diff --git a/built_packages b/built_packages
index 45b19291..fc29fae0 100755
--- a/built_packages
+++ b/built_packages
@@ -1,7 +1,7 @@
 
 https://github.com/ament/ament_cmake.git c5eb2cdc08cf318ad5e8fb14611106cea7ec4c1f
 https://github.com/ament/ament_index.git 076cef041834ae7a8c515ffb86f97b51e3aaff61
-https://github.com/ament/ament_lint.git 25e61b41f1117279ab7da1afc6e37962cc01385d
+https://github.com/ament/ament_lint.git 7445e4e4d6818a2e4d4302748037f731195d6aad
 https://github.com/ament/ament_package.git 4e575b1b08659249ceb0a838b9a251f8b1477b04
 https://github.com/ament/googletest.git ad343ef3c63b949cef97b0294d5ff352c499881b
 https://github.com/ament/uncrustify_vendor.git 37d7088131449989663c4258ff8b88b886fb83d8
@@ -9,8 +9,8 @@ https://github.com/eProsima/Micro-CDR.git ed4fd513a24a53b93d548d342cb7aa0a18716f
 https://github.com/eProsima/Micro-XRCE-DDS-Client.git b8dbfaa775d0d842edfa9a0eb2ebc8ebdb1a0c14
 https://github.com/micro-ROS/micro_ros_msgs.git 02dd8456ede8ae75ba4c706231e1ff9e55758221
 https://github.com/micro-ROS/micro_ros_utilities 4757528454cb0386ec0a18fcbd7ce3627fcca60d
-https://github.com/micro-ROS/rcl 3789f958315c286f4fdec180e8dfb01a76043117
-https://github.com/micro-ROS/rcutils ce0e472072e48d689a1561a571778c630e7f6163
+https://github.com/micro-ROS/rcl ec1e32101f295d0fc73a05acaecb584321a34715
+https://github.com/micro-ROS/rcutils 6d5476a89727fab17a9b94ba77264a6251024a25
 https://github.com/micro-ROS/rmw-microxrcedds.git 6833232797d1034860125e949f34067a850eeb43
 https://github.com/micro-ROS/rosidl_typesupport.git 9e3abf7effcbee61fe9b57712220e22e093b22b5
 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 3d4589be60981c24aef5f8926d40125a80878961
@@ -19,15 +19,15 @@ https://github.com/ros2/ament_cmake_ros.git 15f835d0e31354c4ac958a32b5f1caa42465
 https://github.com/ros2/common_interfaces.git 366eea24ffce6c87f8860cbcd27f4863f46ad822
 https://github.com/ros2/example_interfaces.git 4d7d086e4791e1839fecb9c50a1291d4056b916f
 https://github.com/ros2/libyaml_vendor.git 4dbe69b952379b39062b9c98898cf1a1cdee9a56
-https://github.com/ros2/rcl.git 9a05fa65926673b2986175ff055215861e29bf5b
-https://github.com/ros2/rcl_interfaces.git 7f4d0d6b0509452b0d76af6122cdf5251919ecc9
+https://github.com/ros2/rcl.git 8f7f4f0804a34ee9d9ecd2d7e75a57ce2b7ced5d
+https://github.com/ros2/rcl_interfaces.git fbd32f8b8ef90fb9cefdc90d8d2f5b992fd843bb
 https://github.com/ros2/rcl_logging.git 014239dd80ab3de2a847af80f23d24da6438ecb7
 https://github.com/ros2/rclc 169b246f738a1b5604423f6187d27dc770781871
 https://github.com/ros2/rcpputils.git 9115db1b094418910900859448b237eb0ac713b0
 https://github.com/ros2/rmw.git 83445be486deae8c78d275e092eafb4bf380bd49
-https://github.com/ros2/rmw_implementation.git 4638f388ff89d47b9bb9d052b4b58849627c0ef8
+https://github.com/ros2/rmw_implementation.git 03cd08a826da474aeb490e116e1c6bba90756b40
 https://github.com/ros2/ros2_tracing.git 0041e07e034538f7fa99cdcbe7c2d2c83dc1d272
-https://github.com/ros2/rosidl.git 3491f4fbda1f9c0184b0de5f5e5029f27bf74f23
+https://github.com/ros2/rosidl.git f9b25a9199a95d70874bd183a4a4f35a0fb10294
 https://github.com/ros2/rosidl_core.git 84fa73d3974fe31fbe397e41e4449a31c2fb6ce4
 https://github.com/ros2/rosidl_dds.git 16a3503d7694917f0c968e3918351e8d2f7fdb38
 https://github.com/ros2/rosidl_defaults.git 65d0e79a6f477e22b7213590bc8d2465e16cedbf
diff --git a/libmicroros/include/rcl/graph.h b/libmicroros/include/rcl/graph.h
index 13133b6b..2049359c 100755
--- a/libmicroros/include/rcl/graph.h
+++ b/libmicroros/include/rcl/graph.h
@@ -584,6 +584,98 @@ rcl_count_subscribers(
   const char * topic_name,
   size_t * count);
 
+/// Return the number of clients on a given service.
