diff --git a/rcl_action/include/rcl_action/action_client.h b/rcl_action/include/rcl_action/action_client.h
index 7b680d7..0837583 100644
--- a/rcl_action/include/rcl_action/action_client.h
+++ b/rcl_action/include/rcl_action/action_client.h
@@ -264,6 +264,7 @@ rcl_action_client_get_default_options(void);
  *
  * \param[in] action_client handle to the client that will make the goal request
  * \param[in] ros_goal_request pointer to the ROS goal message
+ * \param[out] sequence_number pointer to the goal request sequence number
  * \return `RCL_RET_OK` if the request was sent successfully, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_ACTION_CLIENT_INVALID` if the client is invalid, or
@@ -274,7 +275,8 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_send_goal_request(
   const rcl_action_client_t * action_client,
-  const void * ros_goal_request);
+  const void * ros_goal_request,
+  int64_t * sequence_number);
 
 /// Take a response for a goal request from an action server using a rcl_action_client_t.
 /**
@@ -306,6 +308,7 @@ rcl_action_send_goal_request(
  * Lock-Free          | Yes
  *
  * \param[in] action_client handle to the client that will take the goal response
+ * \param[out] response_header pointer to the goal response header
  * \param[out] ros_goal_response pointer to the response of a goal request
  * \return `RCL_RET_OK` if the response was taken successfully, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
@@ -319,6 +322,7 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_take_goal_response(
   const rcl_action_client_t * action_client,
+  rmw_request_id_t * response_header,
   void * ros_goal_response);
 
 /// Take a ROS feedback message for an active goal associated with a rcl_action_client_t.
@@ -450,6 +454,7 @@ rcl_action_take_status(
 
  * \param[in] action_client handle to the client that will send the result request
  * \param[in] ros_result_request pointer to a ROS result request message
+ * \param[out] sequence_number pointer to the result request sequence number
  * \return `RCL_RET_OK` if the request was sent successfully, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_ACTION_CLIENT_INVALID` if the action client is invalid, or
@@ -460,7 +465,8 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_send_result_request(
   const rcl_action_client_t * action_client,
-  const void * ros_result_request);
+  const void * ros_result_request,
+  int64_t * sequence_number);
 
 /// Take a ROS result message for a completed goal associated with a rcl_action_client_t.
 /**
@@ -497,6 +503,7 @@ rcl_action_send_result_request(
  * <i>[1] only if required when filling the result response message, avoided for fixed sizes</i>
  *
  * \param[in] action_client handle to the client that will take the result response
+ * \param[out] response_header pointer to the result response header
  * \param[out] ros_result_response preallocated, zero-initialized, struct where the ROS
  *   result message is copied.
  * \return `RCL_RET_OK` if the response was taken successfully, or
@@ -512,6 +519,7 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_take_result_response(
   const rcl_action_client_t * action_client,
+  rmw_request_id_t * response_header,
   void * ros_result);
 
 /// Send a cancel request for a goal using a rcl_action_client_t.
@@ -544,6 +552,7 @@ rcl_action_take_result_response(
  *
  * \param[in] action_client handle to the client that will make the cancel request
  * \param[in] ros_cancel_request pointer the ROS cancel request message
+ * \param[out] sequence_number pointer to the cancel request sequence number
  * \return `RCL_RET_OK` if the response was taken successfully, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_ACTION_CLIENT_INVALID` if the action client is invalid, or
@@ -554,7 +563,8 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_send_cancel_request(
   const rcl_action_client_t * action_client,
-  const void * ros_cancel_request);
+  const void * ros_cancel_request,
+  int64_t * sequence_number);
 
 /// Take a cancel response using a rcl_action_client_t.
 /**
@@ -585,6 +595,7 @@ rcl_action_send_cancel_request(
  * Lock-Free          | Yes
  *
  * \param[in] action_client handle to the client that will take the cancel response
+ * \param[out] request_header pointer to the cancel response header
  * \param[out] ros_cancel_response a zero-initialized ROS cancel response message where
  *   the cancel response is copied.
  * \return `RCL_RET_OK` if the response was taken successfully, or
@@ -600,6 +611,7 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_take_cancel_response(
   const rcl_action_client_t * action_client,
+  rmw_request_id_t * response_header,
   void * ros_cancel_response);
 
