diff --git a/rmw_microxrcedds_c/src/rmw_client.c b/rmw_microxrcedds_c/src/rmw_client.c
index 4977b9c1..05a64cb9 100644
--- a/rmw_microxrcedds_c/src/rmw_client.c
+++ b/rmw_microxrcedds_c/src/rmw_client.c
@@ -160,7 +160,6 @@ rmw_create_client(
         custom_node->context, custom_node->context->creation_stream, client_req,
         custom_node->context->creation_timeout))
     {
-      put_memory(&client_memory, &custom_client->mem);
       goto fail;
     }
 
diff --git a/rmw_microxrcedds_c/src/rmw_publisher.c b/rmw_microxrcedds_c/src/rmw_publisher.c
index 70e18606..b9e115f5 100644
--- a/rmw_microxrcedds_c/src/rmw_publisher.c
+++ b/rmw_microxrcedds_c/src/rmw_publisher.c
@@ -66,7 +66,7 @@ rmw_create_publisher(
   const rmw_publisher_options_t * publisher_options)
 {
   (void)publisher_options;
-
+  rmw_uxrce_publisher_t *publisher_data = NULL;
   rmw_publisher_t * rmw_publisher = NULL;
   if (!node) {
     RMW_UROS_TRACE_MESSAGE("node handle is null")
@@ -112,6 +112,8 @@ rmw_create_publisher(
     custom_publisher->cs_cb_size = NULL;
     custom_publisher->cs_cb_serialization = NULL;
 
+    rmw_publisher->data = custom_publisher;
+
     const rosidl_message_type_support_t * type_support_xrce = NULL;
 #ifdef ROSIDL_TYPESUPPORT_MICROXRCEDDS_C__IDENTIFIER_VALUE
     type_support_xrce = get_message_typesupport_handle(
@@ -171,12 +173,9 @@ rmw_create_publisher(
         custom_node->context, custom_node->context->creation_stream, publisher_req,
         custom_node->context->creation_timeout))
     {
-      put_memory(&publisher_memory, &custom_publisher->mem);
       goto fail;
     }
 
-    rmw_publisher->data = custom_publisher;
-
     // Create datawriter
     custom_publisher->datawriter_id = uxr_object_id(
       custom_node->context->id_datawriter++,
@@ -212,13 +211,17 @@ rmw_create_publisher(
         custom_node->context, custom_node->context->creation_stream, datawriter_req,
         custom_node->context->creation_timeout))
     {
-      put_memory(&publisher_memory, &custom_publisher->mem);
       goto fail;
     }
   }
 
   return rmw_publisher;
 fail:
+  publisher_data = (rmw_uxrce_publisher_t *)rmw_publisher->data;
+  if (publisher_data != NULL && publisher_data->topic != NULL)
+  {
+    rmw_uxrce_fini_topic_memory(publisher_data->topic);
+  }
   rmw_uxrce_fini_publisher_memory(rmw_publisher);
   rmw_publisher = NULL;
   return rmw_publisher;
diff --git a/rmw_microxrcedds_c/src/rmw_service.c b/rmw_microxrcedds_c/src/rmw_service.c
index 75865cde..de1cd8d9 100644
--- a/rmw_microxrcedds_c/src/rmw_service.c
+++ b/rmw_microxrcedds_c/src/rmw_service.c
@@ -159,7 +159,6 @@ rmw_create_service(
         custom_node->context->creation_timeout))
     {
       RMW_UROS_TRACE_MESSAGE("Issues creating Micro XRCE-DDS entities")
-      put_memory(&service_memory, &custom_service->mem);
       goto fail;
     }
 
diff --git a/rmw_microxrcedds_c/src/rmw_subscription.c b/rmw_microxrcedds_c/src/rmw_subscription.c
index a13a7988..23558362 100644
--- a/rmw_microxrcedds_c/src/rmw_subscription.c
+++ b/rmw_microxrcedds_c/src/rmw_subscription.c
@@ -64,7 +64,7 @@ rmw_create_subscription(
   const rmw_subscription_options_t * subscription_options)
 {
   (void)subscription_options;
-
+  rmw_uxrce_subscription_t *subscription_data = NULL;
   rmw_subscription_t * rmw_subscription = NULL;
   if (!node) {
     RMW_UROS_TRACE_MESSAGE("node handle is null")
@@ -103,6 +103,8 @@ rmw_create_subscription(
     custom_subscription->owner_node = custom_node;
     custom_subscription->qos = *qos_policies;
 
+    rmw_subscription->data = custom_subscription;
+
     const rosidl_message_type_support_t * type_support_xrce = NULL;
 #ifdef ROSIDL_TYPESUPPORT_MICROXRCEDDS_C__IDENTIFIER_VALUE
     type_support_xrce = get_message_typesupport_handle(
@@ -159,7 +161,6 @@ rmw_create_subscription(
         custom_node->context, custom_node->context->creation_stream, subscriber_req,
         custom_node->context->creation_timeout))
     {
-      put_memory(&subscription_memory, &custom_subscription->mem);
       goto fail;
     }
 
@@ -198,12 +199,8 @@ rmw_create_subscription(
         custom_node->context->creation_timeout))
     {
       RMW_UROS_TRACE_MESSAGE("Issues creating Micro XRCE-DDS entities")
-      put_memory(&subscription_memory, &custom_subscription->mem);
       goto fail;
     }
-
-    rmw_subscription->data = custom_subscription;
-
     uxrDeliveryControl delivery_control;
     delivery_control.max_samples = UXR_MAX_SAMPLES_UNLIMITED;
     delivery_control.min_pace_period = 0;
@@ -223,6 +220,11 @@ rmw_create_subscription(
   return rmw_subscription;
 
 fail:
+  subscription_data = (rmw_uxrce_subscription_t *)rmw_subscription->data;
+  if ((subscription_data != NULL) && (subscription_data->topic != NULL))
+  {
+      rmw_uxrce_fini_topic_memory(subscription_data->topic);
+  }
   rmw_uxrce_fini_subscription_memory(rmw_subscription);
   rmw_subscription = NULL;
   return rmw_subscription;