diff --git a/rmw_cyclonedds_cpp/src/rmw_node.cpp b/rmw_cyclonedds_cpp/src/rmw_node.cpp
index 29e7c53a0..eb5966732 100644
--- a/rmw_cyclonedds_cpp/src/rmw_node.cpp
+++ b/rmw_cyclonedds_cpp/src/rmw_node.cpp
@@ -75,6 +75,8 @@
 #include "rmw_dds_common/qos.hpp"
 #include "rmw_dds_common/security.hpp"
 
+#include "rosidl_runtime_c/type_hash.h"
+
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
 #include "tracetools/tracetools.h"
@@ -938,10 +940,29 @@ static void handle_builtintopic_endpoint(
       rmw_gid_t ppgid;
       dds_qos_to_rmw_qos(s->qos, &qos_profile);
       convert_guid_to_gid(s->participant_key, ppgid);
+
+      rosidl_type_hash_t type_hash = rosidl_get_zero_initialized_type_hash();
+      void * userdata;
+      size_t userdata_size;
+      if (dds_qget_userdata(s->qos, &userdata, &userdata_size)) {
+        RCPPUTILS_SCOPE_EXIT(dds_free(userdata));
+        if (RMW_RET_OK != rmw_dds_common::parse_type_hash_from_user_data(
+            reinterpret_cast<const uint8_t *>(userdata), userdata_size, type_hash))
+        {
+          RCUTILS_LOG_WARN_NAMED(
+            "rmw_cyclonedds_cpp",
+            "Failed to parse type hash for topic '%s' with type '%s' from USER_DATA '%*s'.",
+            s->topic_name, s->type_name,
+            static_cast<int>(userdata_size), reinterpret_cast<char *>(userdata));
+          type_hash = rosidl_get_zero_initialized_type_hash();
+        }
+      }
+
       impl->common.graph_cache.add_entity(
         gid,
         std::string(s->topic_name),
         std::string(s->type_name),
+        type_hash,
         ppgid,
         qos_profile,
         is_reader);
@@ -2055,7 +2076,9 @@ static rmw_time_t dds_duration_to_rmw(dds_duration_t duration)
 
 static dds_qos_t * create_readwrite_qos(
   const rmw_qos_profile_t * qos_policies,
-  bool ignore_local_publications)
+  const rosidl_type_hash_t & type_hash,
+  bool ignore_local_publications,
+  const std::string & extra_user_data)
 {
   dds_duration_t ldur;
   dds_qos_t * qos = dds_create_qos();
@@ -2147,6 +2170,17 @@ static dds_qos_t * create_readwrite_qos(
   if (ignore_local_publications) {
     dds_qset_ignorelocal(qos, DDS_IGNORELOCAL_PARTICIPANT);
   }
+
+  std::string typehash_str;
+  if (RMW_RET_OK != rmw_dds_common::encode_type_hash_for_user_data_qos(type_hash, typehash_str)) {
+    RCUTILS_LOG_WARN_NAMED(
+      "rmw_cyclonedds_cpp",
+      "Failed to encode type hash for topic, will not distribute it in USER_DATA.");
+    typehash_str.clear();
+  }
+  std::string user_data = extra_user_data + typehash_str;
+  dds_qset_userdata(qos, user_data.data(), user_data.size());
+
   return qos;
 }
 
@@ -2343,7 +2377,7 @@ static CddsPublisher * create_cdds_publisher(
     set_error_message_from_create_topic(topic, fqtopic_name);
     goto fail_topic;
   }
-  if ((qos = create_readwrite_qos(qos_policies, false)) == nullptr) {
+  if ((qos = create_readwrite_qos(qos_policies, *type_support->type_hash, false, "")) == nullptr) {
     goto fail_qos;
   }
   if ((pub->enth = dds_create_writer(dds_pub, topic, qos, listener)) < 0) {
@@ -2875,7 +2909,9 @@ static CddsSubscription * create_cdds_subscription(
     set_error_message_from_create_topic(topic, fqtopic_name);
     goto fail_topic;
   }
-  if ((qos = create_readwrite_qos(qos_policies, ignore_local_publications)) == nullptr) {
+  if ((qos = create_readwrite_qos(
+      qos_policies, *type_support->type_hash, ignore_local_publications, "")) == nullptr)
+  {
     goto fail_qos;
   }
   if ((sub->enth = dds_create_reader(dds_sub, topic, qos, listener)) < 0) {
@@ -4740,6 +4776,10 @@ static rmw_ret_t rmw_init_cs(
   auto sub = std::make_unique<CddsSubscription>();
   std::string subtopic_name, pubtopic_name;
   void * pub_type_support, * sub_type_support;
+  dds_qos_t * pub_qos, * sub_qos;
+  const rosidl_type_hash_t * pub_type_hash;
+  const rosidl_type_hash_t * sub_type_hash;
+  std::string user_data;
 
   std::unique_ptr<rmw_cyclonedds_cpp::StructValueType> pub_msg_ts, sub_msg_ts;
 
