diff --git a/rmw_implementation/src/functions.cpp b/rmw_implementation/src/functions.cpp
index a7654b829..382b6837e 100644
--- a/rmw_implementation/src/functions.cpp
+++ b/rmw_implementation/src/functions.cpp
@@ -437,6 +437,11 @@ RMW_INTERFACE_FN(
   rmw_ret_t, RMW_RET_ERROR,
   4, ARG_TYPES(const rmw_client_t *, rmw_service_info_t *, void *, bool *))
 
+RMW_INTERFACE_FN(
+  rmw_client_get_actual_qos,
+  rmw_ret_t, RMW_RET_ERROR,
+  2, ARG_TYPES(const rmw_client_t *, rmw_qos_profile_t *))
+
 RMW_INTERFACE_FN(
   rmw_create_service,
   rmw_service_t *, nullptr,
@@ -459,6 +464,11 @@ RMW_INTERFACE_FN(
   rmw_ret_t, RMW_RET_ERROR,
   3, ARG_TYPES(const rmw_service_t *, rmw_request_id_t *, void *))
 
+RMW_INTERFACE_FN(
+  rmw_service_get_actual_qos,
+  rmw_ret_t, RMW_RET_ERROR,
+  2, ARG_TYPES(const rmw_service_t *, rmw_qos_profile_t *))
+
 RMW_INTERFACE_FN(
   rmw_take_event,
   rmw_ret_t, RMW_RET_ERROR,
@@ -626,6 +636,30 @@ RMW_INTERFACE_FN(
     rcutils_allocator_t *,
     rmw_network_flow_endpoint_array_t *))
 
+RMW_INTERFACE_FN(
+  rmw_subscription_set_on_new_message_callback,
+  rmw_ret_t, RMW_RET_ERROR,
+  3, ARG_TYPES(
+    rmw_subscription_t *, rmw_event_callback_t, const void *))
+
+RMW_INTERFACE_FN(
+  rmw_service_set_on_new_request_callback,
+  rmw_ret_t, RMW_RET_ERROR,
+  3, ARG_TYPES(
+    rmw_service_t *, rmw_event_callback_t, const void *))
+
+RMW_INTERFACE_FN(
+  rmw_client_set_on_new_response_callback,
+  rmw_ret_t, RMW_RET_ERROR,
+  3, ARG_TYPES(
+    rmw_client_t *, rmw_event_callback_t, const void *))
+
+RMW_INTERFACE_FN(
+  rmw_event_set_callback,
+  rmw_ret_t, RMW_RET_ERROR,
+  3, ARG_TYPES(
+    rmw_event_t *, rmw_event_callback_t, const void *))
+
 #define GET_SYMBOL(x) symbol_ ## x = get_symbol(#x);
 
 void prefetch_symbols(void)
@@ -706,6 +740,12 @@ void prefetch_symbols(void)
   GET_SYMBOL(rmw_qos_profile_check_compatible)
   GET_SYMBOL(rmw_publisher_get_network_flow_endpoints)
   GET_SYMBOL(rmw_subscription_get_network_flow_endpoints)
+  GET_SYMBOL(rmw_subscription_set_on_new_message_callback)
+  GET_SYMBOL(rmw_service_set_on_new_request_callback)
+  GET_SYMBOL(rmw_client_set_on_new_response_callback)
+  GET_SYMBOL(rmw_event_set_callback)
+  GET_SYMBOL(rmw_service_get_actual_qos);
+  GET_SYMBOL(rmw_client_get_actual_qos);
 }
 
 void * symbol_rmw_init = nullptr;
@@ -802,6 +842,8 @@ unload_library()
   symbol_rmw_get_gid_for_publisher = nullptr;
   symbol_rmw_compare_gids_equal = nullptr;
   symbol_rmw_service_server_is_available = nullptr;
+  symbol_rmw_service_get_actual_qos = nullptr;
+  symbol_rmw_client_get_actual_qos = nullptr;
   symbol_rmw_set_log_severity = nullptr;
   symbol_rmw_get_publishers_info_by_topic = nullptr;
   symbol_rmw_get_subscriptions_info_by_topic = nullptr;