diff --git a/rclcpp/include/rclcpp/duration.hpp b/rclcpp/include/rclcpp/duration.hpp
index e5d7c5e130..c6b790fc7a 100644
--- a/rclcpp/include/rclcpp/duration.hpp
+++ b/rclcpp/include/rclcpp/duration.hpp
@@ -137,6 +137,9 @@ class RCLCPP_PUBLIC Duration
   static Duration
   from_nanoseconds(rcl_duration_value_t nanoseconds);
 
+  static Duration
+  from_rmw_time(rmw_time_t duration);
+
   /// Convert Duration into a std::chrono::Duration.
   template<class DurationT>
   DurationT
diff --git a/rclcpp/include/rclcpp/qos.hpp b/rclcpp/include/rclcpp/qos.hpp
index c901b17cd8..e5617e7a05 100644
--- a/rclcpp/include/rclcpp/qos.hpp
+++ b/rclcpp/include/rclcpp/qos.hpp
@@ -30,6 +30,38 @@ namespace rclcpp
 RCLCPP_PUBLIC
 std::string qos_policy_name_from_kind(rmw_qos_policy_kind_t policy_kind);
 
+enum class HistoryPolicy
+{
+  KeepLast = RMW_QOS_POLICY_HISTORY_KEEP_LAST,
+  KeepAll = RMW_QOS_POLICY_HISTORY_KEEP_ALL,
+  SystemDefault = RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT,
+  Unknown = RMW_QOS_POLICY_HISTORY_UNKNOWN,
+};
+
+enum class ReliabilityPolicy
+{
+  BestEffort = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
+  Reliable = RMW_QOS_POLICY_RELIABILITY_RELIABLE,
+  SystemDefault = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT,
+  Unknown = RMW_QOS_POLICY_RELIABILITY_UNKNOWN,
+};
+
+enum class DurabilityPolicy
+{
+  Volatile = RMW_QOS_POLICY_DURABILITY_VOLATILE,
+  TransientLocal = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
+  SystemDefault = RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT,
+  Unknown = RMW_QOS_POLICY_DURABILITY_UNKNOWN,
+};
+
+enum class LivelinessPolicy
+{
+  Automatic = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
+  ManualByTopic = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC,
+  SystemDefault = RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  Unknown = RMW_QOS_POLICY_LIVELINESS_UNKNOWN,
+};
+
 /// QoS initialization values, cannot be created directly, use KeepAll or KeepLast instead.
 struct RCLCPP_PUBLIC QoSInitialization
 {
@@ -82,6 +114,10 @@ class RCLCPP_PUBLIC QoS
   const rmw_qos_profile_t &
   get_rmw_qos_profile() const;
 
+  /// Set the history policy.
+  QoS &
+  history(HistoryPolicy history);
+
   /// Set the history policy.
   QoS &
   history(rmw_qos_history_policy_t history);
@@ -98,6 +134,10 @@ class RCLCPP_PUBLIC QoS
   QoS &
   reliability(rmw_qos_reliability_policy_t reliability);
 
+  /// Set the reliability setting.
+  QoS &
+  reliability(ReliabilityPolicy reliability);
+
   /// Set the reliability setting to reliable.
   QoS &
   reliable();
@@ -110,6 +150,10 @@ class RCLCPP_PUBLIC QoS
   QoS &
   durability(rmw_qos_durability_policy_t durability);
 
+  /// Set the durability setting.
+  QoS &
+  durability(DurabilityPolicy durability);
+
   /// Set the durability setting to volatile.
   /**
     * Note that this cannot be named `volatile` because it is a C++ keyword.
@@ -141,6 +185,10 @@ class RCLCPP_PUBLIC QoS
   QoS &
   liveliness(rmw_qos_liveliness_policy_t liveliness);
 
+  /// Set the liveliness setting.
+  QoS &
+  liveliness(LivelinessPolicy liveliness);
+
   /// Set the liveliness_lease_duration setting.
   QoS &
   liveliness_lease_duration(rmw_time_t liveliness_lease_duration);
@@ -153,6 +201,42 @@ class RCLCPP_PUBLIC QoS
   QoS &
   avoid_ros_namespace_conventions(bool avoid_ros_namespace_conventions);
 
