diff --git a/rmw_fastrtps_cpp/src/init_rmw_context_impl.cpp b/rmw_fastrtps_cpp/src/init_rmw_context_impl.cpp
index 3ca2ab6da..8e141ffde 100644
--- a/rmw_fastrtps_cpp/src/init_rmw_context_impl.cpp
+++ b/rmw_fastrtps_cpp/src/init_rmw_context_impl.cpp
@@ -159,6 +159,13 @@ init_context_impl(
   common_context->gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
     eprosima_fastrtps_identifier, participant_info->participant_->guid());
   common_context->pub = publisher.get();
+  common_context->publish_callback = [](const rmw_publisher_t * pub, const void * msg) {
+      return rmw_fastrtps_shared_cpp::__rmw_publish(
+        eprosima_fastrtps_identifier,
+        pub,
+        msg,
+        nullptr);
+    };
   common_context->sub = subscription.get();
   common_context->graph_guard_condition = graph_guard_condition.get();
 
diff --git a/rmw_fastrtps_cpp/src/rmw_client.cpp b/rmw_fastrtps_cpp/src/rmw_client.cpp
index 0262554eb..d94ae4859 100644
--- a/rmw_fastrtps_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_client.cpp
@@ -442,43 +442,16 @@ rmw_create_client(
   }
   memcpy(const_cast<char *>(rmw_client->service_name), service_name, strlen(service_name) + 1);
 
+  // Update graph
+  rmw_gid_t request_publisher_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+    eprosima_fastrtps_identifier, info->request_writer_->guid());
+  rmw_gid_t response_subscriber_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+    eprosima_fastrtps_identifier, info->response_reader_->guid());
+  if (RMW_RET_OK != common_context->add_client_graph(
+      request_publisher_gid, response_subscriber_gid,
+      node->name, node->namespace_))
   {
-    // Update graph
-    std::lock_guard<std::mutex> guard(common_context->node_update_mutex);
-    rmw_gid_t request_publisher_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-      eprosima_fastrtps_identifier, info->request_writer_->guid());
-    common_context->graph_cache.associate_writer(
-      request_publisher_gid,
-      common_context->gid,
-      node->name,
-      node->namespace_);
-
-    rmw_gid_t response_subscriber_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-      eprosima_fastrtps_identifier, info->response_reader_->guid());
-    rmw_dds_common::msg::ParticipantEntitiesInfo msg =
-      common_context->graph_cache.associate_reader(
-      response_subscriber_gid,
-      common_context->gid,
-      node->name,
-      node->namespace_);
-    rmw_ret_t ret = rmw_fastrtps_shared_cpp::__rmw_publish(
-      eprosima_fastrtps_identifier,
-      common_context->pub,
-      static_cast<void *>(&msg),
-      nullptr);
-    if (RMW_RET_OK != ret) {
-      common_context->graph_cache.dissociate_reader(
-        response_subscriber_gid,
-        common_context->gid,
-        node->name,
-        node->namespace_);
-      common_context->graph_cache.dissociate_writer(
-        request_publisher_gid,
-        common_context->gid,
-        node->name,
-        node->namespace_);
-      return nullptr;
-    }
+    return nullptr;
   }
 
   cleanup_rmw_client.cancel();
diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
index 3d1cfe8f5..6bf4bd231 100644
--- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -20,6 +20,8 @@
 #include "rmw/get_topic_endpoint_info.h"
 #include "rmw/rmw.h"
 
+#include "rcpputils/scope_exit.hpp"
+
 #include "rmw/impl/cpp/macros.hpp"
 
