diff --git a/rclpy/CMakeLists.txt b/rclpy/CMakeLists.txt
index 1b1c12f58..c5e843f8e 100644
--- a/rclpy/CMakeLists.txt
+++ b/rclpy/CMakeLists.txt
@@ -96,6 +96,7 @@ pybind11_add_module(_rclpy_pybind11 SHARED
   src/rclpy/serialization.cpp
   src/rclpy/service.cpp
   src/rclpy/service_info.cpp
+  src/rclpy/service_introspection.cpp
   src/rclpy/signal_handler.cpp
   src/rclpy/subscription.cpp
   src/rclpy/time_point.cpp
@@ -190,6 +191,7 @@ if(BUILD_TESTING)
       test/test_rate.py
       test/test_rosout_subscription.py
       test/test_serialization.py
+      test/test_service_introspection.py
       test/test_subscription.py
       test/test_task.py
       test/test_time_source.py
diff --git a/rclpy/rclpy/client.py b/rclpy/rclpy/client.py
index 92e1b4782..d46256bc5 100644
--- a/rclpy/rclpy/client.py
+++ b/rclpy/rclpy/client.py
@@ -18,9 +18,11 @@
 from typing import TypeVar
 
 from rclpy.callback_groups import CallbackGroup
+from rclpy.clock import Clock
 from rclpy.context import Context
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.qos import QoSProfile
+from rclpy.service_introspection import ServiceIntrospectionState
 from rclpy.task import Future
 
 # Used for documentation purposes only
@@ -180,6 +182,23 @@ def wait_for_service(self, timeout_sec: float = None) -> bool:
 
         return self.service_is_ready()
 
+    def configure_introspection(
+        self, clock: Clock,
+        service_event_qos_profile: QoSProfile,
+        introspection_state: ServiceIntrospectionState
+    ) -> None:
+        """
+        Configure client introspection.
+
+        :param clock: Clock to use for generating timestamps.
+        :param service_event_qos_profile: QoSProfile to use when creating service event publisher.
+        :param introspection_state: ServiceIntrospectionState to set introspection.
+        """
+        with self.handle:
+            self.__client.configure_introspection(clock.handle,
+                                                  service_event_qos_profile.get_c_qos_profile(),
+                                                  introspection_state)
+
     @property
     def handle(self):
         return self.__client
diff --git a/rclpy/rclpy/service.py b/rclpy/rclpy/service.py
index 3fe278792..adb55056a 100644
--- a/rclpy/rclpy/service.py
+++ b/rclpy/rclpy/service.py
@@ -16,8 +16,10 @@
 from typing import TypeVar
 
 from rclpy.callback_groups import CallbackGroup
+from rclpy.clock import Clock
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.qos import QoSProfile
+from rclpy.service_introspection import ServiceIntrospectionState
 
 # Used for documentation purposes only
 SrvType = TypeVar('SrvType')
@@ -79,6 +81,23 @@ def send_response(self, response: SrvTypeResponse, header) -> None:
             else:
                 raise TypeError()
 
+    def configure_introspection(
+        self, clock: Clock,
+        service_event_qos_profile: QoSProfile,
+        introspection_state: ServiceIntrospectionState
+    ) -> None:
+        """
+        Configure service introspection.
+
+        :param clock: Clock to use for generating timestamps.
+        :param service_event_qos_profile: QoSProfile to use when creating service event publisher.
+        :param introspection_state: ServiceIntrospectionState to set introspection.
+        """
+        with self.handle:
+            self.__service.configure_introspection(clock.handle,
+                                                   service_event_qos_profile.get_c_qos_profile(),
+                                                   introspection_state)
+
     @property
     def handle(self):
         return self.__service
diff --git a/rclpy/rclpy/service_introspection.py b/rclpy/rclpy/service_introspection.py
new file mode 100644
index 000000000..77fcfd793
--- /dev/null
+++ b/rclpy/rclpy/service_introspection.py
@@ -0,0 +1,17 @@
+# Copyright 2023 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.
+
+from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
+
+ServiceIntrospectionState = _rclpy.service_introspection.ServiceIntrospectionState
diff --git a/rclpy/src/rclpy/_rclpy_pybind11.cpp b/rclpy/src/rclpy/_rclpy_pybind11.cpp
index 719e9a87d..307ff9afd 100644
--- a/rclpy/src/rclpy/_rclpy_pybind11.cpp
+++ b/rclpy/src/rclpy/_rclpy_pybind11.cpp
@@ -15,6 +15,7 @@
 #include <pybind11/pybind11.h>
 