+/**
+ * The `node` parameter must point to a valid node.
+ *
+ * The `service_name` parameter must not be `NULL`, and must not be an empty string.
+ * It should also follow the service name rules.
+ *
+ * See: https://design.ros2.org/articles/topic_and_service_names.html
+ *
+ * The `count` parameter must point to a valid size_t.
+ * The `count` parameter is the output for this function and will be set.
+ *
+ * In the event that error handling needs to allocate memory, this function
+ * will try to use the node's allocator.
+ *
+ * The service name is not automatically remapped by this function.
+ * If there is a client created with service name `foo` and remap rule `foo:=bar` then calling
+ * this with `service_name` set to `bar` will return a count of 1, and with `service_name` set to `foo`
+ * will return a count of 0.
+ * /sa rcl_remap_service_name()
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Maybe [1]
+ * <i>[1] implementation may need to protect the data structure with a lock</i>
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] service_name the name of the service in question
+ * \param[out] count number of clients on the given service
+ * \return #RCL_RET_OK if the query was successful, or
+ * \return #RCL_RET_NODE_INVALID if the node is invalid, or
+ * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ * \return #RCL_RET_ERROR if an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_count_clients(
+  const rcl_node_t * node,
+  const char * service_name,
+  size_t * count);
+
+/// Return the number of servers on a given service.
+/**
+ * The `node` parameter must point to a valid node.
+ *
+ * The `service_name` parameter must not be `NULL`, and must not be an empty string.
+ * It should also follow the service name rules.
+ *
+ * See: https://design.ros2.org/articles/topic_and_service_names.html
+ *
+ * The `count` parameter must point to a valid size_t.
+ * The `count` parameter is the output for this function and will be set.
+ *
+ * In the event that error handling needs to allocate memory, this function
+ * will try to use the node's allocator.
+ *
+ * The service name is not automatically remapped by this function.
+ * If there is a server created with service name `foo` and remap rule `foo:=bar` then calling
+ * this with `service_name` set to `bar` will return a count of 1, and with `service_name` set to `foo`
+ * will return a count of 0.
+ * /sa rcl_remap_service_name()
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Maybe [1]
+ * <i>[1] implementation may need to protect the data structure with a lock</i>
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[in] service_name the name of the service in question
+ * \param[out] count number of services on the given service
+ * \return #RCL_RET_OK if the query was successful, or
+ * \return #RCL_RET_NODE_INVALID if the node is invalid, or
+ * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ * \return #RCL_RET_ERROR if an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_count_services(
+  const rcl_node_t * node,
+  const char * service_name,
+  size_t * count);
+
 /// Wait for there to be a specified number of publishers on a given topic.
 /**
  * The `node` parameter must point to a valid node.
diff --git a/libmicroros/libmicroros.a b/libmicroros/libmicroros.a
index c7c1c9da..5c8cc6d6 100755
Binary files a/libmicroros/libmicroros.a and b/libmicroros/libmicroros.a differ