diff --git a/rclpy/topics/minimal_publisher/README.md b/rclpy/topics/minimal_publisher/README.md
index fc9d22afd..8909109db 100644
--- a/rclpy/topics/minimal_publisher/README.md
+++ b/rclpy/topics/minimal_publisher/README.md
@@ -4,3 +4,4 @@ This package contains a few different strategies for creating short nodes that b
 The `publisher_old_school` recipe creates a talker node very similar to how it would be done in ROS 1 using rospy.
 The `publisher_local_function` recipe shows how to leverage the timers provided by ROS 2 to trigger message publication.
 The `publisher_member_function` recipe creates a class MinimalPublisher that sends messages periodically.
+The `publisher_member_function_with_wait_for_all_acked` recipe creates a class MinimalPublisher that sends messages and wait for all messages are acknowledged.
diff --git a/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function_with_wait_for_all_acked.py b/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function_with_wait_for_all_acked.py
new file mode 100644
index 000000000..5a77a935d
--- /dev/null
+++ b/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function_with_wait_for_all_acked.py
@@ -0,0 +1,71 @@
+# Copyright 2025 Sony Group Corporation.
+#
+# 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.
+
+import rclpy
+from rclpy.duration import Duration
+from rclpy.executors import ExternalShutdownException
+from rclpy.node import Node
+
+from std_msgs.msg import String
+
+
+class MinimalPublisher(Node):
+
+    def __init__(self):
+        super().__init__('minimal_publisher_with_wait_for_all_acked')
+        reliable_qos = rclpy.qos.QoSProfile(
+            depth=10,
+            reliability=rclpy.qos.QoSReliabilityPolicy.RELIABLE)
+        self.publisher_ = self.create_publisher(String, 'topic', reliable_qos)
+
+        self.timer_period = 0.5  # seconds
+        self.timer = self.create_timer(self.timer_period, self.timer_callback)
+        self.i = 0
+        self.max_count = 10
+
+    def wait_for_all_acked(self):
+        self.get_logger().info('Waiting for all messages to be acknowledged...')
+        acknowledged = self.publisher_.wait_for_all_acked(Duration(seconds=3))
+        if acknowledged:
+            self.get_logger().info('All messages acknowledged.')
+        else:
+            self.get_logger().warn('Not all messages were acknowledged.')
+
+    def timer_callback(self):
+        if self.i < self.max_count:
+            msg = String()
+            msg.data = 'Hello World: %d' % self.i
+            self.publisher_.publish(msg)
+            self.get_logger().info('Publishing: "%s"' % msg.data)
+            self.i += 1
+        else:
+            self.timer.cancel()
+            self.wait_for_all_acked()
+            self.i = 0
+            self.timer.reset()
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    minimal_publisher = MinimalPublisher()
+    try:
+        rclpy.spin(minimal_publisher)
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass
+    finally:
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/rclpy/topics/minimal_publisher/setup.py b/rclpy/topics/minimal_publisher/setup.py
index 509c85b01..b69142cdf 100644
--- a/rclpy/topics/minimal_publisher/setup.py
+++ b/rclpy/topics/minimal_publisher/setup.py
@@ -34,6 +34,9 @@
             ' examples_rclpy_minimal_publisher.publisher_local_function:main',
             'publisher_member_function ='
             ' examples_rclpy_minimal_publisher.publisher_member_function:main',
+            'publisher_member_function_with_wait_for_all_acked ='
+            ' examples_rclpy_minimal_publisher.'
+            'publisher_member_function_with_wait_for_all_acked:main',
         ],
     },
 )