+  /// Get the history qos policy.
+  HistoryPolicy
+  history() const;
+
+  /// Get the history depth.
+  size_t
+  depth() const;
+
+  /// Get the reliability policy.
+  ReliabilityPolicy
+  reliability() const;
+
+  /// Get the durability policy.
+  DurabilityPolicy
+  durability() const;
+
+  /// Get the deadline duration setting.
+  rclcpp::Duration
+  deadline() const;
+
+  /// Get the lifespan duration setting.
+  rclcpp::Duration
+  lifespan() const;
+
+  /// Get the liveliness policy.
+  LivelinessPolicy
+  liveliness() const;
+
+  /// Get the liveliness lease duration setting.
+  rclcpp::Duration
+  liveliness_lease_duration() const;
+
+  /// Get the `avoid ros namespace convention` setting.
+  bool
+  avoid_ros_namespace_conventions() const;
+
 private:
   rmw_qos_profile_t rmw_qos_profile_;
 };
diff --git a/rclcpp/src/rclcpp/duration.cpp b/rclcpp/src/rclcpp/duration.cpp
index 40ce9daaa9..317d6b0e90 100644
--- a/rclcpp/src/rclcpp/duration.cpp
+++ b/rclcpp/src/rclcpp/duration.cpp
@@ -246,6 +246,27 @@ Duration::to_rmw_time() const
   return result;
 }
 
+Duration
+Duration::from_rmw_time(rmw_time_t duration)
+{
+  Duration ret;
+  constexpr rcl_duration_value_t limit_ns = std::numeric_limits<rcl_duration_value_t>::max();
+  constexpr rcl_duration_value_t limit_sec = RCL_NS_TO_S(limit_ns);
+  if (duration.sec > limit_sec || duration.nsec > limit_ns) {
+    // saturate if will overflow
+    ret.rcl_duration_.nanoseconds = limit_ns;
+    return ret;
+  }
+  uint64_t total_ns = RCL_S_TO_NS(duration.sec) + duration.nsec;
+  if (total_ns > limit_ns) {
+    // saturate if will overflow
+    ret.rcl_duration_.nanoseconds = limit_ns;
+    return ret;
+  }
+  ret.rcl_duration_.nanoseconds = static_cast<rcl_duration_value_t>(total_ns);
+  return ret;
+}
+
 Duration
 Duration::from_seconds(double seconds)
 {
diff --git a/rclcpp/src/rclcpp/qos.cpp b/rclcpp/src/rclcpp/qos.cpp
index 8cbb72c648..d0f47cd01e 100644
--- a/rclcpp/src/rclcpp/qos.cpp
+++ b/rclcpp/src/rclcpp/qos.cpp
@@ -99,6 +99,13 @@ QoS::history(rmw_qos_history_policy_t history)
   return *this;
 }
 
+QoS &
+QoS::history(HistoryPolicy history)
+{
+  rmw_qos_profile_.history = static_cast<rmw_qos_history_policy_t>(history);
+  return *this;
+}
+
 QoS &
 QoS::keep_last(size_t depth)
 {
@@ -122,6 +129,13 @@ QoS::reliability(rmw_qos_reliability_policy_t reliability)
   return *this;
 }
 
+QoS &
+QoS::reliability(ReliabilityPolicy reliability)
+{
+  rmw_qos_profile_.reliability = static_cast<rmw_qos_reliability_policy_t>(reliability);
+  return *this;
+}
+
 QoS &
 QoS::reliable()
 {
@@ -141,6 +155,13 @@ QoS::durability(rmw_qos_durability_policy_t durability)
   return *this;
 }
 
+QoS &
+QoS::durability(DurabilityPolicy durability)
+{
+  rmw_qos_profile_.durability = static_cast<rmw_qos_durability_policy_t>(durability);
+  return *this;
+}
+
 QoS &
 QoS::durability_volatile()
 {
@@ -186,6 +207,14 @@ QoS::liveliness(rmw_qos_liveliness_policy_t liveliness)
   return *this;
 }
 
+QoS &
+QoS::liveliness(LivelinessPolicy liveliness)
+{
+  rmw_qos_profile_.liveliness = static_cast<rmw_qos_liveliness_policy_t>(liveliness);
+  return *this;
+}
+
+
 QoS &
 QoS::liveliness_lease_duration(rmw_time_t liveliness_lease_duration)
 {
@@ -206,6 +235,51 @@ QoS::avoid_ros_namespace_conventions(bool avoid_ros_namespace_conventions)
   return *this;
 }
 
