diff --git a/rclrs/build.rs b/rclrs/build.rs
index 930940ff..9cdb375d 100644
--- a/rclrs/build.rs
+++ b/rclrs/build.rs
@@ -16,7 +16,7 @@ fn get_env_var_or_abort(env_var: &'static str) -> String {
 fn main() {
     println!(
         "cargo:rustc-check-cfg=cfg(ros_distro, values(\"{}\"))",
-        vec!["humble", "jazzy", "kilted", "rolling"].join("\", \"")
+        ["humble", "jazzy", "kilted", "rolling"].join("\", \"")
     );
     let ros_distro = if let Ok(value) = env::var(ROS_DISTRO) {
         value
diff --git a/rclrs/generate_bindings.py b/rclrs/generate_bindings.py
index 833b90cf..991caf07 100755
--- a/rclrs/generate_bindings.py
+++ b/rclrs/generate_bindings.py
@@ -46,6 +46,14 @@ def main():
     bindgen_command.append('rcutils_.*')
     bindgen_command.append('--allowlist-var')
     bindgen_command.append('rosidl_.*')
+    # Blocklist typesupport functions that are already declared in vendored message crates
+    # (rosidl_generator_rs generates these with *const c_void return type)
+    bindgen_command.append('--blocklist-function')
+    bindgen_command.append('rosidl_typesupport_.*__get_message_type_support_handle__.*')
+    bindgen_command.append('--blocklist-function')
+    bindgen_command.append('rosidl_typesupport_.*__get_service_type_support_handle__.*')
+    bindgen_command.append('--blocklist-function')
+    bindgen_command.append('rosidl_typesupport_.*__get_action_type_support_handle__.*')
     bindgen_command.append('--no-layout-tests')
     bindgen_command.append('--default-enum-style')
     bindgen_command.append('rust')
diff --git a/rclrs/src/rcl_bindings_generated_humble.rs b/rclrs/src/rcl_bindings_generated_humble.rs
index d7c0b4c1..cfa2e949 100644
--- a/rclrs/src/rcl_bindings_generated_humble.rs
+++ b/rclrs/src/rcl_bindings_generated_humble.rs
@@ -1,4 +1,4 @@
-/* automatically generated by rust-bindgen 0.72.1 */
+/* automatically generated by rust-bindgen 0.72.0 */
 
 pub type rcutils_ret_t = ::std::os::raw::c_int;
 #[repr(C)]
@@ -3404,10 +3404,6 @@ pub struct action_msgs__msg__GoalInfo__Sequence {
     pub size: usize,
     pub capacity: usize,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalInfo(
-    ) -> *const rosidl_message_type_support_t;
-}
 #[repr(C)]
 #[derive(Debug)]
 pub struct action_msgs__msg__GoalStatus {
@@ -3421,19 +3417,11 @@ pub struct action_msgs__msg__GoalStatus__Sequence {
     pub size: usize,
     pub capacity: usize,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalStatus(
-    ) -> *const rosidl_message_type_support_t;
-}
 #[repr(C)]
 #[derive(Debug)]
 pub struct action_msgs__msg__GoalStatusArray {
     pub status_list: action_msgs__msg__GoalStatus__Sequence,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalStatusArray(
-    ) -> *const rosidl_message_type_support_t;
-}
 #[repr(C)]
 #[derive(Debug)]
 pub struct action_msgs__srv__CancelGoal_Request {
@@ -3445,18 +3433,6 @@ pub struct action_msgs__srv__CancelGoal_Response {
     pub return_code: i8,
     pub goals_canceling: action_msgs__msg__GoalInfo__Sequence,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__srv__CancelGoal_Request(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__srv__CancelGoal_Response(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_service_type_support_handle__action_msgs__srv__CancelGoal(
-    ) -> *const rosidl_service_type_support_t;
-}
 #[repr(C)]
 #[derive(Debug)]
 pub struct rosidl_action_type_support_t {
diff --git a/rclrs/src/rcl_bindings_generated_jazzy.rs b/rclrs/src/rcl_bindings_generated_jazzy.rs