 #include "rmw_dds_common/qos.hpp"
@@ -99,37 +101,32 @@ rmw_create_publisher(
   if (!publisher) {
     return nullptr;
   }
-
-  auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
-
-  auto info = static_cast<const CustomPublisherInfo *>(publisher->data);
-  {
-    // Update graph
-    std::lock_guard<std::mutex> guard(common_context->node_update_mutex);
-    rmw_dds_common::msg::ParticipantEntitiesInfo msg =
-      common_context->graph_cache.associate_writer(
-      info->publisher_gid, common_context->gid, node->name, node->namespace_);
-    rmw_ret_t rmw_ret = rmw_fastrtps_shared_cpp::__rmw_publish(
-      eprosima_fastrtps_identifier,
-      common_context->pub,
-      static_cast<void *>(&msg),
-      nullptr);
-    if (RMW_RET_OK != rmw_ret) {
+  auto cleanup_publisher = rcpputils::make_scope_exit(
+    [participant_info, publisher]() {
       rmw_error_state_t error_state = *rmw_get_error_state();
       rmw_reset_error();
-      static_cast<void>(common_context->graph_cache.dissociate_writer(
-        info->publisher_gid, common_context->gid, node->name, node->namespace_));
-      rmw_ret = rmw_fastrtps_shared_cpp::destroy_publisher(
-        eprosima_fastrtps_identifier, participant_info, publisher);
-      if (RMW_RET_OK != rmw_ret) {
+      if (RMW_RET_OK != rmw_fastrtps_shared_cpp::destroy_publisher(
+        eprosima_fastrtps_identifier, participant_info, publisher))
+      {
         RMW_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
         RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "' cleanup\n");
         rmw_reset_error();
       }
       rmw_set_error_state(error_state.message, error_state.file, error_state.line_number);
-      return nullptr;
-    }
+    });
+
+  auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
+  auto info = static_cast<const CustomPublisherInfo *>(publisher->data);
+
+  // Update graph
+  if (RMW_RET_OK != common_context->add_publisher_graph(
+      info->publisher_gid,
+      node->name, node->namespace_))
+  {
+    return nullptr;
   }
+
+  cleanup_publisher.cancel();
   return publisher;
 }
 
diff --git a/rmw_fastrtps_cpp/src/rmw_service.cpp b/rmw_fastrtps_cpp/src/rmw_service.cpp
index eed5b939f..118b4e2f9 100644
--- a/rmw_fastrtps_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_service.cpp
@@ -442,42 +442,16 @@ rmw_create_service(
   }
   memcpy(const_cast<char *>(rmw_service->service_name), service_name, strlen(service_name) + 1);
 
+  // Update graph
+  rmw_gid_t request_subscriber_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+    eprosima_fastrtps_identifier, info->request_reader_->guid());
+  rmw_gid_t response_publisher_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+    eprosima_fastrtps_identifier, info->response_writer_->guid());
+  if (RMW_RET_OK != common_context->add_service_graph(
+      request_subscriber_gid, response_publisher_gid,
+      node->name, node->namespace_))
   {
-    // Update graph
-    std::lock_guard<std::mutex> guard(common_context->node_update_mutex);
-    rmw_gid_t request_subscriber_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-      eprosima_fastrtps_identifier, info->request_reader_->guid());
-    common_context->graph_cache.associate_reader(
-      request_subscriber_gid,
-      common_context->gid,
-      node->name,
-      node->namespace_);
-    rmw_gid_t response_publisher_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-      eprosima_fastrtps_identifier, info->response_writer_->guid());
-    rmw_dds_common::msg::ParticipantEntitiesInfo msg =
-      common_context->graph_cache.associate_writer(
-      response_publisher_gid,
-      common_context->gid,
-      node->name,
-      node->namespace_);
-    rmw_ret_t ret = rmw_fastrtps_shared_cpp::__rmw_publish(
-      eprosima_fastrtps_identifier,
-      common_context->pub,
-      static_cast<void *>(&msg),
-      nullptr);
-    if (RMW_RET_OK != ret) {
-      common_context->graph_cache.dissociate_writer(
-        response_publisher_gid,
-        common_context->gid,
-        node->name,
-        node->namespace_);
-      common_context->graph_cache.dissociate_reader(
-        request_subscriber_gid,
-        common_context->gid,
-        node->name,
-        node->namespace_);
-      return nullptr;
-    }
+    return nullptr;
   }
 
   cleanup_rmw_service.cancel();
diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
index 1110beb1b..f0e0396cd 100644
--- a/rmw_fastrtps_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -21,6 +21,8 @@
 #include "rmw/get_topic_endpoint_info.h"
 #include "rmw/rmw.h"
 
