diff --git a/rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp b/rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp
index 91ea91a7c3..ec89ebc5ef 100644
--- a/rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp
+++ b/rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp
@@ -118,6 +118,13 @@ class SubscriptionIntraProcess
         return nullptr;
       }
     }
+
+    if (this->buffer_->has_data()) {
+      // If there is data still to be processed, indicate to the
+      // executor or waitset by triggering the guard condition.
+      this->trigger_guard_condition();
+    }
+
     return std::static_pointer_cast<void>(
       std::make_shared<std::pair<ConstMessageSharedPtr, MessageUniquePtr>>(
         std::pair<ConstMessageSharedPtr, MessageUniquePtr>(
diff --git a/rclcpp/test/rclcpp/executors/test_executors.cpp b/rclcpp/test/rclcpp/executors/test_executors.cpp
index 1fa2cbb4dd..eb6652f19b 100644
--- a/rclcpp/test/rclcpp/executors/test_executors.cpp
+++ b/rclcpp/test/rclcpp/executors/test_executors.cpp
@@ -593,3 +593,106 @@ TEST(TestExecutors, testSpinUntilFutureCompleteNodePtr) {
 
   rclcpp::shutdown();
 }
+
+template<typename T>
+class TestIntraprocessExecutors : public ::testing::Test
+{
+public:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
+  void SetUp()
+  {
+    const auto test_info = ::testing::UnitTest::GetInstance()->current_test_info();
+    std::stringstream test_name;
+    test_name << test_info->test_case_name() << "_" << test_info->name();
+    node = std::make_shared<rclcpp::Node>("node", test_name.str());
+
+    callback_count = 0;
+
+    const std::string topic_name = std::string("topic_") + test_name.str();
+
+    rclcpp::PublisherOptions po;
+    po.use_intra_process_comm = rclcpp::IntraProcessSetting::Enable;
+    publisher = node->create_publisher<test_msgs::msg::Empty>(topic_name, rclcpp::QoS(1), po);
+
+    auto callback = [this](test_msgs::msg::Empty::ConstSharedPtr) {
+        this->callback_count.fetch_add(1);
+      };
+
+    rclcpp::SubscriptionOptions so;
+    so.use_intra_process_comm = rclcpp::IntraProcessSetting::Enable;
+    subscription =
+      node->create_subscription<test_msgs::msg::Empty>(
+      topic_name, rclcpp::QoS(kNumMessages), std::move(callback), so);
+  }
+
+  void TearDown()
+  {
+    publisher.reset();
+    subscription.reset();
+    node.reset();
+  }
+
+  const size_t kNumMessages = 100;
+
+  rclcpp::Node::SharedPtr node;
+  rclcpp::Publisher<test_msgs::msg::Empty>::SharedPtr publisher;
+  rclcpp::Subscription<test_msgs::msg::Empty>::SharedPtr subscription;
+  std::atomic_int callback_count;
+};
+
+TYPED_TEST_SUITE(TestIntraprocessExecutors, ExecutorTypes, ExecutorTypeNames);
+
+TYPED_TEST(TestIntraprocessExecutors, testIntraprocessRetrigger) {
+  // This tests that executors will continue to service intraprocess subscriptions in the case
+  // that publishers aren't continuing to publish.
+  // This was previously broken in that intraprocess guard conditions were only triggered on
+  // publish and the test was added to prevent future regressions.
+  const size_t kNumMessages = 100;
+
+  using ExecutorType = TypeParam;
+  ExecutorType executor;
+  executor.add_node(this->node);
+
+  EXPECT_EQ(0, this->callback_count.load());
+  this->publisher->publish(test_msgs::msg::Empty());
+
+  // Wait for up to 5 seconds for the first message to come available.
+  const std::chrono::milliseconds sleep_per_loop(10);
+  int loops = 0;
+  while (1u != this->callback_count.load() && loops < 500) {
+    rclcpp::sleep_for(sleep_per_loop);
+    executor.spin_some();
+    loops++;
+  }
+  EXPECT_EQ(1u, this->callback_count.load());
+
+  // reset counter
+  this->callback_count.store(0);
+
+  for (size_t ii = 0; ii < kNumMessages; ++ii) {
+    this->publisher->publish(test_msgs::msg::Empty());
+  }
+
+  // Fire a timer every 10ms up to 5 seconds waiting for subscriptions to be read.
+  loops = 0;
+  auto timer = this->node->create_wall_timer(
+    std::chrono::milliseconds(10), [this, &executor, &loops, &kNumMessages]() {
+      loops++;
+      if (kNumMessages == this->callback_count.load() ||
+      loops == 500)
+      {
+        executor.cancel();
+      }
+    });
+  executor.spin();
+  EXPECT_EQ(kNumMessages, this->callback_count.load());
+}