diff --git a/ros2bag/ros2bag/verb/info.py b/ros2bag/ros2bag/verb/info.py
index 910cf6407..d101c0c52 100644
--- a/ros2bag/ros2bag/verb/info.py
+++ b/ros2bag/ros2bag/verb/info.py
@@ -30,6 +30,11 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
             '-v', '--verbose', action='store_true',
             help='Display request/response information for services'
         )
+        available_sorting_methods = Info().get_sorting_methods()
+        parser.add_argument(
+            '--sort', default='name', choices=available_sorting_methods,
+            help='Configuration for sorting of output. '
+                 'By default sorts by topic name - use this argument to override.')
 
     def main(self, *, args):  # noqa: D102
         if args.topic_name and args.verbose:
@@ -37,9 +42,9 @@ def main(self, *, args):  # noqa: D102
                   'will be ignored.')
         m = Info().read_metadata(args.bag_path, args.storage)
         if args.verbose:
-            Info().print_output_verbose(args.bag_path, m)
+            Info().print_output_verbose(args.bag_path, m, args.sort)
         else:
             if args.topic_name:
-                Info().print_output_topic_name_only(m)
+                Info().print_output_topic_name_only(m, args.sort)
             else:
-                Info().print_output(m)
+                Info().print_output(m, args.sort)
diff --git a/rosbag2_py/CMakeLists.txt b/rosbag2_py/CMakeLists.txt
index feb07925f..a4364cc94 100644
--- a/rosbag2_py/CMakeLists.txt
+++ b/rosbag2_py/CMakeLists.txt
@@ -67,6 +67,7 @@ target_link_libraries(_reader PUBLIC
 pybind11_add_module(_storage SHARED
   src/rosbag2_py/_storage.cpp
   src/rosbag2_py/format_bag_metadata.cpp
+  src/rosbag2_py/info_sorting_method.cpp
 )
 target_link_libraries(_storage PUBLIC
   rosbag2_cpp::rosbag2_cpp
@@ -86,6 +87,7 @@ pybind11_add_module(_info SHARED
   src/rosbag2_py/_info.cpp
   src/rosbag2_py/format_bag_metadata.cpp
   src/rosbag2_py/format_service_info.cpp
+  src/rosbag2_py/info_sorting_method.cpp
 )
 target_link_libraries(_info PUBLIC
   rosbag2_cpp::rosbag2_cpp
diff --git a/rosbag2_py/rosbag2_py/_info.pyi b/rosbag2_py/rosbag2_py/_info.pyi
index 8a7eb90c8..0b8098235 100644
--- a/rosbag2_py/rosbag2_py/_info.pyi
+++ b/rosbag2_py/rosbag2_py/_info.pyi
@@ -2,7 +2,8 @@ import rosbag2_py._storage
 
 class Info:
     def __init__(self) -> None: ...
-    def print_output(self, arg0: rosbag2_py._storage.BagMetadata) -> None: ...
-    def print_output_topic_name_only(self, arg0: rosbag2_py._storage.BagMetadata) -> None: ...
-    def print_output_verbose(self, arg0: str, arg1: rosbag2_py._storage.BagMetadata) -> None: ...
+    def get_sorting_methods(self) -> Set[str]: ...
+    def print_output(self, arg0: rosbag2_py._storage.BagMetadata, arg1: str) -> None: ...
+    def print_output_topic_name_only(self, arg0: rosbag2_py._storage.BagMetadata, arg1: str) -> None: ...
+    def print_output_verbose(self, arg0: str, arg1: rosbag2_py._storage.BagMetadata, arg2: str) -> None: ...
     def read_metadata(self, arg0: str, arg1: str) -> rosbag2_py._storage.BagMetadata: ...
diff --git a/rosbag2_py/src/rosbag2_py/_info.cpp b/rosbag2_py/src/rosbag2_py/_info.cpp
index 316d15af8..725506da2 100644
--- a/rosbag2_py/src/rosbag2_py/_info.cpp
+++ b/rosbag2_py/src/rosbag2_py/_info.cpp
@@ -15,7 +15,9 @@
 #include <iostream>
 #include <memory>
 #include <string>
+#include <algorithm>
 
