diff --git a/test_quality_of_service/test/test_deadline.cpp b/test_quality_of_service/test/test_deadline.cpp
index 89ebd765..bb8f33c1 100644
--- a/test_quality_of_service/test/test_deadline.cpp
+++ b/test_quality_of_service/test/test_deadline.cpp
@@ -32,6 +32,14 @@ using namespace std::chrono_literals;
 
 /// Test Deadline with a single publishing node and single subscriber node
 TEST_F(QosRclcppTestFixture, test_deadline) {
+  std::string this_rmw_implementation = std::string(rmw_get_implementation_identifier());
+
+  if (!rmw_event_type_is_supported(RMW_EVENT_OFFERED_DEADLINE_MISSED) ||
+    !rmw_event_type_is_supported(RMW_EVENT_REQUESTED_DEADLINE_MISSED))
+  {
+    GTEST_SKIP();
+  }
+
   int expected_number_of_events = 4;
   // Bump deadline duration when testing against rmw_connextdds to
   // cope with the longer discovery times it entails.
diff --git a/test_quality_of_service/test/test_liveliness.cpp b/test_quality_of_service/test/test_liveliness.cpp
index 767302a6..54a04063 100644
--- a/test_quality_of_service/test/test_liveliness.cpp
+++ b/test_quality_of_service/test/test_liveliness.cpp
@@ -36,6 +36,12 @@ using namespace std::chrono_literals;
 
 /// Test Automatic Liveliness with a single publishing node and single subscriber node
 TEST_F(QosRclcppTestFixture, test_automatic_liveliness_changed) {
+  if (!rmw_event_type_is_supported(RMW_EVENT_LIVELINESS_CHANGED) ||
+    !rmw_event_type_is_supported(RMW_EVENT_LIVELINESS_LOST))
+  {
+    GTEST_SKIP();
+  }
+
   const std::chrono::milliseconds max_test_length = 8s;
   const std::chrono::milliseconds kill_publisher_after = 2s;
   const std::chrono::milliseconds publish_period = 200ms;