diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp
index 3e7282fa1..f3c3b3542 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp
@@ -123,26 +123,22 @@ class PubListener : public EventListenerInterface, public eprosima::fastdds::dds
 private:
   CustomPublisherInfo * publisher_info_ = nullptr;
 
-  std::set<eprosima::fastrtps::rtps::GUID_t> subscriptions_
-  RCPPUTILS_TSA_GUARDED_BY(
-    discovery_m_);
+  mutable std::mutex discovery_m_;
 
-  std::mutex discovery_m_;
+  std::set<eprosima::fastrtps::rtps::GUID_t> subscriptions_
+  RCPPUTILS_TSA_GUARDED_BY(discovery_m_);
 
-  bool deadline_changes_;
+  std::atomic_bool deadline_changes_;
   eprosima::fastdds::dds::OfferedDeadlineMissedStatus offered_deadline_missed_status_
-  RCPPUTILS_TSA_GUARDED_BY(
-    on_new_event_m_);
+  RCPPUTILS_TSA_GUARDED_BY(on_new_event_m_);
 
-  bool liveliness_changes_;
+  std::atomic_bool liveliness_changes_;
   eprosima::fastdds::dds::LivelinessLostStatus liveliness_lost_status_
-  RCPPUTILS_TSA_GUARDED_BY(
-    on_new_event_m_);
+  RCPPUTILS_TSA_GUARDED_BY(on_new_event_m_);
 
-  bool incompatible_qos_changes_;
+  std::atomic_bool incompatible_qos_changes_;
   eprosima::fastdds::dds::OfferedIncompatibleQosStatus incompatible_qos_status_
-  RCPPUTILS_TSA_GUARDED_BY(
-    on_new_event_m_);
+  RCPPUTILS_TSA_GUARDED_BY(on_new_event_m_);
 };
 
 #endif  // RMW_FASTRTPS_SHARED_CPP__CUSTOM_PUBLISHER_INFO_HPP_
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
index 4d04c06e4..883a6a7ad 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
@@ -177,10 +177,8 @@ class ServicePubListener : public eprosima::fastdds::dds::DataWriterListener
 
 private:
   std::mutex mutex_;
-  subscriptions_set_t subscriptions_ RCPPUTILS_TSA_GUARDED_BY(
-    mutex_);
-  clients_endpoints_map_t clients_endpoints_ RCPPUTILS_TSA_GUARDED_BY(
-    mutex_);
+  subscriptions_set_t subscriptions_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+  clients_endpoints_map_t clients_endpoints_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
   std::condition_variable cv_;
 };
 
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp
index 3945c3fe2..f57daeb0f 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp
@@ -169,28 +169,24 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
 private:
   CustomSubscriberInfo * subscriber_info_ = nullptr;
 
-  bool deadline_changes_;
+  std::atomic_bool deadline_changes_;
   eprosima::fastdds::dds::RequestedDeadlineMissedStatus requested_deadline_missed_status_
-  RCPPUTILS_TSA_GUARDED_BY(
-    on_new_event_m_);
+  RCPPUTILS_TSA_GUARDED_BY(on_new_event_m_);
 
-  bool liveliness_changes_;
+  std::atomic_bool liveliness_changes_;
   eprosima::fastdds::dds::LivelinessChangedStatus liveliness_changed_status_
-  RCPPUTILS_TSA_GUARDED_BY(
-    on_new_event_m_);
+  RCPPUTILS_TSA_GUARDED_BY(on_new_event_m_);
 
-  bool sample_lost_changes_;
+  std::atomic_bool sample_lost_changes_;
   eprosima::fastdds::dds::SampleLostStatus sample_lost_status_
-  RCPPUTILS_TSA_GUARDED_BY(
-    on_new_event_m_);
+  RCPPUTILS_TSA_GUARDED_BY(on_new_event_m_);
 
-  bool incompatible_qos_changes_;
+  std::atomic_bool incompatible_qos_changes_;
   eprosima::fastdds::dds::RequestedIncompatibleQosStatus incompatible_qos_status_
-  RCPPUTILS_TSA_GUARDED_BY(
-    discovery_m_);
+  RCPPUTILS_TSA_GUARDED_BY(discovery_m_);
 
   std::set<eprosima::fastrtps::rtps::GUID_t> publishers_ RCPPUTILS_TSA_GUARDED_BY(
-    internalMutex_);
+    discovery_m_);
 
   rmw_event_callback_t on_new_message_cb_{nullptr};
 
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_take.cpp b/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
index 89ba122ce..c03d46b36 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
@@ -438,8 +438,7 @@ struct LoanManager
 private:
   std::mutex mtx;
   using ItemVector = eprosima::fastrtps::ResourceLimitedVector<std::unique_ptr<Item>>;
-  ItemVector items RCPPUTILS_TSA_GUARDED_BY(
-    mtx);
+  ItemVector items RCPPUTILS_TSA_GUARDED_BY(mtx);
 };
 
 void