diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
index e9e0b4c50..0f32c2102 100644
--- a/rcl/CMakeLists.txt
+++ b/rcl/CMakeLists.txt
@@ -52,6 +52,7 @@ set(${PROJECT_NAME}_sources
   src/rcl/node.c
   src/rcl/node_options.c
   src/rcl/publisher.c
+  src/rcl/qos.c
   src/rcl/remap.c
   src/rcl/rmw_implementation_identifier_check.c
   src/rcl/security.c
diff --git a/rcl/include/rcl/qos.h b/rcl/include/rcl/qos.h
new file mode 100644
index 000000000..5fa4f5b3c
--- /dev/null
+++ b/rcl/include/rcl/qos.h
@@ -0,0 +1,128 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef RCL__QOS_H_
+#define RCL__QOS_H_
+
+#include "rcl/visibility_control.h"
+#include "rmw/types.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// Return a string representing the policy value.
+/**
+ * Returns `NULL` when `value` is `RMW_QOS_POLICY_*_UNKNOWN` or an undefined enum value.
+ *
+ * The stringified version of the policy value can be obtained doing the follwing conversion:
+ * RMW_QOS_POLICY_<POLICY_KIND>_<POLICY_VALUE> -> lower_case(<POLICY_VALUE>)
+ *
+ * For example, the strigified version of `RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC` is
+ * "manual_by_topic" and `RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT` is `best_effort`.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | Yes
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] value qos policy value to be stringified.
+ * \return a null terminated string representing the policy value, or
+ * \return `NULL` if value is `RMW_QOS_POLICY_*_UNKNOWN` or an undefined enum value.
+ */
+RCL_PUBLIC
+const char *
+rcl_qos_durability_policy_to_str(enum rmw_qos_durability_policy_t value);
+
+/// Return a string representing the policy value.
+/**
+ * See \ref rcl_qos_durability_policy_to_str() for more details.
+ */
+RCL_PUBLIC
+const char *
+rcl_qos_history_policy_to_str(enum rmw_qos_history_policy_t value);
+
+/// Return a string representing the policy value.
+/**
+ * See \ref rcl_qos_durability_policy_to_str() for more details.
+ */
+RCL_PUBLIC
+const char *
+rcl_qos_liveliness_policy_to_str(enum rmw_qos_liveliness_policy_t value);
+
+/// Return a string representing the policy value.
+/**
+ * See \ref rcl_qos_durability_policy_to_str() for more details.
+ */
+RCL_PUBLIC
+const char *
+rcl_qos_reliability_policy_to_str(enum rmw_qos_reliability_policy_t value);
+
+/// Return a enum value based on the provided string.
+/**
+ * Returns the enum value based on the provided string, or
+ * `RMW_QOS_POLICY_*_UNKNOWN` when the provided string is unexpected.
+ *
+ * How policy values are stringified is explained in \ref rcl_qos_durability_policy_to_str.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | Yes
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] str string identifying a qos policy value.
+ * \return the policy value represented by the string, or
+ * \return `RMW_QOS_POLICY_*_UNKNOWN` if the string doesn't represent any value.
+ */
+RCL_PUBLIC
+enum rmw_qos_durability_policy_t
+rcl_qos_durability_policy_from_str(const char * str);
+
+/// Return a enum value based on the provided string.
+/**
+ * See \ref rcl_qos_durability_policy_from_str() for more details.
+ */
+RCL_PUBLIC
+enum rmw_qos_history_policy_t
+rcl_qos_history_policy_from_str(const char * str);
+
+/// Return a enum value based on the provided string.
+/**
+ * See \ref rcl_qos_durability_policy_from_str() for more details.
+ */
+RCL_PUBLIC
+enum rmw_qos_liveliness_policy_t
+rcl_qos_liveliness_policy_from_str(const char * str);
+
+
+/// Return a enum value based on the provided string.
+/**
+ * See \ref rcl_qos_durability_policy_from_str() for more details.