+#include "info_sorting_method.hpp"
 #include "format_bag_metadata.hpp"
 #include "format_service_info.hpp"
 #include "rosbag2_cpp/info.hpp"
@@ -42,15 +44,24 @@ class Info
     return info_->read_metadata(uri, storage_id);
   }
 
-  void print_output(const rosbag2_storage::BagMetadata & metadata_info)
+  void print_output(
+    const rosbag2_storage::BagMetadata & metadata_info, const std::string & sorting_method = "name")
   {
+    InfoSortingMethod sort_method = info_sorting_method_from_string(sorting_method);
     // Output formatted metadata
-    std::cout << format_bag_meta_data(metadata_info) << std::endl;
+    std::cout << format_bag_meta_data(metadata_info, false, false, {}, sort_method) << std::endl;
   }
 
-  void print_output_topic_name_only(const rosbag2_storage::BagMetadata & metadata_info)
+  void print_output_topic_name_only(
+    const rosbag2_storage::BagMetadata & metadata_info, const std::string & sorting_method)
   {
-    for (const auto & topic_info : metadata_info.topics_with_message_count) {
+    InfoSortingMethod sort_method = info_sorting_method_from_string(sorting_method);
+    std::vector<size_t> sorted_idx = generate_sorted_idx(
+      metadata_info.topics_with_message_count,
+      sort_method);
+
+    for (auto idx : sorted_idx) {
+      const auto & topic_info = metadata_info.topics_with_message_count[idx];
       if (!rosbag2_cpp::is_service_event_topic(
           topic_info.topic_metadata.name,
           topic_info.topic_metadata.type))
@@ -61,7 +72,9 @@ class Info
   }
 
   void print_output_verbose(
-    const std::string & uri, const rosbag2_storage::BagMetadata & metadata_info)
+    const std::string & uri,
+    const rosbag2_storage::BagMetadata & metadata_info,
+    const std::string & sorting_method = "name")
   {
     std::vector<std::shared_ptr<rosbag2_cpp::rosbag2_service_info_t>> all_services_info;
     for (auto & file_info : metadata_info.files) {
@@ -86,9 +99,20 @@ class Info
       }
     }
 
+    rosbag2_py::InfoSortingMethod sort_method = info_sorting_method_from_string(sorting_method);
     // Output formatted metadata and service info
-    std::cout << format_bag_meta_data(metadata_info, true, true, messages_size);
-    std::cout << format_service_info(all_services_info, messages_size, true) << std::endl;
+    std::cout << format_bag_meta_data(metadata_info, true, true, messages_size, sort_method);
+    std::cout <<
+      format_service_info(all_services_info, messages_size, true, sort_method) << std::endl;
+  }
+
+  std::unordered_set<std::string> get_sorting_methods()
+  {
+    std::unordered_set<std::string> sorting_methods;
+    for (const auto & sorting_method : rosbag2_py::sorting_method_map) {
+      sorting_methods.insert(sorting_method.first);
+    }
+    return sorting_methods;
   }
 
 protected:
@@ -105,5 +129,6 @@ PYBIND11_MODULE(_info, m) {
   .def("read_metadata", &rosbag2_py::Info::read_metadata)
   .def("print_output", &rosbag2_py::Info::print_output)
   .def("print_output_topic_name_only", &rosbag2_py::Info::print_output_topic_name_only)
-  .def("print_output_verbose", &rosbag2_py::Info::print_output_verbose);
+  .def("print_output_verbose", &rosbag2_py::Info::print_output_verbose)
+  .def("get_sorting_methods", &rosbag2_py::Info::get_sorting_methods);
 }
diff --git a/rosbag2_py/src/rosbag2_py/format_bag_metadata.cpp b/rosbag2_py/src/rosbag2_py/format_bag_metadata.cpp
index cda904e46..7f63c8c18 100644
--- a/rosbag2_py/src/rosbag2_py/format_bag_metadata.cpp
+++ b/rosbag2_py/src/rosbag2_py/format_bag_metadata.cpp
@@ -29,6 +29,7 @@
 #include "rosbag2_storage/bag_metadata.hpp"
 