 /// Get the name of the action for a rcl_action_client_t.
diff --git a/rcl_action/include/rcl_action/action_server.h b/rcl_action/include/rcl_action/action_server.h
index 47d8790..05398ff 100644
--- a/rcl_action/include/rcl_action/action_server.h
+++ b/rcl_action/include/rcl_action/action_server.h
@@ -258,6 +258,7 @@ rcl_action_server_get_default_options(void);
  * <i>[1] only if required when filling the request, avoided for fixed sizes</i>
  *
  * \param[in] action_server handle to the action server that will take the request
+ * \param[out] request_header pointer to the goal request header
  * \param[out] ros_goal_request a preallocated, zero-initialized, ROS goal request message
  *   where the request is copied
  * \return `RCL_RET_OK` if the request was taken, or
@@ -273,6 +274,7 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_take_goal_request(
   const rcl_action_server_t * action_server,
+  rmw_request_id_t * request_header,
   void * ros_goal_request);
 
 /// Send a response for a goal request to an action client using an action server.
@@ -308,6 +310,7 @@ rcl_action_take_goal_request(
  * <i>[1] for unique pairs of action servers and responses, see above for more</i>
  *
  * \param[in] action_server handle to the action server that will make the goal response
+ * \param[in] response_header pointer to the goal response header
  * \param[in] ros_goal_response a ROS goal response message to send
  * \return `RCL_RET_OK` if the response was sent successfully, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
@@ -319,6 +322,7 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_send_goal_response(
   const rcl_action_server_t * action_server,
+  rmw_request_id_t * response_header,
   void * ros_goal_response);
 
 /// Accept a new goal using an action server.
@@ -509,6 +513,7 @@ rcl_action_publish_status(
  * Lock-Free          | Yes
  *
  * \param[in] action_server handle to the action server that will take the result request
+ * \param[out] request_header pointer to the result request header
  * \param[out] ros_result_request a preallocated ROS result request message where the
  *   request is copied.
  * \return `RCL_RET_OK` if the response was sent successfully, or
@@ -523,6 +528,7 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_take_result_request(
   const rcl_action_server_t * action_server,
+  rmw_request_id_t * request_header,
   void * ros_result_request);
 
 /// Send a result response using an action server.
@@ -546,6 +552,7 @@ rcl_action_take_result_request(
  * Lock-Free          | Yes
  *
  * \param[in] action_server handle to the action server that will send the result response
+ * \param[in] response_header pointer to the result response header
  * \param[in] ros_result_response a ROS result response message to send
  * \return `RCL_RET_OK` if the response was sent successfully, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
@@ -557,6 +564,7 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_send_result_response(
   const rcl_action_server_t * action_server,
+  rmw_request_id_t * response_header,
   void * ros_result_response);
 
 /// Expires goals associated with an action server.
@@ -629,6 +637,7 @@ rcl_action_expire_goals(
  * Lock-Free          | Yes
  *
  * \param[in] action_server handle to the action server that will take the cancel request
+ * \param[out] request_header pointer to the cancel request header
  * \param[out] ros_cancel_request a preallocated ROS cancel request where the request
  *   message is copied
  * \return `RCL_RET_OK` if the response was sent successfully, or
@@ -643,6 +652,7 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_take_cancel_request(
   const rcl_action_server_t * action_server,
+  rmw_request_id_t * request_header,
   void * ros_cancel_request);
 
 /// Process a cancel request using an action server.
@@ -702,6 +712,7 @@ rcl_action_process_cancel_request(
  * Lock-Free          | Yes
  *
  * \param[in] action_server handle to the action server that will send the cancel response
+ * \param[in] response_header pointer to the cancel response header
  * \param[in] ros_cancel_response a ROS cancel response to send
  * \return `RCL_RET_OK` if the request was taken, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
@@ -713,6 +724,7 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_send_cancel_response(
   const rcl_action_server_t * action_server,
+  rmw_request_id_t * response_header,
   void * ros_cancel_response);
 