 #include <rcl/domain_id.h>
+#include <rcl/service_introspection.h>
 #include <rcl/time.h>
 #include <rcl_action/types.h>
 
@@ -44,6 +45,7 @@
 #include "serialization.hpp"
 #include "service.hpp"
 #include "service_info.hpp"
+#include "service_introspection.hpp"
 #include "signal_handler.hpp"
 #include "subscription.hpp"
 #include "time_point.hpp"
@@ -119,6 +121,8 @@ PYBIND11_MODULE(_rclpy_pybind11, m) {
   py::register_exception<rclpy::InvalidHandle>(
     m, "InvalidHandle", PyExc_RuntimeError);
 
+  rclpy::define_service_introspection(m);
+
   rclpy::define_client(m);
 
   rclpy::define_context(m);
diff --git a/rclpy/src/rclpy/client.cpp b/rclpy/src/rclpy/client.cpp
index af22bb720..1376ec91a 100644
--- a/rclpy/src/rclpy/client.cpp
+++ b/rclpy/src/rclpy/client.cpp
@@ -17,6 +17,7 @@
 #include <rcl/client.h>
 #include <rcl/error_handling.h>
 #include <rcl/graph.h>
+#include <rcl/service_introspection.h>
 #include <rosidl_runtime_c/service_type_support_struct.h>
 #include <rmw/types.h>
 
@@ -24,6 +25,7 @@
 #include <string>
 
 #include "client.hpp"
+#include "clock.hpp"
 #include "exceptions.hpp"
 #include "node.hpp"
 #include "python_allocator.hpp"
@@ -40,12 +42,11 @@ Client::destroy()
 }
 
 Client::Client(
-  Node & node, py::object pysrv_type, const char * service_name, py::object pyqos_profile)
+  Node & node, py::object pysrv_type, const std::string & service_name, py::object pyqos_profile)
 : node_(node)
 {
-  auto srv_type = static_cast<rosidl_service_type_support_t *>(
-    common_get_type_support(pysrv_type));
-  if (!srv_type) {
+  srv_type_ = static_cast<rosidl_service_type_support_t *>(common_get_type_support(pysrv_type));
+  if (nullptr == srv_type_) {
     throw py::error_already_set();
   }
 
@@ -55,7 +56,6 @@ Client::Client(
     client_ops.qos = pyqos_profile.cast<rmw_qos_profile_t>();
   }
 
-
   // Create a client
   rcl_client_ = std::shared_ptr<rcl_client_t>(
     PythonAllocator<rcl_client_t>().allocate(1),
@@ -77,7 +77,7 @@ Client::Client(
   *rcl_client_ = rcl_get_zero_initialized_client();
 
   rcl_ret_t ret = rcl_client_init(
-    rcl_client_.get(), node_.rcl_ptr(), srv_type, service_name, &client_ops);
+    rcl_client_.get(), node_.rcl_ptr(), srv_type_, service_name.c_str(), &client_ops);
   if (RCL_RET_OK != ret) {
     if (RCL_RET_SERVICE_NAME_INVALID == ret) {
       std::string error_text{"failed to create client due to invalid service name '"};
@@ -146,11 +146,29 @@ Client::take_response(py::object pyresponse_type)
   return result_tuple;
 }
 
+void
+Client::configure_introspection(
+  Clock & clock, py::object pyqos_service_event_pub,
+  rcl_service_introspection_state_t introspection_state)
+{
+  rcl_publisher_options_t pub_opts = rcl_publisher_get_default_options();
+  pub_opts.qos =
+    pyqos_service_event_pub.is_none() ? rcl_publisher_get_default_options().qos :
+    pyqos_service_event_pub.cast<rmw_qos_profile_t>();
+
+  rcl_ret_t ret = rcl_client_configure_service_introspection(
+    rcl_client_.get(), node_.rcl_ptr(), clock.rcl_ptr(), srv_type_, pub_opts, introspection_state);
+
+  if (RCL_RET_OK != ret) {
+    throw RCLError("failed to configure client introspection");
+  }
+}
+
 void
 define_client(py::object module)
 {
   py::class_<Client, Destroyable, std::shared_ptr<Client>>(module, "Client")
-  .def(py::init<Node &, py::object, const char *, py::object>())
+  .def(py::init<Node &, py::object, const std::string &, py::object>())
   .def_property_readonly(
     "pointer", [](const Client & client) {
       return reinterpret_cast<size_t>(client.rcl_ptr());
@@ -164,6 +182,9 @@ define_client(py::object module)
     "Return true if the service server is available")
   .def(
     "take_response", &Client::take_response,
-    "Take a received response from an earlier request");
+    "Take a received response from an earlier request")
+  .def(
+    "configure_introspection", &Client::configure_introspection,
+    "Configure whether introspection is enabled");
 }
 }  // namespace rclpy
diff --git a/rclpy/src/rclpy/client.hpp b/rclpy/src/rclpy/client.hpp
index ff1f29d59..90088afce 100644
--- a/rclpy/src/rclpy/client.hpp
+++ b/rclpy/src/rclpy/client.hpp
@@ -18,9 +18,13 @@
 #include <pybind11/pybind11.h>
 