index a96db7fd..4c18f98d 100644
--- a/rclrs/src/rcl_bindings_generated_jazzy.rs
+++ b/rclrs/src/rcl_bindings_generated_jazzy.rs
@@ -1,4 +1,4 @@
-/* automatically generated by rust-bindgen 0.72.1 */
+/* automatically generated by rust-bindgen 0.72.0 */
 
 pub type rcutils_ret_t = ::std::os::raw::c_int;
 #[repr(C)]
@@ -526,6 +526,9 @@ unsafe extern "C" {
 unsafe extern "C" {
     pub fn rcutils_steady_time_now(now: *mut rcutils_time_point_value_t) -> rcutils_ret_t;
 }
+unsafe extern "C" {
+    pub fn rcutils_raw_steady_time_now(now: *mut rcutils_time_point_value_t) -> rcutils_ret_t;
+}
 unsafe extern "C" {
     pub fn rcutils_time_point_value_as_nanoseconds_string(
         time_point: *const rcutils_time_point_value_t,
@@ -2776,22 +2779,6 @@ pub struct rosidl_action_type_support_t {
     pub get_type_description_func: rosidl_action_get_type_description_function,
     pub get_type_description_sources_func: rosidl_action_get_type_description_sources_function,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__type_description_interfaces__srv__GetTypeDescription_Request(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__type_description_interfaces__srv__GetTypeDescription_Response(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__type_description_interfaces__srv__GetTypeDescription_Event(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_service_type_support_handle__type_description_interfaces__srv__GetTypeDescription(
-    ) -> *const rosidl_service_type_support_t;
-}
 unsafe extern "C" {
     pub fn rosidl_typesupport_c__create_service_event_message__type_description_interfaces__srv__GetTypeDescription(
         info: *const rosidl_service_introspection_info_t,
@@ -8530,10 +8517,6 @@ pub struct action_msgs__msg__GoalInfo__Sequence {
     pub size: usize,
     pub capacity: usize,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalInfo(
-    ) -> *const rosidl_message_type_support_t;
-}
 #[repr(C)]
 #[derive(Debug)]
 pub struct action_msgs__msg__GoalStatus {
@@ -8547,19 +8530,11 @@ pub struct action_msgs__msg__GoalStatus__Sequence {
     pub size: usize,
     pub capacity: usize,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalStatus(
-    ) -> *const rosidl_message_type_support_t;
-}
 #[repr(C)]
 #[derive(Debug)]
 pub struct action_msgs__msg__GoalStatusArray {
     pub status_list: action_msgs__msg__GoalStatus__Sequence,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalStatusArray(
-    ) -> *const rosidl_message_type_support_t;
-}
 #[repr(C)]
 #[derive(Debug)]
 pub struct action_msgs__srv__CancelGoal_Request {
@@ -8571,22 +8546,6 @@ pub struct action_msgs__srv__CancelGoal_Response {
     pub return_code: i8,
     pub goals_canceling: action_msgs__msg__GoalInfo__Sequence,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__srv__CancelGoal_Request(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__srv__CancelGoal_Response(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__srv__CancelGoal_Event(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_service_type_support_handle__action_msgs__srv__CancelGoal(
-    ) -> *const rosidl_service_type_support_t;
-}
 unsafe extern "C" {
     pub fn rosidl_typesupport_c__create_service_event_message__action_msgs__srv__CancelGoal(
         info: *const rosidl_service_introspection_info_t,
diff --git a/rclrs/src/rcl_bindings_generated_kilted.rs b/rclrs/src/rcl_bindings_generated_kilted.rs
index 18f8bb96..3ade10d4 100644
--- a/rclrs/src/rcl_bindings_generated_kilted.rs