 /// Get the action name for an action server.
diff --git a/rcl_action/src/rcl_action/action_client.c b/rcl_action/src/rcl_action/action_client.c
index 1e02a99..f8e924d 100644
--- a/rcl_action/src/rcl_action/action_client.c
+++ b/rcl_action/src/rcl_action/action_client.c
@@ -240,15 +240,15 @@ rcl_action_client_get_default_options(void)
 }
 
 // \internal Sends an action client specific service request.
-#define SEND_SERVICE_REQUEST(Type) \
+#define SEND_SERVICE_REQUEST(Type, request, sequence_number) \
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending action " #Type " request"); \
   if (!rcl_action_client_is_valid(action_client)) { \
     return RCL_RET_ACTION_SERVER_INVALID;  /* error already set */ \
   } \
-  RCL_CHECK_ARGUMENT_FOR_NULL(ros_ ## Type ## _request, RCL_RET_INVALID_ARGUMENT); \
-  int64_t sequence_number;  /* ignored */ \
+  RCL_CHECK_ARGUMENT_FOR_NULL(request, RCL_RET_INVALID_ARGUMENT); \
+  RCL_CHECK_ARGUMENT_FOR_NULL(sequence_number, RCL_RET_INVALID_ARGUMENT); \
   rcl_ret_t ret = rcl_send_request( \
-    &action_client->impl->Type ## _client, ros_ ## Type ## _request, &sequence_number); \
+    &action_client->impl->Type ## _client, request, sequence_number); \
   if (RCL_RET_OK != ret) { \
     return RCL_RET_ERROR;  /* error already set */ \
   } \
@@ -256,15 +256,15 @@ rcl_action_client_get_default_options(void)
   return RCL_RET_OK;
 
 // \internal Takes an action client specific service response.
-#define TAKE_SERVICE_RESPONSE(Type) \
+#define TAKE_SERVICE_RESPONSE(Type, response_header, response) \
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action " #Type " response"); \
   if (!rcl_action_client_is_valid(action_client)) { \
     return RCL_RET_ACTION_SERVER_INVALID;  /* error already set */ \
   } \
-  RCL_CHECK_ARGUMENT_FOR_NULL(ros_ ## Type ## _response, RCL_RET_INVALID_ARGUMENT); \
-  rmw_request_id_t request_header;  /* ignored */ \
+  RCL_CHECK_ARGUMENT_FOR_NULL(response_header, RCL_RET_INVALID_ARGUMENT); \
+  RCL_CHECK_ARGUMENT_FOR_NULL(response, RCL_RET_INVALID_ARGUMENT); \
   rcl_ret_t ret = rcl_take_response( \
-    &action_client->impl->Type ## _client, &request_header, ros_ ## Type ## _response); \
+    &action_client->impl->Type ## _client, response_header, response); \
   if (RCL_RET_OK != ret) { \
     if (RCL_RET_BAD_ALLOC == ret) { \
       return RCL_RET_BAD_ALLOC;  /* error already set */ \
@@ -281,49 +281,55 @@ rcl_action_client_get_default_options(void)
 rcl_ret_t
 rcl_action_send_goal_request(
   const rcl_action_client_t * action_client,
-  const void * ros_goal_request)
+  const void * ros_goal_request,
+  int64_t * sequence_number)
 {
-  SEND_SERVICE_REQUEST(goal)
+  SEND_SERVICE_REQUEST(goal, ros_goal_request, sequence_number);
 }
 
 rcl_ret_t
 rcl_action_take_goal_response(
   const rcl_action_client_t * action_client,
+  rmw_request_id_t * response_header,
   void * ros_goal_response)
 {
-  TAKE_SERVICE_RESPONSE(goal);
+  TAKE_SERVICE_RESPONSE(goal, response_header, ros_goal_response);
 }
 
 rcl_ret_t
 rcl_action_send_result_request(
   const rcl_action_client_t * action_client,
-  const void * ros_result_request)
+  const void * ros_result_request,
+  int64_t * sequence_number)
 {
-  SEND_SERVICE_REQUEST(result);
+  SEND_SERVICE_REQUEST(result, ros_result_request, sequence_number);
 }
 
