diff --git a/rclcpp/include/rclcpp/publisher.hpp b/rclcpp/include/rclcpp/publisher.hpp
index c4abacc82a..b757649cdd 100644
--- a/rclcpp/include/rclcpp/publisher.hpp
+++ b/rclcpp/include/rclcpp/publisher.hpp
@@ -405,10 +405,6 @@ class Publisher : public PublisherBase
     if (!loaned_msg.is_valid()) {
       throw std::runtime_error("loaned message is not valid");
     }
-    if (intra_process_is_enabled_) {
-      // TODO(Karsten1987): support loaned message passed by intraprocess
-      throw std::runtime_error("storing loaned messages in intra process is not supported yet");
-    }
 
     // verify that publisher supports loaned messages
     // TODO(Karsten1987): This case separation has to be done in rclcpp
@@ -422,7 +418,7 @@ class Publisher : public PublisherBase
     } else {
       // we don't release the ownership, let the middleware copy the ros message
       // and thus the destructor of rclcpp::LoanedMessage cleans up the memory.
-      this->do_inter_process_publish(loaned_msg.get());
+      this->publish(loaned_msg.get());
     }
   }
 
diff --git a/rclcpp/src/rclcpp/publisher_base.cpp b/rclcpp/src/rclcpp/publisher_base.cpp
index 723d56e0d5..db67fbf713 100644
--- a/rclcpp/src/rclcpp/publisher_base.cpp
+++ b/rclcpp/src/rclcpp/publisher_base.cpp
@@ -233,7 +233,7 @@ PublisherBase::assert_liveliness() const
 bool
 PublisherBase::can_loan_messages() const
 {
-  return rcl_publisher_can_loan_messages(publisher_handle_.get());
+  return !intra_process_is_enabled_ && rcl_publisher_can_loan_messages(publisher_handle_.get());
 }
 
 bool
diff --git a/rclcpp/test/rclcpp/test_publisher.cpp b/rclcpp/test/rclcpp/test_publisher.cpp
index 1679ca76f0..1dabd0e3d6 100644
--- a/rclcpp/test/rclcpp/test_publisher.cpp
+++ b/rclcpp/test/rclcpp/test_publisher.cpp
@@ -406,9 +406,7 @@ TEST_F(TestPublisher, intra_process_publish_failures) {
   std::allocator<void> allocator;
   {
     rclcpp::LoanedMessage<test_msgs::msg::Empty> loaned_msg(*publisher, allocator);
-    RCLCPP_EXPECT_THROW_EQ(
-      publisher->publish(std::move(loaned_msg)),
-      std::runtime_error("storing loaned messages in intra process is not supported yet"));
+    EXPECT_NO_THROW(publisher->publish(std::move(loaned_msg)));
   }
 
   {