diff --git a/rcl/include/rcl/event.h b/rcl/include/rcl/event.h
index bee14d5ab..10a279e6a 100644
--- a/rcl/include/rcl/event.h
+++ b/rcl/include/rcl/event.h
@@ -39,6 +39,7 @@ typedef enum rcl_subscription_event_type_t
   RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED,
   RCL_SUBSCRIPTION_LIVELINESS_CHANGED,
   RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS,
+  RCL_SUBSCRIPTION_MESSAGE_LOST,
 } rcl_subscription_event_type_t;
 
 /// rmw struct.
diff --git a/rcl/src/rcl/event.c b/rcl/src/rcl/event.c
index 81ccf7c50..8cc719470 100644
--- a/rcl/src/rcl/event.c
+++ b/rcl/src/rcl/event.c
@@ -122,6 +122,9 @@ rcl_subscription_event_init(
     case RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS:
       rmw_event_type = RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE;
       break;
+    case RCL_SUBSCRIPTION_MESSAGE_LOST:
+      rmw_event_type = RMW_EVENT_MESSAGE_LOST;
+      break;
     default:
       RCL_SET_ERROR_MSG("Event type for subscription not supported");
       return RCL_RET_INVALID_ARGUMENT;