 #include <rcl/client.h>
+#include <rcl/service_introspection.h>
+#include <rmw/types.h>
 
 #include <memory>
+#include <string>
 
+#include "clock.hpp"
 #include "destroyable.hpp"
 #include "node.hpp"
 
@@ -43,9 +47,9 @@ class Client : public Destroyable, public std::enable_shared_from_this<Client>
    * \param[in] node Node to add the client to
    * \param[in] pysrv_type Service module associated with the client
    * \param[in] service_name The service name
-   * \param[in] pyqos rmw_qos_profile_t object for this client
+   * \param[in] pyqos QoSProfile python object for this client
    */
-  Client(Node & node, py::object pysrv_type, const char * service_name, py::object pyqos);
+  Client(Node & node, py::object pysrv_type, const std::string & service_name, py::object pyqos);
 
   ~Client() = default;
 
@@ -86,6 +90,17 @@ class Client : public Destroyable, public std::enable_shared_from_this<Client>
     return rcl_client_.get();
   }
 
+  /// Configure introspection.
+  /**
+   * \param[in] clock clock to use for service event timestamps
+   * \param[in] pyqos_service_event_pub QoSProfile python object for the service event publisher
+   * \param[in] introspection_state which state to set introspection to
+   */
+  void
+  configure_introspection(
+    Clock & clock, py::object pyqos_service_event_pub,
+    rcl_service_introspection_state_t introspection_state);
+
   /// Force an early destruction of this object
   void
   destroy() override;
@@ -93,6 +108,7 @@ class Client : public Destroyable, public std::enable_shared_from_this<Client>
 private:
   Node node_;
   std::shared_ptr<rcl_client_t> rcl_client_;
+  rosidl_service_type_support_t * srv_type_;
 };
 
 /// Define a pybind11 wrapper for an rclpy::Client
diff --git a/rclpy/src/rclpy/service.cpp b/rclpy/src/rclpy/service.cpp
index 02b7ba88d..ad50dbd51 100644
--- a/rclpy/src/rclpy/service.cpp
+++ b/rclpy/src/rclpy/service.cpp
@@ -16,12 +16,14 @@
 
 #include <rcl/error_handling.h>
 #include <rcl/service.h>
+#include <rcl/service_introspection.h>
 #include <rosidl_runtime_c/service_type_support_struct.h>
 #include <rmw/types.h>
 
 #include <memory>
 #include <string>
 
+#include "clock.hpp"
 #include "exceptions.hpp"
 #include "node.hpp"
 #include "service.hpp"
@@ -38,13 +40,13 @@ Service::destroy()
 }
 
 Service::Service(
-  Node & node, py::object pysrv_type, std::string service_name,
+  Node & node, py::object pysrv_type, const std::string & service_name,
   py::object pyqos_profile)
 : node_(node)
 {
-  auto srv_type = static_cast<rosidl_service_type_support_t *>(
+  srv_type_ = static_cast<rosidl_service_type_support_t *>(
     common_get_type_support(pysrv_type));
-  if (!srv_type) {
+  if (nullptr == srv_type_) {
     throw py::error_already_set();
   }
 
@@ -54,7 +56,7 @@ Service::Service(
     service_ops.qos = pyqos_profile.cast<rmw_qos_profile_t>();
   }
 
