diff --git a/r2r_tracing/src/lib.rs b/r2r_tracing/src/lib.rs
index ced4e92..b9ae86a 100644
--- a/r2r_tracing/src/lib.rs
+++ b/r2r_tracing/src/lib.rs
@@ -12,5 +12,8 @@ pub use rclcpp_tracepoints::*;
 mod r2r_tracepoints;
 pub use r2r_tracepoints::*;
 
+mod tracing_id;
+pub use tracing_id::TracingId;
+
 mod macros;
 use macros::tracepoint_fn;
diff --git a/r2r_tracing/src/rclcpp_tracepoints.rs b/r2r_tracing/src/rclcpp_tracepoints.rs
index 55b4e5c..25b8554 100644
--- a/r2r_tracing/src/rclcpp_tracepoints.rs
+++ b/r2r_tracing/src/rclcpp_tracepoints.rs
@@ -1,4 +1,4 @@
-use crate::tracepoint_fn;
+use crate::{tracepoint_fn, TracingId};
 use r2r_rcl::{rcl_node_t, rcl_service_t, rcl_subscription_t, rcl_timer_t};
 
 #[cfg(feature = "tracing")]
@@ -104,18 +104,18 @@ pub fn trace_service_callback_added(service: *const rcl_service_t, callback_id:
 /// Tracepoint to allow associating the timer callback identified by `callback_id` with its `rcl_timer_t` handle.
 ///
 /// Tracepoint: `ros2::rclcpp_timer_callback_added`
-pub fn trace_timer_callback_added(timer: *const rcl_timer_t, callback_id: usize) {
+pub fn trace_timer_callback_added(timer: TracingId<rcl_timer_t>, callback_id: usize) {
     unsafe {
-        tp::ros_trace_rclcpp_timer_callback_added(timer.cast(), c_void!(callback_id));
+        tp::ros_trace_rclcpp_timer_callback_added(timer.c_void(), c_void!(callback_id));
     }
 }
 
 /// Tracepoint to allow associating the `timer` with a `node`.
 ///
 /// Tracepoint: `ros2::rclcpp_timer_link_node`
-pub fn trace_timer_link_node(timer: *const rcl_timer_t, node: *const rcl_node_t) {
+pub fn trace_timer_link_node(timer: TracingId<rcl_timer_t>, node: TracingId<rcl_node_t>) {
     unsafe {
-        tp::ros_trace_rclcpp_timer_link_node(timer.cast(), node.cast());
+        tp::ros_trace_rclcpp_timer_link_node(timer.c_void(), node.c_void());
     }
 }
 
diff --git a/r2r_tracing/src/tracing_id.rs b/r2r_tracing/src/tracing_id.rs
new file mode 100644
index 0000000..950f4db
--- /dev/null
+++ b/r2r_tracing/src/tracing_id.rs
@@ -0,0 +1,77 @@
+/// Unique identifier for tracing purposes
+#[derive(Debug)]
+pub struct TracingId<T> {
+    /// Pointer to the object used as a unique ID.
+    /// Safety: Do NOT dereference the pointer.
+    #[cfg(feature = "tracing")]
+    id: *const T,
+
+    /// Marker for the type. Needed when `tracing` feature is disabled.
+    #[cfg(not(feature = "tracing"))]
+    _marker: std::marker::PhantomData<T>,
+}
+
+impl<T> TracingId<T> {
+    /// Creates new `TracingId` from the pointer.
+    ///
+    /// # Safety
+    /// The pointer is used as a unique ID so users must ensure that they never create `TracingId`
+    /// with same address for different objects.
+    ///
+    /// The pointer does not need to point to valid memory.
+    pub const unsafe fn new(_id: *const T) -> Self {
+        Self {
+            #[cfg(feature = "tracing")]
+            id: _id,
+            #[cfg(not(feature = "tracing"))]
+            _marker: std::marker::PhantomData,
+        }
+    }
+
+    /// Erase the generic type of the ID.
+    #[must_use]
+    pub fn forget_type(self) -> TracingId<std::ffi::c_void> {
+        #[cfg(not(feature = "tracing"))]
+        unsafe {
+            // Safety: The ID cannot be obtained back without the `tracing` feature.
+            TracingId::new(std::ptr::null())
+        }
+        #[cfg(feature = "tracing")]
+        unsafe {
+            // Safety: self contains valid ID.
+            TracingId::new(self.c_void())
+        }
+    }
+
+    /// Obtain the address representing the ID.
+    ///
+    /// # Safety
+    /// Do NOT dereference the pointer.
+    #[cfg(feature = "tracing")]
+    pub(crate) const unsafe fn c_void(self) -> *const std::ffi::c_void {
+        self.id.cast::<std::ffi::c_void>()
+    }
+}
+
+/// Deriving Clone for `TracingId` would only derive it only conditionally based on whether the
+/// `T` is `Clone` or not. But TracingId is independent of T.
+impl<T> Clone for TracingId<T> {
+    fn clone(&self) -> Self {
+        *self
+    }
+}
+
+/// Deriving Copy for `TracingId` would only derive it only conditionally based on whether the
+/// `T` is `Copy` or not. But TracingId is independent of T.
+impl<T> Copy for TracingId<T> {}
+
+/// # Safety
+///
+/// The address is never dereferenced and is used only as a unique ID so it is safe to send to another thread.
+unsafe impl<T> Send for TracingId<T> {}
+
+/// # Safety
+///
+/// The `TracingId` does not allow interior mutability because the pointer is never dereferenced.
+/// It is safe to use across multiple threads.
+unsafe impl<T> Sync for TracingId<T> {}