diff --git a/rcljava/CMakeLists.txt b/rcljava/CMakeLists.txt
index c454fab7..adf05123 100644
--- a/rcljava/CMakeLists.txt
+++ b/rcljava/CMakeLists.txt
@@ -6,6 +6,7 @@ find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_export_jars REQUIRED)
 find_package(ament_cmake_export_jni_libraries REQUIRED)
 find_package(builtin_interfaces REQUIRED)
+find_package(rcpputils REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rcl_interfaces REQUIRED)
 find_package(rcljava_common REQUIRED)
@@ -61,11 +62,13 @@ set(${PROJECT_NAME}_jni_sources
   "src/main/cpp/org_ros2_rcljava_detail_QosIncompatibleStatus.cpp"
   "src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp"
   "src/main/cpp/org_ros2_rcljava_events_EventHandlerImpl.cpp"
+  "src/main/cpp/org_ros2_rcljava_graph_EndpointInfo"
   "src/main/cpp/org_ros2_rcljava_publisher_statuses_LivelinessLost.cpp"
   "src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed.cpp"
   "src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.cpp"
   "src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_publisher_PublisherImpl.cpp"
+  "src/main/cpp/org_ros2_rcljava_qos_QoSProfile.cpp"
   "src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_subscription_statuses_LivelinessChanged.cpp"
@@ -102,10 +105,11 @@ foreach(_jni_source ${${PROJECT_NAME}_jni_sources})
   endif()
 
   ament_target_dependencies(${_target_name}
+    "builtin_interfaces"
     "rcl"
     "rcljava_common"
-    "builtin_interfaces"
     "rcl_interfaces"
+    "rcpputils"
   )
 
   target_include_directories(${_target_name}
@@ -140,14 +144,14 @@ set(${PROJECT_NAME}_sources
   "src/main/java/org/ros2/rcljava/events/EventStatus.java"
   "src/main/java/org/ros2/rcljava/events/PublisherEventStatus.java"
   "src/main/java/org/ros2/rcljava/events/SubscriptionEventStatus.java"
-  "src/main/java/org/ros2/rcljava/publisher/statuses/LivelinessLost.java"
-  "src/main/java/org/ros2/rcljava/publisher/statuses/OfferedDeadlineMissed.java"
-  "src/main/java/org/ros2/rcljava/publisher/statuses/OfferedQosIncompatible.java"
+  "src/main/java/org/ros2/rcljava/graph/NameAndTypes.java"
+  "src/main/java/org/ros2/rcljava/graph/NodeNameInfo.java"
   "src/main/java/org/ros2/rcljava/executors/AnyExecutable.java"
   "src/main/java/org/ros2/rcljava/executors/BaseExecutor.java"
   "src/main/java/org/ros2/rcljava/executors/Executor.java"
   "src/main/java/org/ros2/rcljava/executors/MultiThreadedExecutor.java"
   "src/main/java/org/ros2/rcljava/executors/SingleThreadedExecutor.java"
+  "src/main/java/org/ros2/rcljava/graph/EndpointInfo.java"
   "src/main/java/org/ros2/rcljava/node/BaseComposableNode.java"
   "src/main/java/org/ros2/rcljava/node/ComposableNode.java"
   "src/main/java/org/ros2/rcljava/node/Node.java"
@@ -169,6 +173,9 @@ set(${PROJECT_NAME}_sources
   "src/main/java/org/ros2/rcljava/parameters/service/ParameterServiceImpl.java"
   "src/main/java/org/ros2/rcljava/publisher/Publisher.java"
   "src/main/java/org/ros2/rcljava/publisher/PublisherImpl.java"
+  "src/main/java/org/ros2/rcljava/publisher/statuses/LivelinessLost.java"
+  "src/main/java/org/ros2/rcljava/publisher/statuses/OfferedDeadlineMissed.java"
+  "src/main/java/org/ros2/rcljava/publisher/statuses/OfferedQosIncompatible.java"
   "src/main/java/org/ros2/rcljava/qos/policies/Durability.java"
   "src/main/java/org/ros2/rcljava/qos/policies/History.java"
   "src/main/java/org/ros2/rcljava/qos/policies/Liveliness.java"
diff --git a/rcljava/include/org_ros2_rcljava_graph_EndpointInfo.h b/rcljava/include/org_ros2_rcljava_graph_EndpointInfo.h
new file mode 100644
index 00000000..e391d84a
--- /dev/null
+++ b/rcljava/include/org_ros2_rcljava_graph_EndpointInfo.h
@@ -0,0 +1,34 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <jni.h>
+/* Header for class org_ros2_rcljava_graph_EndpointInfo */
+
+#ifndef ORG_ROS2_RCLJAVA_GRAPH_ENDPOINTINFO_H_
+#define ORG_ROS2_RCLJAVA_GRAPH_ENDPOINTINFO_H_
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     org_ros2_rcljava_graph_EndpointInfo
+ * Method:    nativeFromRCL
+ * Signature: (J)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_graph_EndpointInfo_nativeFromRCL(JNIEnv *, jobject, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif  // ORG_ROS2_RCLJAVA_GRAPH_ENDPOINTINFO_H_
diff --git a/rcljava/include/org_ros2_rcljava_node_NodeImpl.h b/rcljava/include/org_ros2_rcljava_node_NodeImpl.h
index 40d40867..75b52e61 100644
--- a/rcljava/include/org_ros2_rcljava_node_NodeImpl.h
+++ b/rcljava/include/org_ros2_rcljava_node_NodeImpl.h
@@ -92,6 +92,51 @@ JNIEXPORT jlong
 JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeCreateTimerHandle(
   JNIEnv *, jclass, jlong, jlong, jlong);
 
+/*
+ * Class:     org_ros2_rcljava_node_NodeImpl
+ * Method:    nativeGetNodeNames
+ * Signature: (JLjava/util/List;)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetNodeNames(
+  JNIEnv *, jclass, jlong, jobject);
+
+/*
+ * Class:     org_ros2_rcljava_node_NodeImpl
+ * Method:    nativeGetTopicNamesAndTypes
+ * Signature: (JLjava/util/Collection;)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetTopicNamesAndTypes(
+  JNIEnv *, jclass, jlong, jobject);
+
+/*
+ * Class:     org_ros2_rcljava_node_NodeImpl
+ * Method:    nativeGetServiceNamesAndTypes
+ * Signature: (JLjava/util/Collection;)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetServiceNamesAndTypes(
+  JNIEnv *, jclass, jlong, jobject);
+
+/*
+ * Class:     org_ros2_rcljava_node_NodeImpl
+ * Method:    nativeGetPublishersInfo
+ * Signature: (JLjava/lang/String;Ljava/util/List;)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetPublishersInfo(
+  JNIEnv *, jclass, jlong, jstring, jobject);
+
+/*
+ * Class:     org_ros2_rcljava_node_NodeImpl
+ * Method:    nativeGetSubscriptionsInfo
+ * Signature: (JLjava/lang/String;Ljava/util/List;)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetSubscriptionsInfo(
+  JNIEnv *, jclass, jlong, jstring, jobject);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/rcljava/include/org_ros2_rcljava_qos_QoSProfile.h b/rcljava/include/org_ros2_rcljava_qos_QoSProfile.h
new file mode 100644
index 00000000..ada8004c
--- /dev/null
+++ b/rcljava/include/org_ros2_rcljava_qos_QoSProfile.h
@@ -0,0 +1,41 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <jni.h>
+/* Header for class org_ros2_rcljava_qos_QoSProfile */
+
+#ifndef ORG_ROS2_RCLJAVA_QOS_QOSPROFILE_H_
+#define ORG_ROS2_RCLJAVA_QOS_QOSPROFILE_H_
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     org_ros2_rcljava_qos_QoSProfile
+ * Method:    nativeFromRCL
+ * Signature: (J)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_qos_QoSProfile_nativeFromRCL(JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_qos_QoSProfile
+ * Method:    nativeGetHandleFromName
+ * Signature: (Ljava/lang/String;)J
+ */
+JNIEXPORT jlong
+JNICALL Java_org_ros2_rcljava_qos_QoSProfile_nativeGetHandleFromName(JNIEnv *, jclass, jstring);
+#ifdef __cplusplus
+}
+#endif
+#endif  // ORG_ROS2_RCLJAVA_QOS_QOSPROFILE_H_
diff --git a/rcljava/package.xml b/rcljava/package.xml
index 340edf33..0ca75741 100644
--- a/rcljava/package.xml
+++ b/rcljava/package.xml
@@ -15,6 +15,7 @@
   <build_depend>builtin_interfaces</build_depend>
   <build_depend>rcl_interfaces</build_depend>
   <build_depend>rcl</build_depend>
+  <build_depend>rcpputils</build_depend>
   <build_depend>rmw_implementation_cmake</build_depend>
   <build_depend>rmw</build_depend>
   <build_depend>rosidl_generator_c</build_depend>
@@ -29,6 +30,7 @@
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rcl_interfaces</exec_depend>
   <exec_depend>rcl</exec_depend>
+  <exec_depend>rcpputils</exec_depend>
   <exec_depend>rmw_implementation_cmake</exec_depend>
   <exec_depend>rmw_implementation</exec_depend>
   <exec_depend>rosidl_runtime_c</exec_depend>
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_graph_EndpointInfo.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_graph_EndpointInfo.cpp
new file mode 100644
index 00000000..1e7763d4
--- /dev/null
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_graph_EndpointInfo.cpp
@@ -0,0 +1,109 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "org_ros2_rcljava_graph_EndpointInfo.h"
+
+#include <jni.h>
+#include <limits>
+
+#include "rcl/graph.h"
+#include "rcljava_common/exceptions.hpp"
+
+using rcljava_common::exceptions::rcljava_throw_exception;
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_graph_EndpointInfo_nativeFromRCL(JNIEnv * env, jobject self, jlong handle)
+{
+  auto * p = reinterpret_cast<rcl_topic_endpoint_info_t *>(handle);
+  if (!p) {
+    rcljava_throw_exception(
+      env, "java/lang/IllegalArgumentException", "passed rcl endpoint info handle is NULL");
+    return;
+  }
+  const char * endpoint_type_enum_path =
+    "Lorg/ros2/rcljava/graph/EndpointInfo$EndpointType;";
+  // TODO(ivanpauno): class and field lookup could be done at startup time
+  jclass endpoint_type_clazz = env->FindClass("org/ros2/rcljava/graph/EndpointInfo$EndpointType");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jclass clazz = env->GetObjectClass(self);
+  jfieldID node_name_fid = env->GetFieldID(clazz, "nodeName", "Ljava/lang/String;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID node_namespace_fid = env->GetFieldID(clazz, "nodeNamespace", "Ljava/lang/String;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID topic_type_fid = env->GetFieldID(clazz, "topicType", "Ljava/lang/String;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID endpoint_type_fid = env->GetFieldID(clazz, "endpointType", endpoint_type_enum_path);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID endpoint_gid_fid = env->GetFieldID(clazz, "endpointGID", "[B");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID qos_fid = env->GetFieldID(clazz, "qos", "Lorg/ros2/rcljava/qos/QoSProfile;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+
+  jstring jnode_name = env->NewStringUTF(p->node_name);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  env->SetObjectField(self, node_name_fid, jnode_name);
+  jstring jnode_namespace = env->NewStringUTF(p->node_namespace);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  env->SetObjectField(self, node_namespace_fid, jnode_namespace);
+  jstring jtopic_type = env->NewStringUTF(p->topic_type);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  env->SetObjectField(self, topic_type_fid, jtopic_type);
+  jfieldID enum_value_fid;
+  switch (p->endpoint_type) {
+    case RMW_ENDPOINT_INVALID:
+      enum_value_fid = env->GetStaticFieldID(
+        endpoint_type_clazz, "INVALID", endpoint_type_enum_path);
+      break;
+    case RMW_ENDPOINT_PUBLISHER:
+      enum_value_fid = env->GetStaticFieldID(
+        endpoint_type_clazz, "PUBLISHER", endpoint_type_enum_path);
+      break;
+    case RMW_ENDPOINT_SUBSCRIPTION:
+      enum_value_fid = env->GetStaticFieldID(
+        endpoint_type_clazz, "SUBSCRIPTION", endpoint_type_enum_path);
+      break;
+    default:
+      rcljava_throw_exception(
+        env, "java/lang/IllegalArgumentException", "unknown endpoint type");
+      break;
+  }
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jobject enum_value = env->GetStaticObjectField(endpoint_type_clazz, enum_value_fid);
+  env->SetObjectField(self, endpoint_type_fid, enum_value);
+  jbyteArray jgid = env->NewByteArray(RMW_GID_STORAGE_SIZE);
+  if (jgid == NULL) {
+    rcljava_throw_exception(
+      env, "java/lang/OutOfMemoryError", "cannot allocate java gid byte array");
+    return;
+  }
+  jbyte * gid_content = env->GetByteArrayElements(jgid, nullptr);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  for (size_t i = 0; i < RMW_GID_STORAGE_SIZE; ++i) {
+    gid_content[i] = p->endpoint_gid[i];
+  }
+  env->ReleaseByteArrayElements(jgid, gid_content, 0);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  env->SetObjectField(self, endpoint_gid_fid, jgid);
+  jclass qos_clazz = env->FindClass("org/ros2/rcljava/qos/QoSProfile");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jmethodID qos_init_mid = env->GetMethodID(qos_clazz, "<init>", "()V");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jobject jqos = env->NewObject(qos_clazz, qos_init_mid);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jmethodID qos_from_rcl_mid = env->GetMethodID(qos_clazz, "nativeFromRCL", "(J)V");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  env->CallObjectMethod(jqos, qos_from_rcl_mid, &p->qos_profile);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  env->SetObjectField(self, qos_fid, jqos);
+}
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp
index e2c2e829..a7c662f1 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp
@@ -19,8 +19,10 @@
 #include <string>
 
