diff --git a/rclcpp/include/rclcpp/publisher.hpp b/rclcpp/include/rclcpp/publisher.hpp
index 78b5700611..111d965183 100644
--- a/rclcpp/include/rclcpp/publisher.hpp
+++ b/rclcpp/include/rclcpp/publisher.hpp
@@ -178,7 +178,6 @@ class Publisher : public PublisherBase
     const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
   {
     // Topic is unused for now.
-    (void)topic;
     (void)options;
 
     // If needed, setup intra process communication.
@@ -189,11 +188,13 @@ class Publisher : public PublisherBase
       // Register the publisher with the intra process manager.
       if (qos.history() != rclcpp::HistoryPolicy::KeepLast) {
         throw std::invalid_argument(
-                "intraprocess communication allowed only with keep last history qos policy");
+                "intraprocess communication on topic '" + topic +
+                "' allowed only with keep last history qos policy");
       }
       if (qos.depth() == 0) {
         throw std::invalid_argument(
-                "intraprocess communication is not allowed with a zero qos history depth value");
+                "intraprocess communication on topic '" + topic +
+                "' is not allowed with a zero qos history depth value");
       }
       if (qos.durability() != rclcpp::DurabilityPolicy::Volatile) {
         throw std::invalid_argument(
diff --git a/rclcpp/include/rclcpp/subscription.hpp b/rclcpp/include/rclcpp/subscription.hpp
index 11bf9c6e43..d00ec4d584 100644
--- a/rclcpp/include/rclcpp/subscription.hpp
+++ b/rclcpp/include/rclcpp/subscription.hpp
@@ -186,11 +186,13 @@ class Subscription : public SubscriptionBase
       auto qos_profile = get_actual_qos();
       if (qos_profile.history() != rclcpp::HistoryPolicy::KeepLast) {
         throw std::invalid_argument(
-                "intraprocess communication allowed only with keep last history qos policy");
+                "intraprocess communication on topic '" + topic_name +
+                "' allowed only with keep last history qos policy");
       }
       if (qos_profile.depth() == 0) {
         throw std::invalid_argument(
-                "intraprocess communication is not allowed with 0 depth qos policy");
+                "intraprocess communication on topic '" + topic_name +
+                "' is not allowed with 0 depth qos policy");
       }
       if (qos_profile.durability() != rclcpp::DurabilityPolicy::Volatile) {
         throw std::invalid_argument(
diff --git a/rclcpp/test/rclcpp/test_publisher.cpp b/rclcpp/test/rclcpp/test_publisher.cpp
index 1679ca76f0..424615a1f2 100644
--- a/rclcpp/test/rclcpp/test_publisher.cpp
+++ b/rclcpp/test/rclcpp/test_publisher.cpp
@@ -422,7 +422,8 @@ TEST_F(TestPublisher, intra_process_publish_failures) {
     node->create_publisher<test_msgs::msg::Empty>(
       "topic", rclcpp::QoS(0), options),
     std::invalid_argument(
-      "intraprocess communication is not allowed with a zero qos history depth value"));
+      "intraprocess communication on topic 'topic' "
+      "is not allowed with a zero qos history depth value"));
 }
 
 TEST_F(TestPublisher, inter_process_publish_failures) {