diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
index 693390a34..0b886e7e3 100644
--- a/rmw_fastrtps_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -216,6 +216,15 @@ rmw_subscription_count_matched_publishers(
     subscription, publisher_count);
 }
 
+rmw_ret_t
+rmw_subscription_get_actual_qos(
+  const rmw_subscription_t * subscription,
+  rmw_qos_profile_t * qos)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_subscription_get_actual_qos(
+    subscription, qos);
+}
+
 rmw_ret_t
 rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription)
 {
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
index d397b4b9e..d3dfc3e25 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
@@ -212,6 +212,15 @@ rmw_subscription_count_matched_publishers(
     subscription, publisher_count);
 }
 
+rmw_ret_t
+rmw_subscription_get_actual_qos(
+  const rmw_subscription_t * subscription,
+  rmw_qos_profile_t * qos)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_subscription_get_actual_qos(
+    subscription, qos);
+}
+
 rmw_ret_t
 rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription)
 {
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
index fce19d99f..a0cce9200 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
@@ -28,6 +28,10 @@ class PublisherAttributes;
 }  // namespace fastrtps
 }  // namespace eprosima
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+bool
+is_valid_qos(const rmw_qos_profile_t & qos_policies);
+
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 bool
 get_datareader_qos(
@@ -40,8 +44,22 @@ get_datawriter_qos(
   const rmw_qos_profile_t & qos_policies,
   eprosima::fastrtps::PublisherAttributes & pattr);
 
-RMW_FASTRTPS_SHARED_CPP_PUBLIC
-bool
-is_valid_qos(const rmw_qos_profile_t & qos_policies);
+template<typename AttributeT>
+void
+dds_qos_to_rmw_qos(
+  const AttributeT & dds_qos,
+  rmw_qos_profile_t * qos);
+
+extern template RMW_FASTRTPS_SHARED_CPP_PUBLIC
+void
+dds_qos_to_rmw_qos<eprosima::fastrtps::PublisherAttributes>(
+  const eprosima::fastrtps::PublisherAttributes & dds_qos,
+  rmw_qos_profile_t * qos);
+
+extern template RMW_FASTRTPS_SHARED_CPP_PUBLIC
+void
+dds_qos_to_rmw_qos<eprosima::fastrtps::SubscriberAttributes>(
+  const eprosima::fastrtps::SubscriberAttributes & dds_qos,
+  rmw_qos_profile_t * qos);
 
 #endif  // RMW_FASTRTPS_SHARED_CPP__QOS_HPP_
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 9dfcdc689..8ffc8cd02 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
@@ -258,6 +258,12 @@ __rmw_subscription_count_matched_publishers(
   const rmw_subscription_t * subscription,
   size_t * publisher_count);
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_subscription_get_actual_qos(
+  const rmw_subscription_t * subscription,
+  rmw_qos_profile_t * qos);
+
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
 __rmw_take(
diff --git a/rmw_fastrtps_shared_cpp/src/qos.cpp b/rmw_fastrtps_shared_cpp/src/qos.cpp
index 52d7c7b52..c3a604305 100644
--- a/rmw_fastrtps_shared_cpp/src/qos.cpp
+++ b/rmw_fastrtps_shared_cpp/src/qos.cpp
@@ -169,3 +169,80 @@ is_valid_qos(const rmw_qos_profile_t & qos_policies)
   }
   return true;
 }
+
+template<typename AttributeT>
+void
+dds_qos_to_rmw_qos(
+  const AttributeT & dds_qos,
+  rmw_qos_profile_t * qos)
+{
+  switch (dds_qos.topic.historyQos.kind) {
+    case eprosima::fastrtps::KEEP_LAST_HISTORY_QOS:
+      qos->history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
+      break;
+    case eprosima::fastrtps::KEEP_ALL_HISTORY_QOS:
+      qos->history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
+      break;
+    default:
+      qos->history = RMW_QOS_POLICY_HISTORY_UNKNOWN;
+      break;
+  }
+  qos->depth = static_cast<size_t>(dds_qos.topic.historyQos.depth);
+
+  switch (dds_qos.qos.m_reliability.kind) {
+    case eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS:
+      qos->reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+      break;
+    case eprosima::fastrtps::RELIABLE_RELIABILITY_QOS:
+      qos->reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+      break;
+    default:
+      qos->reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
+      break;
+  }
+
+  switch (dds_qos.qos.m_durability.kind) {
+    case eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS:
+      qos->durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+      break;
+    case eprosima::fastrtps::VOLATILE_DURABILITY_QOS:
+      qos->durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+      break;
+    default:
+      qos->durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN;
+      break;
+  }
+
+  qos->deadline.sec = dds_qos.qos.m_deadline.period.seconds;
+  qos->deadline.nsec = dds_qos.qos.m_deadline.period.nanosec;
+
+  qos->lifespan.sec = dds_qos.qos.m_lifespan.duration.seconds;
+  qos->lifespan.nsec = dds_qos.qos.m_lifespan.duration.nanosec;
+
+  switch (dds_qos.qos.m_liveliness.kind) {
+    case eprosima::fastrtps::AUTOMATIC_LIVELINESS_QOS:
+      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
+      break;
+    case eprosima::fastrtps::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS:
+      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE;
+      break;
+    case eprosima::fastrtps::MANUAL_BY_TOPIC_LIVELINESS_QOS:
+      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
+      break;
+    default:
+      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
+      break;
+  }
+  qos->liveliness_lease_duration.sec = dds_qos.qos.m_liveliness.lease_duration.seconds;
+  qos->liveliness_lease_duration.nsec = dds_qos.qos.m_liveliness.lease_duration.nanosec;
+}
+
+template
+void dds_qos_to_rmw_qos<eprosima::fastrtps::PublisherAttributes>(
+  const eprosima::fastrtps::PublisherAttributes & dds_qos,
+  rmw_qos_profile_t * qos);
+
+template
+void dds_qos_to_rmw_qos<eprosima::fastrtps::SubscriberAttributes>(
+  const eprosima::fastrtps::SubscriberAttributes & dds_qos,
+  rmw_qos_profile_t * qos);
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
index 5fe9c2c79..0186ce214 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
@@ -146,65 +146,7 @@ __rmw_publisher_get_actual_qos(
   const eprosima::fastrtps::PublisherAttributes & attributes =
     fastrtps_pub->getAttributes();
 
