diff --git a/rclpy/CMakeLists.txt b/rclpy/CMakeLists.txt
index a9966c040..b8192e46a 100644
--- a/rclpy/CMakeLists.txt
+++ b/rclpy/CMakeLists.txt
@@ -156,6 +156,11 @@ if(BUILD_TESTING)
   if(NOT _typesupport_impls STREQUAL "")
     # Run each test in its own pytest invocation to isolate any global state in rclpy
     set(_rclpy_pytest_tests
+      test/benchmark/test_benchmark_actions.py
+      test/benchmark/test_benchmark_client_service.py
+      test/benchmark/test_benchmark_guard_condition.py
+      test/benchmark/test_benchmark_pub_sub.py
+      test/benchmark/test_benchmark_timer.py
       test/test_action_client.py
       test/test_action_graph.py
       test/test_action_server.py
@@ -198,8 +203,19 @@ if(BUILD_TESTING)
     )
 
     foreach(_test_path ${_rclpy_pytest_tests})
+      if(NOT AMENT_RUN_PERFORMANCE_TESTS)
+        get_filename_component(_test_dir ${_test_path} DIRECTORY)
+        get_filename_component(_test_dir ${_test_dir} NAME)
+        if(_test_dir STREQUAL "benchmark")
+          # Skip benchmark tests by default
+          set(_SKIP_TEST "SKIP_TEST")
+        else()
+          set(_SKIP_TEST "")
+        endif()
+      endif()
       get_filename_component(_test_name ${_test_path} NAME_WE)
       ament_add_pytest_test(${_test_name} ${_test_path}
+        ${_SKIP_TEST}
         APPEND_ENV AMENT_PREFIX_PATH=${ament_index_build_path}
           PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
         TIMEOUT 120
diff --git a/rclpy/package.xml b/rclpy/package.xml
index d9b661d29..22332a19e 100644
--- a/rclpy/package.xml
+++ b/rclpy/package.xml
@@ -44,6 +44,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>python3-pytest</test_depend>
+  <test_depend>python3-pytest-benchmark</test_depend>
   <test_depend>rosidl_generator_py</test_depend>
   <test_depend>test_msgs</test_depend>
 
diff --git a/rclpy/test/benchmark/test_benchmark_actions.py b/rclpy/test/benchmark/test_benchmark_actions.py
new file mode 100644
index 000000000..53df54077
--- /dev/null
+++ b/rclpy/test/benchmark/test_benchmark_actions.py
@@ -0,0 +1,76 @@
+# Copyright 2022 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.
+
+from action_msgs.msg import GoalStatus
+import rclpy
+from rclpy.action import ActionClient, ActionServer
+from rclpy.executors import SingleThreadedExecutor
+from rclpy.qos import qos_profile_services_default, ReliabilityPolicy
+from test_msgs.action import Fibonacci
+
+
+ONE_HUNDRED = 100
+
+
+def test_one_hundred_goals(benchmark):
+    context = rclpy.context.Context()
+    rclpy.init(context=context)
+    try:
+        node = rclpy.create_node('benchmark_actions', context=context)
+        qos = qos_profile_services_default
+        qos.reliability = ReliabilityPolicy.RELIABLE
+
+        action_client = ActionClient(
+            node,
+            Fibonacci,
+            'benchmark',
+            goal_service_qos_profile=qos,
+            result_service_qos_profile=qos)
+
+        def execute_cb(goal_handle):
+            goal_handle.succeed()
+            return Fibonacci.Result()
+
+        action_server = ActionServer(
+            node,
+            Fibonacci,
+            'benchmark',
+            execute_cb,
+            goal_service_qos_profile=qos,
+            result_service_qos_profile=qos)
+
+        executor = SingleThreadedExecutor(context=context)
+        executor.add_node(node)
+
+        # Wait for client/server to discover each other
+        assert action_client.wait_for_server(timeout_sec=5.0)
+
+        def bm():
+            for _ in range(ONE_HUNDRED):
+                goal_fut = action_client.send_goal_async(Fibonacci.Goal())
+                executor.spin_until_future_complete(goal_fut)
+                client_goal_handle = goal_fut.result()
+                assert client_goal_handle.accepted
+                result_fut = client_goal_handle.get_result_async()
+                executor.spin_until_future_complete(result_fut)
+                assert GoalStatus.STATUS_SUCCEEDED == result_fut.result().status
+
+        benchmark(bm)
+
+        executor.shutdown()
+        action_client.destroy()
+        action_server.destroy()
+        node.destroy_node()
+    finally:
+        rclpy.shutdown(context=context)
diff --git a/rclpy/test/benchmark/test_benchmark_client_service.py b/rclpy/test/benchmark/test_benchmark_client_service.py
new file mode 100644
index 000000000..db88673da
--- /dev/null
+++ b/rclpy/test/benchmark/test_benchmark_client_service.py
@@ -0,0 +1,57 @@
+# Copyright 2022 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.