 rcl_ret_t
 rcl_action_take_result_response(
   const rcl_action_client_t * action_client,
+  rmw_request_id_t * response_header,
   void * ros_result_response)
 {
-  TAKE_SERVICE_RESPONSE(result);
+  TAKE_SERVICE_RESPONSE(result, response_header, ros_result_response);
 }
 
 rcl_ret_t
 rcl_action_send_cancel_request(
   const rcl_action_client_t * action_client,
-  const void * ros_cancel_request)
+  const void * ros_cancel_request,
+  int64_t * sequence_number)
 {
-  SEND_SERVICE_REQUEST(cancel);
+  SEND_SERVICE_REQUEST(cancel, ros_cancel_request, sequence_number);
 }
 
 rcl_ret_t
 rcl_action_take_cancel_response(
   const rcl_action_client_t * action_client,
+  rmw_request_id_t * response_header,
   void * ros_cancel_response)
 {
-  TAKE_SERVICE_RESPONSE(cancel);
+  TAKE_SERVICE_RESPONSE(cancel, response_header, ros_cancel_response);
 }
 
 // \internal Takes an action client specific topic message.
diff --git a/rcl_action/src/rcl_action/action_server.c b/rcl_action/src/rcl_action/action_server.c
index 768d11b..5eb4612 100644
--- a/rcl_action/src/rcl_action/action_server.c
+++ b/rcl_action/src/rcl_action/action_server.c
@@ -264,14 +264,14 @@ rcl_action_server_get_default_options(void)
   return default_options;
 }
 
-#define TAKE_SERVICE_REQUEST(Type) \
+#define TAKE_SERVICE_REQUEST(Type, request_header, request) \
   if (!rcl_action_server_is_valid(action_server)) { \
     return RCL_RET_ACTION_SERVER_INVALID;  /* error already set */ \
   } \
-  RCL_CHECK_ARGUMENT_FOR_NULL(ros_ ## Type ## _request, RCL_RET_INVALID_ARGUMENT); \
-  rmw_request_id_t request_header;  /* ignored */ \
+  RCL_CHECK_ARGUMENT_FOR_NULL(request_header, RCL_RET_INVALID_ARGUMENT); \
+  RCL_CHECK_ARGUMENT_FOR_NULL(request, RCL_RET_INVALID_ARGUMENT); \
   rcl_ret_t ret = rcl_take_request( \
-    &action_server->impl->Type ## _service, &request_header, ros_ ## Type ## _request); \
+    &action_server->impl->Type ## _service, request_header, request); \
   if (RCL_RET_OK != ret) { \
     if (RCL_RET_BAD_ALLOC == ret) { \
       return RCL_RET_BAD_ALLOC;  /* error already set */ \
@@ -283,14 +283,14 @@ rcl_action_server_get_default_options(void)
   } \
   return RCL_RET_OK; \
 
-#define SEND_SERVICE_RESPONSE(Type) \
+#define SEND_SERVICE_RESPONSE(Type, response_header, response) \
   if (!rcl_action_server_is_valid(action_server)) { \
     return RCL_RET_ACTION_SERVER_INVALID;  /* error already set */ \
   } \
-  RCL_CHECK_ARGUMENT_FOR_NULL(ros_ ## Type ## _response, RCL_RET_INVALID_ARGUMENT); \
-  rmw_request_id_t request_header;  /* ignored */ \
+  RCL_CHECK_ARGUMENT_FOR_NULL(response_header, RCL_RET_INVALID_ARGUMENT); \
+  RCL_CHECK_ARGUMENT_FOR_NULL(response, RCL_RET_INVALID_ARGUMENT); \
   rcl_ret_t ret = rcl_send_response( \
-    &action_server->impl->Type ## _service, &request_header, ros_ ## Type ## _response); \
+    &action_server->impl->Type ## _service, response_header, response); \
   if (RCL_RET_OK != ret) { \
     return RCL_RET_ERROR;  /* error already set */ \
   } \
@@ -299,17 +299,19 @@ rcl_action_server_get_default_options(void)
 rcl_ret_t
 rcl_action_take_goal_request(
   const rcl_action_server_t * action_server,
+  rmw_request_id_t * request_header,
   void * ros_goal_request)
 {
-  TAKE_SERVICE_REQUEST(goal);
+  TAKE_SERVICE_REQUEST(goal, request_header, ros_goal_request);
 }
 
