diff --git a/rmw_fastrtps_cpp/src/rmw_get_topic_endpoint_info.cpp b/rmw_fastrtps_cpp/src/rmw_get_topic_endpoint_info.cpp
index 9982d73a7..dbb0397cc 100644
--- a/rmw_fastrtps_cpp/src/rmw_get_topic_endpoint_info.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_get_topic_endpoint_info.cpp
@@ -43,4 +43,28 @@ rmw_get_subscriptions_info_by_topic(
   return rmw_fastrtps_shared_cpp::__rmw_get_subscriptions_info_by_topic(
     eprosima_fastrtps_identifier, node, allocator, topic_name, no_mangle, subscriptions_info);
 }
+
+rmw_ret_t
+rmw_get_clients_info_by_service(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * clients_info)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_get_clients_info_by_service(
+    eprosima_fastrtps_identifier, node, allocator, service_name, no_mangle, clients_info);
+}
+
+rmw_ret_t
+rmw_get_servers_info_by_service(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * servers_info)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_get_servers_info_by_service(
+    eprosima_fastrtps_identifier, node, allocator, service_name, no_mangle, servers_info);
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_get_topic_endpoint_info.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_get_topic_endpoint_info.cpp
index d19492e45..819d3aaa3 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_get_topic_endpoint_info.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_get_topic_endpoint_info.cpp
@@ -43,4 +43,28 @@ rmw_get_subscriptions_info_by_topic(
   return rmw_fastrtps_shared_cpp::__rmw_get_subscriptions_info_by_topic(
     eprosima_fastrtps_identifier, node, allocator, topic_name, no_mangle, subscriptions_info);
 }
+
+rmw_ret_t
+rmw_get_clients_info_by_service(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * clients_info)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_get_clients_info_by_service(
+    eprosima_fastrtps_identifier, node, allocator, service_name, no_mangle, clients_info);
+}
+
+rmw_ret_t
+rmw_get_servers_info_by_service(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * servers_info)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_get_servers_info_by_service(
+    eprosima_fastrtps_identifier, node, allocator, service_name, no_mangle, servers_info);
+}
 }  // 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 1b4f73bc3..1c1587508 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
@@ -523,6 +523,26 @@ __rmw_get_subscriptions_info_by_topic(
   bool no_mangle,
   rmw_topic_endpoint_info_array_t * subscriptions_info);
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_clients_info_by_service(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * clients_info);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_servers_info_by_service(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * servers_info);
+
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
 __rmw_qos_profile_check_compatible(
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_get_topic_endpoint_info.cpp b/rmw_fastrtps_shared_cpp/src/rmw_get_topic_endpoint_info.cpp
index 45d4b8e61..e899873fc 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_get_topic_endpoint_info.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_get_topic_endpoint_info.cpp
@@ -123,4 +123,71 @@ __rmw_get_subscriptions_info_by_topic(
     allocator,
     subscriptions_info);
 }
+
+rmw_ret_t
+__rmw_get_clients_info_by_service(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * clients_info)
+{
+  rmw_ret_t ret = __validate_arguments(
+    identifier,
+    node,
+    allocator,
+    service_name,
+    clients_info);
+  if (ret != RMW_RET_OK) {
+    return ret;
+  }
+  auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
+  std::string mangled_rp_topic_name = service_name;
+  DemangleFunction demangle_type = _identity_demangle;
+  if (!no_mangle) {
+    mangled_rp_topic_name = \
+      _mangle_topic_name(ros_service_response_prefix, service_name, "Reply").to_string();
+    demangle_type = _demangle_if_ros_type;
+  }
+  return common_context->graph_cache.get_readers_info_by_topic(
+    mangled_rp_topic_name,
+    demangle_type,
+    allocator,
+    clients_info);
+}
+
+rmw_ret_t
+__rmw_get_servers_info_by_service(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_topic_endpoint_info_array_t * servers_info)
+{
+  rmw_ret_t ret = __validate_arguments(
+    identifier,
+    node,
+    allocator,
+    service_name,
+    servers_info);
+  if (ret != RMW_RET_OK) {
+    return ret;
+  }
+  auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
+  std::string mangled_rp_topic_name = service_name;
+  DemangleFunction demangle_type = _identity_demangle;
+  if (!no_mangle) {
+    mangled_rp_topic_name = \
+      _mangle_topic_name(ros_service_response_prefix, service_name, "Reply").to_string();
+    demangle_type = _demangle_if_ros_type;
+  }
+
+  return common_context->graph_cache.get_writers_info_by_topic(
+    mangled_rp_topic_name,
+    demangle_type,
+    allocator,
+    servers_info);
+}
 }  // namespace rmw_fastrtps_shared_cpp