diff --git a/Cargo.toml b/Cargo.toml
index e91f180..24e452c 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -7,4 +7,5 @@ members = [
     "r2r_msg_gen",
     "r2r_macros",
     "r2r_rcl",
+    "r2r_tracing",
 ]
diff --git a/r2r_tracing/Cargo.toml b/r2r_tracing/Cargo.toml
new file mode 100644
index 0000000..10ccf8e
--- /dev/null
+++ b/r2r_tracing/Cargo.toml
@@ -0,0 +1,16 @@
+[package]
+name = "r2r_tracing"
+version = "0.9.2"
+
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+lttng-ust = { git = "https://github.com/skoudmar/lttng-ust-rs.git"}
+r2r_rcl = { path = "../r2r_rcl", version = "0.9.2" }
+
+[build-dependencies]
+lttng-ust-generate = { git = "https://github.com/skoudmar/lttng-ust-rs.git"}
+bindgen = {version = "0.63.0"}
+r2r_common = { path = "../r2r_common", version = "0.9.2" }
diff --git a/r2r_tracing/build.rs b/r2r_tracing/build.rs
new file mode 100644
index 0000000..aa98892
--- /dev/null
+++ b/r2r_tracing/build.rs
@@ -0,0 +1,64 @@
+use lttng_ust_generate::{CIntegerType, CTFType, Generator, Provider};
+use std::{env, path::PathBuf};
+
+macro_rules! create_tracepoint {
+    ($provider:ident::$name:ident($($arg_name:ident: $arg_lttng_type:expr),* $(,)?)) => {
+        $provider.create_class(concat!(stringify!($name), "_class"))
+            $(
+                .add_field(stringify!($arg_name), $arg_lttng_type)
+            )*
+        .instantiate(stringify!($name))
+    };
+}
+
+fn main() {
+    generate_rclcpp_tracepoint_bindings();
+    generate_r2r_tracepoints();
+}
+
+/// Generate bindings to the rclcpp tracepoints defined in the tracetools ros2 package.
+fn generate_rclcpp_tracepoint_bindings() {
+    let bindings = r2r_common::setup_bindgen_builder()
+        .header("src/tracetools_wrapper.h")
+        .allowlist_function("ros_trace_rclcpp_.*")
+        .allowlist_function("ros_trace_callback_.*")
+        .generate_comments(true)
+        .generate()
+        .expect("Unable to generate bindings for tracetools");
+
+    println!("cargo:rustc-link-lib=tracetools");
+
+    // Write the bindings to the $OUT_DIR/tracetools_bindings.rs file.
+    let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
+    bindings
+        .write_to_file(out_path.join("tracetools_bindings.rs"))
+        .expect("Couldn't write tracetools bindings!");
+}
+
+fn generate_r2r_tracepoints() {
+    let mut r2r = Provider::new("r2r");
+
+    create_tracepoint!(r2r::spin_start(
+        node_handle: CTFType::IntegerHex(CIntegerType::USize),
+        timeout_s: CTFType::Integer(CIntegerType::U64),
+        timeout_ns: CTFType::Integer(CIntegerType::U32),
+    ));
+    create_tracepoint!(r2r::spin_end(
+        node_handle: CTFType::IntegerHex(CIntegerType::USize),
+    ));
+    create_tracepoint!(r2r::spin_timeout(
+        node_handle: CTFType::IntegerHex(CIntegerType::USize),
+    ));
+    create_tracepoint!(r2r::update_time(
+        subscriber: CTFType::IntegerHex(CIntegerType::USize),
+        time_s: CTFType::Integer(CIntegerType::I32),
+        time_ns: CTFType::Integer(CIntegerType::U32),
+    ));
+
+    Generator::default()
+        .generated_lib_name("r2r_tracepoints_r2r")
+        .register_provider(r2r)
+        .output_file_name(PathBuf::from(env::var("OUT_DIR").unwrap()).join("r2r_tracepoints.rs"))
+        .generate()
+        .expect("Unable to generate tracepoint bindings for r2r");
+}
diff --git a/r2r_tracing/src/lib.rs b/r2r_tracing/src/lib.rs
new file mode 100644
index 0000000..f9b44cd
--- /dev/null
+++ b/r2r_tracing/src/lib.rs
@@ -0,0 +1,15 @@
+//! Tracepoint provider for the `r2r` crate.
