diff --git a/rclcpp/include/rclcpp/parameter_client.hpp b/rclcpp/include/rclcpp/parameter_client.hpp
index 490c72e9b1..7f5fc7f288 100644
--- a/rclcpp/include/rclcpp/parameter_client.hpp
+++ b/rclcpp/include/rclcpp/parameter_client.hpp
@@ -391,6 +391,33 @@ class SyncParametersClient
     );
   }
 
+  /// Get parameter values, reporting the wait outcome so failures are distinguishable.
+  /**
+   * Behaves like get_parameters(parameter_names, timeout), but additionally stores the
+   * outcome of waiting for the service response in \p result. The other overloads return
+   * an empty vector both when the server has no matching parameters and when the request
+   * does not complete (timeout or interruption); this overload lets callers tell those
+   * cases apart. On any non-SUCCESS result the returned vector is empty.
+   *
+   * \param[in] parameter_names the names of the parameters to get.
+   * \param[in] timeout how long to wait for the response before giving up.
+   * \param[out] result the outcome of waiting for the response.
+   * \return the parameter values, or an empty vector if \p result is not SUCCESS.
+   */
+  template<typename RepT = int64_t, typename RatioT = std::milli>
+  std::vector<rclcpp::Parameter>
+  get_parameters(
+    const std::vector<std::string> & parameter_names,
+    std::chrono::duration<RepT, RatioT> timeout,
+    rclcpp::FutureReturnCode & result)
+  {
+    return get_parameters(
+      parameter_names,
+      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout),
+      result
+    );
+  }
+
   RCLCPP_PUBLIC
   bool
   has_parameter(const std::string & parameter_name);
@@ -583,6 +610,13 @@ class SyncParametersClient
     const std::vector<std::string> & parameter_names,
     std::chrono::nanoseconds timeout);
 
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::Parameter>
+  get_parameters(
+    const std::vector<std::string> & parameter_names,
+    std::chrono::nanoseconds timeout,
+    rclcpp::FutureReturnCode & result);
+
   RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::ParameterDescriptor>
   describe_parameters(
diff --git a/rclcpp/src/rclcpp/parameter_client.cpp b/rclcpp/src/rclcpp/parameter_client.cpp
index e2f6a5b3c6..fd8a7146b3 100644
--- a/rclcpp/src/rclcpp/parameter_client.cpp
+++ b/rclcpp/src/rclcpp/parameter_client.cpp
@@ -390,14 +390,22 @@ std::vector<rclcpp::Parameter>
 SyncParametersClient::get_parameters(
   const std::vector<std::string> & parameter_names,
   std::chrono::nanoseconds timeout)
+{
+  rclcpp::FutureReturnCode result;
+  return get_parameters(parameter_names, timeout, result);
+}
+
+std::vector<rclcpp::Parameter>
+SyncParametersClient::get_parameters(
+  const std::vector<std::string> & parameter_names,
+  std::chrono::nanoseconds timeout,
+  rclcpp::FutureReturnCode & result)
 {
   auto f = async_parameters_client_->get_parameters(parameter_names);
   using rclcpp::executors::spin_node_until_future_complete;
-  if (
-    spin_node_until_future_complete(
-      *executor_, node_base_interface_, f,
-      timeout) == rclcpp::FutureReturnCode::SUCCESS)
-  {
+  result = spin_node_until_future_complete(
+    *executor_, node_base_interface_, f, timeout);
+  if (result == rclcpp::FutureReturnCode::SUCCESS) {
     return f.get();
   }
   // Return an empty vector if unsuccessful
diff --git a/rclcpp/test/rclcpp/test_parameter_client.cpp b/rclcpp/test/rclcpp/test_parameter_client.cpp
index d0fa5b20f9..c1aa843f68 100644
--- a/rclcpp/test/rclcpp/test_parameter_client.cpp
+++ b/rclcpp/test/rclcpp/test_parameter_client.cpp
@@ -445,6 +445,50 @@ TEST_F(TestParameterClient, sync_parameter_get_parameter_types_allow_undeclared)
 /*
   Coverage for sync get_parameters
  */
+// Regression for ros2/rclcpp#200: the get_parameters() overload that reports the wait
+// outcome lets callers distinguish a request that did not complete (TIMEOUT/INTERRUPTED)
+// from a successful response that happens to be empty. The plain overload returns an
+// empty vector for both, conflating the two.
+TEST_F(TestParameterClient, sync_parameter_get_parameters_reports_result) {
+  node->declare_parameter("foo", 4);
+  auto synchronous_client = std::make_shared<rclcpp::SyncParametersClient>(node);
+
+  {
+    // SUCCESS with a value.
+    rclcpp::FutureReturnCode result;
+    std::vector<std::string> names{"foo"};
+    std::vector<rclcpp::Parameter> parameters =
+      synchronous_client->get_parameters(names, 10s, result);
+    EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, result);
+    ASSERT_EQ(1u, parameters.size());
+    EXPECT_EQ(4, parameters[0].as_int());
+  }
+
+  {
+    // SUCCESS but empty: the server responded, the parameter just does not exist.
+    rclcpp::FutureReturnCode result;
+    std::vector<std::string> names{"does_not_exist"};
+    std::vector<rclcpp::Parameter> parameters =
+      synchronous_client->get_parameters(names, 10s, result);
+    EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, result);
+    EXPECT_EQ(0u, parameters.size());
+  }
+
+  {
+    // TIMEOUT: no parameter service exists for this remote node, so the request does
+    // not complete. The returned vector is empty, but result distinguishes it from the
+    // SUCCESS-but-empty case above.
+    auto client_to_missing =
+      std::make_shared<rclcpp::SyncParametersClient>(node, "non_existent_remote_node");
+    rclcpp::FutureReturnCode result;
+    std::vector<std::string> names{"foo"};
+    std::vector<rclcpp::Parameter> parameters =
+      client_to_missing->get_parameters(names, 200ms, result);
+    EXPECT_EQ(rclcpp::FutureReturnCode::TIMEOUT, result);
+    EXPECT_EQ(0u, parameters.size());
+  }
+}
+
 TEST_F(TestParameterClient, sync_parameter_get_parameters) {
   node->declare_parameter("foo", 4);
   node->declare_parameter("bar", "this is bar");