+ */
+RCL_PUBLIC
+enum rmw_qos_reliability_policy_t
+rcl_qos_reliability_policy_from_str(const char * str);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCL__QOS_H_
diff --git a/rcl/src/rcl/qos.c b/rcl/src/rcl/qos.c
new file mode 100644
index 000000000..44fe77bc4
--- /dev/null
+++ b/rcl/src/rcl/qos.c
@@ -0,0 +1,139 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// 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 "rcl/qos.h"
+
+const char *
+rcl_qos_durability_policy_to_str(enum rmw_qos_durability_policy_t value)
+{
+  switch (value) {
+    case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
+      return "system_default";
+    case RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:
+      return "transient_local";
+    case RMW_QOS_POLICY_DURABILITY_VOLATILE:
+      return "volatile";
+    case RMW_QOS_POLICY_DURABILITY_UNKNOWN:  // fallthrough
+    default:
+      return NULL;
+  }
+}
+
+const char *
+rcl_qos_history_policy_to_str(enum rmw_qos_history_policy_t value)
+{
+  switch (value) {
+    case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
+      return "system_default";
+    case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
+      return "keep_last";
+    case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
+      return "keep_all";
+    case RMW_QOS_POLICY_HISTORY_UNKNOWN:  // fallthrough
+    default:
+      return NULL;
+  }
+}
+
+const char *
+rcl_qos_liveliness_policy_to_str(enum rmw_qos_liveliness_policy_t value)
+{
+  switch (value) {
+    case RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT:
+      return "system_default";
+    case RMW_QOS_POLICY_LIVELINESS_AUTOMATIC:
+      return "automatic";
+    case RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC:
+      return "manual_by_topic";
+    case RMW_QOS_POLICY_LIVELINESS_UNKNOWN:  // fallthrough
+    default:
+      return NULL;
+  }
+}
+
+const char *
+rcl_qos_reliability_policy_to_str(enum rmw_qos_reliability_policy_t value)
+{
+  switch (value) {
+    case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
+      return "system_default";
+    case RMW_QOS_POLICY_RELIABILITY_RELIABLE:
+      return "reliable";
+    case RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT:
+      return "best_effort";
+    case RMW_QOS_POLICY_RELIABILITY_UNKNOWN:  // fallthrough
+    default:
+      return NULL;
+  }
+}
+
+enum rmw_qos_durability_policy_t
+rcl_qos_durability_policy_from_str(const char * str)
+{
+  if (0 == strcmp("system_default", str)) {
+    return RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT;
+  }
+  if (0 == strcmp("transient_local", str)) {
+    return RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+  }
+  if (0 == strcmp("volatile", str)) {
+    return RMW_QOS_POLICY_DURABILITY_VOLATILE;
+  }
+  return RMW_QOS_POLICY_DURABILITY_UNKNOWN;
+}
+
+enum rmw_qos_history_policy_t
+rcl_qos_history_policy_from_str(const char * str)
+{
+  if (0 == strcmp("system_default", str)) {
+    return RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT;
+  }
+  if (0 == strcmp("keep_last", str)) {
+    return RMW_QOS_POLICY_HISTORY_KEEP_LAST;
+  }
+  if (0 == strcmp("keep_all", str)) {
+    return RMW_QOS_POLICY_HISTORY_KEEP_ALL;
+  }
+  return RMW_QOS_POLICY_HISTORY_UNKNOWN;
+}
+
+enum rmw_qos_liveliness_policy_t
+rcl_qos_liveliness_policy_from_str(const char * str)
+{
+  if (0 == strcmp("system_default", str)) {
+    return RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT;
+  }
+  if (0 == strcmp("automatic", str)) {
+    return RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
+  }
+  if (0 == strcmp("manual_by_topic", str)) {
