diff --git a/rmw/src/discovery_options.c b/rmw/src/discovery_options.c
index f4f92b82..23b5d0b2 100644
--- a/rmw/src/discovery_options.c
+++ b/rmw/src/discovery_options.c
@@ -21,10 +21,8 @@
 rmw_discovery_options_t
 rmw_get_zero_initialized_discovery_options(void)
 {
-  rmw_discovery_options_t result = (rmw_discovery_options_t) {
-    .automatic_discovery_range = RMW_AUTOMATIC_DISCOVERY_RANGE_NOT_SET,
-    .static_peers_count = 0,
-  };  // NOLINT(readability/braces): false positive
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static const rmw_discovery_options_t result;
   return result;
 }
 
diff --git a/rmw/src/event.c b/rmw/src/event.c
index 8005fe47..9a9ed235 100644
--- a/rmw/src/event.c
+++ b/rmw/src/event.c
@@ -24,11 +24,13 @@ extern "C" {
 rmw_event_t
 rmw_get_zero_initialized_event(void)
 {
-  const rmw_event_t event = {
+  // TODO(@fujitatomoya): This is not exatly zero initialized structure.
+  /// We should introduce xxx_get_default_event to return the default values.
+  static const rmw_event_t event = {
     .implementation_identifier = NULL,
     .data = NULL,
     .event_type = RMW_EVENT_INVALID
-  };  // NOLINT(readability/braces): false positive
+  };
   return event;
 }
 
diff --git a/rmw/src/init_options.c b/rmw/src/init_options.c
index f9c78482..0c45388a 100644
--- a/rmw/src/init_options.c
+++ b/rmw/src/init_options.c
@@ -25,15 +25,18 @@ extern "C"
 rmw_init_options_t
 rmw_get_zero_initialized_init_options(void)
 {
-  return (const rmw_init_options_t) {
-           .domain_id = RMW_DEFAULT_DOMAIN_ID,
-           .discovery_options = rmw_get_zero_initialized_discovery_options(),
-           .implementation_identifier = NULL,
-           .impl = NULL,
-           .instance_id = 0,
-           .enclave = NULL,
-           .security_options = rmw_get_default_security_options(),
-  };  // NOLINT(readability/braces): false positive
+  // TODO(@fujitatomoya): This is not exatly zero initialized structure.
+  /// We should introduce xxx_get_default_init_optionst to return the default values.
+  static const rmw_init_options_t init_option = {
+    .domain_id = RMW_DEFAULT_DOMAIN_ID,
+    .discovery_options = {RMW_AUTOMATIC_DISCOVERY_RANGE_NOT_SET, 0},
+    .implementation_identifier = NULL,
+    .impl = NULL,
+    .instance_id = 0,
+    .enclave = NULL,
+    .security_options = {RMW_SECURITY_ENFORCEMENT_PERMISSIVE, NULL},
+  };
+  return init_option;
 }
 
 #ifdef __cplusplus
diff --git a/rmw/src/message_sequence.c b/rmw/src/message_sequence.c
index 373feb02..49897bd9 100644
--- a/rmw/src/message_sequence.c
+++ b/rmw/src/message_sequence.c
@@ -18,13 +18,8 @@
 rmw_message_sequence_t
 rmw_get_zero_initialized_message_sequence(void)
 {
-  static rmw_message_sequence_t message_sequence = {
-    .data = NULL,
-    .size = 0u,
-    .capacity = 0u,
-    .allocator = NULL
-  };
-
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static const rmw_message_sequence_t message_sequence;
   return message_sequence;
 }
 
@@ -75,13 +70,8 @@ rmw_message_sequence_fini(rmw_message_sequence_t * sequence)
 rmw_message_info_sequence_t
 rmw_get_zero_initialized_message_info_sequence(void)
 {
-  static rmw_message_info_sequence_t message_info_sequence = {
-    .data = NULL,
-    .size = 0u,
-    .capacity = 0u,
-    .allocator = NULL
-  };
-
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static const rmw_message_info_sequence_t message_info_sequence;
   return message_info_sequence;
 }
 
diff --git a/rmw/src/names_and_types.c b/rmw/src/names_and_types.c
index 9baf512d..a164f957 100644
--- a/rmw/src/names_and_types.c
+++ b/rmw/src/names_and_types.c
@@ -24,11 +24,8 @@
 rmw_names_and_types_t
 rmw_get_zero_initialized_names_and_types(void)
 {
-  static rmw_names_and_types_t zero = {
-    .names = {0, NULL, {NULL, NULL, NULL, NULL, NULL}},
-    .types = NULL,
-  };
-  zero.names = rcutils_get_zero_initialized_string_array();
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static const rmw_names_and_types_t zero;
   return zero;
 }
 
