diff --git a/src/plugins/ros2_plugin/ros2_adapter_rpc_client.cc b/src/plugins/ros2_plugin/ros2_adapter_rpc_client.cc
index 73363e2bb..ec1f80e7f 100644
--- a/src/plugins/ros2_plugin/ros2_adapter_rpc_client.cc
+++ b/src/plugins/ros2_plugin/ros2_adapter_rpc_client.cc
@@ -245,7 +245,9 @@ void Ros2AdapterWrapperClient::Invoke(
   wrapper_req.serialization_type = serialization_type;
 
   const auto& keys = client_invoke_wrapper_ptr->ctx_ref.GetMetaKeys();
-  wrapper_req.context.reserve(2 * keys.size());
+  wrapper_req.context.reserve(2 * (keys.size() + 1));
+  wrapper_req.context.emplace_back("aimrt-timeout");
+  wrapper_req.context.emplace_back(std::to_string(client_invoke_wrapper_ptr->ctx_ref.Timeout().count()));
   for (const auto& key : keys) {
     wrapper_req.context.emplace_back(key);
     wrapper_req.context.emplace_back(client_invoke_wrapper_ptr->ctx_ref.GetMetaValue(key));
diff --git a/src/plugins/ros2_plugin/ros2_adapter_rpc_server.cc b/src/plugins/ros2_plugin/ros2_adapter_rpc_server.cc
index 4eb4eee0e..1ee3087ce 100644
--- a/src/plugins/ros2_plugin/ros2_adapter_rpc_server.cc
+++ b/src/plugins/ros2_plugin/ros2_adapter_rpc_server.cc
@@ -204,10 +204,13 @@ void Ros2AdapterWrapperServer::handle_request(
   // 获取字段
   auto& wrapper_req = *(static_cast<ros2_plugin_proto::srv::RosRpcWrapper::Request*>(request.get()));
 
-  size_t context_size = wrapper_req.context.size() / 2;
-  for (size_t ii = 0; ii < context_size; ++ii) {
-    const auto& key = wrapper_req.context[ii * 2];
-    const auto& val = wrapper_req.context[ii * 2 + 1];
+  for (size_t ii = 0; ii + 1 < wrapper_req.context.size(); ii += 2) {
+    const auto& key = wrapper_req.context[ii];
+    const auto& val = wrapper_req.context[ii + 1];
+    if (ii == 0 && key == "aimrt-timeout") {
+      ctx_ptr->SetTimeout(std::chrono::nanoseconds(std::stoll(val)));
+      continue;
+    }
     ctx_ptr->SetMetaValue(key, val);
   }