 #include "format_bag_metadata.hpp"
+#include "service_event_info.hpp"
 
 namespace
 {
@@ -115,7 +116,8 @@ void format_topics_with_type(
   const std::unordered_map<std::string, uint64_t> & messages_size,
   bool verbose,
   std::stringstream & info_stream,
-  int indentation_spaces)
+  int indentation_spaces,
+  const rosbag2_py::InfoSortingMethod sort_method = rosbag2_py::InfoSortingMethod::NAME)
 {
   if (topics.empty()) {
     info_stream << std::endl;
@@ -139,13 +141,15 @@ void format_topics_with_type(
       info_stream << std::endl;
     };
 
+  std::vector<size_t> sorted_idx = rosbag2_py::generate_sorted_idx(topics, sort_method);
+
   size_t number_of_topics = topics.size();
   size_t i = 0;
   // Find first topic which isn't service event topic
   while (i < number_of_topics &&
     rosbag2_cpp::is_service_event_topic(
-      topics[i].topic_metadata.name,
-      topics[i].topic_metadata.type))
+      topics[sorted_idx[i]].topic_metadata.name,
+      topics[sorted_idx[i]].topic_metadata.type))
   {
     i++;
   }
@@ -155,43 +159,31 @@ void format_topics_with_type(
     return;
   }
 
-  print_topic_info(topics[i]);
+  print_topic_info(topics[sorted_idx[i]]);
   for (size_t j = ++i; j < number_of_topics; ++j) {
     if (rosbag2_cpp::is_service_event_topic(
-        topics[j].topic_metadata.name, topics[j].topic_metadata.type))
+        topics[sorted_idx[j]].topic_metadata.name, topics[sorted_idx[j]].topic_metadata.type))
     {
       continue;
     }
     indent(info_stream, indentation_spaces);
-    print_topic_info(topics[j]);
+    print_topic_info(topics[sorted_idx[j]]);
   }
 }
 
-struct ServiceMetadata
-{
-  std::string name;
-  std::string type;
-  std::string serialization_format;
-};
-
-struct ServiceInformation
-{
-  ServiceMetadata service_metadata;
-  size_t event_message_count = 0;
-};
 
-std::vector<std::shared_ptr<ServiceInformation>> filter_service_event_topic(
+std::vector<std::shared_ptr<rosbag2_py::ServiceEventInformation>> filter_service_event_topic(
   const std::vector<rosbag2_storage::TopicInformation> & topics_with_message_count,
   size_t & total_service_event_msg_count)
 {
   total_service_event_msg_count = 0;
-  std::vector<std::shared_ptr<ServiceInformation>> service_info_list;
+  std::vector<std::shared_ptr<rosbag2_py::ServiceEventInformation>> service_info_list;
 
   for (auto & topic : topics_with_message_count) {
     if (rosbag2_cpp::is_service_event_topic(
         topic.topic_metadata.name, topic.topic_metadata.type))
     {
-      auto service_info = std::make_shared<ServiceInformation>();
+      auto service_info = std::make_shared<rosbag2_py::ServiceEventInformation>();
       service_info->service_metadata.name =
         rosbag2_cpp::service_event_topic_name_to_service_name(topic.topic_metadata.name);
       service_info->service_metadata.type =
@@ -208,11 +200,12 @@ std::vector<std::shared_ptr<ServiceInformation>> filter_service_event_topic(
 }
 
 void format_service_with_type(
-  const std::vector<std::shared_ptr<ServiceInformation>> & services,
+  const std::vector<std::shared_ptr<rosbag2_py::ServiceEventInformation>> & services,
   const std::unordered_map<std::string, uint64_t> & messages_size,
   bool verbose,
   std::stringstream & info_stream,
-  int indentation_spaces)
+  int indentation_spaces,
+  const rosbag2_py::InfoSortingMethod sort_method = rosbag2_py::InfoSortingMethod::NAME)
 {
   if (services.empty()) {
     info_stream << std::endl;
@@ -221,7 +214,7 @@ void format_service_with_type(
 