 rcl_ret_t
 rcl_action_send_goal_response(
   const rcl_action_server_t * action_server,
+  rmw_request_id_t * response_header,
   void * ros_goal_response)
 {
-  SEND_SERVICE_RESPONSE(goal);
+  SEND_SERVICE_RESPONSE(goal, response_header, ros_goal_response);
 }
 
 // Implementation only
@@ -481,17 +483,19 @@ rcl_action_publish_status(
 rcl_ret_t
 rcl_action_take_result_request(
   const rcl_action_server_t * action_server,
+  rmw_request_id_t * request_header,
   void * ros_result_request)
 {
-  TAKE_SERVICE_REQUEST(result);
+  TAKE_SERVICE_REQUEST(result, request_header, ros_result_request);
 }
 
 rcl_ret_t
 rcl_action_send_result_response(
   const rcl_action_server_t * action_server,
+  rmw_request_id_t * response_header,
   void * ros_result_response)
 {
-  SEND_SERVICE_RESPONSE(result);
+  SEND_SERVICE_RESPONSE(result, response_header, ros_result_response);
 }
 
 rcl_ret_t
@@ -571,9 +575,10 @@ rcl_action_expire_goals(
 rcl_ret_t
 rcl_action_take_cancel_request(
   const rcl_action_server_t * action_server,
+  rmw_request_id_t * request_header,
   void * ros_cancel_request)
 {
-  TAKE_SERVICE_REQUEST(cancel);
+  TAKE_SERVICE_REQUEST(cancel, request_header, ros_cancel_request);
 }
 
 rcl_ret_t
@@ -694,9 +699,10 @@ cleanup:
 rcl_ret_t
 rcl_action_send_cancel_response(
   const rcl_action_server_t * action_server,
+  rmw_request_id_t * response_header,
   void * ros_cancel_response)
 {
-  SEND_SERVICE_RESPONSE(cancel);
+  SEND_SERVICE_RESPONSE(cancel, response_header, ros_cancel_response);
 }
 
 const char *
diff --git a/rcl_action/test/rcl_action/test_action_communication.cpp b/rcl_action/test/rcl_action/test_action_communication.cpp
index 8d9bc6c..f6bcf1f 100644
--- a/rcl_action/test/rcl_action/test_action_communication.cpp
+++ b/rcl_action/test/rcl_action/test_action_communication.cpp
@@ -89,24 +89,30 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_take_goal_re
   test_msgs__action__Fibonacci_Goal_Request__init(&goal_request);
 
   // Take request with null action server
-  rcl_ret_t ret = rcl_action_take_goal_request(nullptr, &goal_request);
+  rmw_request_id_t request_header;
+  rcl_ret_t ret = rcl_action_take_goal_request(nullptr, &request_header, &goal_request);
   EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
   rcl_reset_error();
 
+  // Take request with null header
+  ret = rcl_action_take_goal_request(&this->action_server, nullptr, &goal_request);
+  EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
+  rcl_reset_error();
+
   // Take request with null message
-  ret = rcl_action_take_goal_request(&this->action_server, nullptr);
+  ret = rcl_action_take_goal_request(&this->action_server, &request_header, nullptr);
   EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
   rcl_reset_error();
 
   // Take request with invalid action server
   rcl_action_server_t invalid_action_server = rcl_action_get_zero_initialized_server();
-  ret = rcl_action_take_goal_request(&invalid_action_server, &goal_request);
+  ret = rcl_action_take_goal_request(&invalid_action_server, &request_header, &goal_request);
   EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
   rcl_reset_error();
 