+#include "rcpputils/scope_exit.hpp"
+
 #include "rmw_dds_common/qos.hpp"
 
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
@@ -93,40 +95,35 @@ rmw_create_subscription(
   if (!subscription) {
     return nullptr;
   }
-
-  auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
-  auto info = static_cast<CustomSubscriberInfo *>(subscription->data);
-
-  {
-    // Update graph
-    std::lock_guard<std::mutex> guard(common_context->node_update_mutex);
-    rmw_dds_common::msg::ParticipantEntitiesInfo msg =
-      common_context->graph_cache.associate_reader(
-      info->subscription_gid_, common_context->gid, node->name, node->namespace_);
-    rmw_ret_t rmw_ret = rmw_fastrtps_shared_cpp::__rmw_publish(
-      eprosima_fastrtps_identifier,
-      common_context->pub,
-      static_cast<void *>(&msg),
-      nullptr);
-    if (RMW_RET_OK != rmw_ret) {
+  auto cleanup_subscription = rcpputils::make_scope_exit(
+    [participant_info, subscription]() {
       rmw_error_state_t error_state = *rmw_get_error_state();
       rmw_reset_error();
-      static_cast<void>(common_context->graph_cache.dissociate_reader(
-        info->subscription_gid_, common_context->gid, node->name, node->namespace_));
-      rmw_ret = rmw_fastrtps_shared_cpp::destroy_subscription(
-        eprosima_fastrtps_identifier, participant_info, subscription);
-      if (RMW_RET_OK != rmw_ret) {
+      if (RMW_RET_OK != rmw_fastrtps_shared_cpp::destroy_subscription(
+        eprosima_fastrtps_identifier, participant_info, subscription))
+      {
         RMW_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
         RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "' cleanup\n");
         rmw_reset_error();
       }
       rmw_set_error_state(error_state.message, error_state.file, error_state.line_number);
-      return nullptr;
-    }
+    });
+
+  auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
+  auto info = static_cast<CustomSubscriberInfo *>(subscription->data);
+
+  // Update graph
+  if (RMW_RET_OK != common_context->add_subscriber_graph(
+      info->subscription_gid_,
+      node->name, node->namespace_))
+  {
+    return nullptr;
   }
+
   info->node_ = node;
   info->common_context_ = common_context;
 
+  cleanup_subscription.cancel();
   return subscription;
 }
 
diff --git a/rmw_fastrtps_dynamic_cpp/src/init_rmw_context_impl.cpp b/rmw_fastrtps_dynamic_cpp/src/init_rmw_context_impl.cpp
index 4bfa597c9..d8e12d127 100644
--- a/rmw_fastrtps_dynamic_cpp/src/init_rmw_context_impl.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/init_rmw_context_impl.cpp
@@ -159,6 +159,13 @@ init_context_impl(
   common_context->gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
     eprosima_fastrtps_identifier, participant_info->participant_->guid());
   common_context->pub = publisher.get();
+  common_context->publish_callback = [](const rmw_publisher_t * pub, const void * msg) {
+      return rmw_fastrtps_shared_cpp::__rmw_publish(
+        eprosima_fastrtps_identifier,
+        pub,
+        msg,
+        nullptr);
+    };
   common_context->sub = subscription.get();
   common_context->graph_guard_condition = graph_guard_condition.get();
 
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
index 77fae42a3..d8626b54c 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
@@ -471,40 +471,16 @@ rmw_create_client(
   }
   memcpy(const_cast<char *>(rmw_client->service_name), service_name, strlen(service_name) + 1);
 