   auto print_service_info =
     [&info_stream, &messages_size, verbose](
-    const std::shared_ptr<ServiceInformation> & si) -> void {
+    const std::shared_ptr<rosbag2_py::ServiceEventInformation> & si) -> void {
       info_stream << "Service: " << si->service_metadata.name << " | ";
       info_stream << "Type: " << si->service_metadata.type << " | ";
       info_stream << "Event Count: " << si->event_message_count << " | ";
@@ -238,11 +231,13 @@ void format_service_with_type(
       info_stream << std::endl;
     };
 
-  print_service_info(services[0]);
+  std::vector<size_t> sorted_idx = rosbag2_py::generate_sorted_idx(services, sort_method);
+
+  print_service_info(services[sorted_idx[0]]);
   auto number_of_services = services.size();
   for (size_t j = 1; j < number_of_services; ++j) {
     indent(info_stream, indentation_spaces);
-    print_service_info(services[j]);
+    print_service_info(services[sorted_idx[j]]);
   }
 }
 
@@ -255,7 +250,8 @@ std::string format_bag_meta_data(
   const rosbag2_storage::BagMetadata & metadata,
   bool verbose,
   bool only_topic,
-  const std::unordered_map<std::string, uint64_t> & messages_size)
+  const std::unordered_map<std::string, uint64_t> & messages_size,
+  const InfoSortingMethod sort_method)
 {
   auto start_time = metadata.starting_time.time_since_epoch();
   auto end_time = start_time + metadata.duration;
@@ -267,10 +263,8 @@ std::string format_bag_meta_data(
   }
 
   size_t total_service_event_msg_count = 0;
-  std::vector<std::shared_ptr<ServiceInformation>> service_info_list;
-  service_info_list = filter_service_event_topic(
-    metadata.topics_with_message_count,
-    total_service_event_msg_count);
+  std::vector<std::shared_ptr<ServiceEventInformation>> service_info_list =
+    filter_service_event_topic(metadata.topics_with_message_count, total_service_event_msg_count);
 
   info_stream << std::endl;
   info_stream << "Files:             ";
@@ -288,14 +282,22 @@ std::string format_bag_meta_data(
     std::endl;
   info_stream << "Topic information: ";
   format_topics_with_type(
-    metadata.topics_with_message_count, messages_size, verbose, info_stream, indentation_spaces);
+    metadata.topics_with_message_count,
+    messages_size, verbose, info_stream,
+    indentation_spaces,
+    sort_method);
 
   if (!only_topic) {
     info_stream << "Service:           " << service_info_list.size() << std::endl;
     info_stream << "Service information: ";
     if (!service_info_list.empty()) {
       format_service_with_type(
-        service_info_list, messages_size, verbose, info_stream, indentation_spaces + 2);
+        service_info_list,
+        messages_size,
+        verbose,
+        info_stream,
+        indentation_spaces + 2,
+        sort_method);
     }
   }
 
diff --git a/rosbag2_py/src/rosbag2_py/format_bag_metadata.hpp b/rosbag2_py/src/rosbag2_py/format_bag_metadata.hpp
index cbaccb803..0aa99c7a7 100644
--- a/rosbag2_py/src/rosbag2_py/format_bag_metadata.hpp
+++ b/rosbag2_py/src/rosbag2_py/format_bag_metadata.hpp
@@ -18,6 +18,7 @@
 #include <string>
 #include <unordered_map>
 
+#include "info_sorting_method.hpp"
 #include "rosbag2_storage/bag_metadata.hpp"
 
 namespace rosbag2_py
@@ -27,7 +28,8 @@ std::string format_bag_meta_data(
   const rosbag2_storage::BagMetadata & metadata,
   bool verbose = false,
   bool only_topic = false,
-  const std::unordered_map<std::string, uint64_t> & messages_size = {});
+  const std::unordered_map<std::string, uint64_t> & messages_size = {},
+  InfoSortingMethod sort_method = InfoSortingMethod::NAME);
 