-  // Create a client
+  // Create a service
   rcl_service_ = std::shared_ptr<rcl_service_t>(
     new rcl_service_t,
     [node](rcl_service_t * service)
@@ -75,7 +77,7 @@ Service::Service(
   *rcl_service_ = rcl_get_zero_initialized_service();
 
   rcl_ret_t ret = rcl_service_init(
-    rcl_service_.get(), node_.rcl_ptr(), srv_type,
+    rcl_service_.get(), node_.rcl_ptr(), srv_type_,
     service_name.c_str(), &service_ops);
   if (RCL_RET_OK != ret) {
     if (ret == RCL_RET_SERVICE_NAME_INVALID) {
@@ -144,11 +146,29 @@ Service::get_qos_profile()
   return rclpy::convert_to_qos_dict(&options->qos);
 }
 
+void
+Service::configure_introspection(
+  Clock & clock, py::object pyqos_service_event_pub,
+  rcl_service_introspection_state_t introspection_state)
+{
+  rcl_publisher_options_t pub_opts = rcl_publisher_get_default_options();
+  pub_opts.qos =
+    pyqos_service_event_pub.is_none() ? rcl_publisher_get_default_options().qos :
+    pyqos_service_event_pub.cast<rmw_qos_profile_t>();
+
+  rcl_ret_t ret = rcl_service_configure_service_introspection(
+    rcl_service_.get(), node_.rcl_ptr(), clock.rcl_ptr(), srv_type_, pub_opts, introspection_state);
+
+  if (RCL_RET_OK != ret) {
+    throw RCLError("failed to configure service introspection");
+  }
+}
+
 void
 define_service(py::object module)
 {
   py::class_<Service, Destroyable, std::shared_ptr<Service>>(module, "Service")
-  .def(py::init<Node &, py::object, std::string, py::object>())
+  .def(py::init<Node &, py::object, const std::string &, py::object>())
   .def_property_readonly(
     "pointer", [](const Service & service) {
       return reinterpret_cast<size_t>(service.rcl_ptr());
@@ -165,6 +185,9 @@ define_service(py::object module)
     "Send a response")
   .def(
     "service_take_request", &Service::service_take_request,
-    "Take a request from a given service");
+    "Take a request from a given service")
+  .def(
+    "configure_introspection", &Service::configure_introspection,
+    "Configure whether introspection is enabled");
 }
 }  // namespace rclpy
diff --git a/rclpy/src/rclpy/service.hpp b/rclpy/src/rclpy/service.hpp
index 95c2dd05c..278cad097 100644
--- a/rclpy/src/rclpy/service.hpp
+++ b/rclpy/src/rclpy/service.hpp
@@ -18,11 +18,13 @@
 #include <pybind11/pybind11.h>
 
 #include <rcl/service.h>
+#include <rcl/service_introspection.h>
 #include <rmw/types.h>
 
 #include <memory>
 #include <string>
 
+#include "clock.hpp"
 #include "destroyable.hpp"
 #include "node.hpp"
 #include "utils.hpp"
@@ -48,10 +50,9 @@ class Service : public Destroyable, public std::enable_shared_from_this<Service>
    * \param[in] pysrv_type Service module associated with the service
    * \param[in] service_name Python object for the service name
    * \param[in] pyqos_profile QoSProfile Python object for this service
-   * \return capsule containing the rcl_service_t
    */
   Service(
-    Node & node, py::object pysrv_type, std::string service_name,
+    Node & node, py::object pysrv_type, const std::string & service_name,
     py::object pyqos_profile);
 
   Service(
@@ -98,6 +99,17 @@ class Service : public Destroyable, public std::enable_shared_from_this<Service>
   py::dict
   get_qos_profile();
 
+  /// Configure introspection.
+  /**
+   * \param[in] clock clock to use for service event timestamps
+   * \param[in] pyqos_service_event_pub QoSProfile python object for the service event publisher
+   * \param[in] introspection_state which state to set introspection to
+   */
+  void
+  configure_introspection(
+    Clock & clock, py::object pyqos_service_event_pub,
+    rcl_service_introspection_state_t introspection_state);
+
   /// Force an early destruction of this object
   void
   destroy() override;
@@ -105,6 +117,7 @@ class Service : public Destroyable, public std::enable_shared_from_this<Service>
 private:
   Node node_;
   std::shared_ptr<rcl_service_t> rcl_service_;
+  rosidl_service_type_support_t * srv_type_;
 };
 