+  // Update graph
+  rmw_gid_t request_publisher_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+    eprosima_fastrtps_identifier, info->request_writer_->guid());
+  rmw_gid_t response_subscriber_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+    eprosima_fastrtps_identifier, info->response_reader_->guid());
+  if (RMW_RET_OK != common_context->add_client_graph(
+      request_publisher_gid, response_subscriber_gid,
+      node->name, node->namespace_))
   {
-    // Update graph
-    std::lock_guard<std::mutex> guard(common_context->node_update_mutex);
-    rmw_gid_t request_publisher_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-      eprosima_fastrtps_identifier, info->request_writer_->guid());
-    common_context->graph_cache.associate_writer(
-      request_publisher_gid,
-      common_context->gid,
-      node->name,
-      node->namespace_);
-
-    rmw_gid_t response_subscriber_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-      eprosima_fastrtps_identifier, info->response_reader_->guid());
-    rmw_dds_common::msg::ParticipantEntitiesInfo msg =
-      common_context->graph_cache.associate_reader(
-      response_subscriber_gid, common_context->gid, node->name, node->namespace_);
-    rmw_ret_t rmw_ret = rmw_fastrtps_shared_cpp::__rmw_publish(
-      eprosima_fastrtps_identifier,
-      common_context->pub,
-      static_cast<void *>(&msg),
-      nullptr);
-    if (RMW_RET_OK != rmw_ret) {
-      common_context->graph_cache.dissociate_reader(
-        response_subscriber_gid,
-        common_context->gid,
-        node->name,
-        node->namespace_);
-      common_context->graph_cache.dissociate_writer(
-        request_publisher_gid,
-        common_context->gid,
-        node->name,
-        node->namespace_);
-      return nullptr;
-    }
+    return nullptr;
   }
 
   cleanup_rmw_client.cancel();
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
index c5b1ca459..c1d5dd38d 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
@@ -19,6 +19,8 @@
 #include "rmw/get_topic_endpoint_info.h"
 #include "rmw/rmw.h"
 
+#include "rcpputils/scope_exit.hpp"
+
 #include "rmw/impl/cpp/macros.hpp"
 
 #include "rmw_dds_common/qos.hpp"
@@ -99,37 +101,32 @@ rmw_create_publisher(
   if (!publisher) {
     return nullptr;
   }
-
-  auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
-
-  auto info = static_cast<const CustomPublisherInfo *>(publisher->data);
-  {
-    // Update graph
-    std::lock_guard<std::mutex> guard(common_context->node_update_mutex);
-    rmw_dds_common::msg::ParticipantEntitiesInfo msg =
-      common_context->graph_cache.associate_writer(
-      info->publisher_gid, common_context->gid, node->name, node->namespace_);
-    rmw_ret_t rmw_ret = rmw_fastrtps_shared_cpp::__rmw_publish(
-      eprosima_fastrtps_identifier,
-      common_context->pub,
-      static_cast<void *>(&msg),
-      nullptr);
-    if (RMW_RET_OK != rmw_ret) {
+  auto cleanup_publisher = rcpputils::make_scope_exit(
+    [participant_info, publisher]() {
       rmw_error_state_t error_state = *rmw_get_error_state();
       rmw_reset_error();
-      static_cast<void>(common_context->graph_cache.dissociate_writer(
-        info->publisher_gid, common_context->gid, node->name, node->namespace_));
-      rmw_ret = rmw_fastrtps_shared_cpp::destroy_publisher(
-        eprosima_fastrtps_identifier, participant_info, publisher);
-      if (RMW_RET_OK != rmw_ret) {
+      if (RMW_RET_OK != rmw_fastrtps_shared_cpp::destroy_publisher(
+        eprosima_fastrtps_identifier, participant_info, publisher))
+      {
         RMW_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
         RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "' cleanup\n");
         rmw_reset_error();
       }
       rmw_set_error_state(error_state.message, error_state.file, error_state.line_number);
-      return nullptr;
-    }
+    });
+
+  auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
+  auto info = static_cast<const CustomPublisherInfo *>(publisher->data);
+
+  // Update graph
+  if (RMW_RET_OK != common_context->add_publisher_graph(
+      info->publisher_gid,
+      node->name, node->namespace_))
+  {
+    return nullptr;
   }
+
+  cleanup_publisher.cancel();
   return publisher;
 }
 
