diff --git a/action_tutorials/action_tutorials_py/action_tutorials_py/fibonacci_action_client.py b/action_tutorials/action_tutorials_py/action_tutorials_py/fibonacci_action_client.py
index ae7ac0c13..40dd28382 100755
--- a/action_tutorials/action_tutorials_py/action_tutorials_py/fibonacci_action_client.py
+++ b/action_tutorials/action_tutorials_py/action_tutorials_py/fibonacci_action_client.py
@@ -13,12 +13,23 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+# The program has a short runtime, so you can directly set the parameter
+# "action_client_configure_introspection" at execution command
+# e.g.
+# ros2 run action_tutorials_py fibonacci_action_client --ros-args -p
+# "action_client_configure_introspection:=contents"
+
 from example_interfaces.action import Fibonacci
 
+from rcl_interfaces.msg import SetParametersResult
+
 import rclpy
 from rclpy.action import ActionClient
 from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
+from rclpy.parameter import Parameter
+from rclpy.qos import qos_profile_system_default
+from rclpy.service_introspection import ServiceIntrospectionState
 
 
 class FibonacciActionClient(Node):
@@ -26,6 +37,49 @@ class FibonacciActionClient(Node):
     def __init__(self):
         super().__init__('fibonacci_action_client')
         self._action_client = ActionClient(self, Fibonacci, 'fibonacci')
+        self.add_on_set_parameters_callback(self.on_set_parameters_callback)
+        self.add_post_set_parameters_callback(self.on_post_set_parameters_callback)
+        self.declare_parameter('action_client_configure_introspection', 'disabled')
+
+    def _check_parameter(self, parameter_list, parameter_name):
+        result = SetParametersResult()
+        result.successful = True
+        for param in parameter_list:
+            if param.name != parameter_name:
+                continue
+
+            if param.type_ != Parameter.Type.STRING:
+                result.successful = False
+                result.reason = 'must be a string'
+                break
+
+            if param.value not in ('disabled', 'metadata', 'contents'):
+                result.successful = False
+                result.reason = "must be one of 'disabled', 'metadata', or 'contents"
+                break
+
+        return result
+
+    def on_set_parameters_callback(self, parameter_list):
+        return self._check_parameter(parameter_list, 'action_client_configure_introspection')
+
+    def on_post_set_parameters_callback(self, parameter_list):
+        for param in parameter_list:
+            if param.name != 'action_client_configure_introspection':
+                continue
+
+            introspection_state = ServiceIntrospectionState.OFF
+            if param.value == 'disabled':
+                introspection_state = ServiceIntrospectionState.OFF
+            elif param.value == 'metadata':
+                introspection_state = ServiceIntrospectionState.METADATA
+            elif param.value == 'contents':
+                introspection_state = ServiceIntrospectionState.CONTENTS
+
+            self._action_client.configure_introspection(self.get_clock(),
+                                                        qos_profile_system_default,
+                                                        introspection_state)
+            break
 
     def send_goal(self, order):
         goal_msg = Fibonacci.Goal()
diff --git a/action_tutorials/action_tutorials_py/action_tutorials_py/fibonacci_action_server.py b/action_tutorials/action_tutorials_py/action_tutorials_py/fibonacci_action_server.py
index c948d3593..ab2298587 100755
--- a/action_tutorials/action_tutorials_py/action_tutorials_py/fibonacci_action_server.py
+++ b/action_tutorials/action_tutorials_py/action_tutorials_py/fibonacci_action_server.py
@@ -17,10 +17,15 @@
 
 from example_interfaces.action import Fibonacci
 
+from rcl_interfaces.msg import SetParametersResult
+
 import rclpy
 from rclpy.action import ActionServer
 from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
+from rclpy.parameter import Parameter
+from rclpy.qos import qos_profile_system_default
+from rclpy.service_introspection import ServiceIntrospectionState
 
 
 class FibonacciActionServer(Node):
@@ -32,6 +37,49 @@ def __init__(self):
             Fibonacci,
             'fibonacci',
             self.execute_callback)
+        self.add_on_set_parameters_callback(self.on_set_parameters_callback)
+        self.add_post_set_parameters_callback(self.on_post_set_parameters_callback)
+        self.declare_parameter('action_server_configure_introspection', 'disabled')
+
+    def _check_parameter(self, parameter_list, parameter_name):
+        result = SetParametersResult()
+        result.successful = True
+        for param in parameter_list:
+            if param.name != parameter_name:
+                continue
+
+            if param.type_ != Parameter.Type.STRING:
+                result.successful = False
+                result.reason = 'must be a string'
+                break
+
+            if param.value not in ('disabled', 'metadata', 'contents'):
+                result.successful = False
+                result.reason = "must be one of 'disabled', 'metadata', or 'contents"
+                break
+
+        return result
+
+    def on_set_parameters_callback(self, parameter_list) -> SetParametersResult:
+        return self._check_parameter(parameter_list, 'action_server_configure_introspection')
+
+    def on_post_set_parameters_callback(self, parameter_list):
+        for param in parameter_list:
+            if param.name != 'action_server_configure_introspection':
+                continue
+
+            introspection_state = ServiceIntrospectionState.OFF
+            if param.value == 'disabled':
+                introspection_state = ServiceIntrospectionState.OFF
+            elif param.value == 'metadata':
+                introspection_state = ServiceIntrospectionState.METADATA
+            elif param.value == 'contents':
+                introspection_state = ServiceIntrospectionState.CONTENTS
+
+            self._action_server.configure_introspection(self.get_clock(),
+                                                        qos_profile_system_default,
+                                                        introspection_state)
+            break
 
     def execute_callback(self, goal_handle):
         self.get_logger().info('Executing goal...')