diff --git a/rosidl_runtime_c/include/rosidl_runtime_c/service_type_support_struct.h b/rosidl_runtime_c/include/rosidl_runtime_c/service_type_support_struct.h
index 8f5ce9649..07a47c0f2 100644
--- a/rosidl_runtime_c/include/rosidl_runtime_c/service_type_support_struct.h
+++ b/rosidl_runtime_c/include/rosidl_runtime_c/service_type_support_struct.h
@@ -29,7 +29,6 @@ extern "C"
 
 typedef struct rosidl_service_type_support_t rosidl_service_type_support_t;
 
-// TODO(ihasdapie): Some documentation for this fn would be nice
 typedef const rosidl_service_type_support_t * (* rosidl_service_typesupport_handle_function)(
   const rosidl_service_type_support_t *, const char *);
 
@@ -41,11 +40,19 @@ typedef struct rosidl_service_introspection_info_s {
   int64_t sequence_number;
 } rosidl_service_introspection_info_t;
 
-/// Fills in a service introspection request or response message
+/// Creates a ServiceEvent message for the service.
 /**
- * - Returns NULL ptr if fail
+ * Instantiates a ServiceEvent message with the given info and request/response message.
+ * The message is allocated using the given allocator and must be deallocated using
+ * the rosidl_service_introspection_destroy_handle
  *
- */
+ * \param[in] POD fields of service_msgs/msg/ServiceEventInfo to be passed from rcl
+ * \param[in] allocator The allocator to use for allocating the ServiceEvent message
+ * \param[in] request_message type-erased handle to request message from rcl. Can be NULL.
+ * \param[in] response_message type-erased handle to request message from rcl. Can be NULL.
+ * \param[in] enable_message_payload Whether to enable message payloads in the ServiceEvent message
+ * \return The built ServiceEvent message. Will return NULL if the message could not be built.
+ **/
 typedef void * (* rosidl_service_introspection_message_create_handle)(
     const rosidl_service_introspection_info_t * info,
     rcutils_allocator_t * allocator,
@@ -53,6 +60,14 @@ typedef void * (* rosidl_service_introspection_message_create_handle)(
     void * response_message,
     bool enable_message_payload);
 
+/// Destroys a ServiceEvent message
+/**
+ * Destroys a ServiceEvent message returned by a rosidl_service_introspection_message_create_handle
+ * by calling the corresponding __fini function then deallocating
+ *
+ * \param[in] event_message The message to destroy.
+ * \param[in] allocator The allocator to use for deallocating the message.
+ */
 typedef bool (* rosidl_service_introspection_message_destroy_handle)(
     void * event_message,
     rcutils_allocator_t * allocator);
diff --git a/rosidl_typesupport_introspection_c/resource/srv__type_support.c.em b/rosidl_typesupport_introspection_c/resource/srv__type_support.c.em
index 105b4515f..778f54cea 100644
--- a/rosidl_typesupport_introspection_c/resource/srv__type_support.c.em
+++ b/rosidl_typesupport_introspection_c/resource/srv__type_support.c.em
@@ -22,6 +22,9 @@ TEMPLATE(
 
 @{
 from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
+from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
+from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
+from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
 include_parts = [package_name] + list(interface_path.parents[0].parts) + [
     'detail', convert_camel_case_to_lower_case_underscore(interface_path.stem)]
 include_base = '/'.join(include_parts)
@@ -65,16 +68,15 @@ static rosidl_service_type_support_t @(function_prefix)__@(service.namespaced_ty
   get_service_typesupport_handle_function,
 };
 
-// TODO(ihasdapie): Use postfixes from rosidl_parser.definition
 // Forward declaration of request/response type support functions
 const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name)_Request)();
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name + SERVICE_REQUEST_MESSAGE_SUFFIX)();
 
 const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name)_Response)();
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name + SERVICE_RESPONSE_MESSAGE_SUFFIX)();
 
 const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name)_Event)();
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name + SERVICE_EVENT_MESSAGE_SUFFIX)();
 
 ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_@(package_name)
 const rosidl_service_type_support_t *
@@ -89,17 +91,17 @@ ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_introspecti
   if (!service_members->request_members_) {
     service_members->request_members_ =
       (const rosidl_typesupport_introspection_c__MessageMembers *)
-      ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name)_Request)()->data;
+      ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name + SERVICE_REQUEST_MESSAGE_SUFFIX)()->data;
   }
   if (!service_members->response_members_) {
     service_members->response_members_ =
       (const rosidl_typesupport_introspection_c__MessageMembers *)
-      ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name)_Response)()->data;
+      ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name + SERVICE_RESPONSE_MESSAGE_SUFFIX)()->data;
   }
   if (!service_members->response_members_) {
     service_members->response_members_ =
       (const rosidl_typesupport_introspection_c__MessageMembers *)
-      ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name)_Event)()->data;
+      ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name + SERVICE_EVENT_MESSAGE_SUFFIX)()->data;
   }
 
   return &@(function_prefix)__@(service.namespaced_type.name)_service_type_support_handle;