 #include "rcl/error_handling.h"
+#include "rcl/graph.h"
 #include "rcl/node.h"
 #include "rcl/rcl.h"
+#include "rcpputils/scope_exit.hpp"
 #include "rmw/rmw.h"
 #include "rosidl_runtime_c/message_type_support_struct.h"
 
@@ -29,6 +31,7 @@
 
 #include "org_ros2_rcljava_node_NodeImpl.h"
 
+using rcljava_common::exceptions::rcljava_throw_exception;
 using rcljava_common::exceptions::rcljava_throw_rclexception;
 
 JNIEXPORT jstring JNICALL
@@ -238,3 +241,249 @@ Java_org_ros2_rcljava_node_NodeImpl_nativeCreateTimerHandle(
   jlong jtimer = reinterpret_cast<jlong>(timer);
   return jtimer;
 }
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_node_NodeImpl_nativeGetNodeNames(
+  JNIEnv * env, jclass, jlong handle, jobject jnode_names_info)
+{
+  rcl_node_t * node = reinterpret_cast<rcl_node_t *>(handle);
+  if (!node) {
+    rcljava_throw_exception(env, "java/lang/IllegalArgumentException", "node handle is NULL");
+    return;
+  }
+
+  jclass list_clazz = env->GetObjectClass(jnode_names_info);
+  jmethodID list_add_mid = env->GetMethodID(list_clazz, "add", "(Ljava/lang/Object;)Z");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jclass node_info_clazz = env->FindClass("org/ros2/rcljava/graph/NodeNameInfo");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jmethodID node_info_init_mid = env->GetMethodID(node_info_clazz, "<init>", "()V");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID name_fid = env->GetFieldID(node_info_clazz, "name", "Ljava/lang/String;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID namespace_fid = env->GetFieldID(node_info_clazz, "namespace", "Ljava/lang/String;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID enclave_fid = env->GetFieldID(node_info_clazz, "enclave", "Ljava/lang/String;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
+  rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array();
+  rcutils_string_array_t enclaves = rcutils_get_zero_initialized_string_array();
+
+  rcl_ret_t ret = rcl_get_node_names_with_enclaves(
+    node,
+    allocator,
+    &node_names,
+    &node_namespaces,
+    &enclaves);
+  RCLJAVA_COMMON_THROW_FROM_RCL(env, ret, "rcl_get_node_names_with_enclaves failed");
+  auto on_scope_exit = rcpputils::make_scope_exit(
+    [pnames = &node_names, pnamespaces = &node_namespaces, penclaves = &enclaves, env]() {
+      rcl_ret_t ret = rcutils_string_array_fini(pnames);
+      if (!env->ExceptionCheck() && RCL_RET_OK != ret) {
+        rcljava_throw_rclexception(env, ret, "failed to fini node names string array");
+      }
+      ret = rcutils_string_array_fini(pnamespaces);
+      if (!env->ExceptionCheck() && RCL_RET_OK != ret) {
+        rcljava_throw_rclexception(env, ret, "failed to fini node namespaces string array");
+      }
+      ret = rcutils_string_array_fini(penclaves);
+      if (!env->ExceptionCheck() && RCL_RET_OK != ret) {
+        rcljava_throw_rclexception(env, ret, "failed to fini enclaves string array");
+      }
+    }
+  );
+
+  if (node_names.size != node_namespaces.size || node_names.size != enclaves.size) {
+    rcljava_throw_exception(
+      env,
+      "java/lang/IllegalStateException",
+      "names, namespaces and enclaves array leghts don't match");
+    return;
+  }
+
+  for (size_t i = 0; i < node_names.size; i++) {
+    jstring jnode_name = env->NewStringUTF(node_names.data[i]);
+    RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+    jstring jnode_namespace = env->NewStringUTF(node_namespaces.data[i]);
+    RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+    jstring jenclave = env->NewStringUTF(enclaves.data[i]);
+    RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+    jobject jitem = env->NewObject(node_info_clazz, node_info_init_mid);
+    RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+    env->SetObjectField(jitem, name_fid, jnode_name);
+    env->SetObjectField(jitem, namespace_fid, jnode_namespace);
+    env->SetObjectField(jitem, enclave_fid, jenclave);
+    env->CallBooleanMethod(jnode_names_info, list_add_mid, jitem);
+    RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  }
+}
+
+void
+fill_jnames_and_types(
+  JNIEnv * env, const rcl_names_and_types_t & names_and_types, jobject jnames_and_types)
+{
+  jclass collection_clazz = env->FindClass("java/util/Collection");
+  jmethodID collection_add_mid = env->GetMethodID(
+    collection_clazz, "add", "(Ljava/lang/Object;)Z");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jclass name_and_types_clazz = env->FindClass("org/ros2/rcljava/graph/NameAndTypes");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jmethodID name_and_types_init_mid = env->GetMethodID(name_and_types_clazz, "<init>", "()V");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID name_fid = env->GetFieldID(name_and_types_clazz, "name", "Ljava/lang/String;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID types_fid = env->GetFieldID(name_and_types_clazz, "types", "Ljava/util/Collection;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+
+  for (size_t i = 0; i < names_and_types.names.size; i++) {
+    jobject jitem = env->NewObject(name_and_types_clazz, name_and_types_init_mid);
+    RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+    jstring jname = env->NewStringUTF(names_and_types.names.data[i]);
+    RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+    env->SetObjectField(jitem, name_fid, jname);
+    // the default constructor already inits types to an empty ArrayList
+    jobject jtypes = env->GetObjectField(jitem, types_fid);
+    for (size_t j = 0; j < names_and_types.types[i].size; j++) {
+      jstring jtype = env->NewStringUTF(names_and_types.types[i].data[j]);
+      env->CallBooleanMethod(jtypes, collection_add_mid, jtype);
+      RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+    }
+    env->CallBooleanMethod(jnames_and_types, collection_add_mid, jitem);
+    RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  }
+}
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_node_NodeImpl_nativeGetTopicNamesAndTypes(
+  JNIEnv * env, jclass, jlong handle, jobject jnames_and_types)
+{
+  rcl_node_t * node = reinterpret_cast<rcl_node_t *>(handle);
+  if (!node) {
+    rcljava_throw_exception(env, "java/lang/IllegalArgumentException", "node handle is NULL");
+    return;
+  }
+
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_names_and_types_t topic_names_and_types = rcl_get_zero_initialized_names_and_types();
+
+  rcl_ret_t ret = rcl_get_topic_names_and_types(
+    node,
+    &allocator,
+    false,
+    &topic_names_and_types);
+  RCLJAVA_COMMON_THROW_FROM_RCL(env, ret, "failed to get topic names and types");
+  fill_jnames_and_types(env, topic_names_and_types, jnames_and_types);
+
+  ret = rcl_names_and_types_fini(&topic_names_and_types);
+  if (!env->ExceptionCheck() && RCL_RET_OK != ret) {
+    rcljava_throw_rclexception(env, ret, "failed to fini topic names and types structure");
+  }
+}
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_node_NodeImpl_nativeGetServiceNamesAndTypes(
+  JNIEnv * env, jclass, jlong handle, jobject jnames_and_types)
+{
+  rcl_node_t * node = reinterpret_cast<rcl_node_t *>(handle);
+  if (!node) {
+    rcljava_throw_exception(env, "java/lang/IllegalArgumentException", "node handle is NULL");
+    return;
+  }
+
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_names_and_types_t service_names_and_types = rcl_get_zero_initialized_names_and_types();
+
+  rcl_ret_t ret = rcl_get_service_names_and_types(
+    node,
+    &allocator,
+    &service_names_and_types);
+  RCLJAVA_COMMON_THROW_FROM_RCL(env, ret, "failed to get service names and types");
+  fill_jnames_and_types(env, service_names_and_types, jnames_and_types);
+
+  ret = rcl_names_and_types_fini(&service_names_and_types);
+  if (!env->ExceptionCheck() && RCL_RET_OK != ret) {
+    rcljava_throw_rclexception(env, ret, "failed to fini service names and types structure");
+  }
+}
+
+template<typename FunctorT>
+void
+get_endpoint_info_common(
+  JNIEnv * env, jlong handle, jstring jtopic_name, jobject jendpoints_info, FunctorT get_info)
+{
+  rcl_node_t * node = reinterpret_cast<rcl_node_t *>(handle);
+  if (!node) {
+    rcljava_throw_exception(
+      env, "java/lang/IllegalArgumentException", "passed node handle is NULL");
+    return;
+  }
+
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  rcl_topic_endpoint_info_array_t endpoints_info =
+    rcl_get_zero_initialized_topic_endpoint_info_array();
+
+  const char * topic_name = env->GetStringUTFChars(jtopic_name, NULL);
+  if (!topic_name) {
+    rcljava_throw_exception(
+      env, "java/lang/IllegalArgumentException", "failed to convert jstring to utf chars");
+    return;
+  }
+
+  rcl_ret_t ret = get_info(
+    node,
+    &allocator,
+    topic_name,
+    false,  // use ros mangling conventions
+    &endpoints_info);
+
+  env->ReleaseStringUTFChars(jtopic_name, topic_name);
+
+  RCLJAVA_COMMON_THROW_FROM_RCL(env, ret, "failed to get publisher info");
+  auto cleanup_info_array = rcpputils::make_scope_exit(
+    [info_ptr = &endpoints_info, allocator_ptr = &allocator, env]() {
+      rcl_ret_t ret = rcl_topic_endpoint_info_array_fini(info_ptr, allocator_ptr);
+      if (!env->ExceptionCheck() && RCL_RET_OK != ret) {
+        rcljava_throw_rclexception(env, ret, "failed to destroy rcl endpoints info");
+      }
+    }
+  );
+
+  jclass list_clazz = env->GetObjectClass(jendpoints_info);
+  jmethodID list_add_mid = env->GetMethodID(list_clazz, "add", "(Ljava/lang/Object;)Z");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jclass endpoint_info_clazz = env->FindClass("org/ros2/rcljava/graph/EndpointInfo");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jmethodID endpoint_info_init_mid = env->GetMethodID(endpoint_info_clazz, "<init>", "()V");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jmethodID endpoint_info_from_rcl_mid = env->GetMethodID(
+    endpoint_info_clazz, "nativeFromRCL", "(J)V");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+
+  for (size_t i = 0; i < endpoints_info.size; i++) {
+    jobject item = env->NewObject(endpoint_info_clazz, endpoint_info_init_mid);
+    RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+    env->CallVoidMethod(item, endpoint_info_from_rcl_mid, &endpoints_info.info_array[i]);
+    RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+    env->CallBooleanMethod(jendpoints_info, list_add_mid, item);
+    RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+    env->DeleteLocalRef(item);
+  }
+}
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_node_NodeImpl_nativeGetPublishersInfo(
+  JNIEnv * env, jclass, jlong handle, jstring jtopic_name, jobject jpublishers_info)
+{
+  get_endpoint_info_common(
+    env, handle, jtopic_name, jpublishers_info, rcl_get_publishers_info_by_topic);
+}
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_node_NodeImpl_nativeGetSubscriptionsInfo(
+  JNIEnv * env, jclass, jlong handle, jstring jtopic_name, jobject jsubscriptions_info)
+{
+  get_endpoint_info_common(
+    env, handle, jtopic_name, jsubscriptions_info, rcl_get_subscriptions_info_by_topic);
+}