+++ b/rclrs/src/rcl_bindings_generated_kilted.rs
@@ -1,4 +1,4 @@
-/* automatically generated by rust-bindgen 0.72.1 */
+/* automatically generated by rust-bindgen 0.72.0 */
 
 pub type rcutils_ret_t = ::std::os::raw::c_int;
 #[repr(C)]
@@ -526,6 +526,9 @@ unsafe extern "C" {
 unsafe extern "C" {
     pub fn rcutils_steady_time_now(now: *mut rcutils_time_point_value_t) -> rcutils_ret_t;
 }
+unsafe extern "C" {
+    pub fn rcutils_raw_steady_time_now(now: *mut rcutils_time_point_value_t) -> rcutils_ret_t;
+}
 unsafe extern "C" {
     pub fn rcutils_time_point_value_as_nanoseconds_string(
         time_point: *const rcutils_time_point_value_t,
@@ -2780,22 +2783,6 @@ pub struct rosidl_action_type_support_t {
     pub get_type_description_func: rosidl_action_get_type_description_function,
     pub get_type_description_sources_func: rosidl_action_get_type_description_sources_function,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__type_description_interfaces__srv__GetTypeDescription_Request(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__type_description_interfaces__srv__GetTypeDescription_Response(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__type_description_interfaces__srv__GetTypeDescription_Event(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_service_type_support_handle__type_description_interfaces__srv__GetTypeDescription(
-    ) -> *const rosidl_service_type_support_t;
-}
 unsafe extern "C" {
     pub fn rosidl_typesupport_c__create_service_event_message__type_description_interfaces__srv__GetTypeDescription(
         info: *const rosidl_service_introspection_info_t,
@@ -8392,10 +8379,6 @@ pub struct action_msgs__msg__GoalInfo__Sequence {
     pub size: usize,
     pub capacity: usize,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalInfo(
-    ) -> *const rosidl_message_type_support_t;
-}
 #[repr(C)]
 #[derive(Debug)]
 pub struct action_msgs__msg__GoalStatus {
@@ -8409,19 +8392,11 @@ pub struct action_msgs__msg__GoalStatus__Sequence {
     pub size: usize,
     pub capacity: usize,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalStatus(
-    ) -> *const rosidl_message_type_support_t;
-}
 #[repr(C)]
 #[derive(Debug)]
 pub struct action_msgs__msg__GoalStatusArray {
     pub status_list: action_msgs__msg__GoalStatus__Sequence,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalStatusArray(
-    ) -> *const rosidl_message_type_support_t;
-}
 #[repr(C)]
 #[derive(Debug)]
 pub struct action_msgs__srv__CancelGoal_Request {
@@ -8433,22 +8408,6 @@ pub struct action_msgs__srv__CancelGoal_Response {
     pub return_code: i8,
     pub goals_canceling: action_msgs__msg__GoalInfo__Sequence,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__srv__CancelGoal_Request(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__srv__CancelGoal_Response(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__srv__CancelGoal_Event(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_service_type_support_handle__action_msgs__srv__CancelGoal(
-    ) -> *const rosidl_service_type_support_t;
-}
 unsafe extern "C" {
     pub fn rosidl_typesupport_c__create_service_event_message__action_msgs__srv__CancelGoal(
         info: *const rosidl_service_introspection_info_t,
diff --git a/rclrs/src/rcl_bindings_generated_rolling.rs b/rclrs/src/rcl_bindings_generated_rolling.rs
index b95a38d0..bc067e76 100644
--- a/rclrs/src/rcl_bindings_generated_rolling.rs
+++ b/rclrs/src/rcl_bindings_generated_rolling.rs
@@ -1,4 +1,4 @@
