diff --git a/rmw_connextdds/src/rmw_api_impl_ndds.cpp b/rmw_connextdds/src/rmw_api_impl_ndds.cpp
index 3a8ec4ef..78dcc468 100644
--- a/rmw_connextdds/src/rmw_api_impl_ndds.cpp
+++ b/rmw_connextdds/src/rmw_api_impl_ndds.cpp
@@ -566,6 +566,26 @@ rmw_create_client(
 }
 
 
+rmw_ret_t
+rmw_client_request_publisher_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos)
+{
+  return rmw_api_connextdds_client_request_publisher_get_actual_qos(
+    client, qos);
+}
+
+
+rmw_ret_t
+rmw_client_response_subscription_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos)
+{
+  return rmw_api_connextdds_client_response_subscription_get_actual_qos(
+    client, qos);
+}
+
+
 rmw_ret_t
 rmw_destroy_client(
   rmw_node_t * node,
@@ -587,6 +607,26 @@ rmw_create_service(
 }
 
 
+rmw_ret_t
+rmw_service_response_publisher_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos)
+{
+  return rmw_api_connextdds_service_response_publisher_get_actual_qos(
+    service, qos);
+}
+
+
+rmw_ret_t
+rmw_service_request_subscription_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos)
+{
+  return rmw_api_connextdds_service_request_subscription_get_actual_qos(
+    service, qos);
+}
+
+
 rmw_ret_t
 rmw_destroy_service(
   rmw_node_t * node,
diff --git a/rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp b/rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp
index 565e2941..4afaaab6 100644
--- a/rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp
+++ b/rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp
@@ -380,6 +380,18 @@ rmw_api_connextdds_create_client(
   const char * service_name,
   const rmw_qos_profile_t * qos_policies);
 
+RMW_CONNEXTDDS_PUBLIC
+rmw_ret_t
+rmw_api_connextdds_client_request_publisher_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos);
+
+RMW_CONNEXTDDS_PUBLIC
+rmw_ret_t
+rmw_api_connextdds_client_response_subscription_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos);
+
 RMW_CONNEXTDDS_PUBLIC
 rmw_ret_t
 rmw_api_connextdds_destroy_client(
@@ -394,6 +406,18 @@ rmw_api_connextdds_create_service(
   const char * service_name,
   const rmw_qos_profile_t * qos_policies);
 
+RMW_CONNEXTDDS_PUBLIC
+rmw_ret_t
+rmw_api_connextdds_service_response_publisher_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos);
+
+RMW_CONNEXTDDS_PUBLIC
+rmw_ret_t
+rmw_api_connextdds_service_request_subscription_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos);
+
 RMW_CONNEXTDDS_PUBLIC
 rmw_ret_t
 rmw_api_connextdds_destroy_service(
diff --git a/rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp b/rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp
index 8895d868..bd79a4a1 100644
--- a/rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp
+++ b/rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp
@@ -582,6 +582,12 @@ class RMW_Connext_Client
 
   rmw_ret_t
   enable();
+
+  rmw_ret_t
+  request_publisher_qos(rmw_qos_profile_t * const qos);
+
+  rmw_ret_t
+  response_subscription_qos(rmw_qos_profile_t * const qos);
 };
 
 class RMW_Connext_Service
@@ -629,6 +635,12 @@ class RMW_Connext_Service
 
   rmw_ret_t
   enable();
+
+  rmw_ret_t
+  response_publisher_qos(rmw_qos_profile_t * const qos);
+
+  rmw_ret_t
+  request_subscription_qos(rmw_qos_profile_t * const qos);
 };
 
 /******************************************************************************
diff --git a/rmw_connextdds_common/src/common/rmw_impl.cpp b/rmw_connextdds_common/src/common/rmw_impl.cpp
index 295b440a..a74a9010 100644
--- a/rmw_connextdds_common/src/common/rmw_impl.cpp
+++ b/rmw_connextdds_common/src/common/rmw_impl.cpp
@@ -2622,6 +2622,28 @@ RMW_Connext_Client::send_request(
   return rc;
 }
 
+rmw_ret_t
+RMW_Connext_Client::request_publisher_qos(rmw_qos_profile_t * const qos)
+{
+  rmw_ret_t rc = this->request_pub->qos(qos);
+  if (rc != RMW_RET_OK) {
+    RMW_SET_ERROR_MSG("coudn't get client's request publisher qos");
+    return rc;
+  }
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+RMW_Connext_Client::response_subscription_qos(rmw_qos_profile_t * const qos)
+{
+  rmw_ret_t rc = this->reply_sub->qos(qos);
+  if (rc != RMW_RET_OK) {
+    RMW_SET_ERROR_MSG("coudn't get client's response subscription qos");
+    return rc;
+  }
+  return RMW_RET_OK;
+}
+
 rmw_ret_t
 RMW_Connext_Client::finalize()
 {
@@ -2873,6 +2895,28 @@ RMW_Connext_Service::send_response(
   return this->reply_pub->write(&rr_msg, false /* serialized */);
 }
 
