diff --git a/rmw_fastrtps_cpp/src/rmw_client.cpp b/rmw_fastrtps_cpp/src/rmw_client.cpp
index fdd92eb61..b70c47ef2 100644
--- a/rmw_fastrtps_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_client.cpp
@@ -92,6 +92,8 @@ rmw_create_client(
   info = new CustomClientInfo();
   info->participant_ = participant;
   info->typesupport_identifier_ = type_support->typesupport_identifier;
+  info->request_publisher_matched_count_ = 0;
+  info->response_subscriber_matched_count_ = 0;
 
   const service_type_support_callbacks_t * service_members;
   const message_type_support_callbacks_t * request_members;
@@ -178,8 +180,9 @@ rmw_create_client(
     RMW_SET_ERROR_MSG("failed to get datawriter qos");
     goto fail;
   }
+  info->pub_listener_ = new ClientPubListener(info);
   info->request_publisher_ =
-    Domain::createPublisher(participant, publisherParam, nullptr);
+    Domain::createPublisher(participant, publisherParam, info->pub_listener_);
   if (!info->request_publisher_) {
     RMW_SET_ERROR_MSG("create_publisher() could not create publisher");
     goto fail;
@@ -215,6 +218,10 @@ rmw_create_client(
       Domain::removeSubscriber(info->response_subscriber_);
     }
 
+    if (info->pub_listener_ != nullptr) {
+      delete info->pub_listener_;
+    }
+
     if (info->listener_ != nullptr) {
       delete info->listener_;
     }
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
index babb2876e..5950a0fed 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
@@ -27,10 +27,12 @@
 #include "fastrtps/subscriber/SubscriberListener.h"
 #include "fastrtps/participant/Participant.h"
 #include "fastrtps/publisher/Publisher.h"
+#include "fastrtps/publisher/PublisherListener.h"
 
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
 class ClientListener;
+class ClientPubListener;
 
 typedef struct CustomClientInfo
 {
@@ -42,6 +44,9 @@ typedef struct CustomClientInfo
   eprosima::fastrtps::rtps::GUID_t writer_guid_;
   eprosima::fastrtps::Participant * participant_;
   const char * typesupport_identifier_;
+  ClientPubListener * pub_listener_;
+  uint32_t response_subscriber_matched_count_;
+  uint32_t request_publisher_matched_count_;
 } CustomClientInfo;
 
 typedef struct CustomClientResponse
@@ -141,6 +146,21 @@ class ClientListener : public eprosima::fastrtps::SubscriberListener
     return list_has_data_.load();
   }
 
+  void onSubscriptionMatched(
+    eprosima::fastrtps::Subscriber * sub,
+    eprosima::fastrtps::rtps::MatchingInfo & matchingInfo)
+  {
+    if (info_ == nullptr || sub == nullptr) {
+      return;
+    }
+
+    if (matchingInfo.status == eprosima::fastrtps::rtps::MATCHED_MATCHING) {
+      info_->response_subscriber_matched_count_++;
+    } else {
+      info_->response_subscriber_matched_count_--;
+    }
+  }
+
 private:
   CustomClientInfo * info_;
   std::mutex internalMutex_;
@@ -150,4 +170,31 @@ class ClientListener : public eprosima::fastrtps::SubscriberListener
   std::condition_variable * conditionVariable_;
 };
 
+class ClientPubListener : public eprosima::fastrtps::PublisherListener
+{
+public:
+  explicit ClientPubListener(CustomClientInfo * info)
+  : info_(info)
+  {
+  }
+
+  void onPublicationMatched(
+    eprosima::fastrtps::Publisher * pub,
+    eprosima::fastrtps::rtps::MatchingInfo & matchingInfo)
+  {
+    if (info_ == nullptr || pub == nullptr) {
+      return;
+    }
+
+    if (matchingInfo.status == eprosima::fastrtps::rtps::MATCHED_MATCHING) {
+      info_->request_publisher_matched_count_++;
+    } else {
+      info_->request_publisher_matched_count_--;
+    }
+  }
+
+private:
+  CustomClientInfo * info_;
+};
+
 #endif  // RMW_FASTRTPS_SHARED_CPP__CUSTOM_CLIENT_INFO_HPP_
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_client.cpp b/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
index c4a7f89a3..89976d472 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
@@ -56,6 +56,9 @@ __rmw_destroy_client(
     if (info->request_publisher_ != nullptr) {
       Domain::removePublisher(info->request_publisher_);
     }
+    if (info->pub_listener_ != nullptr) {
+      delete info->pub_listener_;
+    }
     if (info->listener_ != nullptr) {
       delete info->listener_;
     }
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_service_server_is_available.cpp b/rmw_fastrtps_shared_cpp/src/rmw_service_server_is_available.cpp
index 281509259..4960ebdbd 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_service_server_is_available.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_service_server_is_available.cpp
@@ -104,6 +104,15 @@ __rmw_service_server_is_available(
     return RMW_RET_OK;
   }
 
+  if (0 == client_info->request_publisher_matched_count_) {
+    // not ready
+    return RMW_RET_OK;
+  }
+  if (0 == client_info->response_subscriber_matched_count_) {
+    // not ready
+    return RMW_RET_OK;
+  }
+
   // all conditions met, there is a service server available
   *is_available = true;
   return RMW_RET_OK;