diff --git a/src/cpp/rtps/DataSharing/ReaderPool.hpp b/src/cpp/rtps/DataSharing/ReaderPool.hpp
index 8c1b9db7bdd..8c34a64bfe5 100644
--- a/src/cpp/rtps/DataSharing/ReaderPool.hpp
+++ b/src/cpp/rtps/DataSharing/ReaderPool.hpp
@@ -123,13 +123,18 @@ class ReaderPool : public DataSharingPayloadPool
         }
 
         // Set the reading pointer
+        next_payload_ = begin();
         if (is_volatile_)
         {
-            next_payload_ = end();
-        }
-        else
-        {
-            next_payload_ = begin();
+            CacheChange_t ch;
+            SequenceNumber_t last_sequence = c_SequenceNumber_Unknown;
+            get_next_unread_payload(ch, last_sequence);
+            while (ch.sequenceNumber != SequenceNumber_t::unknown())
+            {
+                advance(next_payload_);
+                get_next_unread_payload(ch, last_sequence);
+            }
+            assert(next_payload_ == end());
         }
 
         return true;
diff --git a/src/cpp/rtps/reader/StatefulReader.cpp b/src/cpp/rtps/reader/StatefulReader.cpp
index f0d9b3bef87..178428bc336 100644
--- a/src/cpp/rtps/reader/StatefulReader.cpp
+++ b/src/cpp/rtps/reader/StatefulReader.cpp
@@ -233,7 +233,18 @@ bool StatefulReader::matched_writer_add(
         }
 
         // Intraprocess manages durability itself
-        if (!is_same_process && m_att.durabilityKind != VOLATILE)
+        if (VOLATILE == m_att.durabilityKind)
+        {
+            std::shared_ptr<ReaderPool> pool = datasharing_listener_->get_pool_for_writer(wp->guid());
+            SequenceNumber_t last_seq = pool->get_last_read_sequence_number();
+            if (SequenceNumber_t::unknown() != last_seq)
+            {
+                SequenceNumberSet_t sns(last_seq + 1);
+                send_acknack(wp, sns, *wp, false);
+                wp->lost_changes_update(last_seq + 1);
+            }
+        }
+        else if (!is_same_process)
         {
             // simulate a notification to force reading of transient changes
             datasharing_listener_->notify(false);
diff --git a/test/blackbox/api/dds-pim/PubSubReader.hpp b/test/blackbox/api/dds-pim/PubSubReader.hpp
index ea74bfe27fa..309b0c34aca 100644
--- a/test/blackbox/api/dds-pim/PubSubReader.hpp
+++ b/test/blackbox/api/dds-pim/PubSubReader.hpp
@@ -453,7 +453,7 @@ class PubSubReader
     template<class _Rep,
             class _Period
             >
-    void wait_for_all_received(
+    bool wait_for_all_received(
             const std::chrono::duration<_Rep, _Period>& max_wait,
             size_t num_messages = 0)
     {
@@ -462,10 +462,10 @@ class PubSubReader
             num_messages = number_samples_expected_;
         }
         std::unique_lock<std::mutex> lock(message_receive_mutex_);
-        message_receive_cv_.wait_for(lock, max_wait, [this, num_messages]() -> bool
-                {
-                    return num_messages == message_receive_count_;
-                });
+        return message_receive_cv_.wait_for(lock, max_wait, [this, num_messages]() -> bool
+                       {
+                           return num_messages == message_receive_count_;
+                       });
     }
 
     void block_for_all()
diff --git a/test/blackbox/api/fastrtps_deprecated/PubSubReader.hpp b/test/blackbox/api/fastrtps_deprecated/PubSubReader.hpp
index 507876a94dc..bce3e402de7 100644
--- a/test/blackbox/api/fastrtps_deprecated/PubSubReader.hpp
+++ b/test/blackbox/api/fastrtps_deprecated/PubSubReader.hpp
@@ -368,7 +368,7 @@ class PubSubReader
     template<class _Rep,
             class _Period
             >
-    void wait_for_all_received(
+    bool wait_for_all_received(
             const std::chrono::duration<_Rep, _Period>& max_wait,
             size_t num_messages = 0)
     {
@@ -377,10 +377,10 @@ class PubSubReader
             num_messages = number_samples_expected_;
         }
         std::unique_lock<std::mutex> lock(message_receive_mutex_);
-        message_receive_cv_.wait_for(lock, max_wait, [this, num_messages]() -> bool
-                {
-                    return num_messages == message_receive_count_;
-                });
+        return message_receive_cv_.wait_for(lock, max_wait, [this, num_messages]() -> bool
+                       {
+                           return num_messages == message_receive_count_;
+                       });
     }
 