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
index dacdf01f2..4e1fe8341 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
@@ -471,40 +471,16 @@ rmw_create_service(
   }
   memcpy(const_cast<char *>(rmw_service->service_name), service_name, strlen(service_name) + 1);
 
+  // Update graph
+  rmw_gid_t request_subscriber_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+    eprosima_fastrtps_identifier, info->request_reader_->guid());
+  rmw_gid_t response_publisher_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+    eprosima_fastrtps_identifier, info->response_writer_->guid());
+  if (RMW_RET_OK != common_context->add_service_graph(
+      request_subscriber_gid, response_publisher_gid,
+      node->name, node->namespace_))
   {
-    // Update graph
-    std::lock_guard<std::mutex> guard(common_context->node_update_mutex);
-    rmw_gid_t request_subscriber_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-      eprosima_fastrtps_identifier, info->request_reader_->guid());
-    common_context->graph_cache.associate_reader(
-      request_subscriber_gid,
-      common_context->gid,
-      node->name,
-      node->namespace_);
-
-    rmw_gid_t response_publisher_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-      eprosima_fastrtps_identifier, info->response_writer_->guid());
-    rmw_dds_common::msg::ParticipantEntitiesInfo msg =
-      common_context->graph_cache.associate_writer(
-      response_publisher_gid, common_context->gid, node->name, node->namespace_);
-    rmw_ret_t rmw_ret = rmw_fastrtps_shared_cpp::__rmw_publish(
-      eprosima_fastrtps_identifier,
-      common_context->pub,
-      static_cast<void *>(&msg),
-      nullptr);
-    if (RMW_RET_OK != rmw_ret) {
-      common_context->graph_cache.dissociate_writer(
-        response_publisher_gid,
-        common_context->gid,
-        node->name,
-        node->namespace_);
-      common_context->graph_cache.dissociate_reader(
-        request_subscriber_gid,
-        common_context->gid,
-        node->name,
-        node->namespace_);
-      return nullptr;
-    }
+    return nullptr;
   }
 
   cleanup_rmw_service.cancel();
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
index 235a77bd4..e2885ffe6 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
@@ -20,6 +20,8 @@
 #include "rmw/get_topic_endpoint_info.h"
 #include "rmw/rmw.h"
 
+#include "rcpputils/scope_exit.hpp"
+
 #include "rmw_dds_common/qos.hpp"
 
