diff --git a/rmw_fastrtps_shared_cpp/src/qos.cpp b/rmw_fastrtps_shared_cpp/src/qos.cpp
index 1a3ab6619..9cb1baaae 100644
--- a/rmw_fastrtps_shared_cpp/src/qos.cpp
+++ b/rmw_fastrtps_shared_cpp/src/qos.cpp
@@ -160,9 +160,7 @@ get_datawriter_qos(
 bool
 is_valid_qos(const rmw_qos_profile_t & qos_policies)
 {
-  if (qos_policies.liveliness == RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE &&
-    !is_time_default(qos_policies.liveliness_lease_duration))
-  {
+  if (qos_policies.liveliness == RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE) {
     RMW_SET_ERROR_MSG("Liveliness policy MANUAL_BY_NODE is not yet supported for fastrtps.");
     return false;
   }