-/* automatically generated by rust-bindgen 0.72.1 */
+/* automatically generated by rust-bindgen 0.72.0 */
 
 pub type rcutils_ret_t = ::std::os::raw::c_int;
 #[repr(C)]
@@ -529,6 +529,9 @@ unsafe extern "C" {
 unsafe extern "C" {
     pub fn rcutils_steady_time_now(now: *mut rcutils_time_point_value_t) -> rcutils_ret_t;
 }
+unsafe extern "C" {
+    pub fn rcutils_raw_steady_time_now(now: *mut rcutils_time_point_value_t) -> rcutils_ret_t;
+}
 unsafe extern "C" {
     pub fn rcutils_time_point_value_as_nanoseconds_string(
         time_point: *const rcutils_time_point_value_t,
@@ -550,6 +553,11 @@ unsafe extern "C" {
         str_size: usize,
     ) -> rcutils_ret_t;
 }
+unsafe extern "C" {
+    pub fn rcutils_logging_allocator_initialize(
+        allocator: *const rcutils_allocator_t,
+    ) -> rcutils_ret_t;
+}
 unsafe extern "C" {
     pub fn rcutils_logging_initialize_with_allocator(
         allocator: rcutils_allocator_t,
@@ -1004,6 +1012,8 @@ pub enum rmw_endpoint_type_e {
     RMW_ENDPOINT_INVALID = 0,
     RMW_ENDPOINT_PUBLISHER = 1,
     RMW_ENDPOINT_SUBSCRIPTION = 2,
+    RMW_ENDPOINT_CLIENT = 3,
+    RMW_ENDPOINT_SERVER = 4,
 }
 pub use self::rmw_endpoint_type_e as rmw_endpoint_type_t;
 #[repr(u32)]
@@ -1307,6 +1317,113 @@ unsafe extern "C" {
 }
 #[repr(C)]
 #[derive(Debug)]
+pub struct rmw_service_endpoint_info_s {
+    pub node_name: *const ::std::os::raw::c_char,
+    pub node_namespace: *const ::std::os::raw::c_char,
+    pub service_type: *const ::std::os::raw::c_char,
+    pub service_type_hash: rosidl_type_hash_t,
+    pub endpoint_type: rmw_endpoint_type_t,
+    pub endpoint_count: usize,
+    pub endpoint_gids: *mut [u8; 16usize],
+    pub qos_profiles: *mut rmw_qos_profile_t,
+}
+pub type rmw_service_endpoint_info_t = rmw_service_endpoint_info_s;
+unsafe extern "C" {
+    pub fn rmw_get_zero_initialized_service_endpoint_info() -> rmw_service_endpoint_info_t;
+}
+unsafe extern "C" {
+    pub fn rmw_service_endpoint_info_fini(
+        service_endpoint_info: *mut rmw_service_endpoint_info_t,
+        allocator: *mut rcutils_allocator_t,
+    ) -> rmw_ret_t;
+}
+unsafe extern "C" {
+    pub fn rmw_service_endpoint_info_set_service_type(
+        service_endpoint_info: *mut rmw_service_endpoint_info_t,
+        service_type: *const ::std::os::raw::c_char,
+        allocator: *mut rcutils_allocator_t,
+    ) -> rmw_ret_t;
+}
+unsafe extern "C" {
+    pub fn rmw_service_endpoint_info_set_service_type_hash(
+        service_endpoint_info: *mut rmw_service_endpoint_info_t,
+        type_hash: *const rosidl_type_hash_t,
+    ) -> rmw_ret_t;
+}
+unsafe extern "C" {
+    pub fn rmw_service_endpoint_info_set_node_name(
+        service_endpoint_info: *mut rmw_service_endpoint_info_t,
+        node_name: *const ::std::os::raw::c_char,
+        allocator: *mut rcutils_allocator_t,
+    ) -> rmw_ret_t;
+}
+unsafe extern "C" {
+    pub fn rmw_service_endpoint_info_set_node_namespace(
+        service_endpoint_info: *mut rmw_service_endpoint_info_t,
+        node_namespace: *const ::std::os::raw::c_char,
+        allocator: *mut rcutils_allocator_t,
+    ) -> rmw_ret_t;
+}
+unsafe extern "C" {
+    pub fn rmw_service_endpoint_info_set_endpoint_type(
+        service_endpoint_info: *mut rmw_service_endpoint_info_t,
+        type_: rmw_endpoint_type_t,
+    ) -> rmw_ret_t;
+}
+unsafe extern "C" {
+    pub fn rmw_service_endpoint_info_set_endpoint_count(
+        service_endpoint_info: *mut rmw_service_endpoint_info_t,
+        endpoint_count: usize,
