diff --git a/rmw/include/rmw/rmw.h b/rmw/include/rmw/rmw.h
index f9d19cbd..a57efc18 100644
--- a/rmw/include/rmw/rmw.h
+++ b/rmw/include/rmw/rmw.h
@@ -470,14 +470,26 @@ rmw_publisher_count_matched_subscriptions(
* depends on the underlying rmw implementation.
* If the underlying setting in use can't be represented in ROS terms,
* it will be set to RMW_*_UNKNOWN.
- * The value of avoid_ros_namespace_conventions field is not resolved
- * with this function. The rcl function rcl_publisher_get_actual_qos
- * resolves it.
+ *
+ * \note The value of avoid_ros_namespace_conventions field is not resolved
+ * with this function. The rcl function `rcl_publisher_get_actual_qos()`
+ * resolves it.
+ *
+ *
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | Maybe [1]
+ * Thread-Safe | No
+ * Uses Atomics | Maybe [1]
+ * Lock-Free | Maybe [1]
+ * [1] rmw implementation defined, check the implementation documentation
*
* \param[in] publisher the publisher object to inspect
* \param[out] qos the actual qos settings
* \return `RMW_RET_OK` if successful, or
* \return `RMW_RET_INVALID_ARGUMENT` if either argument is null, or
+ * \return `RMW_RET_INCORRECT_RMW_IMPLEMENTATION` if publisher
+ * implementation identifier does not match, or
* \return `RMW_RET_ERROR` if an unexpected error occurs.
*/
RMW_PUBLIC
@@ -775,9 +787,19 @@ rmw_subscription_count_matched_publishers(
* depends on the underlying rmw implementation.
* If the underlying setting in use can't be represented in ROS terms,
* it will be set to RMW_*_UNKNOWN.
- * The value of avoid_ros_namespace_conventions field is not resolved
- * with this function. The rcl function rcl_subscription_get_actual_qos
- * resolves it.
+ *
+ * \note The value of avoid_ros_namespace_conventions field is not resolved
+ * with this function. The rcl function `rcl_subscription_get_actual_qos()`
+ * resolves it.
+ *
+ *
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | Maybe [1]
+ * Thread-Safe | No
+ * Uses Atomics | Maybe [1]
+ * Lock-Free | Maybe [1]
+ * [1] rmw implementation defined, check the implementation documentation
*
* \param[in] subscription the subscription object to inspect
* \param[out] qos the actual qos settings