diff --git a/rmw/src/network_flow_endpoint.c b/rmw/src/network_flow_endpoint.c
index 41d921cb..7f781fdc 100644
--- a/rmw/src/network_flow_endpoint.c
+++ b/rmw/src/network_flow_endpoint.c
@@ -22,7 +22,8 @@
 rmw_network_flow_endpoint_t
 rmw_get_zero_initialized_network_flow_endpoint(void)
 {
-  rmw_network_flow_endpoint_t network_flow_endpoint = {0};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static const rmw_network_flow_endpoint_t network_flow_endpoint;
   return network_flow_endpoint;
 }
 
diff --git a/rmw/src/network_flow_endpoint_array.c b/rmw/src/network_flow_endpoint_array.c
index b9401901..1d2ac22c 100644
--- a/rmw/src/network_flow_endpoint_array.c
+++ b/rmw/src/network_flow_endpoint_array.c
@@ -18,7 +18,8 @@
 rmw_network_flow_endpoint_array_t
 rmw_get_zero_initialized_network_flow_endpoint_array(void)
 {
-  rmw_network_flow_endpoint_array_t network_flow_endpoint_array = {0};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static const rmw_network_flow_endpoint_array_t network_flow_endpoint_array;
   return network_flow_endpoint_array;
 }
 
diff --git a/rmw/src/security_options.c b/rmw/src/security_options.c
index ac06b9c3..2e60bd43 100644
--- a/rmw/src/security_options.c
+++ b/rmw/src/security_options.c
@@ -22,14 +22,15 @@
 rmw_security_options_t
 rmw_get_zero_initialized_security_options(void)
 {
-  rmw_security_options_t zero_initialized_options = {0, NULL};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static const rmw_security_options_t zero_initialized_options;
   return zero_initialized_options;
 }
 
 rmw_security_options_t
 rmw_get_default_security_options(void)
 {
-  rmw_security_options_t default_options = {
+  static const rmw_security_options_t default_options = {
     RMW_SECURITY_ENFORCEMENT_PERMISSIVE,
     NULL,
   };
diff --git a/rmw/src/subscription_content_filter_options.c b/rmw/src/subscription_content_filter_options.c
index aaf63f28..3a47911e 100644
--- a/rmw/src/subscription_content_filter_options.c
+++ b/rmw/src/subscription_content_filter_options.c
@@ -22,10 +22,9 @@
 rmw_subscription_content_filter_options_t
 rmw_get_zero_initialized_content_filter_options(void)
 {
-  return (const rmw_subscription_content_filter_options_t) {
-           .filter_expression = NULL,
-           .expression_parameters = rcutils_get_zero_initialized_string_array()
-  };  // NOLINT(readability/braces): false positive
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static const rmw_subscription_content_filter_options_t zero;
+  return zero;
 }
 
 rmw_ret_t
diff --git a/rmw/src/topic_endpoint_info.c b/rmw/src/topic_endpoint_info.c
index b8d94eb9..10d819ae 100644
--- a/rmw/src/topic_endpoint_info.c
+++ b/rmw/src/topic_endpoint_info.c
@@ -22,14 +22,8 @@
 rmw_topic_endpoint_info_t
 rmw_get_zero_initialized_topic_endpoint_info(void)
 {
-#ifdef __clang__
-# pragma clang diagnostic push
-# pragma clang diagnostic ignored "-Wmissing-field-initializers"
-#endif
-  rmw_topic_endpoint_info_t zero = {0};
-#ifdef __clang__
-# pragma clang diagnostic pop
-#endif
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static const rmw_topic_endpoint_info_t zero;
   return zero;
 }
 
diff --git a/rmw/src/topic_endpoint_info_array.c b/rmw/src/topic_endpoint_info_array.c
index 1cd1f47d..4c649437 100644
--- a/rmw/src/topic_endpoint_info_array.c
+++ b/rmw/src/topic_endpoint_info_array.c
@@ -19,14 +19,8 @@
 rmw_topic_endpoint_info_array_t
 rmw_get_zero_initialized_topic_endpoint_info_array(void)
 {
-#ifdef __clang__
-# pragma clang diagnostic push
-# pragma clang diagnostic ignored "-Wmissing-field-initializers"
-#endif
-  rmw_topic_endpoint_info_array_t zero = {0};
-#ifdef __clang__
-# pragma clang diagnostic pop
-#endif
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static const rmw_topic_endpoint_info_array_t zero;
   return zero;
 }
 
diff --git a/rmw/src/types.c b/rmw/src/types.c
index dfb79dcf..b8a83e12 100644
--- a/rmw/src/types.c
+++ b/rmw/src/types.c
@@ -19,6 +19,7 @@ RMW_WARN_UNUSED
 rmw_message_info_t
 rmw_get_zero_initialized_message_info(void)
 {
-  rmw_message_info_t zero_initialized_message_info = {0};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static const rmw_message_info_t zero_initialized_message_info;
   return zero_initialized_message_info;
 }