+HistoryPolicy
+QoS::history() const
+{
+  return static_cast<HistoryPolicy>(rmw_qos_profile_.history);
+}
+
+size_t
+QoS::depth() const {return rmw_qos_profile_.depth;}
+
+ReliabilityPolicy
+QoS::reliability() const
+{
+  return static_cast<ReliabilityPolicy>(rmw_qos_profile_.reliability);
+}
+
+DurabilityPolicy
+QoS::durability() const
+{
+  return static_cast<DurabilityPolicy>(rmw_qos_profile_.durability);
+}
+
+Duration
+QoS::deadline() const {return Duration::from_rmw_time(rmw_qos_profile_.deadline);}
+
+Duration
+QoS::lifespan() const {return Duration::from_rmw_time(rmw_qos_profile_.lifespan);}
+
+LivelinessPolicy
+QoS::liveliness() const
+{
+  return static_cast<LivelinessPolicy>(rmw_qos_profile_.liveliness);
+}
+
+Duration
+QoS::liveliness_lease_duration() const
+{
+  return Duration::from_rmw_time(rmw_qos_profile_.liveliness_lease_duration);
+}
+
+bool
+QoS::avoid_ros_namespace_conventions() const
+{
+  return rmw_qos_profile_.avoid_ros_namespace_conventions;
+}
+
 namespace
 {
 /// Check if two rmw_time_t have the same values.
diff --git a/rclcpp/test/rclcpp/test_duration.cpp b/rclcpp/test/rclcpp/test_duration.cpp
index f3cbdffa3c..0d349d0d12 100644
--- a/rclcpp/test/rclcpp/test_duration.cpp
+++ b/rclcpp/test/rclcpp/test_duration.cpp
@@ -148,6 +148,34 @@ TEST_F(TestDuration, from_seconds) {
     rclcpp::Duration::from_seconds(-1.5));
 }
 
+TEST_F(TestDuration, from_rmw_time) {
+  constexpr auto max_rcl_duration = std::numeric_limits<rcl_duration_value_t>::max();
+  {
+    rmw_time_t rmw_duration{};
+    rmw_duration.sec = RCL_NS_TO_S(max_rcl_duration) + 1uLL;
+    EXPECT_EQ(rclcpp::Duration::from_rmw_time(rmw_duration).nanoseconds(), max_rcl_duration);
+  }
+  {
+    rmw_time_t rmw_duration{};
+    rmw_duration.nsec = max_rcl_duration + 1uLL;
+    EXPECT_EQ(rclcpp::Duration::from_rmw_time(rmw_duration).nanoseconds(), max_rcl_duration);
+  }
+  {
+    rmw_time_t rmw_duration{};
+    rmw_duration.nsec = max_rcl_duration;
+    rmw_duration.sec = RCL_NS_TO_S(max_rcl_duration);
+    EXPECT_EQ(rclcpp::Duration::from_rmw_time(rmw_duration).nanoseconds(), max_rcl_duration);
+  }
+  {
+    rmw_time_t rmw_duration{};
+    rmw_duration.sec = 1u;
+    rmw_duration.nsec = 1000u;
+    EXPECT_EQ(
+      rclcpp::Duration::from_rmw_time(rmw_duration).nanoseconds(),
+      static_cast<rcl_duration_value_t>(RCL_S_TO_NS(rmw_duration.sec) + rmw_duration.nsec));
+  }
+}
+
 TEST_F(TestDuration, std_chrono_constructors) {
   EXPECT_EQ(rclcpp::Duration(0ns), rclcpp::Duration(0.0s));
   EXPECT_EQ(rclcpp::Duration(0ns), rclcpp::Duration(0s));
diff --git a/rclcpp/test/rclcpp/test_qos.cpp b/rclcpp/test/rclcpp/test_qos.cpp
index 41114f22f9..6786750ed4 100644
--- a/rclcpp/test/rclcpp/test_qos.cpp
+++ b/rclcpp/test/rclcpp/test_qos.cpp
@@ -78,33 +78,41 @@ TEST(TestQoS, equality_namespace) {
   EXPECT_NE(a, b);
 }
 
-TEST(TestQoS, setters) {
+TEST(TestQoS, setters_and_getters) {
   rclcpp::QoS qos(10);
 
   qos.keep_all();
-  EXPECT_EQ(RMW_QOS_POLICY_HISTORY_KEEP_ALL, qos.get_rmw_qos_profile().history);
+  EXPECT_EQ(rclcpp::HistoryPolicy::KeepAll, qos.history());
 
   qos.keep_last(20);
-  EXPECT_EQ(RMW_QOS_POLICY_HISTORY_KEEP_LAST, qos.get_rmw_qos_profile().history);
-  EXPECT_EQ(20u, qos.get_rmw_qos_profile().depth);
+  EXPECT_EQ(rclcpp::HistoryPolicy::KeepLast, qos.history());
+  EXPECT_EQ(20u, qos.depth());
 
