
+  std::list<CustomServiceRequest> list RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
   std::atomic_bool list_has_data_;
-  std::mutex * conditionMutex_;
-  std::condition_variable * conditionVariable_;
+  std::mutex * conditionMutex_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
+  std::condition_variable * conditionVariable_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
 };
 
 #endif  // RMW_FASTRTPS_SHARED_CPP__CUSTOM_SERVICE_INFO_HPP_
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp
index f3938a146..5bdacaa7c 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp
@@ -24,6 +24,8 @@
 #include "fastrtps/subscriber/Subscriber.h"
 #include "fastrtps/subscriber/SubscriberListener.h"
 
+#include "rcpputils/thread_safety_annotations.h"
+
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
 class SubListener;
@@ -123,10 +125,10 @@ class SubListener : public eprosima::fastrtps::SubscriberListener
 private:
   std::mutex internalMutex_;
   std::atomic_size_t data_;
-  std::mutex * conditionMutex_;
-  std::condition_variable * conditionVariable_;
+  std::mutex * conditionMutex_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
+  std::condition_variable * conditionVariable_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
 
-  std::set<eprosima::fastrtps::rtps::GUID_t> publishers_;
+  std::set<eprosima::fastrtps::rtps::GUID_t> publishers_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
 };
 
 #endif  // RMW_FASTRTPS_SHARED_CPP__CUSTOM_SUBSCRIBER_INFO_HPP_
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/topic_cache.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/topic_cache.hpp
index 77ba29329..13af59ce3 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/topic_cache.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/topic_cache.hpp
@@ -28,6 +28,7 @@
 #include "fastrtps/participant/Participant.h"
 #include "fastrtps/rtps/common/Guid.h"
 #include "fastrtps/rtps/common/InstanceHandle.h"
+#include "rcpputils/thread_safety_annotations.h"
 #include "rcutils/logging_macros.h"
 
 typedef eprosima::fastrtps::rtps::GUID_t GUID_t;
@@ -214,18 +215,29 @@ inline std::ostream & operator<<(
 }
 
 template<class T>
-class LockedObject : public T
+class LockedObject
 {
 private:
-  mutable std::mutex cache_mutex_;
+  mutable std::mutex mutex_;
+  T object_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
 
 public:
   /**
   * @return a reference to this object to lock.
   */
-  std::mutex & getMutex() const
+  std::mutex & getMutex() const RCPPUTILS_TSA_RETURN_CAPABILITY(mutex_)
   {
-    return cache_mutex_;
+    return mutex_;
+  }
+
+  T & operator()()
+  {
+    return object_;
+  }
+
+  const T & operator()() const
+  {
+    return object_;
   }
 };
 
diff --git a/rmw_fastrtps_shared_cpp/package.xml b/rmw_fastrtps_shared_cpp/package.xml
index f18edf02c..6727f813e 100644
--- a/rmw_fastrtps_shared_cpp/package.xml
+++ b/rmw_fastrtps_shared_cpp/package.xml
@@ -16,12 +16,14 @@
   <build_depend>fastcdr</build_depend>
   <build_depend>fastrtps</build_depend>
   <build_depend>fastrtps_cmake_module</build_depend>
+  <build_depend>rcpputils</build_depend>
   <build_depend>rcutils</build_depend>
   <build_depend>rmw</build_depend>
 
   <build_export_depend>fastcdr</build_export_depend>
   <build_export_depend>fastrtps</build_export_depend>
   <build_export_depend>fastrtps_cmake_module</build_export_depend>
+  <build_export_depend>rcpputils</build_export_depend>
   <build_export_depend>rcutils</build_export_depend>
   <build_export_depend>rmw</build_export_depend>
 
