diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index 625620c..26361a2 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -347,6 +347,15 @@ if(BUILD_TESTING)
     )
     target_link_libraries(test_publisher_subscription_count_api ${PROJECT_NAME})
   endif()
+  ament_add_gtest(test_qos test/test_qos.cpp)
+  if(TARGET test_qos)
+    ament_target_dependencies(test_qos
+      "rmw"
+    )
+    target_link_libraries(test_qos
+      ${PROJECT_NAME}
+    )
+  endif()
   ament_add_gtest(test_rate test/test_rate.cpp)
   if(TARGET test_rate)
     ament_target_dependencies(test_rate
diff --git a/rclcpp/include/rclcpp/qos.hpp b/rclcpp/include/rclcpp/qos.hpp
index 6f7db78..04e3666 100644
--- a/rclcpp/include/rclcpp/qos.hpp
+++ b/rclcpp/include/rclcpp/qos.hpp
@@ -151,6 +151,12 @@ private:
   rmw_qos_profile_t rmw_qos_profile_;
 };
 
+/// Check if two QoS profiles are exactly equal in all policy values.
+RCLCPP_PUBLIC
+bool operator==(const QoS & left, const QoS & right);
+RCLCPP_PUBLIC
+bool operator!=(const QoS & left, const QoS & right);
+
 class RCLCPP_PUBLIC SensorDataQoS : public QoS
 {
 public:
diff --git a/rclcpp/src/rclcpp/qos.cpp b/rclcpp/src/rclcpp/qos.cpp
index bec92fd..4063fed 100644
--- a/rclcpp/src/rclcpp/qos.cpp
+++ b/rclcpp/src/rclcpp/qos.cpp
@@ -184,6 +184,35 @@ QoS::avoid_ros_namespace_conventions(bool avoid_ros_namespace_conventions)
   return *this;
 }
 
+namespace
+{
+/// Check if two rmw_time_t have the same values.
+bool operator==(const rmw_time_t & left, const rmw_time_t & right)
+{
+  return left.sec == right.sec && left.nsec == right.nsec;
+}
+}  // unnamed namespace
+
+bool operator==(const QoS & left, const QoS & right)
+{
+  const auto & pl = left.get_rmw_qos_profile();
+  const auto & pr = right.get_rmw_qos_profile();
+  return pl.history == pr.history &&
+         pl.depth == pr.depth &&
+         pl.reliability == pr.reliability &&
+         pl.durability == pr.durability &&
+         pl.deadline == pr.deadline &&
+         pl.lifespan == pr.lifespan &&
+         pl.liveliness == pr.liveliness &&
+         pl.liveliness_lease_duration == pr.liveliness_lease_duration &&
+         pl.avoid_ros_namespace_conventions == pr.avoid_ros_namespace_conventions;
+}
+
+bool operator!=(const QoS & left, const QoS & right)
+{
+  return !(left == right);
+}
+
 SensorDataQoS::SensorDataQoS(const QoSInitialization & qos_initialization)
 : QoS(qos_initialization, rmw_qos_profile_sensor_data)
 {}
diff --git a/rclcpp/test/test_qos.cpp b/rclcpp/test/test_qos.cpp
new file mode 100644
index 0000000..b80c776
--- /dev/null
+++ b/rclcpp/test/test_qos.cpp
@@ -0,0 +1,77 @@
+// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include "rclcpp/qos.hpp"
+
+TEST(TestQoS, equality_history) {
+  rclcpp::QoS a(10);
+  rclcpp::QoS b(10);
+  EXPECT_EQ(a, b);
+  a.keep_last(5);
+  EXPECT_NE(a, b);
+  a.keep_all();
+  b.keep_all();
+  EXPECT_EQ(a, b);
+}
+
+TEST(TestQoS, equality_reliability) {
+  rclcpp::QoS a(10);
+  rclcpp::QoS b(10);
+  b.best_effort();
+  EXPECT_NE(a, b);
+}
+
+TEST(TestQoS, equality_durability) {
+  rclcpp::QoS a(10);
+  rclcpp::QoS b(10);
+  a.transient_local();
+  EXPECT_NE(a, b);
+}
+
+TEST(TestQoS, equality_deadline) {
+  rclcpp::QoS a(10);
+  rclcpp::QoS b(10);
+  rmw_time_t deadline{0, 1000};
+  a.deadline(deadline);
+  EXPECT_NE(a, b);
+}
+
+TEST(TestQoS, equality_lifespan) {
+  rclcpp::QoS a(10);
+  rclcpp::QoS b(10);
+  rmw_time_t lifespan{3, 0};
+  a.lifespan(lifespan);
+  EXPECT_NE(a, b);
+}
+
+TEST(TestQoS, equality_liveliness) {
+  rclcpp::QoS a(10);
+  rclcpp::QoS b(10);
+  rmw_time_t duration{0, 1000000};
+  a.liveliness_lease_duration(duration);
+  EXPECT_NE(a, b);
+  b.liveliness_lease_duration(duration);
+  EXPECT_EQ(a, b);
+  a.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE);
+  EXPECT_NE(a, b);
+}
+
+TEST(TestQoS, equality_namespace) {
+  rclcpp::QoS a(10);
+  rclcpp::QoS b(10);
+  a.avoid_ros_namespace_conventions(true);
+  EXPECT_NE(a, b);
+}