   // Take with valid arguments
   // TODO(jacobperron): Send a request from a client
-  // ret = rcl_action_take_goal_request(&this->action_server, &goal_request);
+  // ret = rcl_action_take_goal_request(&this->action_server, &request_header, &goal_request);
   // EXPECT_EQ(ret, RCL_RET_OK);
 
   test_msgs__action__Fibonacci_Goal_Request__fini(&goal_request);
@@ -118,24 +124,30 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_send_goal_re
   test_msgs__action__Fibonacci_Goal_Response__init(&goal_response);
 
   // Send response with null action server
-  rcl_ret_t ret = rcl_action_send_goal_response(nullptr, &goal_response);
+  rmw_request_id_t response_header;
+  rcl_ret_t ret = rcl_action_send_goal_response(nullptr, &response_header, &goal_response);
   EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
   rcl_reset_error();
 
+  // Send response with null header
+  ret = rcl_action_send_goal_response(&this->action_server, nullptr, &goal_response);
+  EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
+  rcl_reset_error();
+
   // Send response with null message
-  ret = rcl_action_send_goal_response(&this->action_server, nullptr);
+  ret = rcl_action_send_goal_response(&this->action_server, &response_header, nullptr);
   EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
   rcl_reset_error();
 
   // Send response with invalid action server
   rcl_action_server_t invalid_action_server = rcl_action_get_zero_initialized_server();
-  ret = rcl_action_send_goal_response(&invalid_action_server, &goal_response);
+  ret = rcl_action_send_goal_response(&invalid_action_server, &response_header, &goal_response);
   EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
   rcl_reset_error();
 
   // Send with valid arguments
   // TODO(jacobperron): Check with client on receiving end
-  ret = rcl_action_send_goal_response(&this->action_server, &goal_response);
+  ret = rcl_action_send_goal_response(&this->action_server, &response_header, &goal_response);
   EXPECT_EQ(ret, RCL_RET_OK);
 
   test_msgs__action__Fibonacci_Goal_Response__fini(&goal_response);
@@ -147,24 +159,30 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_take_cancel_
   action_msgs__srv__CancelGoal_Request__init(&cancel_request);
 
   // Take request with null action server
-  rcl_ret_t ret = rcl_action_take_cancel_request(nullptr, &cancel_request);
+  rmw_request_id_t request_header;
+  rcl_ret_t ret = rcl_action_take_cancel_request(nullptr, &request_header, &cancel_request);
   EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
   rcl_reset_error();
 
+  // Take request with null header
+  ret = rcl_action_take_cancel_request(&this->action_server, nullptr, &cancel_request);
+  EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
+  rcl_reset_error();
+
   // Take request with null message
-  ret = rcl_action_take_cancel_request(&this->action_server, nullptr);
+  ret = rcl_action_take_cancel_request(&this->action_server, &request_header, nullptr);
   EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
   rcl_reset_error();
 
   // Take request with invalid action server
   rcl_action_server_t invalid_action_server = rcl_action_get_zero_initialized_server();
-  ret = rcl_action_take_cancel_request(&invalid_action_server, &cancel_request);
+  ret = rcl_action_take_cancel_request(&invalid_action_server, &request_header, &cancel_request);
   EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
   rcl_reset_error();
 
   // Take with valid arguments
   // TODO(jacobperron): Send a request from a client
-  // ret = rcl_action_take_cancel_request(&this->action_server, &cancel_request);
+  // ret = rcl_action_take_cancel_request(&this->action_server, &request_header, &cancel_request);
   // EXPECT_EQ(ret, RCL_RET_OK);
 
   action_msgs__srv__CancelGoal_Request__fini(&cancel_request);
@@ -176,24 +194,30 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_send_cancel_
   action_msgs__srv__CancelGoal_Response__init(&cancel_response);
 
   // Send response with null action server
-  rcl_ret_t ret = rcl_action_send_cancel_response(nullptr, &cancel_response);
+  rmw_request_id_t response_header;
+  rcl_ret_t ret = rcl_action_send_cancel_response(nullptr, &response_header, &cancel_response);
   EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
   rcl_reset_error();
 
