diff --git a/rmw/include/rmw/dynamic_message_type_support.h b/rmw/include/rmw/dynamic_message_type_support.h
index 64c58d28..7d8b13da 100644
--- a/rmw/include/rmw/dynamic_message_type_support.h
+++ b/rmw/include/rmw/dynamic_message_type_support.h
@@ -20,6 +20,8 @@ extern "C"
 {
 #endif
 
+#include <rcutils/allocator.h>
+
 #include <rosidl_dynamic_typesupport/api/serialization_support.h>
 #include <rosidl_dynamic_typesupport/dynamic_message_type_support_struct.h>
 #include <rosidl_dynamic_typesupport/identifier.h>
@@ -57,9 +59,10 @@ rmw_take_dynamic_message_with_info(
 RMW_PUBLIC
 RMW_WARN_UNUSED
 rmw_ret_t
-rmw_get_serialization_support(
+rmw_serialization_support_init(
   const char * serialization_lib_name,
-  rosidl_dynamic_typesupport_serialization_support_t ** serialization_support);  // OUT
+  rcutils_allocator_t * allocator,
+  rosidl_dynamic_typesupport_serialization_support_t * serialization_support);  // OUT
 
 // TODO(methylDragon): Nice to have only
 // RMW_PUBLIC
diff --git a/rmw/include/rmw/error_handling.h b/rmw/include/rmw/error_handling.h
index 66104a5c..63d7d2ba 100644
--- a/rmw/include/rmw/error_handling.h
+++ b/rmw/include/rmw/error_handling.h
@@ -175,6 +175,29 @@ typedef rcutils_error_state_t rmw_error_state_t;
 /// Reset the error state by clearing any previously set error state.
 #define rmw_reset_error rcutils_reset_error
 
+/// Set the error message using RCUTILS_SET_ERROR_MSG and append the previous error.
+/**
+ * If there is no previous error, has same behavior as RCUTILS_SET_ERROR_MSG.
+ * \param[in] msg The error message to be set.
+ */
+#define RMW_SET_ERROR_MSG_AND_APPEND_PREV_ERROR(msg) \
+  RCUTILS_SET_ERROR_MSG_AND_APPEND_PREV_ERROR(msg)
+
+/// Set the error message with RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING and append the previous
+/// error.
+/**
+ * This function sets the error message using the given format string, and appends and resets the
+ * latest error string.
+ * The resulting formatted string is silently truncated at RCUTILS_ERROR_MESSAGE_MAX_LENGTH.
+ *
+ * If there is no previous error, has same behavior as RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING.
+ *
+ * \param[in] format_string The string to be used as the format of the error message.
+ * \param[in] ... Arguments for the format string.
+ */
+#define RMW_SET_ERROR_MSG_WITH_FORMAT_STRING_AND_APPEND_PREV_ERROR(format_string, ...) \
+  RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING_AND_APPEND_PREV_ERROR(format_string, __VA_ARGS__)
+
 #ifdef __cplusplus
 }
 #endif