+
+import rclpy
+from rclpy.executors import SingleThreadedExecutor
+from rclpy.qos import qos_profile_services_default, ReliabilityPolicy
+from test_msgs.srv import Empty as EmptySrv
+
+
+ONE_THOUSAND = 1000
+
+
+def test_one_thousand_service_calls(benchmark):
+    context = rclpy.context.Context()
+    rclpy.init(context=context)
+    try:
+        node = rclpy.create_node('benchmark_client_service', context=context)
+        qos = qos_profile_services_default
+        qos.reliability = ReliabilityPolicy.RELIABLE
+        client = node.create_client(EmptySrv, 'empty', qos_profile=qos)
+
+        def cb(_, response):
+            return response
+
+        service = node.create_service(EmptySrv, 'empty', cb, qos_profile=qos)
+
+        executor = SingleThreadedExecutor(context=context)
+        executor.add_node(node)
+
+        # Wait for client/service to discover each other
+        assert client.wait_for_service(timeout_sec=5.0)
+
+        def bm():
+            for _ in range(ONE_THOUSAND):
+                fut = client.call_async(EmptySrv.Request())
+                executor.spin_until_future_complete(fut)
+                assert fut.result()  # Raises if there was an error
+
+        benchmark(bm)
+
+        executor.shutdown()
+        node.destroy_client(client)
+        node.destroy_service(service)
+        node.destroy_node()
+    finally:
+        rclpy.shutdown(context=context)
diff --git a/rclpy/test/benchmark/test_benchmark_guard_condition.py b/rclpy/test/benchmark/test_benchmark_guard_condition.py
new file mode 100644
index 000000000..05faabd12
--- /dev/null
+++ b/rclpy/test/benchmark/test_benchmark_guard_condition.py
@@ -0,0 +1,86 @@
+# Copyright 2022 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.
+
+import rclpy
+from rclpy.executors import SingleThreadedExecutor
+
+
+ONE_THOUSAND = 1000
+
+
+def test_one_thousand_guard_callbacks(benchmark):
+    context = rclpy.context.Context()
+    rclpy.init(context=context)
+    try:
+        node = rclpy.create_node('benchmark_many_gc_calls', context=context)
+        num_calls = 0
+
+        def cb():
+            nonlocal num_calls
+            num_calls += 1
+
+        gc = node.create_guard_condition(cb)
+
+        executor = SingleThreadedExecutor(context=context)
+        executor.add_node(node)
+
+        def bm():
+            nonlocal num_calls
+            # Reset for each benchmark run
+            num_calls = 0
+            while num_calls < ONE_THOUSAND:
+                gc.trigger()
+                executor.spin_once(timeout_sec=0)
+
+        benchmark(bm)
+
+        executor.shutdown()
+        node.destroy_guard_condition(gc)
+        node.destroy_node()
+    finally:
+        rclpy.shutdown(context=context)
+
+
+def test_one_thousand_guard_coroutine_callbacks(benchmark):
+    context = rclpy.context.Context()
+    rclpy.init(context=context)
+    try:
+        node = rclpy.create_node('benchmark_many_gc_calls', context=context)
+        num_calls = 0
+
+        async def coro():
+            nonlocal num_calls
+            num_calls += 1
+
+        gc = node.create_guard_condition(coro)
+
+        executor = SingleThreadedExecutor(context=context)
+        executor.add_node(node)
+
+        def bm():
+            nonlocal num_calls
+            # Reset for each benchmark run
+            num_calls = 0
+            while num_calls < ONE_THOUSAND:
+                gc.trigger()
+                executor.spin_once(timeout_sec=0)
+            return num_calls == ONE_THOUSAND
+
+        assert benchmark(bm)
+
+        executor.shutdown()
+        node.destroy_guard_condition(gc)
+        node.destroy_node()
+    finally:
+        rclpy.shutdown(context=context)
diff --git a/rclpy/test/benchmark/test_benchmark_pub_sub.py b/rclpy/test/benchmark/test_benchmark_pub_sub.py
new file mode 100644
index 000000000..e3cf94ae7
--- /dev/null
+++ b/rclpy/test/benchmark/test_benchmark_pub_sub.py
@@ -0,0 +1,64 @@
+# Copyright 2022 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.