+rmw_ret_t
+RMW_Connext_Service::response_publisher_qos(rmw_qos_profile_t * const qos)
+{
+  rmw_ret_t rc = this->reply_pub->qos(qos);
+  if (rc != RMW_RET_OK) {
+    RMW_SET_ERROR_MSG("coudn't get service's response publisher qos");
+    return rc;
+  }
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+RMW_Connext_Service::request_subscription_qos(rmw_qos_profile_t * const qos)
+{
+  rmw_ret_t rc = this->request_sub->qos(qos);
+  if (rc != RMW_RET_OK) {
+    RMW_SET_ERROR_MSG("coudn't get service's request subscription qos");
+    return rc;
+  }
+  return RMW_RET_OK;
+}
+
 rmw_ret_t
 RMW_Connext_Service::finalize()
 {
diff --git a/rmw_connextdds_common/src/common/rmw_service.cpp b/rmw_connextdds_common/src/common/rmw_service.cpp
index a52d2425..c04e725c 100644
--- a/rmw_connextdds_common/src/common/rmw_service.cpp
+++ b/rmw_connextdds_common/src/common/rmw_service.cpp
@@ -267,6 +267,48 @@ rmw_api_connextdds_destroy_client(
 }
 
 
+rmw_ret_t
+rmw_api_connextdds_client_request_publisher_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(client, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    client,
+    client->implementation_identifier,
+    RMW_CONNEXTDDS_ID,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
+  RMW_Connext_Client * const client_impl =
+    reinterpret_cast<RMW_Connext_Client *>(client->data);
+
+  return client_impl->request_publisher_qos(qos);
+}
+
+
+rmw_ret_t
+rmw_api_connextdds_client_response_subscription_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(client, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    client,
+    client->implementation_identifier,
+    RMW_CONNEXTDDS_ID,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
+  RMW_Connext_Client * const client_impl =
+    reinterpret_cast<RMW_Connext_Client *>(client->data);
+
+  return client_impl->response_subscription_qos(qos);
+}
+
+
 rmw_service_t *
 rmw_api_connextdds_create_service(
   const rmw_node_t * node,
@@ -374,6 +416,48 @@ rmw_api_connextdds_create_service(
 }
 
 
+rmw_ret_t
+rmw_api_connextdds_service_response_publisher_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(service, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    service,
+    service->implementation_identifier,
+    RMW_CONNEXTDDS_ID,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
+  RMW_Connext_Service * const svc_impl =
+    reinterpret_cast<RMW_Connext_Service *>(service->data);
+
+  return svc_impl->response_publisher_qos(qos);
+}
+
+
+rmw_ret_t
+rmw_api_connextdds_service_request_subscription_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(service, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    service,
+    service->implementation_identifier,
+    RMW_CONNEXTDDS_ID,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
+  RMW_Connext_Service * const svc_impl =
+    reinterpret_cast<RMW_Connext_Service *>(service->data);
+
+  return svc_impl->request_subscription_qos(qos);
+}
+
+
 rmw_ret_t
 rmw_api_connextdds_destroy_service(
   rmw_node_t * node,
diff --git a/rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp b/rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp
index cac394cf..fd11a406 100644
--- a/rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp
+++ b/rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp
@@ -566,6 +566,25 @@ rmw_create_client(
 }
 
 
+rmw_ret_t
+rmw_client_request_publisher_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos)
+{
+  return rmw_api_connextdds_client_request_publisher_get_actual_qos(
+    client, qos);
+}
+
+
+rmw_ret_t
+rmw_client_response_subscription_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos)
+{
+  return rmw_api_connextdds_client_response_subscription_get_actual_qos(
+    client, qos);
+}
+
 rmw_ret_t
 rmw_destroy_client(
   rmw_node_t * node,
@@ -587,6 +606,26 @@ rmw_create_service(
 }
 
 
+rmw_ret_t
+rmw_service_response_publisher_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos)
+{
+  return rmw_api_connextdds_service_response_publisher_get_actual_qos(
+    service, qos);
+}
+
+
+rmw_ret_t
+rmw_service_request_subscription_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos)
+{
+  return rmw_api_connextdds_service_request_subscription_get_actual_qos(
+    service, qos);
+}
+
+
 rmw_ret_t
 rmw_destroy_service(
   rmw_node_t * node,