diff --git a/cartographer_grpc/framework/proto/math_service.proto b/cartographer_grpc/framework/proto/math_service.proto
index 18a182b..474e1ea 100644
--- a/cartographer_grpc/framework/proto/math_service.proto
+++ b/cartographer_grpc/framework/proto/math_service.proto
@@ -36,4 +36,5 @@ message GetSquareResponse {
 service Math {
   rpc GetSum(stream GetSumRequest) returns (GetSumResponse);
   rpc GetSquare(GetSquareRequest) returns (GetSquareResponse);
+  rpc GetRunningSum(stream GetSumRequest) returns (stream GetSumResponse);
 }
diff --git a/cartographer_grpc/framework/rpc.cc b/cartographer_grpc/framework/rpc.cc
index b9d400b..9f6a67c 100644
--- a/cartographer_grpc/framework/rpc.cc
+++ b/cartographer_grpc/framework/rpc.cc
@@ -22,6 +22,23 @@
 
 namespace cartographer_grpc {
 namespace framework {
+namespace {
+
+// Finishes the gRPC for non-streaming response RPCs, i.e. NORMAL_RPC and
+// CLIENT_STREAMING. If no 'msg' is passed, we signal an error to the client as
+// the server is not honoring the gRPC call signature.
+template <typename ReaderWriter>
+void SendUnaryFinish(ReaderWriter* reader_writer, ::grpc::Status status,
+                     const google::protobuf::Message* msg,
+                     Rpc::RpcEvent* rpc_event) {
+  if (msg) {
+    reader_writer->Finish(*msg, status, rpc_event);
+  } else {
+    reader_writer->FinishWithError(status, rpc_event);
+  }
+}
+
+}  // namespace
 
 Rpc::Rpc(int method_index,
          ::grpc::ServerCompletionQueue* server_completion_queue,
@@ -60,10 +77,20 @@ void Rpc::OnRequest() { handler_->OnRequestInternal(request_.get()); }
 void Rpc::OnReadsDone() { handler_->OnReadsDone(); }
 
 void Rpc::RequestNextMethodInvocation() {
+  // Ask gRPC to notify us when the connection terminates.
   done_event_.pending = true;
-  new_connection_event_.pending = true;
   server_context_.AsyncNotifyWhenDone(&done_event_);
+
+  // Make sure after terminating the connection, gRPC notifies us with this
+  // event.
+  new_connection_event_.pending = true;
   switch (rpc_handler_info_.rpc_type) {
+    case ::grpc::internal::RpcMethod::BIDI_STREAMING:
+      service_->RequestAsyncBidiStreaming(
+          method_index_, &server_context_, streaming_interface(),
+          server_completion_queue_, server_completion_queue_,
+          &new_connection_event_);
+      break;
     case ::grpc::internal::RpcMethod::CLIENT_STREAMING:
       service_->RequestAsyncClientStreaming(
           method_index_, &server_context_, streaming_interface(),
@@ -84,6 +111,7 @@ void Rpc::RequestNextMethodInvocation() {
 void Rpc::RequestStreamingReadIfNeeded() {
   // For request-streaming RPCs ask the client to start sending requests.
   switch (rpc_handler_info_.rpc_type) {
+    case ::grpc::internal::RpcMethod::BIDI_STREAMING:
     case ::grpc::internal::RpcMethod::CLIENT_STREAMING:
       read_event_.pending = true;
       async_reader_interface()->Read(request_.get(), &read_event_);
@@ -101,25 +129,89 @@ void Rpc::RequestStreamingReadIfNeeded() {
 }
 
 void Rpc::Write(std::unique_ptr<::google::protobuf::Message> message) {
-  response_ = std::move(message);
   switch (rpc_handler_info_.rpc_type) {
+    case ::grpc::internal::RpcMethod::BIDI_STREAMING:
+      // For BIDI_STREAMING enqueue the message into the send queue and
+      // start write operations if none are currently in flight.
+      send_queue_.emplace(SendItem{std::move(message), ::grpc::Status::OK});
+      PerformWriteIfNeeded();
+      break;
     case ::grpc::internal::RpcMethod::CLIENT_STREAMING:
-      server_async_reader_->Finish(*response_.get(), ::grpc::Status::OK,
-                                   &finish_event_);
-      finish_event_.pending = true;
+      SendFinish(std::move(message), ::grpc::Status::OK);
       break;
     case ::grpc::internal::RpcMethod::NORMAL_RPC:
-      server_async_response_writer_->Finish(*response_.get(),
-                                            ::grpc::Status::OK, &finish_event_);
-      finish_event_.pending = true;
+      SendFinish(std::move(message), ::grpc::Status::OK);
       break;
     default:
       LOG(FATAL) << "RPC type not implemented.";
   }
 }
 
