diff --git a/action_tutorials/action_tutorials_cpp/src/fibonacci_action_client.cpp b/action_tutorials/action_tutorials_cpp/src/fibonacci_action_client.cpp
index 68d6cddb8..6a9c605f1 100644
--- a/action_tutorials/action_tutorials_cpp/src/fibonacci_action_client.cpp
+++ b/action_tutorials/action_tutorials_cpp/src/fibonacci_action_client.cpp
@@ -15,6 +15,7 @@
 #include <memory>
 #include <string>
 #include <sstream>
+#include <vector>
 
 #include "example_interfaces/action/fibonacci.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -23,6 +24,12 @@
 
 #include "action_tutorials_cpp/visibility_control.h"
 
+// The program has a short runtime, so you can directly set the parameter
+// "action_client_configure_introspection" at execution command
+// e.g.
+// ros2 run action_tutorials_cpp fibonacci_action_client --ros-args -p
+// "action_client_configure_introspection:=contents"
+
 namespace action_tutorials_cpp
 {
 class FibonacciActionClient : public rclcpp::Node
@@ -42,6 +49,63 @@ class FibonacciActionClient : public rclcpp::Node
       this->get_node_waitables_interface(),
       "fibonacci");
 
+    auto on_set_parameter_callback =
+      [](std::vector<rclcpp::Parameter> parameters) {
+        rcl_interfaces::msg::SetParametersResult result;
+        result.successful = true;
+        for (const rclcpp::Parameter & param : parameters) {
+          if (param.get_name() != "action_client_configure_introspection") {
+            continue;
+          }
+
+          if (param.get_type() != rclcpp::ParameterType::PARAMETER_STRING) {
+            result.successful = false;
+            result.reason = "must be a string";
+            break;
+          }
+
+          if (param.as_string() != "disabled" && param.as_string() != "metadata" &&
+            param.as_string() != "contents")
+          {
+            result.successful = false;
+            result.reason = "must be one of 'disabled', 'metadata', or 'contents'";
+            break;
+          }
+        }
+
+        return result;
+      };
+
+    auto post_set_parameter_callback =
+      [this](const std::vector<rclcpp::Parameter> & parameters) {
+        for (const rclcpp::Parameter & param : parameters) {
+          if (param.get_name() != "action_client_configure_introspection") {
+            continue;
+          }
+
+          rcl_service_introspection_state_t introspection_state = RCL_SERVICE_INTROSPECTION_OFF;
+
+          if (param.as_string() == "disabled") {
+            introspection_state = RCL_SERVICE_INTROSPECTION_OFF;
+          } else if (param.as_string() == "metadata") {
+            introspection_state = RCL_SERVICE_INTROSPECTION_METADATA;
+          } else if (param.as_string() == "contents") {
+            introspection_state = RCL_SERVICE_INTROSPECTION_CONTENTS;
+          }
+
+          this->client_ptr_->configure_introspection(
+            this->get_clock(), rclcpp::SystemDefaultsQoS(), introspection_state);
+          break;
+        }
+      };
+
+    on_set_parameters_callback_handle_ = this->add_on_set_parameters_callback(
+      on_set_parameter_callback);
+    post_set_parameters_callback_handle_ = this->add_post_set_parameters_callback(
+      post_set_parameter_callback);
+
+    this->declare_parameter("action_client_configure_introspection", "disabled");
+
     this->timer_ = this->create_wall_timer(
       std::chrono::milliseconds(500),
       [this]() {return this->send_goal();});
@@ -119,6 +183,10 @@ class FibonacciActionClient : public rclcpp::Node
 private:
   rclcpp_action::Client<Fibonacci>::SharedPtr client_ptr_;
   rclcpp::TimerBase::SharedPtr timer_;
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr
+    on_set_parameters_callback_handle_;
+  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr
+    post_set_parameters_callback_handle_;
 };  // class FibonacciActionClient
 
 }  // namespace action_tutorials_cpp
diff --git a/action_tutorials/action_tutorials_cpp/src/fibonacci_action_server.cpp b/action_tutorials/action_tutorials_cpp/src/fibonacci_action_server.cpp
index f82ae2942..ea7d19674 100644
--- a/action_tutorials/action_tutorials_cpp/src/fibonacci_action_server.cpp
+++ b/action_tutorials/action_tutorials_cpp/src/fibonacci_action_server.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <memory>
+#include <vector>
 
 #include "example_interfaces/action/fibonacci.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -73,11 +74,73 @@ class FibonacciActionServer : public rclcpp::Node
       handle_goal,
       handle_cancel,
       handle_accepted);
+
+    auto on_set_parameter_callback =
+      [](std::vector<rclcpp::Parameter> parameters) {
+        rcl_interfaces::msg::SetParametersResult result;
+        result.successful = true;
+        for (const rclcpp::Parameter & param : parameters) {
+          if (param.get_name() != "action_server_configure_introspection") {
+            continue;
+          }
+
+          if (param.get_type() != rclcpp::ParameterType::PARAMETER_STRING) {
+            result.successful = false;
+            result.reason = "must be a string";
+            break;
+          }
+
+          if (param.as_string() != "disabled" && param.as_string() != "metadata" &&
+            param.as_string() != "contents")
+          {
+            result.successful = false;
+            result.reason = "must be one of 'disabled', 'metadata', or 'contents'";
+            break;
+          }
+        }
+
+        return result;
+      };
+
+    auto post_set_parameter_callback =
+      [this](const std::vector<rclcpp::Parameter> & parameters) {
+        for (const rclcpp::Parameter & param : parameters) {
+          if (param.get_name() != "action_server_configure_introspection") {
+            continue;
+          }
+
+          rcl_service_introspection_state_t introspection_state = RCL_SERVICE_INTROSPECTION_OFF;
+
+          if (param.as_string() == "disabled") {
+            introspection_state = RCL_SERVICE_INTROSPECTION_OFF;
+          } else if (param.as_string() == "metadata") {
+            introspection_state = RCL_SERVICE_INTROSPECTION_METADATA;
+          } else if (param.as_string() == "contents") {
+            introspection_state = RCL_SERVICE_INTROSPECTION_CONTENTS;
+          }
+
+          this->action_server_->configure_introspection(
+            this->get_clock(), rclcpp::SystemDefaultsQoS(), introspection_state);
+          break;
+        }
+      };
+
+    on_set_parameters_callback_handle_ = this->add_on_set_parameters_callback(
+      on_set_parameter_callback);
+    post_set_parameters_callback_handle_ = this->add_post_set_parameters_callback(
+      post_set_parameter_callback);
+
+    this->declare_parameter("action_server_configure_introspection", "disabled");
   }
 
 private:
   rclcpp_action::Server<Fibonacci>::SharedPtr action_server_;
 
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr
+    on_set_parameters_callback_handle_;
+  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr
+    post_set_parameters_callback_handle_;
+
   ACTION_TUTORIALS_CPP_LOCAL
   void execute(const std::shared_ptr<GoalHandleFibonacci> goal_handle)
   {