 }  // namespace rosbag2_py
 
diff --git a/rosbag2_py/src/rosbag2_py/format_service_info.cpp b/rosbag2_py/src/rosbag2_py/format_service_info.cpp
index 379425915..814076b83 100644
--- a/rosbag2_py/src/rosbag2_py/format_service_info.cpp
+++ b/rosbag2_py/src/rosbag2_py/format_service_info.cpp
@@ -46,7 +46,8 @@ std::string
 format_service_info(
   std::vector<std::shared_ptr<rosbag2_cpp::rosbag2_service_info_t>> & service_info_list,
   const std::unordered_map<std::string, uint64_t> & messages_size,
-  bool verbose)
+  bool verbose,
+  const InfoSortingMethod sort_method)
 {
   std::stringstream info_stream;
   const std::string service_info_string = "Service information: ";
@@ -78,11 +79,13 @@ format_service_info(
       info_stream << std::endl;
     };
 
-  print_service_info(service_info_list[0]);
+  std::vector<size_t> sorted_idx = generate_sorted_idx(service_info_list, sort_method);
+
+  print_service_info(service_info_list[sorted_idx[0]]);
   auto number_of_services = service_info_list.size();
   for (size_t j = 1; j < number_of_services; ++j) {
     info_stream << std::string(indentation_spaces, ' ');
-    print_service_info(service_info_list[j]);
+    print_service_info(service_info_list[sorted_idx[j]]);
   }
 
   return info_stream.str();
diff --git a/rosbag2_py/src/rosbag2_py/format_service_info.hpp b/rosbag2_py/src/rosbag2_py/format_service_info.hpp
index 2feb1432c..58b696e08 100644
--- a/rosbag2_py/src/rosbag2_py/format_service_info.hpp
+++ b/rosbag2_py/src/rosbag2_py/format_service_info.hpp
@@ -20,6 +20,7 @@
 #include <vector>
 #include <unordered_map>
 
+#include "info_sorting_method.hpp"
 #include "rosbag2_cpp/info.hpp"
 
 namespace rosbag2_py
@@ -28,7 +29,8 @@ namespace rosbag2_py
 std::string format_service_info(
   std::vector<std::shared_ptr<rosbag2_cpp::rosbag2_service_info_t>> & service_info,
   const std::unordered_map<std::string, uint64_t> & messages_size = {},
-  bool verbose = false);
+  bool verbose = false,
+  const InfoSortingMethod sort_method = InfoSortingMethod::NAME);
 