     void block_for_all()
diff --git a/test/blackbox/common/BlackboxTestsPubSubHistory.cpp b/test/blackbox/common/BlackboxTestsPubSubHistory.cpp
index 4a18848ab46..ee76f331835 100644
--- a/test/blackbox/common/BlackboxTestsPubSubHistory.cpp
+++ b/test/blackbox/common/BlackboxTestsPubSubHistory.cpp
@@ -56,6 +56,16 @@ class PubSubHistory : public testing::TestWithParam<test_params>
         }
 
         mem_policy_ = std::get<1>(GetParam());
+
+        switch (mem_policy_)
+        {
+            case rtps::PREALLOCATED_MEMORY_MODE:
+            case rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE:
+                will_use_datasharing = enable_datasharing;
+                break;
+            default:
+                break;
+        }
     }
 
     void TearDown() override
@@ -74,11 +84,14 @@ class PubSubHistory : public testing::TestWithParam<test_params>
             default:
                 break;
         }
+        will_use_datasharing = false;
     }
 
 protected:
 
     rtps::MemoryManagementPolicy mem_policy_;
+
+    bool will_use_datasharing = false;
 };
 
 // Test created to check bug #1568 (Github #34)
@@ -1144,6 +1157,84 @@ TEST_P(PubSubHistory, WriterUnmatchClearsHistory)
     reader.block_for_all();
 }
 
+// Regression test for #11743
+/*!
+ * @fn TEST(PubSubHistory, KeepAllWriterContinueSendingAfterReaderMatched)
+ * @brief This test checks that the writer doesn't block writing samples when meet a Datasharing Volatile reader.
+ *
+ * The test creates a Reliable, Transient Local Writer with a Keep All history, and its resources limited to
+ * 1 samples.
+ * Then it creates a Reliable, Volatile Reader.
+ * Writer will be the first discovering and then sends a sample.
+ * Reader could discover the writer when the writer already put the sample in the Datasharing history for the reader.
+ * The Volatile reader should be able to acks these kind of samples.
+ *
+ * Writer will be able then to send a second sample.
+ */
+TEST_P(PubSubHistory, KeepAllWriterContinueSendingAfterReaderMatched)
+{
+    PubSubReader<HelloWorldType> reader(TEST_TOPIC_NAME);
+    PubSubWriter<HelloWorldType> writer(TEST_TOPIC_NAME);
+
+    reader.reliability(RELIABLE_RELIABILITY_QOS);
+
+    writer.reliability(RELIABLE_RELIABILITY_QOS)
+            .history_kind(eprosima::fastrtps::KEEP_ALL_HISTORY_QOS)
+            .resource_limits_allocated_samples(1)
+            .resource_limits_max_samples(1);
+
+    writer.mem_policy(mem_policy_).init();
+    ASSERT_TRUE(writer.isInitialized());
+
+    reader.mem_policy(mem_policy_).init();
+    ASSERT_TRUE(reader.isInitialized());
+
+    writer.wait_discovery();
+
+    HelloWorld data;
+    data.message("Hello world!");
+    data.index(1u);
+    ASSERT_TRUE(writer.send_sample(data));
+
+    reader.wait_discovery();
+
+    // Second writer sends one sample (reader should discard previous one)
+    data.index(2u);
+    uint32_t expected_value = data.index();
+
+    if (will_use_datasharing)
+    {
+        if (reader.wait_for_all_received(std::chrono::seconds(3), 1))
+        {
+            ASSERT_FALSE(writer.send_sample(data));
+            expected_value = 1;
+        }
+        else
+        {
+            ASSERT_TRUE(writer.send_sample(data));
+        }
+    }
+    else
+    {
+        ASSERT_TRUE(writer.send_sample(data));
+    }
+
+    if (will_use_datasharing)
+    {
+        reader.wait_for_all_received(std::chrono::seconds(3), expected_value);
+    }
+    else
+    {
+        writer.waitForAllAcked(std::chrono::seconds(3));
+    }
+
+    // Only one sample should be present
+    HelloWorld received;
+    ASSERT_TRUE(reader.takeNextData(&received));
+    ASSERT_EQ(received.index(), expected_value);
+    ASSERT_TRUE(writer.waitForAllAcked(std::chrono::seconds(3)));
+}
+
 #ifdef INSTANTIATE_TEST_SUITE_P
 #define GTEST_INSTANTIATE_TEST_MACRO(x, y, z, w) INSTANTIATE_TEST_SUITE_P(x, y, z, w)
 #else