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_qos_QoSProfile.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_qos_QoSProfile.cpp
new file mode 100644
index 00000000..16239f7b
--- /dev/null
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_qos_QoSProfile.cpp
@@ -0,0 +1,250 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "org_ros2_rcljava_qos_QoSProfile.h"
+
+#include <jni.h>
+#include <limits>
+
+#include "rcljava_common/exceptions.hpp"
+#include "rmw/qos_profiles.h"
+#include "rmw/types.h"
+
+using rcljava_common::exceptions::rcljava_throw_exception;
+
+static void
+qos_set_duration(JNIEnv * env, uint64_t seconds, uint64_t nanos, jobject jqos, jfieldID fid)
+{
+  if (static_cast<uint64_t>(std::numeric_limits<jlong>::max()) < seconds) {
+    // Throwing an exception here would be weird, as we cannot control the durability that was set
+    // on all other endpoints in the network. Set jqos seconds to jlong max.
+    seconds = static_cast<uint64_t>(std::numeric_limits<jlong>::max());
+  }
+  if (static_cast<uint64_t>(std::numeric_limits<jlong>::max()) < nanos) {
+    // This should never happen, as nanoseconds within a second can perfectly be represented
+    // in a jlong.
+    nanos = static_cast<uint64_t>(std::numeric_limits<jlong>::max());
+  }
+  jclass duration_clazz = env->FindClass("java/time/Duration");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jmethodID factory_mid = env->GetStaticMethodID(
+    duration_clazz, "ofSeconds", "(JJ)Ljava/time/Duration;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jobject jduration = env->CallStaticObjectMethod(
+    duration_clazz, factory_mid, static_cast<jlong>(seconds), static_cast<jlong>(nanos));
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  env->SetObjectField(jqos, fid, jduration);
+}
+
+static void
+qos_from_rcl(JNIEnv * env, const rmw_qos_profile_t & qos, jobject jqos)
+{
+  // TODO(ivanpauno): class and field lookup could be done at startup time
+  jclass clazz = env->GetObjectClass(jqos);
+  const char * history_class_path = "Lorg/ros2/rcljava/qos/policies/History;";
+  jfieldID history_fid = env->GetFieldID(clazz, "history", history_class_path);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID depth_fid = env->GetFieldID(clazz, "depth", "I");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  const char * reliability_class_path = "Lorg/ros2/rcljava/qos/policies/Reliability;";
+  jfieldID reliability_fid = env->GetFieldID(clazz, "reliability", reliability_class_path);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  const char * durability_class_path = "Lorg/ros2/rcljava/qos/policies/Durability;";
+  jfieldID durability_fid = env->GetFieldID(clazz, "durability", durability_class_path);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID deadline_fid = env->GetFieldID(clazz, "deadline", "Ljava/time/Duration;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID lifespan_fid = env->GetFieldID(clazz, "lifespan", "Ljava/time/Duration;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  const char * liveliness_class_path = "Lorg/ros2/rcljava/qos/policies/Liveliness;";
+  jfieldID liveliness_fid = env->GetFieldID(clazz, "liveliness", liveliness_class_path);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID liveliness_lease_fid = env->GetFieldID(
+    clazz, "livelinessLeaseDuration", "Ljava/time/Duration;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID avoid_ros_conventions_fid = env->GetFieldID(
+    clazz, "avoidROSNamespaceConventions", "Z");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+
+  jclass history_clazz = env->FindClass("org/ros2/rcljava/qos/policies/History");
+  jfieldID history_value_fid;
+  switch (qos.history) {
+    case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
+      history_value_fid = env->GetStaticFieldID(
+        history_clazz, "SYSTEM_DEFAULT", history_class_path);
+      break;
+    case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
+      history_value_fid = env->GetStaticFieldID(
+        history_clazz, "KEEP_LAST", history_class_path);
+      break;
+    case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
+      history_value_fid = env->GetStaticFieldID(
+        history_clazz, "KEEP_ALL", history_class_path);
+      break;
+    case RMW_QOS_POLICY_HISTORY_UNKNOWN:
+      history_value_fid = env->GetStaticFieldID(
+        history_clazz, "UNKNOWN", history_class_path);
+      break;
+    default:
+      rcljava_throw_exception(
+        env, "java/lang/IllegalStateException", "unknown history policy value");
+      break;
+  }
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jobject history_value = env->GetStaticObjectField(history_clazz, history_value_fid);
+  env->SetObjectField(jqos, history_fid, history_value);
+
+  env->SetIntField(jqos, depth_fid, qos.depth);
+
+  jclass reliability_clazz = env->FindClass("org/ros2/rcljava/qos/policies/Reliability");
+  jfieldID reliability_value_fid;
+  switch (qos.reliability) {
+    case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
+      reliability_value_fid = env->GetStaticFieldID(
+        reliability_clazz, "SYSTEM_DEFAULT", reliability_class_path);
+      break;
+    case RMW_QOS_POLICY_RELIABILITY_RELIABLE:
+      reliability_value_fid = env->GetStaticFieldID(
+        reliability_clazz, "RELIABLE", reliability_class_path);
+      break;
+    case RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT:
+      reliability_value_fid = env->GetStaticFieldID(
+        reliability_clazz, "BEST_EFFORT", reliability_class_path);
+      break;
+    case RMW_QOS_POLICY_RELIABILITY_UNKNOWN:
+      reliability_value_fid = env->GetStaticFieldID(
+        reliability_clazz, "UNKNOWN", reliability_class_path);
+      break;
+    default:
+      rcljava_throw_exception(
+        env, "java/lang/IllegalStateException", "unknown reliability policy value");
+      break;
+  }
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jobject reliability_value = env->GetStaticObjectField(reliability_clazz, reliability_value_fid);
+  env->SetObjectField(jqos, reliability_fid, reliability_value);
+
+  jclass durability_clazz = env->FindClass("org/ros2/rcljava/qos/policies/Durability");
+  jfieldID durability_value_fid;
+  switch (qos.durability) {
+    case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
+      durability_value_fid = env->GetStaticFieldID(
+        durability_clazz, "SYSTEM_DEFAULT", durability_class_path);
+      break;
+    case RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:
+      durability_value_fid = env->GetStaticFieldID(
+        durability_clazz, "TRANSIENT_LOCAL", durability_class_path);
+      break;
+    case RMW_QOS_POLICY_DURABILITY_VOLATILE:
+      durability_value_fid = env->GetStaticFieldID(
+        durability_clazz, "VOLATILE", durability_class_path);
+      break;
+    case RMW_QOS_POLICY_DURABILITY_UNKNOWN:
+      durability_value_fid = env->GetStaticFieldID(
+        durability_clazz, "UNKNOWN", durability_class_path);
+      break;
+    default:
+      rcljava_throw_exception(
+        env, "java/lang/IllegalStateException", "unknown durability policy value");
+      break;
+  }
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jobject durability_value = env->GetStaticObjectField(durability_clazz, durability_value_fid);
+  env->SetObjectField(jqos, durability_fid, durability_value);
+
+  qos_set_duration(env, qos.deadline.sec, qos.deadline.nsec, jqos, deadline_fid);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  qos_set_duration(env, qos.lifespan.sec, qos.lifespan.nsec, jqos, lifespan_fid);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  qos_set_duration(
+    env, qos.liveliness_lease_duration.sec,
+    qos.liveliness_lease_duration.nsec, jqos, liveliness_lease_fid);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+
+  jclass liveliness_clazz = env->FindClass("org/ros2/rcljava/qos/policies/Liveliness");
+  jfieldID liveliness_value_fid;
+  switch (qos.liveliness) {
+    case RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT:
+      liveliness_value_fid = env->GetStaticFieldID(
+        liveliness_clazz, "SYSTEM_DEFAULT", liveliness_class_path);
+      break;
+    case RMW_QOS_POLICY_LIVELINESS_AUTOMATIC:
+      liveliness_value_fid = env->GetStaticFieldID(
+        liveliness_clazz, "AUTOMATIC", liveliness_class_path);
+      break;
+    case RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC:
+      liveliness_value_fid = env->GetStaticFieldID(
+        liveliness_clazz, "MANUAL_BY_TOPIC", liveliness_class_path);
+      break;
+    case RMW_QOS_POLICY_LIVELINESS_UNKNOWN:
+      liveliness_value_fid = env->GetStaticFieldID(
+        liveliness_clazz, "UNKNOWN", liveliness_class_path);
+      break;
+    default:
+      rcljava_throw_exception(
+        env, "java/lang/IllegalStateException", "unknown liveliness policy value");
+      break;
+  }
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jobject liveliness_value = env->GetStaticObjectField(liveliness_clazz, liveliness_value_fid);
+  env->SetObjectField(jqos, liveliness_fid, liveliness_value);
+
+  env->SetBooleanField(jqos, avoid_ros_conventions_fid, qos.avoid_ros_namespace_conventions);
+}
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_qos_QoSProfile_nativeFromRCL(JNIEnv * env, jobject jqos, jlong handle)
+{
+  auto * qos_profile = reinterpret_cast<rmw_qos_profile_t *>(handle);
+  if (!handle) {
+    rcljava_throw_exception(
+      env, "java/lang/IllegalArgumentException", "rmw qos profile handle is NULL");
+    return;
+  }
+  qos_from_rcl(env, *qos_profile, jqos);
+}
+
+JNIEXPORT jlong JNICALL
+Java_org_ros2_rcljava_qos_QoSProfile_nativeGetHandleFromName(
+  JNIEnv * env, jclass, jstring jprofile_name)
+{
+  const rmw_qos_profile_t * qos = NULL;
+  const char * profile_name = env->GetStringUTFChars(jprofile_name, NULL);
+  if (strcmp(profile_name, "default") == 0) {
+    qos = &rmw_qos_profile_default;
+  }
+  if (strcmp(profile_name, "system_default") == 0) {
+    qos = &rmw_qos_profile_system_default;
+  }
+  if (strcmp(profile_name, "sensor_data") == 0) {
+    qos = &rmw_qos_profile_sensor_data;
+  }
+  if (strcmp(profile_name, "parameters") == 0) {
+    qos = &rmw_qos_profile_parameters;
+  }
+  if (strcmp(profile_name, "services") == 0) {
+    qos = &rmw_qos_profile_services_default;
+  }
+  if (strcmp(profile_name, "parameter_events") == 0) {
+    qos = &rmw_qos_profile_parameter_events;
+  }
+
+  env->ReleaseStringUTFChars(jprofile_name, profile_name);
+  if (qos) {
+    return reinterpret_cast<jlong>(qos);
+  }
+  rcljava_throw_exception(
+    env, "java/lang/IllegalArgumentException", "unexpected profile identifier");
+  return 0;
+}
diff --git a/rcljava/src/main/java/org/ros2/rcljava/graph/EndpointInfo.java b/rcljava/src/main/java/org/ros2/rcljava/graph/EndpointInfo.java
new file mode 100644
index 00000000..f0891093
--- /dev/null
+++ b/rcljava/src/main/java/org/ros2/rcljava/graph/EndpointInfo.java
@@ -0,0 +1,58 @@
+/* Copyright 2020 Open Source Robotics Foundation, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.ros2.rcljava.graph;
+