@@ -4752,8 +4792,10 @@ static rmw_ret_t rmw_init_cs(
 
     sub_type_support = create_request_type_support(
       type_support->data, type_support->typesupport_identifier);
+    sub_type_hash = type_supports->request_typesupport->type_hash;
     pub_type_support = create_response_type_support(
       type_support->data, type_support->typesupport_identifier);
+    pub_type_hash = type_supports->response_typesupport->type_hash;
     subtopic_name =
       make_fqtopic(ROS_SERVICE_REQUESTER_PREFIX, service_name, "Request", qos_policies);
     pubtopic_name = make_fqtopic(ROS_SERVICE_RESPONSE_PREFIX, service_name, "Reply", qos_policies);
@@ -4763,8 +4805,10 @@ static rmw_ret_t rmw_init_cs(
 
     pub_type_support = create_request_type_support(
       type_support->data, type_support->typesupport_identifier);
+    pub_type_hash = type_supports->request_typesupport->type_hash;
     sub_type_support = create_response_type_support(
       type_support->data, type_support->typesupport_identifier);
+    sub_type_hash = type_supports->response_typesupport->type_hash;
     pubtopic_name =
       make_fqtopic(ROS_SERVICE_REQUESTER_PREFIX, service_name, "Request", qos_policies);
     subtopic_name = make_fqtopic(ROS_SERVICE_RESPONSE_PREFIX, service_name, "Reply", qos_policies);
@@ -4798,28 +4842,32 @@ static rmw_ret_t rmw_init_cs(
     set_error_message_from_create_topic(subtopic, subtopic_name);
     goto fail_subtopic;
   }
-  // before proceeding to outright ignore given QoS policies, sanity check them
-  dds_qos_t * qos;
-  if ((qos = create_readwrite_qos(qos_policies, false)) == nullptr) {
-    goto fail_qos;
-  }
 
   // store a unique identifier for this client/service in the user
   // data of the reader and writer so that we can always determine
   // which pairs belong together
   get_unique_csid(node, cs->id);
-  {
-    std::string user_data = std::string(is_service ? "serviceid=" : "clientid=") + csid_to_string(
-      cs->id) + std::string(";");
-    dds_qset_userdata(qos, user_data.c_str(), user_data.size());
+  user_data = std::string(is_service ? "serviceid=" : "clientid=") + csid_to_string(
+    cs->id) + std::string(";");
+
+  if ((pub_qos = create_readwrite_qos(qos_policies, *pub_type_hash, false, user_data)) == nullptr) {
+    goto fail_pub_qos;
   }
-  if ((pub->enth = dds_create_writer(node->context->impl->dds_pub, pubtopic, qos, nullptr)) < 0) {
+  if ((sub_qos = create_readwrite_qos(qos_policies, *sub_type_hash, false, user_data)) == nullptr) {
+    goto fail_sub_qos;
+  }
+
+  if ((pub->enth =
+    dds_create_writer(node->context->impl->dds_pub, pubtopic, pub_qos, nullptr)) < 0)
+  {
     RMW_SET_ERROR_MSG("failed to create writer");
     goto fail_writer;
   }
   get_entity_gid(pub->enth, pub->gid);
   pub->sertype = pub_stact;
-  if ((sub->enth = dds_create_reader(node->context->impl->dds_sub, subtopic, qos, listener)) < 0) {
+  if ((sub->enth =
+    dds_create_reader(node->context->impl->dds_sub, subtopic, sub_qos, listener)) < 0)
+  {
     RMW_SET_ERROR_MSG("failed to create reader");
     goto fail_reader;
   }
@@ -4833,7 +4881,8 @@ static rmw_ret_t rmw_init_cs(
     goto fail_instance_handle;
   }
   dds_delete_listener(listener);
-  dds_delete_qos(qos);
+  dds_delete_qos(pub_qos);
+  dds_delete_qos(sub_qos);
   dds_delete(subtopic);
   dds_delete(pubtopic);
 
@@ -4848,8 +4897,10 @@ static rmw_ret_t rmw_init_cs(
 fail_reader:
   dds_delete(pub->enth);
 fail_writer:
-  dds_delete_qos(qos);
-fail_qos:
+  dds_delete_qos(sub_qos);
+fail_sub_qos:
+  dds_delete_qos(pub_qos);
+fail_pub_qos:
   dds_delete(subtopic);
 fail_subtopic:
   dds_delete(pubtopic);