diff --git a/ros2topic/ros2topic/verb/info.py b/ros2topic/ros2topic/verb/info.py
index 476cb9e95..43e87b340 100644
--- a/ros2topic/ros2topic/verb/info.py
+++ b/ros2topic/ros2topic/verb/info.py
@@ -25,6 +25,12 @@ def add_arguments(self, parser, cli_name):
         arg = parser.add_argument(
             'topic_name',
             help="Name of the ROS topic to get info (e.g. '/chatter')")
+        parser.add_argument(
+            '--verbose',
+            '-v',
+            action='store_true',
+            help='Prints detailed information like the node name, node namespace, topic type, '
+                 'GUID and QoS Profile of the publishers and subscribers to this topic')
         arg.completer = TopicNameCompleter(
             include_hidden_topics_key='include_hidden_topics')
 
@@ -39,7 +45,26 @@ def main(self, *, args):
                     break
             else:
                 return "Unknown topic '%s'" % topic_name
+
+            line_end = '\n'
+            if args.verbose:
+                line_end = '\n\n'
+
             type_str = topic_types[0] if len(topic_types) == 1 else topic_types
-            print('Type: %s' % type_str)
-            print('Publisher count: %d' % node.count_publishers(topic_name))
-            print('Subscriber count: %d' % node.count_subscribers(topic_name))
+            print('Type: %s' % type_str, end=line_end)
+
+            print('Publisher count: %d' % node.count_publishers(topic_name), end=line_end)
+            if args.verbose:
+                try:
+                    for info in node.get_publishers_info_by_topic(topic_name):
+                        print(info, end=line_end)
+                except NotImplementedError as e:
+                    return str(e)
+
+            print('Subscription count: %d' % node.count_subscribers(topic_name))
+            if args.verbose:
+                try:
+                    for info in node.get_subscriptions_info_by_topic(topic_name):
+                        print(info, end=line_end)
+                except NotImplementedError as e:
+                    return str(e)
diff --git a/ros2topic/test/test_cli.py b/ros2topic/test/test_cli.py
index d09821fc8..6da95d02c 100644
--- a/ros2topic/test/test_cli.py
+++ b/ros2topic/test/test_cli.py
@@ -256,7 +256,7 @@ def test_list_count(self):
         assert int(output_lines[0]) == 9
 
     @launch_testing.markers.retry_on_failure(times=5)
-    def test_topic_info(self):
+    def test_topic_endpoint_info(self):
         with self.launch_topic_command(arguments=['info', '/chatter']) as topic_command:
             assert topic_command.wait_for_shutdown(timeout=10)
         assert topic_command.exit_code == launch_testing.asserts.EXIT_OK
@@ -264,7 +264,37 @@ def test_topic_info(self):
             expected_lines=[
                 'Type: std_msgs/msg/String',
                 'Publisher count: 1',
-                'Subscriber count: 0'
+                'Subscription count: 0'
+            ],
+            text=topic_command.output,
+            strict=True
+        )
+
+    @launch_testing.markers.retry_on_failure(times=5)
+    def test_topic_endpoint_info_verbose(self):
+        with self.launch_topic_command(arguments=['info', '-v', '/chatter']) as topic_command:
+            assert topic_command.wait_for_shutdown(timeout=10)
+        assert topic_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=[
+                'Type: std_msgs/msg/String',
+                '',
+                'Publisher count: 1',
+                '',
+                re.compile(r'Node name: \w+'),
+                'Node namespace: /',
+                'Topic type: std_msgs/msg/String',
+                re.compile(r'Endpoint type: (INVALID|PUBLISHER|SUBSCRIPTION)'),
+                re.compile(r'GID: [\w\.]+'),
+                'QoS profile:',
+                re.compile(r'  Reliability: RMW_QOS_POLICY_RELIABILITY_\w+'),
+                re.compile(r'  Durability: RMW_QOS_POLICY_DURABILITY_\w+'),
+                re.compile(r'  Lifespan: \d+ nanoseconds'),
+                re.compile(r'  Deadline: \d+ nanoseconds'),
+                re.compile(r'  Liveliness: RMW_QOS_POLICY_LIVELINESS_\w+'),
+                re.compile(r'  Liveliness lease duration: \d+ nanoseconds'),
+                '',
+                'Subscription count: 0'
             ],
             text=topic_command.output,
             strict=True
@@ -517,7 +547,7 @@ def test_topic_pub(self):
             ), timeout=10)
             assert self.listener_node.wait_for_output(functools.partial(
                 launch_testing.tools.expect_output, expected_lines=[
-                    re.compile(r'\[INFO\] \[\d+.\d*\] \[listener\]: I heard: \[foo\]')
+                    re.compile(r'\[INFO\] \[\d+\.\d*\] \[listener\]: I heard: \[foo\]')
                 ] * 3, strict=False
             ), timeout=10)
         assert topic_command.wait_for_shutdown(timeout=10)
@@ -541,7 +571,7 @@ def test_topic_pub_once(self):
             assert topic_command.wait_for_shutdown(timeout=10)
             assert self.listener_node.wait_for_output(functools.partial(
                 launch_testing.tools.expect_output, expected_lines=[
-                    re.compile(r'\[INFO\] \[\d+.\d*\] \[listener\]: I heard: \[bar\]')
+                    re.compile(r'\[INFO\] \[\d+\.\d*\] \[listener\]: I heard: \[bar\]')
                 ], strict=False
             ), timeout=10)
         assert topic_command.exit_code == launch_testing.asserts.EXIT_OK
@@ -567,7 +597,7 @@ def test_topic_pub_print_every_two(self):
             ), timeout=10), 'Output does not match: ' + topic_command.output
             assert self.listener_node.wait_for_output(functools.partial(
                 launch_testing.tools.expect_output, expected_lines=[
-                    re.compile(r'\[INFO\] \[\d+.\d*\] \[listener\]: I heard: \[fizz\]')
+                    re.compile(r'\[INFO\] \[\d+\.\d*\] \[listener\]: I heard: \[fizz\]')
                 ], strict=False
             ), timeout=10)
         assert topic_command.wait_for_shutdown(timeout=10)