 /// Define a pybind11 wrapper for an rclpy::Service
diff --git a/rclpy/src/rclpy/service_introspection.cpp b/rclpy/src/rclpy/service_introspection.cpp
new file mode 100644
index 000000000..8ac62bed2
--- /dev/null
+++ b/rclpy/src/rclpy/service_introspection.cpp
@@ -0,0 +1,33 @@
+// Copyright 2022 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 "service_introspection.hpp"
+#include "rcl/service_introspection.h"
+
+namespace rclpy
+{
+
+void
+define_service_introspection(py::module_ module)
+{
+  py::module_ m2 = module.def_submodule(
+    "service_introspection",
+    "utilities for introspecting services");
+
+  py::enum_<rcl_service_introspection_state_t>(m2, "ServiceIntrospectionState")
+  .value("OFF", RCL_SERVICE_INTROSPECTION_OFF)
+  .value("METADATA", RCL_SERVICE_INTROSPECTION_METADATA)
+  .value("CONTENTS", RCL_SERVICE_INTROSPECTION_CONTENTS);
+}
+}  // namespace rclpy
diff --git a/rclpy/src/rclpy/service_introspection.hpp b/rclpy/src/rclpy/service_introspection.hpp
new file mode 100644
index 000000000..1f6173104
--- /dev/null
+++ b/rclpy/src/rclpy/service_introspection.hpp
@@ -0,0 +1,30 @@
+// Copyright 2022 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.
+
+#ifndef RCLPY__SERVICE_INTROSPECTION_HPP_
+#define RCLPY__SERVICE_INTROSPECTION_HPP_
+
+#include "pybind11/pybind11.h"
+
+namespace py = pybind11;
+
+namespace rclpy
+{
+
+void
+define_service_introspection(py::module_ module);
+
+}  // namespace rclpy
+
+#endif  // RCLPY__SERVICE_INTROSPECTION_HPP_
diff --git a/rclpy/test/test_service_introspection.py b/rclpy/test/test_service_introspection.py
new file mode 100644
index 000000000..909a5e776
--- /dev/null
+++ b/rclpy/test/test_service_introspection.py
@@ -0,0 +1,172 @@
+# Copyright 2022 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.
+
+import time
+from typing import List
+import unittest
+
+import rclpy
+import rclpy.executors
+from rclpy.qos import qos_profile_system_default
+from rclpy.service_introspection import ServiceIntrospectionState
+from service_msgs.msg import ServiceEventInfo
+from test_msgs.srv import BasicTypes
+
+
+class TestServiceEvents(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(cls):
+        cls.context = rclpy.context.Context()
+        rclpy.init(context=cls.context)
+
+    def setUp(self):
+        self.node = rclpy.create_node(
+            'TestServiceIntrospection', context=self.context)
+        self.executor = rclpy.executors.SingleThreadedExecutor(context=self.context)
+        self.executor.add_node(self.node)
+        self.srv = self.node.create_service(BasicTypes, 'test_service', self.srv_callback)
+        self.cli = self.node.create_client(BasicTypes, 'test_service')
+        self.sub = self.node.create_subscription(BasicTypes.Event, 'test_service/_service_event',
+                                                 self.sub_callback, 10)
+        self.event_messages: List[BasicTypes.Event] = []
+
+    def tearDown(self):
+        self.node.destroy_node()
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown(context=cls.context)
+
+    def sub_callback(self, msg):
+        self.event_messages.append(msg)
+
+    def srv_callback(self, req, resp):
+        resp.bool_value = not req.bool_value
+        resp.int64_value = req.int64_value
+        return resp
+
+    def test_service_introspection_metadata(self):
+        req = BasicTypes.Request()
+        req.bool_value = False
+        req.int64_value = 12345
+
+        self.cli.configure_introspection(self.node.get_clock(),
+                                         qos_profile_system_default,
+                                         ServiceIntrospectionState.METADATA)
+        self.srv.configure_introspection(self.node.get_clock(),
+                                         qos_profile_system_default,
+                                         ServiceIntrospectionState.METADATA)
+
+        future = self.cli.call_async(req)
+        self.executor.spin_until_future_complete(future, timeout_sec=5.0)
+        self.assertTrue(future.done())
+
+        start = time.monotonic()
+        end = start + 5.0
+        while len(self.event_messages) < 4:
+            self.executor.spin_once(timeout_sec=0.1)
+
+            now = time.monotonic()
+            self.assertTrue(now < end)