+    ) -> rmw_ret_t;
+}
+unsafe extern "C" {
+    pub fn rmw_service_endpoint_info_set_gids(
+        service_endpoint_info: *mut rmw_service_endpoint_info_t,
+        gids: *const u8,
+        endpoint_count: usize,
+        size: usize,
+        allocator: *mut rcutils_allocator_t,
+    ) -> rmw_ret_t;
+}
+unsafe extern "C" {
+    pub fn rmw_service_endpoint_info_set_qos_profiles(
+        service_endpoint_info: *mut rmw_service_endpoint_info_t,
+        qos_profiles: *const rmw_qos_profile_t,
+        endpoint_count: usize,
+        allocator: *mut rcutils_allocator_t,
+    ) -> rmw_ret_t;
+}
+#[repr(C)]
+#[derive(Debug)]
+pub struct rmw_service_endpoint_info_array_s {
+    pub size: usize,
+    pub info_array: *mut rmw_service_endpoint_info_t,
+}
+pub type rmw_service_endpoint_info_array_t = rmw_service_endpoint_info_array_s;
+unsafe extern "C" {
+    pub fn rmw_get_zero_initialized_service_endpoint_info_array(
+    ) -> rmw_service_endpoint_info_array_t;
+}
+unsafe extern "C" {
+    pub fn rmw_service_endpoint_info_array_check_zero(
+        service_endpoint_info_array: *mut rmw_service_endpoint_info_array_t,
+    ) -> rmw_ret_t;
+}
+unsafe extern "C" {
+    pub fn rmw_service_endpoint_info_array_init_with_size(
+        service_endpoint_info_array: *mut rmw_service_endpoint_info_array_t,
+        size: usize,
+        allocator: *mut rcutils_allocator_t,
+    ) -> rmw_ret_t;
+}
+unsafe extern "C" {
+    pub fn rmw_service_endpoint_info_array_fini(
+        service_endpoint_info_array: *mut rmw_service_endpoint_info_array_t,
+        allocator: *mut rcutils_allocator_t,
+    ) -> rmw_ret_t;
+}
+#[repr(C)]
+#[derive(Debug)]
 pub struct rmw_topic_endpoint_info_s {
     pub node_name: *const ::std::os::raw::c_char,
     pub node_namespace: *const ::std::os::raw::c_char,
@@ -2783,22 +2900,6 @@ pub struct rosidl_action_type_support_t {
     pub get_type_description_func: rosidl_action_get_type_description_function,
     pub get_type_description_sources_func: rosidl_action_get_type_description_sources_function,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__type_description_interfaces__srv__GetTypeDescription_Request(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__type_description_interfaces__srv__GetTypeDescription_Response(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__type_description_interfaces__srv__GetTypeDescription_Event(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_service_type_support_handle__type_description_interfaces__srv__GetTypeDescription(
-    ) -> *const rosidl_service_type_support_t;
-}
 unsafe extern "C" {
     pub fn rosidl_typesupport_c__create_service_event_message__type_description_interfaces__srv__GetTypeDescription(
         info: *const rosidl_service_introspection_info_t,
@@ -3302,6 +3403,8 @@ unsafe extern "C" {
 pub type rcl_names_and_types_t = rmw_names_and_types_t;
 pub type rcl_topic_endpoint_info_t = rmw_topic_endpoint_info_t;
 pub type rcl_topic_endpoint_info_array_t = rmw_topic_endpoint_info_array_t;
+pub type rcl_service_endpoint_info_t = rmw_service_endpoint_info_t;
+pub type rcl_service_endpoint_info_array_t = rmw_service_endpoint_info_array_t;
 unsafe extern "C" {
     pub fn rcl_get_publisher_names_and_types_by_node(
         node: *const rcl_node_t,
@@ -3430,6 +3533,26 @@ unsafe extern "C" {
         success: *mut bool,
     ) -> rcl_ret_t;
 }
+unsafe extern "C" {
+    pub fn rcl_wait_for_clients(
+        node: *const rcl_node_t,
+        allocator: *mut rcl_allocator_t,