+
+import rclpy
+from rclpy.executors import SingleThreadedExecutor
+from rclpy.qos import QoSProfile, ReliabilityPolicy
+from test_msgs.msg import Empty as EmptyMsg
+
+
+ONE_THOUSAND = 1000
+
+
+def test_one_thousand_messages(benchmark):
+    context = rclpy.context.Context()
+    rclpy.init(context=context)
+    try:
+        node = rclpy.create_node('benchmark_pub_sub', context=context)
+        qos = QoSProfile(depth=1, reliability=ReliabilityPolicy.RELIABLE)
+        pub = node.create_publisher(EmptyMsg, 'empty', qos)
+        num_calls = 0
+
+        def cb(_):
+            nonlocal num_calls
+            num_calls += 1
+            # Send next message
+            pub.publish(EmptyMsg())
+
+        sub = node.create_subscription(EmptyMsg, 'empty', cb, qos)
+
+        executor = SingleThreadedExecutor(context=context)
+        executor.add_node(node)
+
+        # Wait for pub/sub to discover each other
+        while not pub.get_subscription_count():
+            executor.spin_once(timeout_sec=0.01)
+
+        def bm():
+            nonlocal num_calls
+            # Reset for each benchmark run
+            num_calls = 0
+            # Prime the loop with a message
+            pub.publish(EmptyMsg())
+            while num_calls < ONE_THOUSAND:
+                executor.spin_once(timeout_sec=0)
+
+        benchmark(bm)
+
+        executor.shutdown()
+        node.destroy_publisher(pub)
+        node.destroy_subscription(sub)
+        node.destroy_node()
+    finally:
+        rclpy.shutdown(context=context)
diff --git a/rclpy/test/benchmark/test_benchmark_timer.py b/rclpy/test/benchmark/test_benchmark_timer.py
new file mode 100644
index 000000000..9d8bbe5e2
--- /dev/null
+++ b/rclpy/test/benchmark/test_benchmark_timer.py
@@ -0,0 +1,83 @@
+# Copyright 2022 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.
+
+import rclpy
+from rclpy.executors import SingleThreadedExecutor
+
+
+ONE_THOUSAND = 1000
+
+
+def test_one_thousand_timer_coroutine_callbacks(benchmark):
+    context = rclpy.context.Context()
+    rclpy.init(context=context)
+    try:
+        node = rclpy.create_node('benchmark_many_timer_calls', context=context)
+        num_calls = 0
+
+        async def timer_coro():
+            nonlocal num_calls
+            num_calls += 1
+
+        timer = node.create_timer(0, timer_coro)
+
+        executor = SingleThreadedExecutor(context=context)
+        executor.add_node(node)
+
+        def bm():
+            nonlocal num_calls
+            # Reset for each benchmark run
+            num_calls = 0
+            while num_calls < ONE_THOUSAND:
+                executor.spin_once(timeout_sec=0)
+
+        benchmark(bm)
+
+        executor.shutdown()
+        node.destroy_timer(timer)
+        node.destroy_node()
+    finally:
+        rclpy.shutdown(context=context)
+
+
+def test_one_thousand_timer_callbacks(benchmark):
+    context = rclpy.context.Context()
+    rclpy.init(context=context)
+    try:
+        node = rclpy.create_node('benchmark_many_timer_calls', context=context)
+        num_calls = 0
+
+        def timer_cb():
+            nonlocal num_calls
+            num_calls += 1
+
+        timer = node.create_timer(0, timer_cb)
+
+        executor = SingleThreadedExecutor(context=context)
+        executor.add_node(node)
+
+        def bm():
+            nonlocal num_calls
+            # Reset for each benchmark run
+            num_calls = 0
+            while num_calls < ONE_THOUSAND:
+                executor.spin_once(timeout_sec=0)
+
+        benchmark(bm)
+
+        executor.shutdown()
+        node.destroy_timer(timer)
+        node.destroy_node()
+    finally:
+        rclpy.shutdown(context=context)