+
+use lttng_ust::import_tracepoints;
+
+// Import the tracepoints defined in the build.rs script
+import_tracepoints!(concat!(env!("OUT_DIR"), "/r2r_tracepoints.rs"), r2r_tracepoints_internal);
+
+mod tracetools_bindings;
+
+mod rclcpp_tracepoints;
+pub use rclcpp_tracepoints::*;
+
+mod r2r_tracepoints;
+pub use r2r_tracepoints::*;
+
diff --git a/r2r_tracing/src/r2r_tracepoints.rs b/r2r_tracing/src/r2r_tracepoints.rs
new file mode 100644
index 0000000..d8c22c5
--- /dev/null
+++ b/r2r_tracing/src/r2r_tracepoints.rs
@@ -0,0 +1,26 @@
+use crate::r2r_tracepoints_internal::r2r as tp;
+use r2r_rcl::{rcl_node_t, rcl_subscription_t};
+use std::time::Duration;
+
+/// The `node` started spinning with given `timeout`.
+pub fn trace_spin_start(node: *const rcl_node_t, timeout: Duration) {
+    let timeout_s = timeout.as_secs();
+    let timeout_ns = timeout.subsec_nanos();
+
+    tp::spin_start(node as usize, timeout_s, timeout_ns);
+}
+
+/// The `node` ended spinning.
+pub fn trace_spin_end(node: *const rcl_node_t) {
+    tp::spin_end(node as usize);
+}
+
+/// The `node`` timeouted while spinning
+pub fn trace_spin_timeout(node: *const rcl_node_t) {
+    tp::spin_timeout(node as usize);
+}
+
+/// `subscriber` received update time message with new time `time_s` seconds and `time_ns` nanoseconds.
+pub fn trace_update_time(subscriber: *const rcl_subscription_t, time_s: i32, time_ns: u32) {
+    tp::update_time(subscriber as usize, time_s, time_ns);
+}
diff --git a/r2r_tracing/src/rclcpp_tracepoints.rs b/r2r_tracing/src/rclcpp_tracepoints.rs
new file mode 100644
index 0000000..5fe412a
--- /dev/null
+++ b/r2r_tracing/src/rclcpp_tracepoints.rs
@@ -0,0 +1,176 @@
+use crate::tracetools_bindings as tp;
+use r2r_rcl::{rcl_node_t, rcl_service_t, rcl_subscription_t, rcl_timer_t};
+use std::{ffi::CString, ptr::null};
+
+// Documentation of tracepoints is based on github:ros2/ros2_tracing project
+// TODO: Check that all references and pointers must be stable (not change location)
+
+const fn ref_to_c_void<T>(t: &T) -> *const std::ffi::c_void {
+    std::ptr::from_ref(t).cast()
+}
+
+macro_rules! c_void {
+    ($e:ident) => {
+        $e as *const std::ffi::c_void
+    };
+}
+
+/// Message publication.
+///
+/// Notes the pointer to the `message` being published at the `rclcpp`/`r2r` level.
+/// The message pointer is NOT dereferenced.
+///
+/// Tracepoint: `ros2::rclcpp_publish`
+#[allow(clippy::not_unsafe_ptr_arg_deref)]
+pub fn trace_publish(message: *const std::ffi::c_void) {
+    unsafe {
+        // first argument documentation:
+        // publisher_handle not used, but kept for API/ABI stability
+        tp::ros_trace_rclcpp_publish(null(), message);
+    }
+}
+
+/// Subscription object initialisation.
+///
+/// Links the `subscription_handle` from `rcl` to the addresss of rust `subscription` reference.
+/// There can be more than 1 `subscription` for 1 `subscription_handle`.
+///
+/// Tracepoint: `ros2::rclcpp_subscription_init`
+pub fn trace_subscription_init<S>(
+    subscription_handle: *const rcl_subscription_t, subscription: &S,
+) {
+    unsafe {
+        tp::ros_trace_rclcpp_subscription_init(
+            c_void!(subscription_handle),
+            ref_to_c_void(subscription),
+        );
+    }
+}
+
+/// Link a subscription callback identified by `callback_id` to a `subscription` object.
+///
+/// Tracepoint: `ros2::rclcpp_subscription_callback_added`
+pub fn trace_subscription_callback_added<S>(subscription: &S, callback_id: usize) {
+    unsafe {
+        tp::ros_trace_rclcpp_subscription_callback_added(
+            ref_to_c_void(subscription),
+            c_void!(callback_id),
+        );
+    }
+}
+
+/// Message taking.
+///
+/// Notes the **reference** to the `message` being taken at the `rclcpp`/`r2r` level.
+///
+/// To trace void pointer to the message use [`trace_take_ptr`].
+///
+/// Tracepoint: `ros2::rclcpp_take`
+pub fn trace_take<M>(message: &M) {
+    unsafe {
+        tp::ros_trace_rclcpp_take(ref_to_c_void(message));
+    }
+}
+
+/// Message taking.
