diff --git a/CMakeLists.txt b/CMakeLists.txt
index 01aead30..8f61a09f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,6 +29,19 @@ else()
   set(time_impl_c src/time_unix.c)
 endif()
 
+if(RCUTILS_NO_FILESYSTEM)
+  add_compile_options(-DRCUTILS_NO_FILESYSTEM=1)
+endif()
+
+if(RCUTILS_AVOID_DYNAMIC_ALLOCATION)
+  add_compile_options(-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=1)
+endif()
+
+configure_file (
+    "${PROJECT_SOURCE_DIR}/include/rcutils/error_handling.h.in"
+    "${PROJECT_BINARY_DIR}/include/rcutils/error_handling.h"
+)
+
 set(rcutils_sources
   src/allocator.c
   src/array_list.c
@@ -90,7 +103,8 @@ add_custom_command(OUTPUT include/rcutils/logging_macros.h
   VERBATIM
 )
 list(APPEND rcutils_sources
-  include/rcutils/logging_macros.h)
+  include/rcutils/logging_macros.h
+  include/rcutils/error_handling.h)
 include_directories("${CMAKE_CURRENT_BINARY_DIR}/include")
 
 add_library(
diff --git a/include/rcutils/allocator.h b/include/rcutils/allocator.h
index 374f4018..bf4289bb 100644
--- a/include/rcutils/allocator.h
+++ b/include/rcutils/allocator.h
@@ -83,6 +83,21 @@ RCUTILS_WARN_UNUSED
 rcutils_allocator_t
 rcutils_get_zero_initialized_allocator(void);
 
+/// Set rcutils default allocators.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | Yes
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+bool
+rcutils_set_default_allocator(rcutils_allocator_t * allocator);
+  
 /// Return a properly initialized rcutils_allocator_t with default values.
 /**
  * This defaults to:
diff --git a/include/rcutils/error_handling.h b/include/rcutils/error_handling.h.in
similarity index 95%
rename from include/rcutils/error_handling.h
rename to include/rcutils/error_handling.h.in
index 610e4f1b..a248a5d3 100644
--- a/include/rcutils/error_handling.h
+++ b/include/rcutils/error_handling.h.in
@@ -39,14 +39,19 @@ extern "C"
 #include "rcutils/types/rcutils_ret.h"
 #include "rcutils/visibility_control.h"
 
-#ifdef __STDC_LIB_EXT1__
+#cmakedefine RCUTILS_NO_FILESYSTEM
+#cmakedefine RCUTILS_AVOID_DYNAMIC_ALLOCATION
+
+#if defined(__STDC_LIB_EXT1__) && !defined(RCUTILS_NO_FILESYSTEM)
 // Limit the buffer size in the `fwrite` call to give an upper bound to buffer overrun in the case
 // of non-null terminated `msg`.
 #define RCUTILS_SAFE_FWRITE_TO_STDERR(msg) \
   do {fwrite(msg, sizeof(char), strnlen_s(msg, 4096), stderr);} while (0)
-#else
+#elif !defined(RCUTILS_NO_FILESYSTEM)
 #define RCUTILS_SAFE_FWRITE_TO_STDERR(msg) \
   do {fwrite(msg, sizeof(char), strlen(msg), stderr);} while (0)
+#else 
+  #define RCUTILS_SAFE_FWRITE_TO_STDERR(msg)
 #endif
 
 // fixed constraints
@@ -197,8 +202,12 @@ rcutils_set_error_state(const char * error_string, const char * file, size_t lin
  *
  * \param[in] msg The error message to be set.
  */
+#ifdef RCUTILS_AVOID_DYNAMIC_ALLOCATION
+  #define RCUTILS_SET_ERROR_MSG(msg)
+#else
 #define RCUTILS_SET_ERROR_MSG(msg) \
   do {rcutils_set_error_state(msg, __FILE__, __LINE__);} while (0)
+#endif // RCUTILS_AVOID_DYNAMIC_ALLOCATION
 