+  // Send response with null header
+  ret = rcl_action_send_cancel_response(&this->action_server, nullptr, &cancel_response);
+  EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
+  rcl_reset_error();
+
   // Send response with null message
-  ret = rcl_action_send_cancel_response(&this->action_server, nullptr);
+  ret = rcl_action_send_cancel_response(&this->action_server, &response_header, nullptr);
   EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
   rcl_reset_error();
 
   // Send response with invalid action server
   rcl_action_server_t invalid_action_server = rcl_action_get_zero_initialized_server();
-  ret = rcl_action_send_cancel_response(&invalid_action_server, &cancel_response);
+  ret = rcl_action_send_cancel_response(&invalid_action_server, &response_header, &cancel_response);
   EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
   rcl_reset_error();
 
   // Send with valid arguments
   // TODO(jacobperron): Check with client on receiving end
-  ret = rcl_action_send_cancel_response(&this->action_server, &cancel_response);
+  ret = rcl_action_send_cancel_response(&this->action_server, &response_header, &cancel_response);
   EXPECT_EQ(ret, RCL_RET_OK);
 
   action_msgs__srv__CancelGoal_Response__fini(&cancel_response);
@@ -205,24 +229,30 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_take_result_
   test_msgs__action__Fibonacci_Result_Request__init(&result_request);
 
   // Take request with null action server
-  rcl_ret_t ret = rcl_action_take_result_request(nullptr, &result_request);
+  rmw_request_id_t request_header;
+  rcl_ret_t ret = rcl_action_take_result_request(nullptr, &request_header, &result_request);
   EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
   rcl_reset_error();
 
+  // Take request with null header
+  ret = rcl_action_take_result_request(&this->action_server, nullptr, &result_request);
+  EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
+  rcl_reset_error();
+
   // Take request with null message
-  ret = rcl_action_take_result_request(&this->action_server, nullptr);
+  ret = rcl_action_take_result_request(&this->action_server, &request_header, nullptr);
   EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
   rcl_reset_error();
 
   // Take request with invalid action server
   rcl_action_server_t invalid_action_server = rcl_action_get_zero_initialized_server();
-  ret = rcl_action_take_result_request(&invalid_action_server, &result_request);
+  ret = rcl_action_take_result_request(&invalid_action_server, &request_header, &result_request);
   EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
   rcl_reset_error();
 
   // Take with valid arguments
   // TODO(jacobperron): Send a request from a client
-  // ret = rcl_action_take_result_request(&this->action_server, &result_request);
+  // ret = rcl_action_take_result_request(&this->action_server, &request_header, &result_request);
   // EXPECT_EQ(ret, RCL_RET_OK);
 
   test_msgs__action__Fibonacci_Result_Request__fini(&result_request);
@@ -234,24 +264,30 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_send_result_
   test_msgs__action__Fibonacci_Result_Response__init(&result_response);
 
   // Send response with null action server
-  rcl_ret_t ret = rcl_action_send_result_response(nullptr, &result_response);
+  rmw_request_id_t response_header;
+  rcl_ret_t ret = rcl_action_send_result_response(nullptr, &response_header, &result_response);
   EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
   rcl_reset_error();
 
+  // Send response with null header
+  ret = rcl_action_send_result_response(&this->action_server, nullptr, &result_response);
+  EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
+  rcl_reset_error();
+
   // Send response with null message
-  ret = rcl_action_send_result_response(&this->action_server, nullptr);
+  ret = rcl_action_send_result_response(&this->action_server, &response_header, nullptr);
   EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
   rcl_reset_error();
 
   // Send response with invalid action server
   rcl_action_server_t invalid_action_server = rcl_action_get_zero_initialized_server();
-  ret = rcl_action_send_result_response(&invalid_action_server, &result_response);
+  ret = rcl_action_send_result_response(&invalid_action_server, &response_header, &result_response);
   EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
   rcl_reset_error();
 
   // Send with valid arguments
   // TODO(jacobperron): Check with client on receiving end
-  ret = rcl_action_send_result_response(&this->action_server, &result_response);
+  ret = rcl_action_send_result_response(&this->action_server, &response_header, &result_response);
   EXPECT_EQ(ret, RCL_RET_OK);
 
   test_msgs__action__Fibonacci_Result_Response__fini(&result_response);