+///
+/// Notes the **void pointer** to the `message` being taken at the `rclcpp`/`r2r` level.
+/// The message pointer is NOT dereferenced.
+///
+/// To trace reference to the message use [`trace_take`].
+///
+/// Tracepoint: `ros2::rclcpp_take`
+#[allow(clippy::not_unsafe_ptr_arg_deref)]
+pub fn trace_take_ptr(message: *const std::ffi::c_void) {
+    unsafe {
+        tp::ros_trace_rclcpp_take(message);
+    }
+}
+
+/// Link a service callback identified by `callback_id` to a `service`.
+///
+/// Tracepoint: `ros2::rclcpp_service_callback_added`
+pub fn trace_service_callback_added(service: *const rcl_service_t, callback_id: usize) {
+    unsafe { tp::ros_trace_rclcpp_service_callback_added(c_void!(service), c_void!(callback_id)) }
+}
+
+/// Link a timer callback identified by `callback_id` to 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) {
+    unsafe {
+        tp::ros_trace_rclcpp_timer_callback_added(c_void!(timer), c_void!(callback_id));
+    }
+}
+
+/// Link a `timer` to a `node`.
+///
+/// Tracepoint: `ros2::rclcpp_timer_link_node`
+pub fn trace_timer_link_node(timer: *const rcl_timer_t, node: *const rcl_node_t) {
+    unsafe {
+        tp::ros_trace_rclcpp_timer_link_node(c_void!(timer), c_void!(node));
+    }
+}
+
+/// Register a demangled `function_symbol` with a `callback_id`.
+///
+/// Tracepoint: `ros2::callback_register`
+pub fn trace_callback_register(callback_id: usize, function_symbol: &str) {
+    let function_symbol = CString::new(function_symbol)
+        .expect("r2r tracing: Cannot convert function_symbol to CString");
+
+    unsafe {
+        tp::ros_trace_rclcpp_callback_register(c_void!(callback_id), function_symbol.as_ptr());
+    }
+}
+
+/// Start of a callback
+///
+/// If this callback is done via intra-process set `is_intra_process` to `true`.
+///
+/// Tracepoint: `ros2::callback_start`
+pub fn trace_callback_start(callback_id: usize, is_intra_process: bool) {
+    unsafe {
+        tp::ros_trace_callback_start(c_void!(callback_id), is_intra_process);
+    }
+}
+
+/// End of a callback.
+///
+/// Tracepoint: `ros2::callback_end`
+pub fn trace_callback_end(callback_id: usize) {
+    unsafe {
+        tp::ros_trace_callback_end(c_void!(callback_id));
+    }
+}
+
+/// Notes the start time of the executor phase that gets the next executable that's ready.
+///
+/// Tracepoint: `ros2::rclcpp_executor_get_next_ready`
+pub fn trace_executor_get_next_ready() {
+    unsafe {
+        tp::ros_trace_rclcpp_executor_get_next_ready();
+    }
+}
+
+/// Notes the start time of the executor phase that waits for work and notes the `timeout` value.
+///
+/// Tracepoint: `ros2::rclcpp_executor_wait_for_work`
+pub fn trace_executor_wait_for_work(timeout: i64) {
+    unsafe {
+        tp::ros_trace_rclcpp_executor_wait_for_work(timeout);
+    }
+}
+
+/// Executable execution.
+///
+/// Notes an executable being executed using its `rcl_handle`, which can be a:
+/// * timer
+/// * subscription
+///
+/// Tracepoint: `ros2::rclcpp_executor_execute`
+pub fn trace_executor_execute<H>(rcl_handle: *const H) {
+    unsafe {
+        tp::ros_trace_rclcpp_executor_execute(c_void!(rcl_handle));
+    }
+}
diff --git a/r2r_tracing/src/tracetools_bindings.rs b/r2r_tracing/src/tracetools_bindings.rs
new file mode 100644
index 0000000..dc33f26
--- /dev/null
+++ b/r2r_tracing/src/tracetools_bindings.rs
@@ -0,0 +1,6 @@
+#![allow(non_upper_case_globals)]
+#![allow(non_camel_case_types)]
+#![allow(non_snake_case)]
+#![allow(unused)]
+
+include!(concat!(env!("OUT_DIR"), "/tracetools_bindings.rs"));
diff --git a/r2r_tracing/src/tracetools_wrapper.h b/r2r_tracing/src/tracetools_wrapper.h
new file mode 100644
index 0000000..f50256e
--- /dev/null
+++ b/r2r_tracing/src/tracetools_wrapper.h
@@ -0,0 +1 @@
+#include <tracetools/tracetools.h>