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import org.ros2.rcljava.common.JNIUtils;
+import org.ros2.rcljava.qos.QoSProfile;
+
+/**
+ * Class that represents queried information of an endpoint.
+ */
+public class EndpointInfo {
+  /// Name of the node that created the endpoint.
+  public String nodeName;
+  /// Namespace of the node that created the endpoint.
+  public String nodeNamespace;
+  /// Topic type.
+  public String topicType;
+  /// Kind of endpoint, i.e.: publisher or subscription.
+  public EndpointType endpointType;
+  /// Gid of the endpoint.
+  public byte[] endpointGID;
+  /// Quality of service of the endpoint.
+  public QoSProfile qos;
+
+  public enum EndpointType {
+    INVALID,
+    PUBLISHER,
+    SUBSCRIPTION;
+  }
+
+  private native final void nativeFromRCL(long handle);
+
+  private static final Logger logger = LoggerFactory.getLogger(EndpointInfo.class);
+  static {
+    try {
+      JNIUtils.loadImplementation(EndpointInfo.class);
+    } catch (UnsatisfiedLinkError ule) {
+      logger.error("Native code library failed to load.\n" + ule);
+      System.exit(1);
+    }
+  }
+}
diff --git a/rcljava/src/main/java/org/ros2/rcljava/graph/NameAndTypes.java b/rcljava/src/main/java/org/ros2/rcljava/graph/NameAndTypes.java
new file mode 100644
index 00000000..580ad329
--- /dev/null
+++ b/rcljava/src/main/java/org/ros2/rcljava/graph/NameAndTypes.java
@@ -0,0 +1,73 @@
+/* Copyright 2020 Open Source Robotics Foundation, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.ros2.rcljava.graph;
+
+import java.util.ArrayList;
+import java.util.Collection;
+import java.util.Objects;
+
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import org.ros2.rcljava.common.JNIUtils;
+
+/**
+ * Class that represents a topic/service/action name, together with all the types
+ * of message/service/action that are using that name.
+ */
+public class NameAndTypes {
+  /// Name of the topic/service/action.
+  public String name;
+  /// Types of the topic/service/action with the given name.
+  public Collection<String> types;
+
+  /**
+   * Construct from given name and types.
+   *
+   * @param name name of the topic/service/action.
+   * @param types types of the given topic/service/action.
+   *  A shallow copy of the given collection will be stored,
+   *  but given that String is immutable, this is not a problem.
+   * @param typesSize size of the \a typesHandle array.
+   */
+  public NameAndTypes(final String name, final Collection<String> types) {
+    this.name = name;
+    this.types = new ArrayList(types);
+  }
+
+  /// @internal Default constructor, only used from jni code.
+  private NameAndTypes() {
+    this.types = new ArrayList();
+  }
+
+  @Override
+  public boolean equals(final Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof NameAndTypes)) {
+      return false;
+    }
+    NameAndTypes other = (NameAndTypes) o;
+    return Objects.equals(this.name, other.name) &&
+      Objects.equals(this.types, other.types);
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(this.name, this.types);
+  }
+}
diff --git a/rcljava/src/main/java/org/ros2/rcljava/graph/NodeNameInfo.java b/rcljava/src/main/java/org/ros2/rcljava/graph/NodeNameInfo.java
new file mode 100644
index 00000000..2cd29806
--- /dev/null
+++ b/rcljava/src/main/java/org/ros2/rcljava/graph/NodeNameInfo.java
@@ -0,0 +1,68 @@
+/* Copyright 2020 Open Source Robotics Foundation, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.ros2.rcljava.graph;
+
+import java.util.Objects;
+
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import org.ros2.rcljava.common.JNIUtils;
+
+/**
+ * Class that represents the queried information of a node in the graph.
+ */
+public class NodeNameInfo {
+  /// The node name
+  public String name;
+  /// The node namespace
+  public String namespace;
+  /// The security enclave of the node.
+  /**
+   * For further details, see:
+   * @{link http://design.ros2.org/articles/ros2_security_enclaves.html}
+   */
+  public String enclave;
+
+  /// Constructor
+  public NodeNameInfo(final String name, final String namespace, final String enclave) {
+    this.name = name;
+    this.namespace = namespace;
+    this.enclave = enclave;
+  }
+
+  /// Default constructor, used from jni.
+  private NodeNameInfo() {}
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof NodeNameInfo)) {
+      return false;
+    }
+    NodeNameInfo other = (NodeNameInfo) o;
+    return Objects.equals(this.name, other.name) &&
+      Objects.equals(this.namespace, other.namespace) &&
+      Objects.equals(this.enclave, other.enclave);
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(this.name, this.namespace, this.enclave);
+  }
+}
diff --git a/rcljava/src/main/java/org/ros2/rcljava/node/Node.java b/rcljava/src/main/java/org/ros2/rcljava/node/Node.java
index f413ab04..5059adee 100644
--- a/rcljava/src/main/java/org/ros2/rcljava/node/Node.java
+++ b/rcljava/src/main/java/org/ros2/rcljava/node/Node.java
@@ -24,7 +24,9 @@
 import org.ros2.rcljava.concurrent.Callback;
 import org.ros2.rcljava.consumers.Consumer;
 import org.ros2.rcljava.consumers.TriConsumer;
-import org.ros2.rcljava.qos.QoSProfile;
+import org.ros2.rcljava.graph.EndpointInfo;
+import org.ros2.rcljava.graph.NameAndTypes;
+import org.ros2.rcljava.graph.NodeNameInfo;
 import org.ros2.rcljava.interfaces.Disposable;
 import org.ros2.rcljava.interfaces.MessageDefinition;
 import org.ros2.rcljava.interfaces.ServiceDefinition;
@@ -32,6 +34,7 @@
 import org.ros2.rcljava.parameters.ParameterType;
 import org.ros2.rcljava.parameters.ParameterVariant;
 import org.ros2.rcljava.publisher.Publisher;
+import org.ros2.rcljava.qos.QoSProfile;
 import org.ros2.rcljava.service.RMWRequestId;
 import org.ros2.rcljava.service.Service;
 import org.ros2.rcljava.subscription.Subscription;
@@ -549,4 +552,50 @@ <T extends ServiceDefinition> Client<T> createClient(final Class<T> serviceType,
    * @return rcl_interfaces.msg.ListParametersResult
    */
   rcl_interfaces.msg.ListParametersResult listParameters(List<String> prefixes, long depth);
+
+  /**
+   * Returns a collection of node names that were detected in the ROS graph.
+   * See @{link NodeNameInfo} for more information about the return value.
+   */
+  Collection<NodeNameInfo> getNodeNames();
+
+  /**
+   * Return the topics names and types that were detected in the graph.
+   * See @{link graph#NameAndTypes} for more information about the returned value.
+   *
+   * @return the detected topic names and types.
+   */
+  Collection<NameAndTypes> getTopicNamesAndTypes();
+
+  /**
+   * Return the service names and types that were detected in the graph.
+   * See @{link graph#NameAndTypes} for more information about the returned value.
+   *
+   * @return the detected service names and types.
+   */
+  Collection<NameAndTypes> getServiceNamesAndTypes();
+
+  /**
+   * Get information of all publishers in a topic.
+   *
+   * The queried information includes the node that created the publisher, its qos, etc.
+   * For more info, see @{link EndpointInfo}.
+   *
+   * @param topicName The topic name of interest.
+   * @return A collection of `EndpointInfo` instances, describing all publishers in the
+   *    passed topic.
+   */
+  Collection<EndpointInfo> getPublishersInfo(final String topicName);
+
+  /**
+   * Get information of all subscriptions in a topic.
+   *
+   * The queried information includes the node that created the publisher, its qos, etc.
+   * For more info, see @{link EndpointInfo}.
+   *
+   * @param topicName The topic name of interest.
+   * @return A collection of `EndpointInfo` instances, describing all subscriptions in the
+   *    passed topic.
+   */
+  Collection<EndpointInfo> getSubscriptionsInfo(final String topicName);
 }
diff --git a/rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java b/rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java
index 1f638133..1d2d8061 100644
--- a/rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java
+++ b/rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java
@@ -22,8 +22,10 @@
 import org.ros2.rcljava.concurrent.Callback;
 import org.ros2.rcljava.consumers.Consumer;
 import org.ros2.rcljava.consumers.TriConsumer;
+import org.ros2.rcljava.graph.NodeNameInfo;
 import org.ros2.rcljava.contexts.Context;
-import org.ros2.rcljava.qos.QoSProfile;
+import org.ros2.rcljava.graph.EndpointInfo;
+import org.ros2.rcljava.graph.NameAndTypes;
 import org.ros2.rcljava.interfaces.Disposable;
 import org.ros2.rcljava.interfaces.MessageDefinition;
 import org.ros2.rcljava.interfaces.ServiceDefinition;
@@ -36,6 +38,7 @@
 import org.ros2.rcljava.parameters.ParameterVariant;
 import org.ros2.rcljava.publisher.Publisher;
 import org.ros2.rcljava.publisher.PublisherImpl;
+import org.ros2.rcljava.qos.QoSProfile;
 import org.ros2.rcljava.service.RMWRequestId;
 import org.ros2.rcljava.service.Service;
 import org.ros2.rcljava.service.ServiceImpl;
@@ -753,4 +756,48 @@ public rcl_interfaces.msg.ListParametersResult listParameters(
       return result;
     }
   }
+
+  public final Collection<NodeNameInfo> getNodeNames() {
+    ArrayList<NodeNameInfo> nodeNames = new ArrayList();
+    nativeGetNodeNames(this.handle, nodeNames);
+    return nodeNames;
+  }
+
+  private native static final void nativeGetNodeNames(long handle, ArrayList<NodeNameInfo> nodeNames);
+
+  public final Collection<NameAndTypes> getTopicNamesAndTypes() {
+    Collection<NameAndTypes> namesAndTypes = new ArrayList();
+    nativeGetTopicNamesAndTypes(this.handle, namesAndTypes);
+    return namesAndTypes;
+  }
+
+  private static native final void nativeGetTopicNamesAndTypes(
+    long handle, Collection<NameAndTypes> namesAndTypes);
+
+  public final Collection<NameAndTypes> getServiceNamesAndTypes() {
+    Collection<NameAndTypes> namesAndTypes = new ArrayList();
+    nativeGetServiceNamesAndTypes(this.handle, namesAndTypes);
+    return namesAndTypes;
+  }
+
+  private static native final void nativeGetServiceNamesAndTypes(
+    long handle, Collection<NameAndTypes> namesAndTypes);
+
+  public final Collection<EndpointInfo> getPublishersInfo(final String topicName) {
+    ArrayList<EndpointInfo> returnValue = new ArrayList();
+    nativeGetPublishersInfo(this.handle, topicName, returnValue);
+    return returnValue;
+  }
+
+  private native static final void nativeGetPublishersInfo(
+    final long handle, final String topicName, ArrayList<EndpointInfo> endpointInfo);
+  
+  public final Collection<EndpointInfo> getSubscriptionsInfo(final String topicName) {
+    ArrayList<EndpointInfo> returnValue = new ArrayList();
+    nativeGetSubscriptionsInfo(this.handle, topicName, returnValue);
+    return returnValue;
+  }
+
+  private native static final void nativeGetSubscriptionsInfo(
+    final long handle, final String topicName, ArrayList<EndpointInfo> endpointInfo);
 }
diff --git a/rcljava/src/main/java/org/ros2/rcljava/qos/QoSProfile.java b/rcljava/src/main/java/org/ros2/rcljava/qos/QoSProfile.java
index 15b81712..73961faa 100644
--- a/rcljava/src/main/java/org/ros2/rcljava/qos/QoSProfile.java
+++ b/rcljava/src/main/java/org/ros2/rcljava/qos/QoSProfile.java
@@ -17,37 +17,56 @@
 