-  switch (attributes.topic.historyQos.kind) {
-    case eprosima::fastrtps::KEEP_LAST_HISTORY_QOS:
-      qos->history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
-      break;
-    case eprosima::fastrtps::KEEP_ALL_HISTORY_QOS:
-      qos->history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
-      break;
-    default:
-      qos->history = RMW_QOS_POLICY_HISTORY_UNKNOWN;
-      break;
-  }
-  qos->depth = static_cast<size_t>(attributes.topic.historyQos.depth);
-
-  switch (attributes.qos.m_reliability.kind) {
-    case eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS:
-      qos->reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
-      break;
-    case eprosima::fastrtps::RELIABLE_RELIABILITY_QOS:
-      qos->reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
-      break;
-    default:
-      qos->reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
-      break;
-  }
-
-  switch (attributes.qos.m_durability.kind) {
-    case eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS:
-      qos->durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
-      break;
-    case eprosima::fastrtps::VOLATILE_DURABILITY_QOS:
-      qos->durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
-      break;
-    default:
-      qos->durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN;
-      break;
-  }
-
-  qos->deadline.sec = attributes.qos.m_deadline.period.seconds;
-  qos->deadline.nsec = attributes.qos.m_deadline.period.nanosec;
-
-  qos->lifespan.sec = attributes.qos.m_lifespan.duration.seconds;
-  qos->lifespan.nsec = attributes.qos.m_lifespan.duration.nanosec;
-
-  switch (attributes.qos.m_liveliness.kind) {
-    case eprosima::fastrtps::AUTOMATIC_LIVELINESS_QOS:
-      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
-      break;
-    case eprosima::fastrtps::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS:
-      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE;
-      break;
-    case eprosima::fastrtps::MANUAL_BY_TOPIC_LIVELINESS_QOS:
-      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
-      break;
-    default:
-      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
-      break;
-  }
-  qos->liveliness_lease_duration.sec = attributes.qos.m_liveliness.lease_duration.seconds;
-  qos->liveliness_lease_duration.nsec = attributes.qos.m_liveliness.lease_duration.nanosec;
+  dds_qos_to_rmw_qos(attributes, qos);
 
   return RMW_RET_OK;
 }
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
index 9ecb309cf..429acfd05 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
@@ -106,4 +106,27 @@ __rmw_subscription_count_matched_publishers(
   return RMW_RET_OK;
 }
 
+rmw_ret_t
+__rmw_subscription_get_actual_qos(
+  const rmw_subscription_t * subscription,
+  rmw_qos_profile_t * qos)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(subscription, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
+  auto info = static_cast<CustomSubscriberInfo *>(subscription->data);
+  if (info == nullptr) {
+    return RMW_RET_ERROR;
+  }
+  eprosima::fastrtps::Subscriber * fastrtps_sub = info->subscriber_;
+  if (fastrtps_sub == nullptr) {
+    return RMW_RET_ERROR;
+  }
+  const eprosima::fastrtps::SubscriberAttributes & attributes =
+    fastrtps_sub->getAttributes();
+
+  dds_qos_to_rmw_qos(attributes, qos);
+
+  return RMW_RET_OK;
+}
 }  // namespace rmw_fastrtps_shared_cpp