+void Rpc::SendFinish(std::unique_ptr<::google::protobuf::Message> message,
+                     ::grpc::Status status) {
+  finish_event_.pending = true;
+  switch (rpc_handler_info_.rpc_type) {
+    case ::grpc::internal::RpcMethod::BIDI_STREAMING:
+      CHECK(!message);
+      server_async_reader_writer_->Finish(status, &finish_event_);
+      break;
+    case ::grpc::internal::RpcMethod::CLIENT_STREAMING:
+      response_ = std::move(message);
+      SendUnaryFinish(server_async_reader_.get(), status, response_.get(),
+                      &finish_event_);
+      break;
+    case ::grpc::internal::RpcMethod::NORMAL_RPC:
+      response_ = std::move(message);
+      SendUnaryFinish(server_async_response_writer_.get(), status,
+                      response_.get(), &finish_event_);
+      break;
+    default:
+      LOG(FATAL) << "RPC type not implemented.";
+  }
+}
+
+void Rpc::Finish(::grpc::Status status) {
+  switch (rpc_handler_info_.rpc_type) {
+    case ::grpc::internal::RpcMethod::BIDI_STREAMING:
+      send_queue_.emplace(SendItem{nullptr /* msg */, status});
+      PerformWriteIfNeeded();
+      break;
+    case ::grpc::internal::RpcMethod::CLIENT_STREAMING:
+      SendFinish(nullptr /* message */, status);
+      break;
+    case ::grpc::internal::RpcMethod::NORMAL_RPC:
+      SendFinish(nullptr /* message */, status);
+      break;
+    default:
+      LOG(FATAL) << "RPC type not implemented.";
+  }
+}
+
+void Rpc::PerformWriteIfNeeded() {
+  if (send_queue_.empty() || write_event_.pending) {
+    return;
+  }
+
+  // Make sure not other send operations are in-flight.
+  CHECK(!finish_event_.pending);
+
+  SendItem send_item = std::move(send_queue_.front());
+  send_queue_.pop();
+  response_ = std::move(send_item.msg);
+
+  if (response_) {
+    write_event_.pending = true;
+    async_writer_interface()->Write(*response_.get(), &write_event_);
+  } else {
+    CHECK(send_queue_.empty());
+    SendFinish(nullptr /* message */, send_item.status);
+  }
+}
+
 ::grpc::internal::ServerAsyncStreamingInterface* Rpc::streaming_interface() {
   switch (rpc_handler_info_.rpc_type) {
+    case ::grpc::internal::RpcMethod::BIDI_STREAMING:
+      return server_async_reader_writer_.get();
     case ::grpc::internal::RpcMethod::CLIENT_STREAMING:
       return server_async_reader_.get();
     case ::grpc::internal::RpcMethod::NORMAL_RPC:
@@ -133,10 +225,28 @@ void Rpc::Write(std::unique_ptr<::google::protobuf::Message> message) {
 ::grpc::internal::AsyncReaderInterface<::google::protobuf::Message>*
 Rpc::async_reader_interface() {
   switch (rpc_handler_info_.rpc_type) {
+    case ::grpc::internal::RpcMethod::BIDI_STREAMING:
+      return server_async_reader_writer_.get();
     case ::grpc::internal::RpcMethod::CLIENT_STREAMING:
       return server_async_reader_.get();
     case ::grpc::internal::RpcMethod::NORMAL_RPC:
-      LOG(FATAL) << "For NORMAL_RPC no streaming interface exists.";
+      LOG(FATAL) << "For NORMAL_RPC no streaming reader interface exists.";
+    default:
+      LOG(FATAL) << "RPC type not implemented.";
+  }
+  LOG(FATAL) << "Never reached.";
+}
+
+::grpc::internal::AsyncWriterInterface<::google::protobuf::Message>*
+Rpc::async_writer_interface() {
+  switch (rpc_handler_info_.rpc_type) {
+    case ::grpc::internal::RpcMethod::BIDI_STREAMING:
+      return server_async_reader_writer_.get();
+    case ::grpc::internal::RpcMethod::CLIENT_STREAMING:
+    case ::grpc::internal::RpcMethod::NORMAL_RPC:
+      LOG(FATAL) << "For NORMAL_RPC and CLIENT_STREAMING no streaming writer "
+                    "interface exists.";
+      break;
     default:
       LOG(FATAL) << "RPC type not implemented.";
   }
@@ -145,16 +255,16 @@ Rpc::async_reader_interface() {
 
