diff --git a/built_packages b/built_packages
index bb2a1aab..8c97440c 100755
--- a/built_packages
+++ b/built_packages
@@ -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 6169930ea21b4deb9b400ac479475d1efb3853a8
 https://github.com/micro-ROS/micro_ros_utilities 726d95d22c8688d1b71bb41e873e2ee134996706
-https://github.com/micro-ROS/rcl 6a6772ce1a74f242878e85f0f78cd61cafd71d4a
-https://github.com/micro-ROS/rcutils 55de2e1fe0ff3da9b882dfee6a54516e54bd58a9
+https://github.com/micro-ROS/rcl ca836603e11c18bdf262b27a50935c3764948177
+https://github.com/micro-ROS/rcutils 552cb11bdbebf1c1b4249611828a815eca024628
 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
diff --git a/libmicroros/include/rcl/service.h b/libmicroros/include/rcl/service.h
index 56e26459..330cf17a 100755
--- a/libmicroros/include/rcl/service.h
+++ b/libmicroros/include/rcl/service.h
@@ -330,6 +330,7 @@ rcl_take_request(
  * \return #RCL_RET_OK if the response was sent successfully, or
  * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
  * \return #RCL_RET_SERVICE_INVALID if the service is invalid, or
+ * \return #RCL_RET_TIMEOUT if a response reader is not ready yet, or
  * \return #RCL_RET_ERROR if an unspecified error occurs.
  */
 RCL_PUBLIC
diff --git a/libmicroros/libmicroros.a b/libmicroros/libmicroros.a
index cd1d2417..91fbdd95 100755
Binary files a/libmicroros/libmicroros.a and b/libmicroros/libmicroros.a differ