diff --git a/cartographer_grpc/framework/proto/math_service.proto b/cartographer_grpc/framework/proto/math_service.proto
index 474e1ea..64bb3a8 100644
--- a/cartographer_grpc/framework/proto/math_service.proto
+++ b/cartographer_grpc/framework/proto/math_service.proto
@@ -32,9 +32,18 @@ message GetSquareResponse {
   int32 output = 1;
 }
 
+message GetEchoRequest {
+  int32 input = 1;
+}
+
+message GetEchoResponse {
+  int32 output = 1;
+}
+
 // Provides information about the gRPC server.
 service Math {
   rpc GetSum(stream GetSumRequest) returns (GetSumResponse);
   rpc GetSquare(GetSquareRequest) returns (GetSquareResponse);
   rpc GetRunningSum(stream GetSumRequest) returns (stream GetSumResponse);
+  rpc GetEcho(GetEchoRequest) returns (GetEchoResponse);
 }
diff --git a/cartographer_grpc/framework/rpc.cc b/cartographer_grpc/framework/rpc.cc
index a945fd7..e539966 100644
--- a/cartographer_grpc/framework/rpc.cc
+++ b/cartographer_grpc/framework/rpc.cc
@@ -283,6 +283,8 @@ bool Rpc::IsAnyEventPending() {
          IsRpcEventPending(Rpc::Event::FINISH);
 }
 
+std::weak_ptr<Rpc> Rpc::GetWeakPtr() { return weak_ptr_factory_(this); }
+
 ActiveRpcs::ActiveRpcs() : lock_() {}
 
 void Rpc::InitializeReadersAndWriters(
diff --git a/cartographer_grpc/framework/rpc.h b/cartographer_grpc/framework/rpc.h
index 5b83909..95b66f3 100644
--- a/cartographer_grpc/framework/rpc.h
+++ b/cartographer_grpc/framework/rpc.h
@@ -73,6 +73,7 @@ class Rpc {
   bool IsAnyEventPending();
   void SetEventQueue(EventQueue* event_queue) { event_queue_ = event_queue; }
   EventQueue* event_queue() { return event_queue_; }
+  std::weak_ptr<Rpc> GetWeakPtr();
 
  private:
   struct SendItem {
diff --git a/cartographer_grpc/framework/rpc_handler.h b/cartographer_grpc/framework/rpc_handler.h
index ead2e7b..f625efb 100644
--- a/cartographer_grpc/framework/rpc_handler.h
+++ b/cartographer_grpc/framework/rpc_handler.h
@@ -35,6 +35,7 @@ class RpcHandler : public RpcHandlerInterface {
   using OutgoingType = Outgoing;
   using RequestType = StripStream<Incoming>;
   using ResponseType = StripStream<Outgoing>;
+  using Writer = std::function<bool(std::unique_ptr<ResponseType>)>;
 
   void SetExecutionContext(ExecutionContext* execution_context) {
     execution_context_ = execution_context;
@@ -57,6 +58,16 @@ class RpcHandler : public RpcHandlerInterface {
   T* GetUnsynchronizedContext() {
     return dynamic_cast<T*>(execution_context_);
   }
+  Writer GetWriter() {
+    std::weak_ptr<Rpc> weak_ptr_rpc = rpc_->GetWeakPtr();
+    return [weak_ptr_rpc](std::unique_ptr<ResponseType> message) {
+      if (auto rpc = weak_ptr_rpc.lock()) {
+        rpc->Write(std::move(message));
+        return true;
+      }
+      return false;
+    };
+  }
 
  private:
   Rpc* rpc_;
diff --git a/cartographer_grpc/framework/server_test.cc b/cartographer_grpc/framework/server_test.cc
index c6873d6..4ec1f71 100644
--- a/cartographer_grpc/framework/server_test.cc
+++ b/cartographer_grpc/framework/server_test.cc
@@ -16,6 +16,8 @@
 
 #include "cartographer_grpc/framework/server.h"
 
+#include <future>
+
 #include "cartographer_grpc/framework/execution_context.h"
 #include "cartographer_grpc/framework/proto/math_service.grpc.pb.h"
 #include "cartographer_grpc/framework/proto/math_service.pb.h"
@@ -28,9 +30,11 @@ namespace cartographer_grpc {
 namespace framework {
 namespace {
 
+using EchoResponder = std::function<bool()>;
 class MathServerContext : public ExecutionContext {
  public:
   int additional_increment() { return 10; }
+  std::promise<EchoResponder> echo_responder;
 };
 
 class GetSumHandler
@@ -82,6 +86,21 @@ class GetSquareHandler
   }
 };
 
+class GetEchoHandler
+    : public RpcHandler<proto::GetEchoRequest, proto::GetEchoResponse> {
+  void OnRequest(const proto::GetEchoRequest& request) override {
+    int value = request.input();
+    Writer writer = GetWriter();
+    GetContext<MathServerContext>()->echo_responder.set_value(
+        [writer, value]() {
+          auto response =
+              cartographer::common::make_unique<proto::GetEchoResponse>();
+          response->set_output(value);
+          return writer(std::move(response));
+        });
+  }
+};
+
 // TODO(cschuet): Due to the hard-coded part these tests will become flaky when
 // run in parallel. It would be nice to find a way to solve that. gRPC also
 // allows to communicate over UNIX domain sockets.
@@ -99,6 +118,7 @@ class ServerTest : public ::testing::Test {
     server_builder.RegisterHandler<GetSquareHandler, proto::Math>("GetSquare");
     server_builder.RegisterHandler<GetRunningSumHandler, proto::Math>(
         "GetRunningSum");
+    server_builder.RegisterHandler<GetEchoHandler, proto::Math>("GetEcho");
     server_ = server_builder.Build();
 
     client_channel_ =
@@ -173,6 +193,32 @@ TEST_F(ServerTest, ProcessBidiStreamingRpcTest) {
   server_->Shutdown();
 }
 
+TEST_F(ServerTest, WriteFromOtherThread) {
+  server_->SetExecutionContext(
+      cartographer::common::make_unique<MathServerContext>());
+  server_->Start();
+
+  proto::GetEchoResponse result;
+  proto::GetEchoRequest request;
+  request.set_input(13);
+
+  Server* server = server_.get();
+  std::thread response_thread([server]() {
+    std::future<EchoResponder> responder_future =
+        server->GetContext<MathServerContext>()->echo_responder.get_future();
+    responder_future.wait();
+    auto responder = responder_future.get();
+    CHECK(responder());
+  });
+
+  grpc::Status status = stub_->GetEcho(&client_context_, request, &result);
+  response_thread.join();
+  EXPECT_TRUE(status.ok());
+  EXPECT_EQ(result.output(), 13);
+
+  server_->Shutdown();
+}
+
 }  // namespace
 }  // namespace framework
 }  // namespace cartographer_grpc