 Rpc::RpcEvent* Rpc::GetRpcEvent(Event event) {
   switch (event) {
+    case Event::DONE:
+      return &done_event_;
+    case Event::FINISH:
+      return &finish_event_;
     case Event::NEW_CONNECTION:
       return &new_connection_event_;
     case Event::READ:
       return &read_event_;
     case Event::WRITE:
       return &write_event_;
-    case Event::FINISH:
-      return &finish_event_;
-    case Event::DONE:
-      return &done_event_;
   }
   LOG(FATAL) << "Never reached.";
 }
@@ -164,6 +274,12 @@ ActiveRpcs::ActiveRpcs() : lock_() {}
 void Rpc::InitializeReadersAndWriters(
     ::grpc::internal::RpcMethod::RpcType rpc_type) {
   switch (rpc_type) {
+    case ::grpc::internal::RpcMethod::BIDI_STREAMING:
+      server_async_reader_writer_ =
+          cartographer::common::make_unique<::grpc::ServerAsyncReaderWriter<
+              google::protobuf::Message, google::protobuf::Message>>(
+              &server_context_);
+      break;
     case ::grpc::internal::RpcMethod::CLIENT_STREAMING:
       server_async_reader_ =
           cartographer::common::make_unique<::grpc::ServerAsyncReader<
diff --git a/cartographer_grpc/framework/rpc.h b/cartographer_grpc/framework/rpc.h
index 1616de1..5912a27 100644
--- a/cartographer_grpc/framework/rpc.h
+++ b/cartographer_grpc/framework/rpc.h
@@ -18,6 +18,7 @@
 #define CARTOGRAPHER_GRPC_FRAMEWORK_RPC_H
 
 #include <memory>
+#include <queue>
 #include <unordered_set>
 
 #include "cartographer/common/mutex.h"
@@ -55,18 +56,30 @@ class Rpc {
   void OnReadsDone();
   void RequestNextMethodInvocation();
   void RequestStreamingReadIfNeeded();
+  void PerformWriteIfNeeded();
   void Write(std::unique_ptr<::google::protobuf::Message> message);
+  void Finish(::grpc::Status status);
   Service* service() { return service_; }
   RpcEvent* GetRpcEvent(Event event);
 
  private:
+  struct SendItem {
+    std::unique_ptr<google::protobuf::Message> msg;
+    ::grpc::Status status;
+  };
+
   Rpc(const Rpc&) = delete;
   Rpc& operator=(const Rpc&) = delete;
   void InitializeReadersAndWriters(
       ::grpc::internal::RpcMethod::RpcType rpc_type);
+  void SendFinish(std::unique_ptr<::google::protobuf::Message> message,
+                  ::grpc::Status status);
 
   ::grpc::internal::AsyncReaderInterface<::google::protobuf::Message>*
   async_reader_interface();
+  ::grpc::internal::AsyncWriterInterface<::google::protobuf::Message>*
+  async_writer_interface();
+
   ::grpc::internal::ServerAsyncStreamingInterface* streaming_interface();
 
   int method_index_;
@@ -92,6 +105,11 @@ class Rpc {
   std::unique_ptr<::grpc::ServerAsyncReader<google::protobuf::Message,
                                             google::protobuf::Message>>
       server_async_reader_;
+  std::unique_ptr<::grpc::ServerAsyncReaderWriter<google::protobuf::Message,
+                                                  google::protobuf::Message>>
+      server_async_reader_writer_;
+
+  std::queue<SendItem> send_queue_;
 };
 