 }  // namespace rosbag2_py
 
diff --git a/rosbag2_py/src/rosbag2_py/info_sorting_method.cpp b/rosbag2_py/src/rosbag2_py/info_sorting_method.cpp
new file mode 100644
index 000000000..6a6e9aace
--- /dev/null
+++ b/rosbag2_py/src/rosbag2_py/info_sorting_method.cpp
@@ -0,0 +1,129 @@
+// Copyright 2024 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.
+
+#include "rosbag2_storage/bag_metadata.hpp"
+
+#include "info_sorting_method.hpp"
+
+
+namespace rosbag2_py
+{
+
+InfoSortingMethod info_sorting_method_from_string(std::string str)
+{
+  std::transform(str.begin(), str.end(), str.begin(), ::tolower);
+  auto find_result = sorting_method_map.find(str);
+  if (find_result == sorting_method_map.end()) {
+    throw std::runtime_error("Enum value match for \"" + str + "\" string is not found.");
+  }
+  return find_result->second;
+}
+
+std::vector<size_t> generate_sorted_idx(
+  const std::vector<rosbag2_storage::TopicInformation> & topics,
+  const InfoSortingMethod sort_method)
+{
+  std::vector<size_t> sorted_idx(topics.size());
+  std::iota(sorted_idx.begin(), sorted_idx.end(), 0);
+  std::sort(
+    sorted_idx.begin(),
+    sorted_idx.end(),
+    [&topics, sort_method](size_t i1, size_t i2) {
+      bool is_greater = false;
+      switch (sort_method) {
+        case InfoSortingMethod::NAME:
+          is_greater = topics[i1].topic_metadata.name < topics[i2].topic_metadata.name;
+          break;
+        case InfoSortingMethod::TYPE:
+          is_greater = topics[i1].topic_metadata.type < topics[i2].topic_metadata.type;
+          break;
+        case InfoSortingMethod::COUNT:
+          is_greater = topics[i1].message_count < topics[i2].message_count;
+          break;
+        default:
+          throw std::runtime_error("switch is not exhaustive");
+      }
+      return is_greater;
+    }
+  );
+  return sorted_idx;
+}
+
+
+std::vector<size_t> generate_sorted_idx(
+  const std::vector<std::shared_ptr<rosbag2_cpp::rosbag2_service_info_t>> & services,
+  const InfoSortingMethod sort_method)
+{
+  std::vector<size_t> sorted_idx(services.size());
+  std::iota(sorted_idx.begin(), sorted_idx.end(), 0);
+  std::sort(
+    sorted_idx.begin(),
+    sorted_idx.end(),
+    [&services, sort_method](size_t i1, size_t i2) {
+      bool is_greater = false;
+      switch (sort_method) {
+        case InfoSortingMethod::NAME:
+          is_greater = services[i1]->name < services[i2]->name;
+          break;
+        case InfoSortingMethod::TYPE:
+          is_greater = services[i1]->type < services[i2]->type;
+          break;
+        case InfoSortingMethod::COUNT:
+          {
+            const auto & count_1 = services[i1]->request_count + services[i1]->response_count;
+            const auto & count_2 = services[i2]->request_count + services[i2]->response_count;
+            is_greater = count_1 < count_2;
+            break;
+          }
+        default:
+          throw std::runtime_error("switch is not exhaustive");
+      }
+      return is_greater;
+    }
+  );
+  return sorted_idx;
+}
+
+
+std::vector<size_t> generate_sorted_idx(
+  const std::vector<std::shared_ptr<ServiceEventInformation>> & services,
+  const InfoSortingMethod sort_method)
+{
+  std::vector<size_t> sorted_idx(services.size());
+  std::iota(sorted_idx.begin(), sorted_idx.end(), 0);
+  std::sort(
+    sorted_idx.begin(),
+    sorted_idx.end(),
+    [&services, sort_method](size_t i1, size_t i2) {
+      bool is_greater = false;
+      switch (sort_method) {
+        case InfoSortingMethod::NAME:
+          is_greater = services[i1]->service_metadata.name < services[i2]->service_metadata.name;