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
@@ -96,39 +98,35 @@ rmw_create_subscription(
   if (!subscription) {
     return nullptr;
   }
-
-  auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
-  auto info = static_cast<CustomSubscriberInfo *>(subscription->data);
-  {
-    // Update graph
-    std::lock_guard<std::mutex> guard(common_context->node_update_mutex);
-    rmw_dds_common::msg::ParticipantEntitiesInfo msg =
-      common_context->graph_cache.associate_reader(
-      info->subscription_gid_, common_context->gid, node->name, node->namespace_);
-    rmw_ret_t rmw_ret = rmw_fastrtps_shared_cpp::__rmw_publish(
-      eprosima_fastrtps_identifier,
-      common_context->pub,
-      static_cast<void *>(&msg),
-      nullptr);
-    if (RMW_RET_OK != rmw_ret) {
+  auto cleanup_subscription = rcpputils::make_scope_exit(
+    [participant_info, subscription]() {
       rmw_error_state_t error_state = *rmw_get_error_state();
       rmw_reset_error();
-      static_cast<void>(common_context->graph_cache.dissociate_reader(
-        info->subscription_gid_, common_context->gid, node->name, node->namespace_));
-      rmw_ret = rmw_fastrtps_shared_cpp::destroy_subscription(
-        eprosima_fastrtps_identifier, participant_info, subscription);
-      if (RMW_RET_OK != rmw_ret) {
+      if (RMW_RET_OK != rmw_fastrtps_shared_cpp::destroy_subscription(
+        eprosima_fastrtps_identifier, participant_info, subscription))
+      {
         RMW_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
         RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "' cleanup\n");
         rmw_reset_error();
       }
       rmw_set_error_state(error_state.message, error_state.file, error_state.line_number);
-      return nullptr;
-    }
+    });
+
+  auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
+  auto info = static_cast<CustomSubscriberInfo *>(subscription->data);
+
+  // Update graph
+  if (RMW_RET_OK != common_context->add_subscriber_graph(
+      info->subscription_gid_,
+      node->name, node->namespace_))
+  {
+    return nullptr;
   }
+
   info->node_ = node;
   info->common_context_ = common_context;
 
+  cleanup_subscription.cancel();
   return subscription;
 }
 
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_client.cpp b/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
index 77dbeccba..1e583abcd 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
@@ -44,27 +44,15 @@ __rmw_destroy_client(
     static_cast<CustomParticipantInfo *>(node->context->impl->participant_info);
   auto info = static_cast<CustomClientInfo *>(client->data);
 
-  {
-    // Update graph
-    std::lock_guard<std::mutex> guard(common_context->node_update_mutex);
-    rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-      identifier, info->request_writer_->guid());
-    common_context->graph_cache.dissociate_writer(
-      gid,
-      common_context->gid,
-      node->name,
-      node->namespace_);
-    gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-      identifier, info->response_reader_->guid());
-    rmw_dds_common::msg::ParticipantEntitiesInfo msg =
-      common_context->graph_cache.dissociate_reader(
-      gid, common_context->gid, node->name, node->namespace_);
-    final_ret = rmw_fastrtps_shared_cpp::__rmw_publish(
-      identifier,
-      common_context->pub,
-      static_cast<void *>(&msg),
-      nullptr);
-  }
+  // Update graph
+  rmw_gid_t request_publisher_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+    identifier, info->request_writer_->guid());
+  rmw_gid_t response_subscriber_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+    identifier, info->response_reader_->guid());
+  final_ret = common_context->remove_client_graph(
+    request_publisher_gid, response_subscriber_gid,
+    node->name, node->namespace_
+  );
 
   auto show_previous_error =
     [&final_ret]()
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_node.cpp b/rmw_fastrtps_shared_cpp/src/rmw_node.cpp
index e6d56efa3..07579dc87 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_node.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_node.cpp
@@ -70,7 +70,6 @@ __rmw_create_node(
   }
 
   auto common_context = static_cast<rmw_dds_common::Context *>(context->impl->common);
-  rmw_dds_common::GraphCache & graph_cache = common_context->graph_cache;
   rmw_node_t * node_handle = rmw_node_allocate();
   if (nullptr == node_handle) {
     RMW_SET_ERROR_MSG("failed to allocate node");
@@ -103,24 +102,13 @@ __rmw_create_node(
 
   node_handle->context = context;
 
