diff --git a/ros2action/ros2action/verb/send_goal.py b/ros2action/ros2action/verb/send_goal.py
index 7090ac03e..7851cd047 100644
--- a/ros2action/ros2action/verb/send_goal.py
+++ b/ros2action/ros2action/verb/send_goal.py
@@ -19,6 +19,7 @@
 from ros2action.api import ActionGoalPrototypeCompleter
 from ros2action.api import ActionTypeCompleter
 from ros2action.verb import VerbExtension
+from ros2cli.helpers import collect_stdin
 from ros2cli.node import NODE_NAME_PREFIX
 from rosidl_runtime_py import message_to_yaml
 from rosidl_runtime_py import set_message_fields
@@ -39,9 +40,13 @@ def add_arguments(self, parser, cli_name):
             'action_type',
             help="Type of the ROS action (e.g. 'example_interfaces/action/Fibonacci')")
         arg.completer = ActionTypeCompleter(action_name_key='action_name')
-        arg = parser.add_argument(
-            'goal',
+        group = parser.add_mutually_exclusive_group()
+        arg = group.add_argument(
+            'goal', nargs='?', default='{}',
             help="Goal request values in YAML format (e.g. '{order: 10}')")
+        group.add_argument(
+            '--stdin', action='store_true',
+            help='Read goal from standard input')
         arg.completer = ActionGoalPrototypeCompleter(action_type_key='action_type')
         parser.add_argument(
             '-f', '--feedback', action='store_true',
@@ -51,7 +56,13 @@ def main(self, *, args):
         feedback_callback = None
         if args.feedback:
             feedback_callback = _feedback_callback
-        return send_goal(args.action_name, args.action_type, args.goal, feedback_callback)
+
+        if args.stdin:
+            goal = collect_stdin()
+        else:
+            goal = args.goal
+
+        return send_goal(args.action_name, args.action_type, goal, feedback_callback)
 
 
 def _goal_status_to_string(status):
diff --git a/ros2cli/ros2cli/helpers.py b/ros2cli/ros2cli/helpers.py
index 3cfd1a44e..7fe8ae946 100644
--- a/ros2cli/ros2cli/helpers.py
+++ b/ros2cli/ros2cli/helpers.py
@@ -16,6 +16,7 @@
 import functools
 import inspect
 import os
+import sys
 import time
 
 
@@ -107,3 +108,13 @@ def unsigned_int(string):
     if value < 0:
         raise ArgumentTypeError('value must be non-negative integer')
     return value
+
+
+def collect_stdin():
+    lines = b''
+    while True:
+        line = sys.stdin.buffer.readline()
+        if not line:
+            break
+        lines += line
+    return lines
diff --git a/ros2service/ros2service/verb/call.py b/ros2service/ros2service/verb/call.py
index dbf79c04a..c5a99e865 100644
--- a/ros2service/ros2service/verb/call.py
+++ b/ros2service/ros2service/verb/call.py
@@ -16,6 +16,7 @@
 import time
 
 import rclpy
+from ros2cli.helpers import collect_stdin
 from ros2cli.node import NODE_NAME_PREFIX
 from ros2service.api import ServiceNameCompleter
 from ros2service.api import ServicePrototypeCompleter
@@ -39,13 +40,17 @@ def add_arguments(self, parser, cli_name):
             help="Type of the ROS service (e.g. 'std_srvs/srv/Empty')")
         arg.completer = ServiceTypeCompleter(
             service_name_key='service_name')
-        arg = parser.add_argument(
+        group = parser.add_mutually_exclusive_group()
+        arg = group.add_argument(
             'values', nargs='?', default='{}',
             help='Values to fill the service request with in YAML format ' +
                  "(e.g. '{a: 1, b: 2}'), " +
                  'otherwise the service request will be published with default values')
         arg.completer = ServicePrototypeCompleter(
             service_type_key='service_type')
+        group.add_argument(
+            '--stdin', action='store_true',
+            help='Read values from standard input')
         parser.add_argument(
             '-r', '--rate', metavar='N', type=float,
             help='Repeat the call at a specific rate in Hz')
@@ -55,8 +60,13 @@ def main(self, *, args):
             raise RuntimeError('rate must be greater than zero')
         period = 1. / args.rate if args.rate else None
 
+        if args.stdin:
+            values = collect_stdin()
+        else:
+            values = args.values
+
         return requester(
-            args.service_type, args.service_name, args.values, period)
+            args.service_type, args.service_name, values, period)
 
 
 def requester(service_type, service_name, values, period):
diff --git a/ros2topic/ros2topic/verb/pub.py b/ros2topic/ros2topic/verb/pub.py
index 6b876948f..fce959a7b 100644
--- a/ros2topic/ros2topic/verb/pub.py
+++ b/ros2topic/ros2topic/verb/pub.py
@@ -19,6 +19,7 @@
 import rclpy
 from rclpy.node import Node
 from rclpy.qos import QoSProfile
+from ros2cli.helpers import collect_stdin
 from ros2cli.node.direct import add_arguments as add_direct_node_arguments
 from ros2cli.node.direct import DirectNode
 from ros2topic.api import add_qos_arguments
@@ -58,13 +59,17 @@ def add_arguments(self, parser, cli_name):
             help="Type of the ROS message (e.g. 'std_msgs/String')")
         arg.completer = TopicTypeCompleter(
             topic_name_key='topic_name')
-        arg = parser.add_argument(
+        group = parser.add_mutually_exclusive_group()
+        arg = group.add_argument(
             'values', nargs='?', default='{}',
             help='Values to fill the message with in YAML format '
                  "(e.g. 'data: Hello World'), "
                  'otherwise the message will be published with default values')
         arg.completer = TopicMessagePrototypeCompleter(
             topic_type_key='message_type')
+        group.add_argument(
+            '--stdin', action='store_true',
+            help='Read values from standard input')
         parser.add_argument(
             '-r', '--rate', metavar='N', type=positive_float, default=1.0,
             help='Publishing rate in Hz (default: 1)')
@@ -115,12 +120,17 @@ def main(args):
     if args.once:
         times = 1
 
+    if args.stdin:
+        values = collect_stdin()
+    else:
+        values = args.values
+
     with DirectNode(args, node_name=args.node_name) as node:
         return publisher(
             node.node,
             args.message_type,
             args.topic_name,
-            args.values,
+            values,
             1. / args.rate,
             args.print,
             times,