 /// Set the error message using a format string and format arguments.
 /**
@@ -209,6 +218,9 @@ rcutils_set_error_state(const char * error_string, const char * file, size_t lin
  * \param[in] format_string The string to be used as the format of the error message.
  * \param[in] ... Arguments for the format string.
  */
+#ifdef RCUTILS_AVOID_DYNAMIC_ALLOCATION
+  #define RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(format_string, ...)
+#else
 #define RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(format_string, ...) \
   do { \
     char output_msg[RCUTILS_ERROR_MESSAGE_MAX_LENGTH]; \
@@ -219,6 +231,8 @@ rcutils_set_error_state(const char * error_string, const char * file, size_t lin
       RCUTILS_SET_ERROR_MSG(output_msg); \
     } \
   } while (0)
+#endif // RCUTILS_AVOID_DYNAMIC_ALLOCATION
+
 
 /// Return `true` if the error is set, otherwise `false`.
 RCUTILS_PUBLIC
diff --git a/src/allocator.c b/src/allocator.c
index 92ef82d0..ab1972c7 100644
--- a/src/allocator.c
+++ b/src/allocator.c
@@ -69,16 +69,31 @@ rcutils_get_zero_initialized_allocator(void)
   return zero_allocator;
 }
 
-rcutils_allocator_t
-rcutils_get_default_allocator()
-{
-  static rcutils_allocator_t default_allocator = {
+static rcutils_allocator_t default_allocator = {
     .allocate = __default_allocate,
     .deallocate = __default_deallocate,
     .reallocate = __default_reallocate,
     .zero_allocate = __default_zero_allocate,
     .state = NULL,
   };
+
+bool
+rcutils_set_default_allocator(rcutils_allocator_t * allocator){
+  if (rcutils_allocator_is_valid(allocator))
+  {
+    default_allocator.allocate = allocator->allocate;
+    default_allocator.deallocate = allocator->deallocate;
+    default_allocator.reallocate = allocator->reallocate;
+    default_allocator.zero_allocate = allocator->zero_allocate;
+    default_allocator.state = NULL;
+    return true;
+  }
+  return false;
+}
+
+rcutils_allocator_t
+rcutils_get_default_allocator()
+{
   return default_allocator;
 }
 
diff --git a/src/filesystem.c b/src/filesystem.c
index 0c360614..dd55e409 100644
--- a/src/filesystem.c
+++ b/src/filesystem.c
@@ -21,7 +21,9 @@ extern "C"
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
+#ifndef RCUTILS_NO_FILESYSTEM
 #include <sys/stat.h>
+#endif
 #ifndef _WIN32
 #include <unistd.h>
 #else
@@ -30,6 +32,7 @@ extern "C"
 
 #include "rcutils/format_string.h"
 #include "rcutils/repl_str.h"
+#include "rcutils/error_handling.h"
 
 #ifdef _WIN32
 # define RCUTILS_PATH_DELIMITER "\\"
@@ -40,6 +43,10 @@ extern "C"
 bool
 rcutils_get_cwd(char * buffer, size_t max_length)
 {
+#ifdef RCUTILS_NO_FILESYSTEM
+  RCUTILS_SET_ERROR_MSG("not available filesystem");
+  return false;
+#else
   if (NULL == buffer) {
     return false;
   }
@@ -53,11 +60,16 @@ rcutils_get_cwd(char * buffer, size_t max_length)
   }
 #endif  // _WIN32
   return true;
+#endif  // _RCUTILS_NO_FILESYSTEM
 }
 
 bool
 rcutils_is_directory(const char * abs_path)
 {
+#ifdef RCUTILS_NO_FILESYSTEM
+  RCUTILS_SET_ERROR_MSG("not available filesystem");
+  return false;
+#else
   struct stat buf;
   if (stat(abs_path, &buf) < 0) {
     return false;
@@ -67,11 +79,16 @@ rcutils_is_directory(const char * abs_path)
 #else
   return S_ISDIR(buf.st_mode);
 #endif  // _WIN32
+#endif  // _RCUTILS_NO_FILESYSTEM
 }
 
 bool
 rcutils_is_file(const char * abs_path)
 {
+#ifdef RCUTILS_NO_FILESYSTEM
+  RCUTILS_SET_ERROR_MSG("not available filesystem");
+  return false;
+#else
   struct stat buf;
   if (stat(abs_path, &buf) < 0) {
     return false;
@@ -81,21 +98,31 @@ rcutils_is_file(const char * abs_path)
 #else
   return S_ISREG(buf.st_mode);
 #endif  // _WIN32
+#endif  // _RCUTILS_NO_FILESYSTEM
 }
 