   qos.reliable();
-  EXPECT_EQ(RMW_QOS_POLICY_RELIABILITY_RELIABLE, qos.get_rmw_qos_profile().reliability);
+  EXPECT_EQ(rclcpp::ReliabilityPolicy::Reliable, qos.reliability());
+
+  qos.reliability(rclcpp::ReliabilityPolicy::BestEffort);
+  EXPECT_EQ(rclcpp::ReliabilityPolicy::BestEffort, qos.reliability());
 
   qos.durability_volatile();
-  EXPECT_EQ(RMW_QOS_POLICY_DURABILITY_VOLATILE, qos.get_rmw_qos_profile().durability);
+  EXPECT_EQ(rclcpp::DurabilityPolicy::Volatile, qos.durability());
 
   qos.transient_local();
-  EXPECT_EQ(RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL, qos.get_rmw_qos_profile().durability);
+  EXPECT_EQ(rclcpp::DurabilityPolicy::TransientLocal, qos.durability());
+
+  qos.durability(rclcpp::DurabilityPolicy::Volatile);
+  EXPECT_EQ(rclcpp::DurabilityPolicy::Volatile, qos.durability());
 
   qos.history(RMW_QOS_POLICY_HISTORY_KEEP_ALL);
-  EXPECT_EQ(RMW_QOS_POLICY_HISTORY_KEEP_ALL, qos.get_rmw_qos_profile().history);
+  EXPECT_EQ(rclcpp::HistoryPolicy::KeepAll, qos.history());
 
-  constexpr size_t duration_ns = 12345;
+  qos.history(rclcpp::HistoryPolicy::KeepLast);
+  EXPECT_EQ(rclcpp::HistoryPolicy::KeepLast, qos.history());
+
+  constexpr rcl_duration_value_t duration_ns = 12345;
   constexpr std::chrono::nanoseconds duration(duration_ns);
   qos.deadline(duration);
-  EXPECT_EQ(0u, qos.get_rmw_qos_profile().deadline.sec);
-  EXPECT_EQ(duration_ns, qos.get_rmw_qos_profile().deadline.nsec);
+  EXPECT_EQ(duration_ns, qos.deadline().nanoseconds());
 
   const rmw_time_t rmw_time {0, 54321};
   qos.deadline(rmw_time);
@@ -112,28 +120,29 @@ TEST(TestQoS, setters) {
   EXPECT_EQ(rmw_time.nsec, qos.get_rmw_qos_profile().deadline.nsec);
 
   qos.lifespan(duration);
-  EXPECT_EQ(0u, qos.get_rmw_qos_profile().lifespan.sec);
-  EXPECT_EQ(duration_ns, qos.get_rmw_qos_profile().lifespan.nsec);
+  EXPECT_EQ(duration_ns, qos.lifespan().nanoseconds());
 
   qos.lifespan(rmw_time);
   EXPECT_EQ(rmw_time.sec, qos.get_rmw_qos_profile().lifespan.sec);
   EXPECT_EQ(rmw_time.nsec, qos.get_rmw_qos_profile().lifespan.nsec);
 
   qos.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC);
-  EXPECT_EQ(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC, qos.get_rmw_qos_profile().liveliness);
+  EXPECT_EQ(rclcpp::LivelinessPolicy::ManualByTopic, qos.liveliness());
+
+  qos.liveliness(rclcpp::LivelinessPolicy::Automatic);
+  EXPECT_EQ(rclcpp::LivelinessPolicy::Automatic, qos.liveliness());
 
   qos.liveliness_lease_duration(duration);
-  EXPECT_EQ(0u, qos.get_rmw_qos_profile().liveliness_lease_duration.sec);
-  EXPECT_EQ(duration_ns, qos.get_rmw_qos_profile().liveliness_lease_duration.nsec);
+  EXPECT_EQ(duration_ns, qos.liveliness_lease_duration().nanoseconds());
 
   qos.liveliness_lease_duration(rmw_time);
   EXPECT_EQ(rmw_time.sec, qos.get_rmw_qos_profile().liveliness_lease_duration.sec);
   EXPECT_EQ(rmw_time.nsec, qos.get_rmw_qos_profile().liveliness_lease_duration.nsec);
 
   qos.avoid_ros_namespace_conventions(true);
-  EXPECT_TRUE(qos.get_rmw_qos_profile().avoid_ros_namespace_conventions);
+  EXPECT_TRUE(qos.avoid_ros_namespace_conventions());
   qos.avoid_ros_namespace_conventions(false);
-  EXPECT_FALSE(qos.get_rmw_qos_profile().avoid_ros_namespace_conventions);
+  EXPECT_FALSE(qos.avoid_ros_namespace_conventions());
 }
 
 bool operator==(const rmw_qos_profile_t & lhs, const rmw_qos_profile_t & rhs)