diff --git a/rmw_fastrtps_cpp/src/rmw_guard_condition.cpp b/rmw_fastrtps_cpp/src/rmw_guard_condition.cpp
index 0344c15d3..d4bb1a248 100644
--- a/rmw_fastrtps_cpp/src/rmw_guard_condition.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_guard_condition.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include "rmw/error_handling.h"
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/rmw.h"
 
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
@@ -22,8 +23,15 @@
 extern "C"
 {
 rmw_guard_condition_t *
-rmw_create_guard_condition()
+rmw_create_guard_condition(rmw_context_t * context)
 {
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    init context,
+    context->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    // TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
+    return NULL);
   return rmw_fastrtps_shared_cpp::__rmw_create_guard_condition(
     eprosima_fastrtps_identifier);
 }
diff --git a/rmw_fastrtps_cpp/src/rmw_init.cpp b/rmw_fastrtps_cpp/src/rmw_init.cpp
index fe9b50da0..e8d9e5948 100644
--- a/rmw_fastrtps_cpp/src/rmw_init.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_init.cpp
@@ -12,13 +12,89 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/rmw.h"
 
+#include "rmw_fastrtps_cpp/identifier.hpp"
+
 extern "C"
 {
 rmw_ret_t
-rmw_init()
+rmw_init_options_init(rmw_init_options_t * init_options, rcutils_allocator_t allocator)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(init_options, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR(&allocator, return RMW_RET_INVALID_ARGUMENT);
+  if (NULL != init_options->implementation_identifier) {
+    RMW_SET_ERROR_MSG("expected zero-initialized init_options");
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  init_options->instance_id = 0;
+  init_options->implementation_identifier = eprosima_fastrtps_identifier;
+  init_options->allocator = allocator;
+  init_options->impl = nullptr;
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+rmw_init_options_copy(const rmw_init_options_t * src, rmw_init_options_t * dst)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(src, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(dst, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    src,
+    src->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  if (NULL != dst->implementation_identifier) {
+    RMW_SET_ERROR_MSG("expected zero-initialized dst");
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  *dst = *src;
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+rmw_init_options_fini(rmw_init_options_t * init_options)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(init_options, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR(&(init_options->allocator), return RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    init_options,
+    init_options->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  *init_options = rmw_get_zero_initialized_init_options();
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(options, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    options,
+    options->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  context->instance_id = options->instance_id;
+  context->implementation_identifier = eprosima_fastrtps_identifier;
+  context->impl = nullptr;
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+rmw_shutdown(rmw_context_t * context)
 {
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    context,
+    context->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  // context impl is explicitly supposed to be nullptr for now, see rmw_init's code
+  // RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
+  *context = rmw_get_zero_initialized_context();
   return RMW_RET_OK;
 }
 }  // extern "C"
diff --git a/rmw_fastrtps_cpp/src/rmw_node.cpp b/rmw_fastrtps_cpp/src/rmw_node.cpp
index 022db9a9a..8e37ed129 100644
--- a/rmw_fastrtps_cpp/src/rmw_node.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_node.cpp
@@ -22,6 +22,7 @@
 
 #include "rmw/allocators.h"
 #include "rmw/error_handling.h"
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/rmw.h"
 
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
@@ -32,11 +33,19 @@ extern "C"
 {
 rmw_node_t *
 rmw_create_node(
+  rmw_context_t * context,
   const char * name,
   const char * namespace_,
   size_t domain_id,
   const rmw_node_security_options_t * security_options)
 {
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    init context,
+    context->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    // TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
+    return NULL);
   return rmw_fastrtps_shared_cpp::__rmw_create_node(
     eprosima_fastrtps_identifier, name, namespace_, domain_id, security_options);
 }
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_guard_condition.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_guard_condition.cpp
index 202ecc618..a7420fe21 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_guard_condition.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_guard_condition.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include "rmw/error_handling.h"
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/rmw.h"
 
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
@@ -22,8 +23,15 @@
 extern "C"
 {
 rmw_guard_condition_t *
-rmw_create_guard_condition()
+rmw_create_guard_condition(rmw_context_t * context)
 {
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    init context,
+    context->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    // TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
+    return NULL);
   return rmw_fastrtps_shared_cpp::__rmw_create_guard_condition(
     eprosima_fastrtps_identifier);
 }
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp
index fe9b50da0..f5ccc3f1f 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp
@@ -12,13 +12,89 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/rmw.h"
 
+#include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
+
 extern "C"
 {
 rmw_ret_t
-rmw_init()
+rmw_init_options_init(rmw_init_options_t * init_options, rcutils_allocator_t allocator)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(init_options, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR(&allocator, return RMW_RET_INVALID_ARGUMENT);
+  if (NULL != init_options->implementation_identifier) {
+    RMW_SET_ERROR_MSG("expected zero-initialized init_options");
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  init_options->instance_id = 0;
+  init_options->implementation_identifier = eprosima_fastrtps_identifier;
+  init_options->allocator = allocator;
+  init_options->impl = nullptr;
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+rmw_init_options_copy(const rmw_init_options_t * src, rmw_init_options_t * dst)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(src, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(dst, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    src,
+    src->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  if (NULL != dst->implementation_identifier) {
+    RMW_SET_ERROR_MSG("expected zero-initialized dst");
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  *dst = *src;
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+rmw_init_options_fini(rmw_init_options_t * init_options)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(init_options, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR(&(init_options->allocator), return RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    init_options,
+    init_options->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  *init_options = rmw_get_zero_initialized_init_options();
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(options, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    options,
+    options->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  context->instance_id = options->instance_id;
+  context->implementation_identifier = eprosima_fastrtps_identifier;
+  context->impl = nullptr;
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+rmw_shutdown(rmw_context_t * context)
 {
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    context,
+    context->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  // context impl is explicitly supposed to be nullptr for now, see rmw_init's code
+  // RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
+  *context = rmw_get_zero_initialized_context();
   return RMW_RET_OK;
 }
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_node.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_node.cpp
index 77d73c191..9c740eb63 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_node.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_node.cpp
@@ -22,6 +22,7 @@
 
 #include "rmw/allocators.h"
 #include "rmw/error_handling.h"
+#include "rmw/impl/cpp/macros.hpp"
 #include "rmw/rmw.h"
 
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
@@ -32,11 +33,19 @@ extern "C"
 {
 rmw_node_t *
 rmw_create_node(
+  rmw_context_t * context,
   const char * name,
   const char * namespace_,
   size_t domain_id,
   const rmw_node_security_options_t * security_options)
 {
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    init context,
+    context->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    // TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
+    return NULL);
   return rmw_fastrtps_shared_cpp::__rmw_create_node(
     eprosima_fastrtps_identifier, name, namespace_, domain_id, security_options);
 }