diff --git a/rclcpp/include/rclcpp/qos_event.hpp b/rclcpp/include/rclcpp/qos_event.hpp
index 0bce0aac37..58bfa0331d 100644
--- a/rclcpp/include/rclcpp/qos_event.hpp
+++ b/rclcpp/include/rclcpp/qos_event.hpp
@@ -148,6 +148,25 @@ class QOSEventHandler : public QOSEventHandlerBase
     event_callback_(callback_info);
   }
 
+  /// Set EventsExecutor's callback
+  RCLCPP_PUBLIC
+  void
+  set_events_executor_callback(
+    void * executor_context,
+    ExecutorEventCallback executor_callback) const override
+  {
+    rcl_ret_t ret = rcl_event_set_events_executor_callback(
+      executor_context,
+      executor_callback,
+      this,
+      &event_handle_,
+      false /* Discard previous events */);
+
+    if (RCL_RET_OK != ret) {
+      throw std::runtime_error("Couldn't set EventsExecutor's callback to event");
+    }
+  }
+
 private:
   using EventCallbackInfoT = typename std::remove_reference<typename
       rclcpp::function_traits::function_traits<EventCallbackT>::template argument_type<0>>::type;
diff --git a/rclcpp/src/rclcpp/client.cpp b/rclcpp/src/rclcpp/client.cpp
index 905b5fdbba..4f8604ed90 100644
--- a/rclcpp/src/rclcpp/client.cpp
+++ b/rclcpp/src/rclcpp/client.cpp
@@ -211,6 +211,6 @@ ClientBase::set_events_executor_callback(
     client_handle_.get());
 
   if (RCL_RET_OK != ret) {
-    throw std::runtime_error(std::string("Couldn't set client callback"));
+    throw std::runtime_error("Couldn't set the EventsExecutor's callback to client");
   }
 }
diff --git a/rclcpp/src/rclcpp/service.cpp b/rclcpp/src/rclcpp/service.cpp
index ee2865f067..914582e4ed 100644
--- a/rclcpp/src/rclcpp/service.cpp
+++ b/rclcpp/src/rclcpp/service.cpp
@@ -97,6 +97,6 @@ ServiceBase::set_events_executor_callback(
     service_handle_.get());
 
   if (RCL_RET_OK != ret) {
-    throw std::runtime_error(std::string("Couldn't set service callback"));
+    throw std::runtime_error("Couldn't set the EventsExecutor's callback to service");
   }
 }
diff --git a/rclcpp/src/rclcpp/subscription_base.cpp b/rclcpp/src/rclcpp/subscription_base.cpp
index e163f32c0a..345bbf7181 100644
--- a/rclcpp/src/rclcpp/subscription_base.cpp
+++ b/rclcpp/src/rclcpp/subscription_base.cpp
@@ -301,6 +301,6 @@ SubscriptionBase::set_events_executor_callback(
     subscription_handle_.get());
 
   if (RCL_RET_OK != ret) {
-    throw std::runtime_error(std::string("Couldn't set subscription callback"));
+    throw std::runtime_error("Couldn't set the EventsExecutor's callback to subscription");
   }
 }