+        service_name: *const ::std::os::raw::c_char,
+        count: usize,
+        timeout: rcutils_duration_value_t,
+        success: *mut bool,
+    ) -> rcl_ret_t;
+}
+unsafe extern "C" {
+    pub fn rcl_wait_for_servers(
+        node: *const rcl_node_t,
+        allocator: *mut rcl_allocator_t,
+        service_name: *const ::std::os::raw::c_char,
+        count: usize,
+        timeout: rcutils_duration_value_t,
+        success: *mut bool,
+    ) -> rcl_ret_t;
+}
 unsafe extern "C" {
     pub fn rcl_get_publishers_info_by_topic(
         node: *const rcl_node_t,
@@ -3448,6 +3571,24 @@ unsafe extern "C" {
         subscriptions_info: *mut rcl_topic_endpoint_info_array_t,
     ) -> rcl_ret_t;
 }
+unsafe extern "C" {
+    pub fn rcl_get_clients_info_by_service(
+        node: *const rcl_node_t,
+        allocator: *mut rcutils_allocator_t,
+        service_name: *const ::std::os::raw::c_char,
+        no_mangle: bool,
+        clients_info: *mut rcl_service_endpoint_info_array_t,
+    ) -> rcl_ret_t;
+}
+unsafe extern "C" {
+    pub fn rcl_get_servers_info_by_service(
+        node: *const rcl_node_t,
+        allocator: *mut rcutils_allocator_t,
+        service_name: *const ::std::os::raw::c_char,
+        no_mangle: bool,
+        servers_info: *mut rcl_service_endpoint_info_array_t,
+    ) -> rcl_ret_t;
+}
 unsafe extern "C" {
     pub fn rcl_service_server_is_available(
         node: *const rcl_node_t,
@@ -8395,10 +8536,6 @@ pub struct action_msgs__msg__GoalInfo__Sequence {
     pub size: usize,
     pub capacity: usize,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalInfo(
-    ) -> *const rosidl_message_type_support_t;
-}
 #[repr(C)]
 #[derive(Debug)]
 pub struct action_msgs__msg__GoalStatus {
@@ -8412,19 +8549,11 @@ pub struct action_msgs__msg__GoalStatus__Sequence {
     pub size: usize,
     pub capacity: usize,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalStatus(
-    ) -> *const rosidl_message_type_support_t;
-}
 #[repr(C)]
 #[derive(Debug)]
 pub struct action_msgs__msg__GoalStatusArray {
     pub status_list: action_msgs__msg__GoalStatus__Sequence,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalStatusArray(
-    ) -> *const rosidl_message_type_support_t;
-}
 #[repr(C)]
 #[derive(Debug)]
 pub struct action_msgs__srv__CancelGoal_Request {
@@ -8436,22 +8565,6 @@ pub struct action_msgs__srv__CancelGoal_Response {
     pub return_code: i8,
     pub goals_canceling: action_msgs__msg__GoalInfo__Sequence,
 }
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__srv__CancelGoal_Request(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__srv__CancelGoal_Response(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__srv__CancelGoal_Event(
-    ) -> *const rosidl_message_type_support_t;
-}
-unsafe extern "C" {
-    pub fn rosidl_typesupport_c__get_service_type_support_handle__action_msgs__srv__CancelGoal(
-    ) -> *const rosidl_service_type_support_t;
-}
 unsafe extern "C" {
     pub fn rosidl_typesupport_c__create_service_event_message__action_msgs__srv__CancelGoal(
         info: *const rosidl_service_introspection_info_t,
@@ -8757,6 +8870,11 @@ unsafe extern "C" {
         goal_handle: *const rcl_action_goal_handle_t,
     ) -> bool;
 }
+unsafe extern "C" {
+    pub fn rcl_action_goal_handle_is_abortable(
+        goal_handle: *const rcl_action_goal_handle_t,
+    ) -> bool;
+}
 unsafe extern "C" {
     pub fn rcl_action_goal_handle_is_valid(goal_handle: *const rcl_action_goal_handle_t) -> bool;
 }