 import java.time.Duration;
 
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import org.ros2.rcljava.common.JNIUtils;
 import org.ros2.rcljava.qos.policies.Durability;
 import org.ros2.rcljava.qos.policies.History;
 import org.ros2.rcljava.qos.policies.Liveliness;
 import org.ros2.rcljava.qos.policies.QoSPolicy;
 import org.ros2.rcljava.qos.policies.Reliability;
 
+/**
+ * Implementation of the ROS QoS profile abstraction.
+ *
+ * It works as a bridge with rmw_qos_profile_t.
+ * This class provides several static methods to instantiate the default profiles,
+ * getters for the different policies, and setters that allow method chaining.
+ *
+ * Examples:
+ *
+ *    QoSProfile.keepLast(10);  // default qos profile with depth 10
+ *    // keep all qos profile with best effort reliability and transient local durability
+ *    QoSProfile.keepAll().
+ *      setReliability(Reliability.BEST_EFFORT).setDurability(Durability.TRANSIENT_LOCAL);
+ *    QoSProfile.sensorData();  // get predefined sensor data qos profile
+ */
 public class QoSProfile {
   // TODO(ivanpauno): Update all qos policies in a way that the objects are created from RCL,
   // to avoid depending on the enum values.
-  private History history;
-
-  private int depth;
-
-  private Reliability reliability;
-
-  private Durability durability;
-
-  private Duration deadline = Duration.ofSeconds(0, 0);
-
-  private Duration lifespan = Duration.ofSeconds(0, 0);
-
-  private Liveliness liveliness = Liveliness.SYSTEM_DEFAULT;
 