-  {
-    // Though graph_cache methods are thread safe, both cache update and publishing have to also
-    // be atomic.
-    // If not, the following race condition is possible:
-    // node1-update-get-message / node2-update-get-message / node2-publish / node1-publish
-    // In that case, the last message published is not accurate.
-    std::lock_guard<std::mutex> guard(common_context->node_update_mutex);
-    rmw_dds_common::msg::ParticipantEntitiesInfo participant_msg =
-      graph_cache.add_node(common_context->gid, name, namespace_);
-    if (RMW_RET_OK != __rmw_publish(
-        node_handle->implementation_identifier,
-        common_context->pub,
-        static_cast<void *>(&participant_msg),
-        nullptr))
-    {
-      return nullptr;
-    }
+  rmw_ret_t rmw_ret = common_context->add_node_graph(
+    name, namespace_
+  );
+  if (RMW_RET_OK != rmw_ret) {
+    return nullptr;
   }
+
   cleanup_node.cancel();
   return node_handle;
 }
@@ -133,17 +121,9 @@ __rmw_destroy_node(
   assert(node->implementation_identifier == identifier);
   rmw_ret_t ret = RMW_RET_OK;
   auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
-  rmw_dds_common::GraphCache & graph_cache = common_context->graph_cache;
-  {
-    std::lock_guard<std::mutex> guard(common_context->node_update_mutex);
-    rmw_dds_common::msg::ParticipantEntitiesInfo participant_msg =
-      graph_cache.remove_node(common_context->gid, node->name, node->namespace_);
-    ret = __rmw_publish(
-      identifier,
-      common_context->pub,
-      static_cast<void *>(&participant_msg),
-      nullptr);
-  }
+  ret = common_context->remove_node_graph(
+    node->name, node->namespace_
+  );
   rmw_free(const_cast<char *>(node->name));
   rmw_free(const_cast<char *>(node->namespace_));
   rmw_node_free(node);
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
index 8ad697aba..f499fcd0d 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
@@ -49,22 +49,16 @@ __rmw_destroy_publisher(
   rmw_error_state_t error_state;
   auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
   auto info = static_cast<const CustomPublisherInfo *>(publisher->data);
-  {
-    // Update graph
-    std::lock_guard<std::mutex> guard(common_context->node_update_mutex);
-    rmw_dds_common::msg::ParticipantEntitiesInfo msg =
-      common_context->graph_cache.dissociate_writer(
-      info->publisher_gid, common_context->gid, node->name, node->namespace_);
-    rmw_ret_t publish_ret = rmw_fastrtps_shared_cpp::__rmw_publish(
-      identifier,
-      common_context->pub,
-      &msg,
-      nullptr);
-    if (RMW_RET_OK != publish_ret) {
-      error_state = *rmw_get_error_state();
-      ret = publish_ret;
-      rmw_reset_error();
-    }
+
+  // Update graph
+  rmw_ret_t rmw_ret = common_context->remove_publisher_graph(
+    info->publisher_gid,
+    node->name, node->namespace_
+  );
+  if (RMW_RET_OK != rmw_ret) {
+    error_state = *rmw_get_error_state();
+    ret = rmw_ret;
+    rmw_reset_error();
   }
 
   auto participant_info =
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_service.cpp b/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
index fda506467..d071b5220 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
@@ -56,27 +56,16 @@ __rmw_destroy_service(
   auto participant_info =
     static_cast<CustomParticipantInfo *>(node->context->impl->participant_info);
   auto info = static_cast<CustomServiceInfo *>(service->data);
-  {
-    // Update graph
-    std::lock_guard<std::mutex> guard(common_context->node_update_mutex);
-    rmw_gid_t gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-      identifier, info->request_reader_->guid());
-    common_context->graph_cache.dissociate_reader(
-      gid,
-      common_context->gid,
-      node->name,
-      node->namespace_);
-    gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-      identifier, info->response_writer_->guid());
-    rmw_dds_common::msg::ParticipantEntitiesInfo msg =
-      common_context->graph_cache.dissociate_writer(
-      gid, common_context->gid, node->name, node->namespace_);
-    final_ret = rmw_fastrtps_shared_cpp::__rmw_publish(
-      identifier,
-      common_context->pub,
-      static_cast<void *>(&msg),
-      nullptr);
-  }
+
+  // Update graph
+  rmw_gid_t request_subscriber_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+    identifier, info->request_reader_->guid());
+  rmw_gid_t response_publisher_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
+    identifier, info->response_writer_->guid());
+  final_ret = common_context->remove_service_graph(
+    request_subscriber_gid, response_publisher_gid,
+    node->name, node->namespace_
+  );
 
