diff --git a/rclcpp/include/rclcpp/parameter_client.hpp b/rclcpp/include/rclcpp/parameter_client.hpp
index 3186523..c0c7d62 100644
--- a/rclcpp/include/rclcpp/parameter_client.hpp
+++ b/rclcpp/include/rclcpp/parameter_client.hpp
@@ -15,6 +15,7 @@
 #ifndef RCLCPP__PARAMETER_CLIENT_HPP_
 #define RCLCPP__PARAMETER_CLIENT_HPP_
 
+#include <memory>
 #include <string>
 #include <utility>
 #include <vector>
@@ -29,6 +30,7 @@
 #include "rcl_interfaces/srv/set_parameters.hpp"
 #include "rcl_interfaces/srv/set_parameters_atomically.hpp"
 #include "rclcpp/executors.hpp"
+#include "rclcpp/create_subscription.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/parameter.hpp"
@@ -46,6 +48,15 @@ class AsyncParametersClient
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(AsyncParametersClient)
 
+  RCLCPP_PUBLIC
+  AsyncParametersClient(
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
+    const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
+    const std::string & remote_node_name = "",
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
+
   RCLCPP_PUBLIC
   AsyncParametersClient(
     const rclcpp::node::Node::SharedPtr node,
@@ -93,12 +104,29 @@ public:
       void(std::shared_future<rcl_interfaces::msg::ListParametersResult>)
     > callback = nullptr);
 
-  template<typename CallbackT>
+  template<
+    typename CallbackT,
+    typename Alloc = std::allocator<void>,
+    typename SubscriptionT =
+    rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent, Alloc>>
   typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
   on_parameter_event(CallbackT && callback)
   {
-    return node_->create_subscription<rcl_interfaces::msg::ParameterEvent>(
-      "parameter_events", std::forward<CallbackT>(callback), rmw_qos_profile_parameter_events);
+    using rclcpp::message_memory_strategy::MessageMemoryStrategy;
+    auto msg_mem_strat =
+      MessageMemoryStrategy<rcl_interfaces::msg::ParameterEvent, Alloc>::create_default();
+
+    return rclcpp::create_subscription<
+      rcl_interfaces::msg::ParameterEvent, CallbackT, Alloc, SubscriptionT>(
+      this->node_topics_interface_.get(),
+      "parameter_events",
+      std::forward<CallbackT>(callback),
+      rmw_qos_profile_default,
+      nullptr,  // group,
+      false,  // ignore_local_publications,
+      false,  // use_intra_process_comms_,
+      msg_mem_strat,
+      std::make_shared<Alloc>());
   }
 
   RCLCPP_PUBLIC
@@ -121,7 +149,7 @@ protected:
   wait_for_service_nanoseconds(std::chrono::nanoseconds timeout);
 
 private:
-  const rclcpp::node::Node::SharedPtr node_;
+  const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface_;
   rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_client_;
   rclcpp::client::Client<rcl_interfaces::srv::GetParameterTypes>::SharedPtr
     get_parameter_types_client_;
diff --git a/rclcpp/src/rclcpp/parameter_client.cpp b/rclcpp/src/rclcpp/parameter_client.cpp
index a9fc491..8b4b9d3 100644
--- a/rclcpp/src/rclcpp/parameter_client.cpp
+++ b/rclcpp/src/rclcpp/parameter_client.cpp
@@ -25,28 +25,82 @@ using rclcpp::parameter_client::AsyncParametersClient;
 using rclcpp::parameter_client::SyncParametersClient;
 