-  private Duration livelinessLeaseDuration = Duration.ofSeconds(0, 0);
-
-  private boolean avoidROSNamespaceConventions;
+  /**
+   * Construct a keep last QoS profile with the specified depth.
+   *
+   * @param depth history depth.
+   * @return a new QoSProfile.
+   */
+  public static QoSProfile keepLast(int depth) {
+    return defaultProfile().setDepth(depth);
+  }
 
-  public QoSProfile(int depth) {
-    this(History.KEEP_LAST, depth, Reliability.RELIABLE, Durability.VOLATILE, false);
+  /**
+   * Construct a keep all qos profile.
+   *
+   * @param depth history depth.
+   * @return a new QoSProfile.
+   */
+  public static QoSProfile keepAll() {
+    return defaultProfile().setHistory(History.KEEP_ALL);
   }
 
+  // TODO(ivanpauno): Please deprecate me
   public QoSProfile(History history, int depth, Reliability reliability, Durability durability,
       boolean avoidROSNamespaceConventions) {
     this.history = history;
@@ -57,131 +76,263 @@ public QoSProfile(History history, int depth, Reliability reliability, Durabilit
     this.avoidROSNamespaceConventions = avoidROSNamespaceConventions;
   }
 
+  /**
+   * @return history policy of the profile.
+   */
   public final History getHistory() {
     return this.history;
   }
 
+  /**
+   * @param history history policy to be set.
+   * @return reference to `this` object, allowing method chaining.
+   */
   public final QoSProfile setHistory(final History history) {
     this.history = history;
     return this;
   }
 
+  /**
+   * @return history depth of the profile.
+   */
   public final int getDepth() {
     return this.depth;
   }
 
+  /**
+   * @param depth history depth to be set.
+   * @return reference to `this` object, allowing method chaining.
+   */
   public final QoSProfile setDepth(final int depth) {
     this.depth = depth;
     return this;
   }
 
+  /**
+   * @return reliability policy of the profile.
+   */
   public final Reliability getReliability() {
     return this.reliability;
   }
 
+  /**
+   * @param reliability reliability policy to be set.
+   * @return reference to `this` object, allowing method chaining.
+   */
   public final QoSProfile setReliability(final Reliability reliability) {
     this.reliability = reliability;
     return this;
   }
 
+  /**
+   * @return durability policy of the profile.
+   */
   public final Durability getDurability() {
     return this.durability;
   }
 
+  /**
+   * @param durability durability policy to be set.
+   * @return reference to `this` object, allowing method chaining.
+   */
   public final QoSProfile setDurability(final Durability durability) {
     this.durability = durability;
     return this;
   }
 
+  /**
+   * @return deadline policy of the profile.
+   */
   public final Duration getDeadline() {
     return this.deadline;
   }
 
+  /**
+   * @param deadline deadline policy to be set. See
+   *  <a href="http://design.ros2.org/articles/qos_deadline_liveliness_lifespan.html">here</a>.
+   * @return reference to `this` object, allowing method chaining.
+   */
   public final QoSProfile setDeadline(final Duration deadline) {
     this.deadline = deadline;
     return this;
   }
 
+  /**
+   * @return lifespan policy of the profile.
+   */
   public final Duration getLifespan() {
     return this.lifespan;
   }
 
+  /**
+   * @param lifespan lifespan policy to be set. See
+   *  <a href="http://design.ros2.org/articles/qos_deadline_liveliness_lifespan.html">here</a>.
+   * @return reference to `this` object, allowing method chaining.
+   */
   public final QoSProfile setLifespan(final Duration lifespan) {
     this.lifespan = lifespan;
     return this;
   }
 
+  /**
+   * @return liveliness policy of the profile.
+   */
   public final Liveliness getLiveliness() {
     return this.liveliness;
   }
 
+  /**
+   * @param liveliness liveliness policy to be set. See
+   *  <a href="http://design.ros2.org/articles/qos_deadline_liveliness_lifespan.html">here</a>.
+   * @return reference to `this` object, allowing method chaining.
+   */
   public final QoSProfile setLiveliness(final Liveliness liveliness) {
     this.liveliness = liveliness;
     return this;
   }
 
+  /**
+   * @return liveliness lease duration of the profile.
+   */
   public final Duration getLivelinessLeaseDuration() {
     return this.livelinessLeaseDuration;
   }
 
+  /**
+   * @param livelinessLeaseDuration liveliness lease duration to be set. See
+   *  <a href="http://design.ros2.org/articles/qos_deadline_liveliness_lifespan.html">here</a>.
+   * @return reference to `this` object, allowing method chaining.
+   */
   public final QoSProfile setLivelinessLeaseDuration(final Duration livelinessLeaseDuration) {
     this.livelinessLeaseDuration = livelinessLeaseDuration;
     return this;
   }
 
+  /**
+   * @return `true` if ROS namespace conventions are ignored, else `false`.
+   */
   public final boolean getAvoidROSNamespaceConventions() {
     return this.avoidROSNamespaceConventions;
   }
 
+  /**
+   * @param avoidROSConventions when `true`, ROS name mangling conventions will be ignored.
+   * @return reference to `this` object, allowing method chaining.
+   */
   public final QoSProfile setAvoidROSNamespaceConventions(final boolean avoidROSConventions) {
     this.avoidROSNamespaceConventions = avoidROSConventions;
     return this;
   }
 
-  // TODO(ivanpauno): refactor all static default profiles methods,
-  // so that the return value is get from the rmw definition directly
-  // (leveraging a native function).
+  private static final Logger logger = LoggerFactory.getLogger(QoSProfile.class);
+  static {
+    try {
+      JNIUtils.loadImplementation(QoSProfile.class);
+    } catch (UnsatisfiedLinkError ule) {
+      logger.error("Native code library failed to load.\n" + ule);
+      System.exit(1);
+    }
+  }
+
+  // TODO(ivanpauno): Deprecate and use a private alternative, to match rclcpp/rclpy.
   public static final QoSProfile defaultProfile() {
-    return new QoSProfile(10);
+    QoSProfile qos = new QoSProfile();
+    qos.nativeFromRCL(qos.nativeGetHandleFromName("default"));
+    return qos;
   }
 
+  /**
+   * @return Construct a new instance of the predefined system default profile.
+   */
   public static final QoSProfile systemDefault() {
-    return new QoSProfile(
-      History.SYSTEM_DEFAULT, QoSProfile.DEPTH_SYSTEM_DEFAULT,
-      Reliability.SYSTEM_DEFAULT, Durability.SYSTEM_DEFAULT, false);
+    QoSProfile qos = new QoSProfile();
+    qos.nativeFromRCL(qos.nativeGetHandleFromName("system_default"));
+    return qos;
   }
 
+  /**
+   * @return Construct a new instance of the predefined sensor data profile.
+   */
   public static final QoSProfile sensorData() {
-    return new QoSProfile(
-      History.KEEP_LAST, 5, Reliability.BEST_EFFORT, Durability.VOLATILE, false);
+    QoSProfile qos = new QoSProfile();
+    qos.nativeFromRCL(qos.nativeGetHandleFromName("sensor_data"));
+    return qos;
   }
 
+  /**
+   * @return Construct a new instance of the predefined parameters default profile.
+   */
   public static final QoSProfile parametersDefault() {
-    return new QoSProfile(
-      History.KEEP_LAST, 1000, Reliability.RELIABLE, Durability.VOLATILE, false);
+    QoSProfile qos = new QoSProfile();
+    qos.nativeFromRCL(qos.nativeGetHandleFromName("parameters"));
+    return qos;
   }
 
+  /**
+   * @return Construct a new instance of the predefined services default profile.
+   */
   public static final QoSProfile servicesDefault() {
-    return new QoSProfile(
-      History.KEEP_LAST, 10, Reliability.RELIABLE, Durability.VOLATILE, false);
+    QoSProfile qos = new QoSProfile();
+    qos.nativeFromRCL(qos.nativeGetHandleFromName("services"));
+    return qos;
   }
 
+  /**
+   * @return Construct a new instance of the predefined parameter events default profile.
+   */
   public static final QoSProfile parameterEventsDefault() {
-    return new QoSProfile(
-      History.KEEP_ALL, 1000, Reliability.RELIABLE, Durability.VOLATILE, false);
+    QoSProfile qos = new QoSProfile();
+    qos.nativeFromRCL(qos.nativeGetHandleFromName("parameter_events"));
+    return qos;
   }
 
+  // TODO(ivanpauno): Deprecate.
   public static final int DEPTH_SYSTEM_DEFAULT = 0;
 
+  // TODO(ivanpauno): Deprecate.
   public static final QoSProfile SENSOR_DATA = sensorData();
 
+  // TODO(ivanpauno): Deprecate.
   public static final QoSProfile PARAMETERS = parametersDefault();
 
+  // TODO(ivanpauno): Deprecate.
   public static final QoSProfile DEFAULT = defaultProfile();
 
+  // TODO(ivanpauno): Deprecate.
   public static final QoSProfile SERVICES_DEFAULT = servicesDefault();
 
+  // TODO(ivanpauno): Deprecate.
   public static final QoSProfile PARAMETER_EVENTS = parameterEventsDefault();
 