 bool
 rcutils_exists(const char * abs_path)
 {
+#ifdef RCUTILS_NO_FILESYSTEM
+  RCUTILS_SET_ERROR_MSG("not available filesystem");
+  return false;
+#else
   struct stat buf;
   if (stat(abs_path, &buf) < 0) {
     return false;
   }
   return true;
+#endif  // _RCUTILS_NO_FILESYSTEM
 }
 
 bool
 rcutils_is_readable(const char * abs_path)
 {
+#ifdef RCUTILS_NO_FILESYSTEM
+  RCUTILS_SET_ERROR_MSG("not available filesystem");
+  return false;
+#else
   struct stat buf;
   if (stat(abs_path, &buf) < 0) {
     return false;
@@ -108,11 +135,16 @@ rcutils_is_readable(const char * abs_path)
     return false;
   }
   return true;
+#endif  // _RCUTILS_NO_FILESYSTEM
 }
 
 bool
 rcutils_is_writable(const char * abs_path)
 {
+#ifdef RCUTILS_NO_FILESYSTEM
+  RCUTILS_SET_ERROR_MSG("not available filesystem");
+  return false;
+#else
   struct stat buf;
   if (stat(abs_path, &buf) < 0) {
     return false;
@@ -125,11 +157,16 @@ rcutils_is_writable(const char * abs_path)
     return false;
   }
   return true;
+#endif  // _RCUTILS_NO_FILESYSTEM
 }
 
 bool
 rcutils_is_readable_and_writable(const char * abs_path)
 {
+#ifdef RCUTILS_NO_FILESYSTEM
+  RCUTILS_SET_ERROR_MSG("not available filesystem");
+  return false;
+#else
   struct stat buf;
   if (stat(abs_path, &buf) < 0) {
     return false;
@@ -144,6 +181,7 @@ rcutils_is_readable_and_writable(const char * abs_path)
     return false;
   }
   return true;
+#endif  // _RCUTILS_NO_FILESYSTEM
 }
 
 char *
diff --git a/src/security_directory.c b/src/security_directory.c
index c4208931..4bcba2d7 100644
--- a/src/security_directory.c
+++ b/src/security_directory.c
@@ -23,7 +23,11 @@
 # pragma clang diagnostic push
 # pragma clang diagnostic ignored "-Wembedded-directive"
 #endif
+
+#ifndef RCUTILS_NO_FILESYSTEM
 #include "tinydir/tinydir.h"
+#endif
+
 #ifdef __clang__
 # pragma clang diagnostic pop
 #endif
@@ -89,7 +93,11 @@ static bool get_best_matching_directory(
   const char * node_name,
   char * matched_name)
 {
-  size_t max_match_length = 0;
+#ifdef RCUTILS_NO_FILESYSTEM
+  RCUTILS_SET_ERROR_MSG("not available filesystem");
+  return false;
+#else
+size_t max_match_length = 0;
   tinydir_dir dir;
   if (NULL == base_dir || NULL == node_name || NULL == matched_name) {
     return false;
@@ -119,6 +127,7 @@ static bool get_best_matching_directory(
 cleanup:
   tinydir_close(&dir);
   return max_match_length > 0;
+#endif  // _RCUTILS_NO_FILESYSTEM
 }
 
 char * exact_match_lookup(
@@ -154,6 +163,10 @@ char * prefix_match_lookup(
   const char * ros_secure_root_env,
   const rcutils_allocator_t * allocator)
 {
+#ifdef RCUTILS_NO_FILESYSTEM
+  RCUTILS_SET_ERROR_MSG("not available filesystem");
+  return false;
+#else
   // Perform longest prefix match for the node's name in directory <root dir>/<namespace>.
   char * node_secure_root = NULL;
   char matched_dir[_TINYDIR_FILENAME_MAX] = {0};
@@ -171,6 +184,7 @@ char * prefix_match_lookup(
     allocator->deallocate(base_lookup_dir, allocator->state);
   }
   return node_secure_root;
+#endif  // _RCUTILS_NO_FILESYSTEM
 }
 
 char * rcutils_get_secure_root(