+
+        self.assertEqual(len(self.event_messages), 4)
+
+        result_dict = {}
+        for msg in self.event_messages:
+            result_dict[msg.info.event_type] = msg
+        self.assertEqual(
+            set(result_dict.keys()),
+            {ServiceEventInfo.REQUEST_SENT, ServiceEventInfo.REQUEST_RECEIVED,
+             ServiceEventInfo.RESPONSE_SENT, ServiceEventInfo.RESPONSE_RECEIVED})
+
+        self.assertEqual(len(result_dict[ServiceEventInfo.REQUEST_SENT].request), 0)
+        self.assertEqual(len(result_dict[ServiceEventInfo.REQUEST_SENT].response), 0)
+
+        self.assertEqual(len(result_dict[ServiceEventInfo.RESPONSE_SENT].request), 0)
+        self.assertEqual(len(result_dict[ServiceEventInfo.RESPONSE_SENT].response), 0)
+
+        self.assertEqual(len(result_dict[ServiceEventInfo.REQUEST_RECEIVED].request), 0)
+        self.assertEqual(len(result_dict[ServiceEventInfo.REQUEST_RECEIVED].response), 0)
+
+        self.assertEqual(len(result_dict[ServiceEventInfo.RESPONSE_RECEIVED].request), 0)
+        self.assertEqual(len(result_dict[ServiceEventInfo.RESPONSE_RECEIVED].response), 0)
+
+    def test_service_introspection_contents(self):
+        req = BasicTypes.Request()
+        req.bool_value = False
+        req.int64_value = 12345
+
+        self.cli.configure_introspection(self.node.get_clock(),
+                                         qos_profile_system_default,
+                                         ServiceIntrospectionState.CONTENTS)
+        self.srv.configure_introspection(self.node.get_clock(),
+                                         qos_profile_system_default,
+                                         ServiceIntrospectionState.CONTENTS)
+
+        future = self.cli.call_async(req)
+        self.executor.spin_until_future_complete(future, timeout_sec=5.0)
+        self.assertTrue(future.done())
+
+        start = time.monotonic()
+        end = start + 5.0
+        while len(self.event_messages) < 4:
+            self.executor.spin_once(timeout_sec=0.1)
+
+            now = time.monotonic()
+            self.assertTrue(now < end)
+
+        self.assertEqual(len(self.event_messages), 4)
+
+        result_dict = {}
+        for msg in self.event_messages:
+            result_dict[msg.info.event_type] = msg
+        self.assertEqual(
+            set(result_dict.keys()),
+            {ServiceEventInfo.REQUEST_SENT, ServiceEventInfo.REQUEST_RECEIVED,
+             ServiceEventInfo.RESPONSE_SENT, ServiceEventInfo.RESPONSE_RECEIVED})
+
+        self.assertEqual(len(result_dict[ServiceEventInfo.REQUEST_SENT].request), 1)
+        self.assertEqual(result_dict[ServiceEventInfo.REQUEST_SENT].request[0].bool_value, False)
+        self.assertEqual(result_dict[ServiceEventInfo.REQUEST_SENT].request[0].int64_value, 12345)
+        self.assertEqual(len(result_dict[ServiceEventInfo.REQUEST_SENT].response), 0)
+
+        self.assertEqual(len(result_dict[ServiceEventInfo.RESPONSE_SENT].request), 0)
+        self.assertEqual(len(result_dict[ServiceEventInfo.RESPONSE_SENT].response), 1)
+        self.assertEqual(result_dict[ServiceEventInfo.RESPONSE_SENT].response[0].bool_value, True)
+        self.assertEqual(
+            result_dict[ServiceEventInfo.RESPONSE_SENT].response[0].int64_value,
+            12345)
+
+        self.assertEqual(len(result_dict[ServiceEventInfo.REQUEST_RECEIVED].request), 1)
+        self.assertEqual(
+            result_dict[ServiceEventInfo.REQUEST_RECEIVED].request[0].bool_value,
+            False)
+        self.assertEqual(
+            result_dict[ServiceEventInfo.REQUEST_RECEIVED].request[0].int64_value,
+            12345)
+        self.assertEqual(len(result_dict[ServiceEventInfo.REQUEST_RECEIVED].response), 0)
+
+        self.assertEqual(len(result_dict[ServiceEventInfo.RESPONSE_RECEIVED].request), 0)
+        self.assertEqual(len(result_dict[ServiceEventInfo.RESPONSE_RECEIVED].response), 1)
+        self.assertEqual(
+            result_dict[ServiceEventInfo.RESPONSE_RECEIVED].response[0].bool_value,
+            True)
+        self.assertEqual(
+            result_dict[ServiceEventInfo.RESPONSE_RECEIVED].response[0].int64_value,
+            12345)
+
+
+if __name__ == '__main__':
+    unittest.main()