+          break;
+        case InfoSortingMethod::TYPE:
+          is_greater = services[i1]->service_metadata.type < services[i2]->service_metadata.type;
+          break;
+        case InfoSortingMethod::COUNT:
+          is_greater = services[i1]->event_message_count < services[i2]->event_message_count;
+          break;
+        default:
+          throw std::runtime_error("switch is not exhaustive");
+      }
+      return is_greater;
+    }
+  );
+  return sorted_idx;
+}
+
+}  // namespace rosbag2_py
diff --git a/rosbag2_py/src/rosbag2_py/info_sorting_method.hpp b/rosbag2_py/src/rosbag2_py/info_sorting_method.hpp
new file mode 100644
index 000000000..7f3ef4bcf
--- /dev/null
+++ b/rosbag2_py/src/rosbag2_py/info_sorting_method.hpp
@@ -0,0 +1,64 @@
+// Copyright 2024 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.
+
+
+#ifndef ROSBAG2_PY__INFO_SORTING_METHOD_HPP_
+#define ROSBAG2_PY__INFO_SORTING_METHOD_HPP_
+
+#include <algorithm>
+#include <numeric>
+#include <stdexcept>
+#include <string>
+#include <unordered_map>
+#include <vector>
+#include <memory>
+
+#include "rosbag2_storage/topic_metadata.hpp"
+#include "rosbag2_storage/bag_metadata.hpp"
+#include "rosbag2_cpp/info.hpp"
+#include "service_event_info.hpp"
+
+namespace rosbag2_py
+{
+
+/// \brief Available sorting methods for info output.
+enum class InfoSortingMethod
+{
+  NAME,
+  TYPE,
+  COUNT,
+};
+
+const std::unordered_map<std::string, InfoSortingMethod> sorting_method_map = {
+  {"name", InfoSortingMethod::NAME},
+  {"type", InfoSortingMethod::TYPE},
+  {"count", InfoSortingMethod::COUNT}};
+
+InfoSortingMethod info_sorting_method_from_string(std::string str);
+
+std::vector<size_t> generate_sorted_idx(
+  const std::vector<rosbag2_storage::TopicInformation> & topics,
+  InfoSortingMethod sort_method = InfoSortingMethod::NAME);
+
+std::vector<size_t> generate_sorted_idx(
+  const std::vector<std::shared_ptr<rosbag2_cpp::rosbag2_service_info_t>> & services,
+  InfoSortingMethod sort_method = InfoSortingMethod::NAME);
+
+std::vector<size_t> generate_sorted_idx(
+  const std::vector<std::shared_ptr<ServiceEventInformation>> & services,
+  InfoSortingMethod sort_method = InfoSortingMethod::NAME);
+
+}  // namespace rosbag2_py
+
+#endif  // ROSBAG2_PY__INFO_SORTING_METHOD_HPP_
diff --git a/rosbag2_py/src/rosbag2_py/service_event_info.hpp b/rosbag2_py/src/rosbag2_py/service_event_info.hpp
new file mode 100644
index 000000000..2c5746a40
--- /dev/null
+++ b/rosbag2_py/src/rosbag2_py/service_event_info.hpp
@@ -0,0 +1,39 @@
+// Copyright 2024 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.
+
+
+#ifndef ROSBAG2_PY__SERVICE_EVENT_INFO_HPP_
+#define ROSBAG2_PY__SERVICE_EVENT_INFO_HPP_
+
+#include <string>
+
+namespace rosbag2_py
+{
+
+struct ServiceMetadata
+{
+  std::string name;
+  std::string type;
+  std::string serialization_format;
+};
+
+struct ServiceEventInformation
+{
+  ServiceMetadata service_metadata;
+  size_t event_message_count = 0;
+};
+
+}  // namespace rosbag2_py
+
+#endif  // ROSBAG2_PY__SERVICE_EVENT_INFO_HPP_
diff --git a/rosbag2_tests/test/rosbag2_tests/test_rosbag2_info_end_to_end.cpp b/rosbag2_tests/test/rosbag2_tests/test_rosbag2_info_end_to_end.cpp
index 61808d1c9..92e1a59ef 100644
--- a/rosbag2_tests/test/rosbag2_tests/test_rosbag2_info_end_to_end.cpp
+++ b/rosbag2_tests/test/rosbag2_tests/test_rosbag2_info_end_to_end.cpp
@@ -185,6 +185,102 @@ TEST_P(InfoEndToEndTestFixture, info_basic_types_and_arrays_with_verbose_option_
       "Size Contribution: 2.7 KiB | Serialization Format: cdr"));
 }
 