+    return RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
+  }
+  return RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
+}
+
+enum rmw_qos_reliability_policy_t
+rcl_qos_reliability_policy_from_str(const char * str)
+{
+  if (0 == strcmp("system_default", str)) {
+    return RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
+  }
+  if (0 == strcmp("reliable", str)) {
+    return RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  }
+  if (0 == strcmp("best_effort", str)) {
+    return RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+  }
+  return RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
+}
diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index def4ac147..b22f2f419 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -411,6 +411,12 @@ rcl_add_custom_gtest(test_log_level
   AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
 )
 
+rcl_add_custom_gtest(test_qos
+  SRCS rcl/test_qos.cpp
+  APPEND_LIBRARY_DIRS ${extra_lib_dirs}
+  LIBRARIES ${PROJECT_NAME}
+)
+
 # Install test resources
 install(DIRECTORY ${test_resources_dir_name}
         DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
diff --git a/rcl/test/rcl/test_qos.cpp b/rcl/test/rcl/test_qos.cpp
new file mode 100644
index 000000000..6246f4ddb
--- /dev/null
+++ b/rcl/test/rcl/test_qos.cpp
@@ -0,0 +1,55 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// 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 "rcl/qos.h"
+#include "rmw/types.h"
+
+// Converts to string and back to the policy value, check that it's the same
+#define TEST_QOS_POLICY_VALUE_STRINGIFY(kind, value) \
+  do { \
+    EXPECT_EQ( \
+      value, rcl_qos_ ## kind ## _policy_from_str(rcl_qos_ ## kind ## _policy_to_str(value))); \
+  } while (0)
+
+// Check unrecognized string as input of from_str, check UNKNOWN as input of to_str.
+#define TEST_QOS_POLICY_STRINGIFY_CORNER_CASES(kind, kind_upper) \
+  do { \
+    EXPECT_EQ( \
+      NULL, rcl_qos_ ## kind ## _policy_to_str(RMW_QOS_POLICY_ ## kind_upper ## _UNKNOWN)); \
+    EXPECT_EQ( \
+      RMW_QOS_POLICY_ ## kind_upper ## _UNKNOWN, \
+      rcl_qos_ ## kind ## _policy_from_str("this could never be a stringified policy value")); \
+  } while (0)
+
+TEST(test_qos_policy_stringify, test_normal_use) {
+  TEST_QOS_POLICY_VALUE_STRINGIFY(durability, RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT);
+  TEST_QOS_POLICY_VALUE_STRINGIFY(durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+  TEST_QOS_POLICY_VALUE_STRINGIFY(durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
+  TEST_QOS_POLICY_VALUE_STRINGIFY(history, RMW_QOS_POLICY_HISTORY_KEEP_LAST);
+  TEST_QOS_POLICY_VALUE_STRINGIFY(history, RMW_QOS_POLICY_HISTORY_KEEP_ALL);
+  TEST_QOS_POLICY_VALUE_STRINGIFY(history, RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT);
+  TEST_QOS_POLICY_VALUE_STRINGIFY(liveliness, RMW_QOS_POLICY_LIVELINESS_AUTOMATIC);
+  TEST_QOS_POLICY_VALUE_STRINGIFY(liveliness, RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC);
+  TEST_QOS_POLICY_VALUE_STRINGIFY(liveliness, RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT);
+  TEST_QOS_POLICY_VALUE_STRINGIFY(reliability, RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT);
+  TEST_QOS_POLICY_VALUE_STRINGIFY(reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+  TEST_QOS_POLICY_VALUE_STRINGIFY(reliability, RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT);
+
+  TEST_QOS_POLICY_STRINGIFY_CORNER_CASES(durability, DURABILITY);
+  TEST_QOS_POLICY_STRINGIFY_CORNER_CASES(history, HISTORY);
+  TEST_QOS_POLICY_STRINGIFY_CORNER_CASES(liveliness, LIVELINESS);
+  TEST_QOS_POLICY_STRINGIFY_CORNER_CASES(reliability, RELIABILITY);
+}