+  // TODO(ivanpauno): Deprecate.
   public static final QoSProfile SYSTEM_DEFAULT = systemDefault();
+
+  /**
+   * @internal
+   * Private default constructor.
+   *
+   * Used from native code or private methods.
+   * Typically combined with @{link QoSProfile#nativeFromRCL(handle)}.
+   */
+  private QoSProfile() {}
+
+  /**
+   * @internal
+   * Load from an rmw_qos_profile_t.
+   *
+   * @param handle A `rmw_qos_profile_t *`, from where the profile is loaded.
+   *  The handle is only borrowed, and a reference to it is NOT kept.
+   */
+  private final native void nativeFromRCL(long handle);
+  private final static native long nativeGetHandleFromName(String profileName);
+
+  private History history;
+  private int depth;
+  private Reliability reliability;
+  private Durability durability;
+  private Duration deadline = Duration.ofSeconds(0, 0);
+  private Duration lifespan = Duration.ofSeconds(0, 0);
+  private Liveliness liveliness = Liveliness.SYSTEM_DEFAULT;
+  private Duration livelinessLeaseDuration = Duration.ofSeconds(0, 0);
+  private boolean avoidROSNamespaceConventions;
 }
diff --git a/rcljava/src/main/java/org/ros2/rcljava/qos/policies/Durability.java b/rcljava/src/main/java/org/ros2/rcljava/qos/policies/Durability.java
index 215602df..08a45329 100644
--- a/rcljava/src/main/java/org/ros2/rcljava/qos/policies/Durability.java
+++ b/rcljava/src/main/java/org/ros2/rcljava/qos/policies/Durability.java
@@ -18,7 +18,8 @@
 public enum Durability implements QoSPolicy {
   SYSTEM_DEFAULT(0),
   TRANSIENT_LOCAL(1),
-  VOLATILE(2);
+  VOLATILE(2),
+  UNKNOWN(3);
 
   private final int value;
 
diff --git a/rcljava/src/main/java/org/ros2/rcljava/qos/policies/History.java b/rcljava/src/main/java/org/ros2/rcljava/qos/policies/History.java
index 461d13d9..69d5b4c3 100644
--- a/rcljava/src/main/java/org/ros2/rcljava/qos/policies/History.java
+++ b/rcljava/src/main/java/org/ros2/rcljava/qos/policies/History.java
@@ -18,7 +18,8 @@
 public enum History implements QoSPolicy {
   SYSTEM_DEFAULT(0),
   KEEP_LAST(1),
-  KEEP_ALL(2);
+  KEEP_ALL(2),
+  UNKNOWN(3);
 
   private final int value;
 
diff --git a/rcljava/src/main/java/org/ros2/rcljava/qos/policies/Liveliness.java b/rcljava/src/main/java/org/ros2/rcljava/qos/policies/Liveliness.java
index 0a814e7f..3b25997f 100644
--- a/rcljava/src/main/java/org/ros2/rcljava/qos/policies/Liveliness.java
+++ b/rcljava/src/main/java/org/ros2/rcljava/qos/policies/Liveliness.java
@@ -18,7 +18,8 @@
 public enum Liveliness implements QoSPolicy {
   SYSTEM_DEFAULT(0),
   AUTOMATIC(1),
-  MANUAL_BY_TOPIC(3);
+  MANUAL_BY_TOPIC(3),
+  UNKNOWN(4);
 
   private final int value;
 
diff --git a/rcljava/src/main/java/org/ros2/rcljava/qos/policies/Reliability.java b/rcljava/src/main/java/org/ros2/rcljava/qos/policies/Reliability.java
index 3764d0bb..ea53f124 100644
--- a/rcljava/src/main/java/org/ros2/rcljava/qos/policies/Reliability.java
+++ b/rcljava/src/main/java/org/ros2/rcljava/qos/policies/Reliability.java
@@ -18,7 +18,8 @@
 public enum Reliability implements QoSPolicy {
   SYSTEM_DEFAULT(0),
   RELIABLE(1),
-  BEST_EFFORT(2);
+  BEST_EFFORT(2),
+  UNKNOWN(3);
 
   private final int value;
 
diff --git a/rcljava/src/test/java/org/ros2/rcljava/node/NodeTest.java b/rcljava/src/test/java/org/ros2/rcljava/node/NodeTest.java
index 8df0cb7f..794075b0 100644
--- a/rcljava/src/test/java/org/ros2/rcljava/node/NodeTest.java
+++ b/rcljava/src/test/java/org/ros2/rcljava/node/NodeTest.java
@@ -16,7 +16,9 @@
 package org.ros2.rcljava.node;
 
 import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
 import static org.junit.Assert.assertNotEquals;
+import static org.junit.Assert.assertNotNull;
 import static org.junit.Assert.assertTrue;
 
 import org.junit.After;
@@ -28,17 +30,31 @@
 import java.lang.ref.WeakReference;
 import java.lang.reflect.Method;
 
+import java.util.concurrent.TimeUnit;
+import java.util.ArrayList;
 import java.util.Arrays;
+import java.util.Collection;
+import java.util.Iterator;
 import java.util.List;
+import java.util.concurrent.TimeUnit;
 
 import org.ros2.rcljava.RCLJava;
+import org.ros2.rcljava.client.Client;
 import org.ros2.rcljava.concurrent.RCLFuture;
 import org.ros2.rcljava.consumers.Consumer;
+import org.ros2.rcljava.consumers.TriConsumer;
 import org.ros2.rcljava.executors.Executor;
 import org.ros2.rcljava.executors.MultiThreadedExecutor;
 import org.ros2.rcljava.executors.SingleThreadedExecutor;
+import org.ros2.rcljava.graph.EndpointInfo;
+import org.ros2.rcljava.graph.NameAndTypes;
+import org.ros2.rcljava.graph.NodeNameInfo;
 import org.ros2.rcljava.node.Node;
 import org.ros2.rcljava.publisher.Publisher;
+import org.ros2.rcljava.qos.policies.Reliability;
+import org.ros2.rcljava.qos.QoSProfile;
+import org.ros2.rcljava.service.RMWRequestId;
+import org.ros2.rcljava.service.Service;
 import org.ros2.rcljava.subscription.Subscription;
 
