diff --git a/rmw_fastrtps_cpp/src/rmw_client.cpp b/rmw_fastrtps_cpp/src/rmw_client.cpp
index d10a61f41..d586aee5c 100644
--- a/rmw_fastrtps_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_client.cpp
@@ -493,4 +493,36 @@ rmw_destroy_client(rmw_node_t * node, rmw_client_t * client)
   return rmw_fastrtps_shared_cpp::__rmw_destroy_client(
     eprosima_fastrtps_identifier, node, client);
 }
+
+rmw_ret_t
+rmw_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,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
+  return rmw_fastrtps_shared_cpp::__rmw_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)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(client, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    client,
+    client->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
+  return rmw_fastrtps_shared_cpp::__rmw_client_response_subscription_get_actual_qos(client, qos);
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_cpp/src/rmw_service.cpp b/rmw_fastrtps_cpp/src/rmw_service.cpp
index 7ac758fa6..38216e081 100644
--- a/rmw_fastrtps_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_service.cpp
@@ -492,4 +492,36 @@ rmw_destroy_service(rmw_node_t * node, rmw_service_t * service)
   return rmw_fastrtps_shared_cpp::__rmw_destroy_service(
     eprosima_fastrtps_identifier, node, service);
 }
+
+rmw_ret_t
+rmw_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,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
+  return rmw_fastrtps_shared_cpp::__rmw_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)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(service, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    service,
+    service->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
+  return rmw_fastrtps_shared_cpp::__rmw_service_request_subscription_get_actual_qos(service, qos);
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
index 0f8a82391..b72852ac0 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
@@ -540,4 +540,36 @@ rmw_destroy_client(rmw_node_t * node, rmw_client_t * client)
   return rmw_fastrtps_shared_cpp::__rmw_destroy_client(
     eprosima_fastrtps_identifier, node, client);
 }
+
+rmw_ret_t
+rmw_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,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
+  return rmw_fastrtps_shared_cpp::__rmw_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)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(client, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    client,
+    client->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
+  return rmw_fastrtps_shared_cpp::__rmw_client_response_subscription_get_actual_qos(client, qos);
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
index 214d4e1a5..a0d5f4bd3 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
@@ -539,4 +539,36 @@ rmw_destroy_service(rmw_node_t * node, rmw_service_t * service)
   return rmw_fastrtps_shared_cpp::__rmw_destroy_service(
     eprosima_fastrtps_identifier, node, service);
 }
+
+rmw_ret_t
+rmw_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,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
+  return rmw_fastrtps_shared_cpp::__rmw_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)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(service, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    service,
+    service->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
+  return rmw_fastrtps_shared_cpp::__rmw_service_request_subscription_get_actual_qos(service, qos);
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
index 850cb449d..a7262c672 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
@@ -317,6 +317,30 @@ __rmw_subscription_get_actual_qos(
   const rmw_subscription_t * subscription,
   rmw_qos_profile_t * qos);
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_service_response_publisher_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_service_request_subscription_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_client_request_publisher_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_client_response_subscription_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos);
+
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
 __rmw_take(
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_client.cpp b/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
index d3fde8d9c..0eefa0e2f 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
@@ -126,4 +126,26 @@ __rmw_destroy_client(
   RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_ERROR);  // on completion
   return final_ret;
 }
+
+rmw_ret_t
+__rmw_client_request_publisher_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos)
+{
+  auto cli = static_cast<CustomClientInfo *>(client->data);
+  eprosima::fastdds::dds::DataWriter * fastdds_rw = cli->request_writer_;
+  dds_qos_to_rmw_qos(fastdds_rw->get_qos(), qos);
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+__rmw_client_response_subscription_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos)
+{
+  auto cli = static_cast<CustomClientInfo *>(client->data);
+  eprosima::fastdds::dds::DataReader * fastdds_dr = cli->response_reader_;
+  dds_qos_to_rmw_qos(fastdds_dr->get_qos(), qos);
+  return RMW_RET_OK;
+}
 }  // namespace rmw_fastrtps_shared_cpp
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_service.cpp b/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
index 1eba8692c..654605227 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
@@ -138,4 +138,26 @@ __rmw_destroy_service(
   RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_ERROR);  // on completion
   return final_ret;
 }
+
+rmw_ret_t
+__rmw_service_response_publisher_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos)
+{
+  auto srv = static_cast<CustomServiceInfo *>(service->data);
+  eprosima::fastdds::dds::DataWriter * fastdds_rw = srv->response_writer_;
+  dds_qos_to_rmw_qos(fastdds_rw->get_qos(), qos);
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+__rmw_service_request_subscription_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos)
+{
+  auto srv = static_cast<CustomServiceInfo *>(service->data);
+  eprosima::fastdds::dds::DataReader * fastdds_rr = srv->request_reader_;
+  dds_qos_to_rmw_qos(fastdds_rr->get_qos(), qos);
+  return RMW_RET_OK;
+}
 }  // namespace rmw_fastrtps_shared_cpp