 AsyncParametersClient::AsyncParametersClient(
-  const rclcpp::node::Node::SharedPtr node,
+  const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+  const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+  const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
+  const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
   const std::string & remote_node_name,
   const rmw_qos_profile_t & qos_profile)
-: node_(node)
+: node_topics_interface_(node_topics_interface)
 {
   if (remote_node_name != "") {
     remote_node_name_ = remote_node_name;
   } else {
-    remote_node_name_ = node_->get_name();
+    remote_node_name_ = node_base_interface->get_name();
   }
-  get_parameters_client_ = node_->create_client<rcl_interfaces::srv::GetParameters>(
-    remote_node_name_ + "/" + parameter_service_names::get_parameters, qos_profile);
-  get_parameter_types_client_ = node_->create_client<rcl_interfaces::srv::GetParameterTypes>(
-    remote_node_name_ + "/" + parameter_service_names::get_parameter_types, qos_profile);
-  set_parameters_client_ = node_->create_client<rcl_interfaces::srv::SetParameters>(
-    remote_node_name_ + "/" + parameter_service_names::set_parameters, qos_profile);
-  list_parameters_client_ = node_->create_client<rcl_interfaces::srv::ListParameters>(
-    remote_node_name_ + "/" + parameter_service_names::list_parameters, qos_profile);
-  describe_parameters_client_ = node_->create_client<rcl_interfaces::srv::DescribeParameters>(
-    remote_node_name_ + "/" + parameter_service_names::describe_parameters, qos_profile);
+
+  rcl_client_options_t options = rcl_client_get_default_options();
+  options.qos = qos_profile;
+
+  using rclcpp::client::Client;
+  using rclcpp::client::ClientBase;
+
+  get_parameters_client_ = Client<rcl_interfaces::srv::GetParameters>::make_shared(
+    node_base_interface.get(),
+    node_graph_interface,
+    remote_node_name_ + "/" + parameter_service_names::get_parameters,
+    options);
+  auto get_parameters_base = std::dynamic_pointer_cast<ClientBase>(get_parameters_client_);
+  node_services_interface->add_client(get_parameters_base, nullptr);
+
+  get_parameter_types_client_ = Client<rcl_interfaces::srv::GetParameterTypes>::make_shared(
+    node_base_interface.get(),
+    node_graph_interface,
+    remote_node_name_ + "/" + parameter_service_names::get_parameter_types,
+    options);
+  auto get_parameter_types_base =
+    std::dynamic_pointer_cast<ClientBase>(get_parameter_types_client_);
+  node_services_interface->add_client(get_parameter_types_base, nullptr);
+
+  set_parameters_client_ = Client<rcl_interfaces::srv::SetParameters>::make_shared(
+    node_base_interface.get(),
+    node_graph_interface,
+    remote_node_name_ + "/" + parameter_service_names::set_parameters,
+    options);
+  auto set_parameters_base = std::dynamic_pointer_cast<ClientBase>(set_parameters_client_);
+  node_services_interface->add_client(set_parameters_base, nullptr);
+
+  list_parameters_client_ = Client<rcl_interfaces::srv::ListParameters>::make_shared(
+    node_base_interface.get(),
+    node_graph_interface,
+    remote_node_name_ + "/" + parameter_service_names::list_parameters,
+    options);
+  auto list_parameters_base = std::dynamic_pointer_cast<ClientBase>(list_parameters_client_);
+  node_services_interface->add_client(list_parameters_base, nullptr);
+
+  describe_parameters_client_ = Client<rcl_interfaces::srv::DescribeParameters>::make_shared(
+    node_base_interface.get(),
+    node_graph_interface,
+    remote_node_name_ + "/" + parameter_service_names::describe_parameters,
+    options);
+  auto describe_parameters_base =
+    std::dynamic_pointer_cast<ClientBase>(describe_parameters_client_);
+  node_services_interface->add_client(describe_parameters_base, nullptr);
 }
 
+AsyncParametersClient::AsyncParametersClient(
+  const rclcpp::node::Node::SharedPtr node,
+  const std::string & remote_node_name,
+  const rmw_qos_profile_t & qos_profile)
+: AsyncParametersClient(
+    node->get_node_base_interface(),
+    node->get_node_topics_interface(),
+    node->get_node_graph_interface(),
+    node->get_node_services_interface(),
+    remote_node_name,
+    qos_profile)
+{}
+
 std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>
 AsyncParametersClient::get_parameters(
   const std::vector<std::string> & names,