 // This class keeps track of all in-flight RPCs for a 'Service'. Make sure that
diff --git a/cartographer_grpc/framework/rpc_handler.h b/cartographer_grpc/framework/rpc_handler.h
index aab415c..733f66d 100644
--- a/cartographer_grpc/framework/rpc_handler.h
+++ b/cartographer_grpc/framework/rpc_handler.h
@@ -45,6 +45,7 @@ class RpcHandler : public RpcHandlerInterface {
     OnRequest(static_cast<const RequestType&>(*request));
   }
   virtual void OnRequest(const RequestType& request) = 0;
+  void Finish(::grpc::Status status) { rpc_->Finish(status); }
   void Send(std::unique_ptr<ResponseType> response) {
     rpc_->Write(std::move(response));
   }
diff --git a/cartographer_grpc/framework/server_test.cc b/cartographer_grpc/framework/server_test.cc
index 49d48c4..f4a9a4a 100644
--- a/cartographer_grpc/framework/server_test.cc
+++ b/cartographer_grpc/framework/server_test.cc
@@ -51,6 +51,29 @@ class GetSumHandler
   int sum_ = 0;
 };
 
+class GetRunningSumHandler
+    : public RpcHandler<Stream<proto::GetSumRequest>, Stream<proto::GetSumResponse>> {
+ public:
+  void OnRequest(const proto::GetSumRequest& request) override {
+    sum_ += request.input();
+
+    // Respond twice to demonstrate bidirectional streaming.
+    auto response = cartographer::common::make_unique<proto::GetSumResponse>();
+    response->set_output(sum_);
+    Send(std::move(response));
+    response = cartographer::common::make_unique<proto::GetSumResponse>();
+    response->set_output(sum_);
+    Send(std::move(response));
+  }
+
+  void OnReadsDone() override {
+    Finish(::grpc::Status::OK);
+  }
+
+ private:
+  int sum_ = 0;
+};
+
 class GetSquareHandler
     : public RpcHandler<proto::GetSquareRequest, proto::GetSquareResponse> {
   void OnRequest(const proto::GetSquareRequest& request) override {
@@ -75,6 +98,7 @@ class ServerTest : public ::testing::Test {
     server_builder.SetNumberOfThreads(kNumThreads);
     server_builder.RegisterHandler<GetSumHandler, proto::Math>("GetSum");
     server_builder.RegisterHandler<GetSquareHandler, proto::Math>("GetSquare");
+    server_builder.RegisterHandler<GetRunningSumHandler, proto::Math>("GetRunningSum");
     server_ = server_builder.Build();
 
     client_channel_ =
@@ -127,6 +151,28 @@ TEST_F(ServerTest, ProcessUnaryRpcTest) {
   server_->Shutdown();
 }
 
+TEST_F(ServerTest, ProcessBidiStreamingRpcTest) {
+  server_->Start();
+
+  auto reader_writer = stub_->GetRunningSum(&client_context_);
+  for (int i = 0; i < 3; ++i) {
+    proto::GetSumRequest request;
+    request.set_input(i);
+    EXPECT_TRUE(reader_writer->Write(request));
+  }
+  reader_writer->WritesDone();
+  proto::GetSumResponse response;
+
+  std::list<int> expected_responses = {0, 0, 1, 1, 3, 3};
+  while (reader_writer->Read(&response)) {
+    EXPECT_EQ(expected_responses.front(), response.output());
+    expected_responses.pop_front();
+  }
+  EXPECT_TRUE(expected_responses.empty());
+
+  server_->Shutdown();
+}
+
 }  // namespace
 }  // namespace framework
 }  // namespace cartographer_grpc
diff --git a/cartographer_grpc/framework/service.cc b/cartographer_grpc/framework/service.cc
index 87405c7..7496e04 100644
--- a/cartographer_grpc/framework/service.cc
+++ b/cartographer_grpc/framework/service.cc
@@ -105,6 +105,8 @@ void Service::HandleRead(Rpc* rpc, bool ok) {
 
   // Reads completed.
   rpc->OnReadsDone();
+
+  RemoveIfNotPending(rpc);
 }
 
 void Service::HandleWrite(Rpc* rpc, bool ok) {
@@ -112,6 +114,9 @@ void Service::HandleWrite(Rpc* rpc, bool ok) {
     LOG(ERROR) << "Write failed";
   }
 
+  // Send the next message or potentially finish the connection.
+  rpc->PerformWriteIfNeeded();
+
   RemoveIfNotPending(rpc);
 }