+TEST_P(InfoEndToEndTestFixture, info_output_default_sorted_by_name_test) {
+  internal::CaptureStdout();
+  auto exit_code = execute_and_wait_until_completion("ros2 bag info cdr_test", bags_path_);
+  std::string output = internal::GetCapturedStdout();
+
+  EXPECT_THAT(exit_code, Eq(EXIT_SUCCESS));
+  EXPECT_THAT(
+    output, HasSubstr(
+      "Topic: /array_topic | Type: test_msgs/msg/Arrays | Count: 4 | "
+      "Serialization Format: cdr\n"
+      "                   Topic: /test_topic | Type: test_msgs/msg/BasicTypes | Count: 3 | "
+      "Serialization Format: cdr"));
+}
+
+TEST_P(InfoEndToEndTestFixture, info_output_sorted_by_name_test) {
+  internal::CaptureStdout();
+  auto exit_code = execute_and_wait_until_completion(
+    "ros2 bag info cdr_test --sort name", bags_path_);
+  std::string output = internal::GetCapturedStdout();
+
+  EXPECT_THAT(exit_code, Eq(EXIT_SUCCESS));
+  EXPECT_THAT(
+    output, HasSubstr(
+      "Topic: /array_topic | Type: test_msgs/msg/Arrays | Count: 4 | "
+      "Serialization Format: cdr\n"
+      "                   Topic: /test_topic | Type: test_msgs/msg/BasicTypes | Count: 3 | "
+      "Serialization Format: cdr"));
+}
+
+TEST_P(InfoEndToEndTestFixture, info_output_sorted_by_type_test) {
+  internal::CaptureStdout();
+  auto exit_code = execute_and_wait_until_completion(
+    "ros2 bag info cdr_test --sort type", bags_path_);
+  std::string output = internal::GetCapturedStdout();
+
+  EXPECT_THAT(exit_code, Eq(EXIT_SUCCESS));
+  EXPECT_THAT(
+    output, HasSubstr(
+      "Topic: /array_topic | Type: test_msgs/msg/Arrays | Count: 4 | "
+      "Serialization Format: cdr\n"
+      "                   Topic: /test_topic | Type: test_msgs/msg/BasicTypes | Count: 3 | "
+      "Serialization Format: cdr"));
+}
+
+TEST_P(InfoEndToEndTestFixture, info_output_sorted_by_count_test) {
+  internal::CaptureStdout();
+  auto exit_code = execute_and_wait_until_completion(
+    "ros2 bag info cdr_test --sort count", bags_path_);
+  std::string output = internal::GetCapturedStdout();
+
+  EXPECT_THAT(exit_code, Eq(EXIT_SUCCESS));
+  EXPECT_THAT(
+    output, HasSubstr(
+      "Topic: /test_topic | Type: test_msgs/msg/BasicTypes | Count: 3 | "
+      "Serialization Format: cdr\n"
+      "                   Topic: /array_topic | Type: test_msgs/msg/Arrays | Count: 4 | "
+      "Serialization Format: cdr"));
+}
+
+TEST_P(InfoEndToEndTestFixture, info_output_topics_only_sorted_by_count_test) {
+  internal::CaptureStdout();
+  auto exit_code = execute_and_wait_until_completion(
+    "ros2 bag info -t cdr_test --sort count", bags_path_);
+  std::string output = internal::GetCapturedStdout();
+
+  EXPECT_THAT(exit_code, Eq(EXIT_SUCCESS));
+  EXPECT_THAT(
+    output, HasSubstr(
+      "/test_topic\n"
+      "/array_topic"));
+}
+
+TEST_P(InfoEndToEndTestFixture, info_output_topics_only_default_sorted_by_name_test) {
+  internal::CaptureStdout();
+  auto exit_code = execute_and_wait_until_completion(
+    "ros2 bag info -t cdr_test", bags_path_);
+  std::string output = internal::GetCapturedStdout();
+
+  EXPECT_THAT(exit_code, Eq(EXIT_SUCCESS));
+  EXPECT_THAT(
+    output, HasSubstr(
+      "/array_topic\n"
+      "/test_topic"));
+}
+
+TEST_P(InfoEndToEndTestFixture, info_fails_gracefully_sort_method_does_not_exist_test) {
+  internal::CaptureStderr();
+  auto exit_code = execute_and_wait_until_completion(
+    "ros2 bag info cdr_test --sort non_existent", bags_path_);
+  auto error_output = internal::GetCapturedStderr();
+
+  EXPECT_THAT(exit_code, Ne(EXIT_SUCCESS));
+  EXPECT_THAT(
+    error_output, HasSubstr("--sort: invalid choice: 'non_existent'"));
+}
+
 // TODO(Martin-Idel-SI): Revisit exit code non-zero here, gracefully should be exit code zero
 TEST_P(InfoEndToEndTestFixture, info_fails_gracefully_if_bag_does_not_exist) {
   internal::CaptureStderr();