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_count.cpp b/rmw_fastrtps_shared_cpp/src/rmw_count.cpp
index aadf81f23..d6cc9df3b 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_count.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_count.cpp
@@ -70,7 +70,7 @@ __rmw_count_publishers(
   {
     std::lock_guard<std::mutex> guard(slave_target->writer_topic_cache.getMutex());
     // Search and sum up the publisher counts
-    auto & topic_types = slave_target->writer_topic_cache.getTopicToTypes();
+    auto & topic_types = slave_target->writer_topic_cache().getTopicToTypes();
     for (const auto & topic_fqdn : topic_fqdns) {
       const auto & it = topic_types.find(topic_fqdn);
       if (it != topic_types.end()) {
@@ -125,7 +125,7 @@ __rmw_count_subscribers(
   {
     std::lock_guard<std::mutex> guard(slave_target->reader_topic_cache.getMutex());
     // Search and sum up the subscriber counts
-    auto & topic_types = slave_target->reader_topic_cache.getTopicToTypes();
+    auto & topic_types = slave_target->reader_topic_cache().getTopicToTypes();
     for (const auto & topic_fqdn : topic_fqdns) {
       const auto & it = topic_types.find(topic_fqdn);
       if (it != topic_types.end()) {
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp b/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp
index 521ebce6c..2850c1b63 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp
@@ -155,8 +155,8 @@ __accumulate_topics(
   bool no_demangle)
 {
   std::lock_guard<std::mutex> guard(topic_cache.getMutex());
-  const auto & node_topics = topic_cache.getParticipantToTopics().find(node_guid_);
-  if (node_topics == topic_cache.getParticipantToTopics().end()) {
+  const auto & node_topics = topic_cache().getParticipantToTopics().find(node_guid_);
+  if (node_topics == topic_cache().getParticipantToTopics().end()) {
     RCUTILS_LOG_DEBUG_NAMED(
       kLoggerTag,
       "No topics found for node");
@@ -268,7 +268,7 @@ __log_debug_information(const CustomParticipantInfo & impl)
       auto & topic_cache = impl.listener->writer_topic_cache;
       std::lock_guard<std::mutex> guard(topic_cache.getMutex());
       std::stringstream map_ss;
-      map_ss << topic_cache;
+      map_ss << topic_cache();
       RCUTILS_LOG_DEBUG_NAMED(
         kLoggerTag,
         "Publisher Topic cache is: %s", map_ss.str().c_str());
@@ -277,7 +277,7 @@ __log_debug_information(const CustomParticipantInfo & impl)
       auto & topic_cache = impl.listener->reader_topic_cache;
       std::lock_guard<std::mutex> guard(topic_cache.getMutex());
       std::stringstream map_ss;
-      map_ss << topic_cache;
+      map_ss << topic_cache();
       RCUTILS_LOG_DEBUG_NAMED(
         kLoggerTag,
         "Subscriber Topic cache is: %s", map_ss.str().c_str());
@@ -412,8 +412,8 @@ __rmw_get_service_names_and_types_by_node(
   {
     auto & topic_cache = impl->listener->reader_topic_cache;
     std::lock_guard<std::mutex> guard(topic_cache.getMutex());
-    const auto & node_topics = topic_cache.getParticipantToTopics().find(guid);
-    if (node_topics != topic_cache.getParticipantToTopics().end()) {
+    const auto & node_topics = topic_cache().getParticipantToTopics().find(guid);
+    if (node_topics != topic_cache().getParticipantToTopics().end()) {
       for (auto & topic_pair : node_topics->second) {
         std::string service_name = _demangle_service_from_topic(topic_pair.first);
         if (service_name.empty()) {
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_service_names_and_types.cpp b/rmw_fastrtps_shared_cpp/src/rmw_service_names_and_types.cpp
index f39a68020..a7dd7318e 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_service_names_and_types.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_service_names_and_types.cpp
@@ -70,7 +70,7 @@ __rmw_get_service_names_and_types(
   // Setup processing function, will be used with two maps
   auto map_process = [&services](const LockedObject<TopicCache> & topic_cache) {
       std::lock_guard<std::mutex> guard(topic_cache.getMutex());
-      for (auto it : topic_cache.getTopicToTypes()) {
+      for (auto it : topic_cache().getTopicToTypes()) {
         std::string service_name = _demangle_service_from_topic(it.first);
         if (service_name.empty()) {
           // not a service
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_topic_names_and_types.cpp b/rmw_fastrtps_shared_cpp/src/rmw_topic_names_and_types.cpp
index 5e3d4ef87..7d5da6414 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_topic_names_and_types.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_topic_names_and_types.cpp
@@ -81,7 +81,7 @@ __rmw_get_topic_names_and_types(
   auto map_process =
     [&topics, no_demangle](const LockedObject<TopicCache> & topic_cache) {
       std::lock_guard<std::mutex> guard(topic_cache.getMutex());
-      for (auto it : topic_cache.getTopicToTypes()) {
+      for (auto it : topic_cache().getTopicToTypes()) {
         if (!no_demangle && _get_ros_prefix_if_exists(it.first) != ros_topic_prefix) {
           // if we are demangling and this is not prefixed with rt/, skip it
           continue;
diff --git a/rmw_fastrtps_shared_cpp/src/types/guard_condition.hpp b/rmw_fastrtps_shared_cpp/src/types/guard_condition.hpp
index ba88faa23..b72de2e73 100644
--- a/rmw_fastrtps_shared_cpp/src/types/guard_condition.hpp
+++ b/rmw_fastrtps_shared_cpp/src/types/guard_condition.hpp
@@ -22,6 +22,8 @@
 #include <mutex>
 #include <utility>
 
+#include "rcpputils/thread_safety_annotations.h"
+
 class GuardCondition
 {
 public:
@@ -78,8 +80,8 @@ class GuardCondition
 private:
   std::mutex internalMutex_;
   std::atomic_bool hasTriggered_;
-  std::mutex * conditionMutex_;
-  std::condition_variable * conditionVariable_;
+  std::mutex * conditionMutex_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
+  std::condition_variable * conditionVariable_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
 };
 
 #endif  // TYPES__GUARD_CONDITION_HPP_