   auto show_previous_error =
     [&final_ret]()
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
index 63328f073..218b0ff38 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
@@ -52,22 +52,15 @@ __rmw_destroy_subscription(
   rmw_error_string_t error_string;
   auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
   auto info = static_cast<const CustomSubscriberInfo *>(subscription->data);
-  {
-    // Update graph
-    std::lock_guard<std::mutex> guard(common_context->node_update_mutex);
-    rmw_dds_common::msg::ParticipantEntitiesInfo msg =
-      common_context->graph_cache.dissociate_reader(
-      info->subscription_gid_, common_context->gid, node->name, node->namespace_);
-    ret = rmw_fastrtps_shared_cpp::__rmw_publish(
-      identifier,
-      common_context->pub,
-      static_cast<void *>(&msg),
-      nullptr);
-    if (RMW_RET_OK != ret) {
-      error_state = *rmw_get_error_state();
-      error_string = rmw_get_error_string();
-      rmw_reset_error();
-    }
+  // Update graph
+  ret = common_context->remove_subscriber_graph(
+    info->subscription_gid_,
+    node->name, node->namespace_
+  );
+  if (RMW_RET_OK != ret) {
+    error_state = *rmw_get_error_state();
+    error_string = rmw_get_error_string();
+    rmw_reset_error();
   }
 
   auto participant_info =
@@ -145,10 +138,10 @@ __rmw_subscription_set_content_filter(
   eprosima::fastdds::dds::DomainParticipant * dds_participant =
     info->dds_participant_;
   eprosima::fastdds::dds::TopicDescription * des_topic = nullptr;
-  const char * eprosima_fastrtps_identifier = subscription->implementation_identifier;
+  const char * identifier = subscription->implementation_identifier;
 
   rmw_ret_t ret = rmw_fastrtps_shared_cpp::__rmw_destroy_subscription(
-    eprosima_fastrtps_identifier,
+    identifier,
     info->node_,
     subscription,
     true /* reset_cft */);
@@ -204,28 +197,20 @@ __rmw_subscription_set_content_filter(
   /////
   // Update RMW GID
   info->subscription_gid_ = rmw_fastrtps_shared_cpp::create_rmw_gid(
-    eprosima_fastrtps_identifier, info->data_reader_->guid());
+    identifier, info->data_reader_->guid());
 
-  {
-    rmw_dds_common::Context * common_context = info->common_context_;
-    const rmw_node_t * node = info->node_;
-
-    // Update graph
-    std::lock_guard<std::mutex> guard(common_context->node_update_mutex);
-    rmw_dds_common::msg::ParticipantEntitiesInfo msg =
-      common_context->graph_cache.associate_reader(
-      info->subscription_gid_, common_context->gid, node->name, node->namespace_);
-    rmw_ret_t rmw_ret = rmw_fastrtps_shared_cpp::__rmw_publish(
-      eprosima_fastrtps_identifier,
-      common_context->pub,
-      static_cast<void *>(&msg),
-      nullptr);
-    if (RMW_RET_OK != rmw_ret) {
-      static_cast<void>(common_context->graph_cache.dissociate_reader(
-        info->subscription_gid_, common_context->gid, node->name, node->namespace_));
-      return RMW_RET_ERROR;
-    }
+  rmw_dds_common::Context * common_context = info->common_context_;
+  const rmw_node_t * node = info->node_;
+
+  // Update graph
+  ret = common_context->add_subscriber_graph(
+    info->subscription_gid_,
+    node->name, node->namespace_
+  );
+  if (RMW_RET_OK != ret) {
+    return RMW_RET_ERROR;
   }
+
   cleanup_datareader.cancel();
   return RMW_RET_OK;
 }