diff --git a/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp b/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp
index 9f05e50c5..a934a7dfb 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp
@@ -254,6 +254,10 @@ __rmw_wait(
       }
       if (!has_data) {
         subscriptions->subscribers[i] = 0;
+      } else {
+        // We are returning a ready subscription,
+        // so we need to indicate that the wait was successful.
+        wait_result = true;
       }
     }
   }
@@ -268,6 +272,10 @@ __rmw_wait(
         custom_client_info->response_reader_->get_first_untaken_info(&sample_info))
       {
         clients->clients[i] = 0;
+      } else {
+        // We are returning a ready client,
+        // so we need to indicate that the wait was successful.
+        wait_result = true;
       }
     }
   }
@@ -282,6 +290,10 @@ __rmw_wait(
         custom_service_info->request_reader_->get_first_untaken_info(&sample_info))
       {
         services->services[i] = 0;
+      } else {
+        // We are returning a ready service,
+        // so we need to indicate that the wait was successful.
+        wait_result = true;
       }
     }
   }
@@ -317,6 +329,10 @@ __rmw_wait(
 
       if (!active) {
         events->events[i] = 0;
+      } else {
+        // We are returning a ready event,
+        // so we need to indicate that the wait was successful.
+        wait_result = true;
       }
     }
   }
@@ -327,8 +343,12 @@ __rmw_wait(
       auto condition = static_cast<eprosima::fastdds::dds::GuardCondition *>(data);
       if (!condition->get_trigger_value()) {
         guard_conditions->guard_conditions[i] = 0;
+      } else {
+        condition->set_trigger_value(false);
+        // We are returning a ready guard condition,
+        // so we need to indicate that the wait was successful.
+        wait_result = true;
       }
-      condition->set_trigger_value(false);
     }
   }