 public class NodeTest {
@@ -868,5 +884,306 @@ public Node getNode() {
     assertEquals(0, subscriptionOne.getHandle());
     subscriptionTwo.dispose();
     assertEquals(0, subscriptionTwo.getHandle());
+    publisherNode.dispose();
+    assertEquals(0, publisherNode.getHandle());
+    subscriptionNodeOne.dispose();
+    assertEquals(0, subscriptionNodeOne.getHandle());
+    subscriptionNodeTwo.dispose();
+    assertEquals(0, subscriptionNodeTwo.getHandle());
+  }
+
+  @Test
+  public final void testGetNodeNames() throws Exception {
+    final Node node1 = RCLJava.createNode("test_get_node_names_1");
+    final Node node2 = RCLJava.createNode("test_get_node_names_2");
+    final Node node3 = RCLJava.createNode("test_get_node_names_3");
+
+    Consumer<Collection<NodeNameInfo>> validateNodeNameInfo =
+    new Consumer<Collection<NodeNameInfo>>() {
+      public void accept(final Collection<NodeNameInfo> nodeNamesInfo) {
+        assertEquals(4, nodeNamesInfo.size());
+        assertTrue(
+          "node 'test_node' was not discovered",
+          nodeNamesInfo.contains(new NodeNameInfo("test_node", "/", "/")));
+        assertTrue(
+          "node 'test_get_node_names_1' was not discovered",
+          nodeNamesInfo.contains(new NodeNameInfo("test_get_node_names_1", "/", "/")));
+        assertTrue(
+          "node 'test_get_node_names_2' was not discovered",
+          nodeNamesInfo.contains(new NodeNameInfo("test_get_node_names_1", "/", "/")));
+        assertTrue(
+          "node 'test_get_node_names_3' was not discovered",
+          nodeNamesInfo.contains(new NodeNameInfo("test_get_node_names_1", "/", "/")));
+      }
+    };
+
+    long start = System.currentTimeMillis();
+    boolean ok = false;
+    Collection<NodeNameInfo> nodeNamesInfo = null;
+    do {
+      nodeNamesInfo = this.node.getNodeNames();
+      try {
+        validateNodeNameInfo.accept(nodeNamesInfo);
+        ok = true;
+      } catch (AssertionError err) {
+        // ignore here, it's going to be validated again at the end.
+      }
+      // TODO(ivanpauno): We could wait for the graph guard condition to be triggered if that
+      // would be available.
+      try {
+        TimeUnit.MILLISECONDS.sleep(100);
+      } catch (InterruptedException err) {
+        // ignore
+      }
+    } while (!ok && System.currentTimeMillis() < start + 1000);
+    assertNotNull(nodeNamesInfo);
+    validateNodeNameInfo.accept(nodeNamesInfo);
+
+    node1.dispose();
+    node2.dispose();
+    node3.dispose();
+  }
+
+  @Test
+  public final void testGetTopicNamesAndTypes() throws Exception {
+    Publisher<rcljava.msg.UInt32> publisher = node.<rcljava.msg.UInt32>createPublisher(
+      rcljava.msg.UInt32.class, "test_get_topic_names_and_types_one");
+    Publisher<rcljava.msg.UInt32> publisher2 = node.<rcljava.msg.UInt32>createPublisher(
+      rcljava.msg.UInt32.class, "test_get_topic_names_and_types_two");
+    Subscription<rcljava.msg.UInt32> subscription = node.<rcljava.msg.UInt32>createSubscription(
+      rcljava.msg.UInt32.class, "test_get_topic_names_and_types_one",
+      new Consumer<rcljava.msg.UInt32>() {
+        public void accept(final rcljava.msg.UInt32 msg) {}
+      });
+    Subscription<rcljava.msg.Empty> subscription2 = node.<rcljava.msg.Empty>createSubscription(
+      rcljava.msg.Empty.class, "test_get_topic_names_and_types_three",
+      new Consumer<rcljava.msg.Empty>() {
+        public void accept(final rcljava.msg.Empty msg) {}
+      });
+
+    Consumer<Collection<NameAndTypes>> validateNameAndTypes =
+    new Consumer<Collection<NameAndTypes>>() {
+      public void accept(final Collection<NameAndTypes> namesAndTypes) {
+        // TODO(ivanpauno): Using assertj may help a lot here https://assertj.github.io/doc/.
+        assertEquals(namesAndTypes.size(), 3);
+        assertTrue(
+          "topic 'test_get_topic_names_and_types_one' was not discovered",
+          namesAndTypes.contains(
+            new NameAndTypes(
+              "/test_get_topic_names_and_types_one",
+              new ArrayList(Arrays.asList("rcljava/msg/UInt32")))));
+        assertTrue(
+          "topic 'test_get_topic_names_and_types_two' was not discovered",
+          namesAndTypes.contains(
+            new NameAndTypes(
+              "/test_get_topic_names_and_types_two",
+              new ArrayList(Arrays.asList("rcljava/msg/UInt32")))));
+        assertTrue(
+          "topic 'test_get_topic_names_and_types_three' was not discovered",
+          namesAndTypes.contains(
+            new NameAndTypes(
+              "/test_get_topic_names_and_types_three",
+              new ArrayList(Arrays.asList("rcljava/msg/Empty")))));
+      }
+    };
+
+    long start = System.currentTimeMillis();
+    boolean ok = false;
+    Collection<NameAndTypes> namesAndTypes = null;
+    do {
+      namesAndTypes = this.node.getTopicNamesAndTypes();
+      try {
+        validateNameAndTypes.accept(namesAndTypes);
+        ok = true;
+      } catch (AssertionError err) {
+        // ignore here, it's going to be validated again at the end.
+      }
+      // TODO(ivanpauno): We could wait for the graph guard condition to be triggered if that
+      // would be available.
+      try {
+        TimeUnit.MILLISECONDS.sleep(100);
+      } catch (InterruptedException err) {
+        // ignore
+      }
+    } while (!ok && System.currentTimeMillis() < start + 1000);
+    assertNotNull(namesAndTypes);
+    validateNameAndTypes.accept(namesAndTypes);
+
+    publisher.dispose();
+    publisher2.dispose();
+    subscription.dispose();
+    subscription2.dispose();
+  }
+
+  @Test
+  public final void testGetServiceNamesAndTypes() throws Exception {
+    Service<rcljava.srv.AddTwoInts> service = node.<rcljava.srv.AddTwoInts>createService(
+      rcljava.srv.AddTwoInts.class, "test_service_names_and_types_one",
+      new TriConsumer<
+        RMWRequestId, rcljava.srv.AddTwoInts_Request, rcljava.srv.AddTwoInts_Response>()
+      {
+        public final void accept(
+          final RMWRequestId header,
+          final rcljava.srv.AddTwoInts_Request request,
+          final rcljava.srv.AddTwoInts_Response response)
+        {}
+      });
+    Client<rcljava.srv.AddTwoInts> client = node.<rcljava.srv.AddTwoInts>createClient(
+      rcljava.srv.AddTwoInts.class, "test_service_names_and_types_two");
+
+    Consumer<Collection<NameAndTypes>> validateNameAndTypes =
+    new Consumer<Collection<NameAndTypes>>() {
+      public void accept(final Collection<NameAndTypes> namesAndTypes) {
+        assertEquals(namesAndTypes.size(), 2);
+        assertTrue(
+          "service 'test_service_names_and_types_one' was not discovered",
+          namesAndTypes.contains(
+            new NameAndTypes(
+              "/test_service_names_and_types_one",
+              new ArrayList(Arrays.asList("rcljava/srv/AddTwoInts")))));
+        assertTrue(
+          "service 'test_service_names_and_types_two' was not discovered",
+          namesAndTypes.contains(
+            new NameAndTypes(
+              "/test_service_names_and_types_two",
+              new ArrayList(Arrays.asList("rcljava/srv/AddTwoInts")))));
+      }
+    };
+
+    long start = System.currentTimeMillis();
+    boolean ok = false;
+    Collection<NameAndTypes> namesAndTypes = null;
+    do {
+      namesAndTypes = this.node.getServiceNamesAndTypes();
+      try {
+        validateNameAndTypes.accept(namesAndTypes);
+        ok = true;
+      } catch (AssertionError err) {
+        // ignore here, it's going to be validated again at the end.
+      }
+      // TODO(ivanpauno): We could wait for the graph guard condition to be triggered if that
+      // would be available.
+      try {
+        TimeUnit.MILLISECONDS.sleep(100);
+      } catch (InterruptedException err) {
+        // ignore
+      }
+    } while (!ok && System.currentTimeMillis() < start + 1000);
+    assertNotNull(namesAndTypes);
+    validateNameAndTypes.accept(namesAndTypes);
+
+    service.dispose();
+    client.dispose();
+  }
+
+  @Test
+  public final void testGetPublishersInfo() {
+    Publisher<rcljava.msg.UInt32> publisher =
+      node.<rcljava.msg.UInt32>createPublisher(rcljava.msg.UInt32.class, "test_get_publishers_info");
+    Publisher<rcljava.msg.UInt32> publisher2 =
+      node.<rcljava.msg.UInt32>createPublisher(
+        rcljava.msg.UInt32.class, "test_get_publishers_info", QoSProfile.sensorData());
+
+    Consumer<Collection<EndpointInfo>> validateEndpointInfo =
+    new Consumer<Collection<EndpointInfo>>() {
+      public void accept(final Collection<EndpointInfo> info) {
+        assertEquals(info.size(), 2);
+        Iterator<EndpointInfo> it = info.iterator();
+        EndpointInfo item = it.next();
+        assertEquals("test_node", item.nodeName);
+        assertEquals("/", item.nodeNamespace);
+        assertEquals("rcljava/msg/UInt32", item.topicType);
+        assertEquals(item.endpointType, EndpointInfo.EndpointType.PUBLISHER);
+        assertEquals(item.qos.getReliability(), Reliability.RELIABLE);
+        item = it.next();
+        assertEquals("test_node", item.nodeName);
+        assertEquals("/", item.nodeNamespace);
+        assertEquals("rcljava/msg/UInt32", item.topicType);
+        assertEquals(item.endpointType, EndpointInfo.EndpointType.PUBLISHER);
+        assertEquals(item.qos.getReliability(), Reliability.BEST_EFFORT);
+        assertFalse(it.hasNext());
+      }
+    };
+
+    long start = System.currentTimeMillis();
+    boolean ok = false;
+    Collection<EndpointInfo> publishersInfo = null;
+    do {
+      publishersInfo = node.getPublishersInfo("/test_get_publishers_info");
+      try {
+        validateEndpointInfo.accept(publishersInfo);
+        ok = true;
+      } catch (AssertionError err) {
+        // ignore here, it's going to be validated again at the end.
+      }
+      // TODO(ivanpauno): We could wait for the graph guard condition to be triggered if that
+      // would be available.
+      try {
+        TimeUnit.MILLISECONDS.sleep(100);
+      } catch (InterruptedException err) {
+        // ignore
+      }
+    } while (!ok && System.currentTimeMillis() < start + 1000);
+    assertNotNull(publishersInfo);
+    validateEndpointInfo.accept(publishersInfo);
+    publisher.dispose();
+    publisher2.dispose();
+  }
+
+  @Test
+  public final void testGetSubscriptionsInfo() {
+    Subscription<rcljava.msg.UInt32> subscription = node.<rcljava.msg.UInt32>createSubscription(
+      rcljava.msg.UInt32.class, "test_get_subscriptions_info", new Consumer<rcljava.msg.UInt32>() {
+        public void accept(final rcljava.msg.UInt32 msg) {}
+      });
+    Subscription<rcljava.msg.UInt32> subscription2 = node.<rcljava.msg.UInt32>createSubscription(
+      rcljava.msg.UInt32.class, "test_get_subscriptions_info", new Consumer<rcljava.msg.UInt32>() {
+        public void accept(final rcljava.msg.UInt32 msg) {}
+      }, QoSProfile.sensorData());
+
+    Consumer<Collection<EndpointInfo>> validateEndpointInfo =
+    new Consumer<Collection<EndpointInfo>>() {
+      public void accept(final Collection<EndpointInfo> info) {
+        assertEquals(info.size(), 2);
+        Iterator<EndpointInfo> it = info.iterator();
+        EndpointInfo item = it.next();
+        assertEquals("test_node", item.nodeName);
+        assertEquals("/", item.nodeNamespace);
+        assertEquals("rcljava/msg/UInt32", item.topicType);
+        assertEquals(item.endpointType, EndpointInfo.EndpointType.SUBSCRIPTION);
+        assertEquals(item.qos.getReliability(), Reliability.RELIABLE);
+        item = it.next();
+        assertEquals("test_node", item.nodeName);
+        assertEquals("/", item.nodeNamespace);
+        assertEquals("rcljava/msg/UInt32", item.topicType);
+        assertEquals(item.endpointType, EndpointInfo.EndpointType.SUBSCRIPTION);
+        assertEquals(item.qos.getReliability(), Reliability.BEST_EFFORT);
+        assertFalse(it.hasNext());
+      }
+    };
+
+    long start = System.currentTimeMillis();
+    boolean ok = false;
+    Collection<EndpointInfo> subscriptionsInfo = null;
+    do {
+      subscriptionsInfo = node.getSubscriptionsInfo("/test_get_subscriptions_info");
+      try {
+        validateEndpointInfo.accept(subscriptionsInfo);
+        ok = true;
+      } catch (AssertionError err) {
+        // ignore here, it's going to be validated again at the end.
+      }
+      // TODO(ivanpauno): We could wait for the graph guard condition to be triggered if that
+      // would be available.
+      try {
+        TimeUnit.MILLISECONDS.sleep(100);
+      } catch (InterruptedException err) {
+        // ignore
+      }
+    } while (!ok && System.currentTimeMillis() < start + 1000);
+    assertNotNull(subscriptionsInfo);
+    validateEndpointInfo.accept(subscriptionsInfo);
+    subscription.dispose();
+    subscription2.dispose();
   }
 }