diff --git a/rclcpp/test/rclcpp/executors/test_executors.cpp b/rclcpp/test/rclcpp/executors/test_executors.cpp
index 1fa2cbb4dd..ac74fef080 100644
--- a/rclcpp/test/rclcpp/executors/test_executors.cpp
+++ b/rclcpp/test/rclcpp/executors/test_executors.cpp
@@ -593,3 +593,49 @@ TEST(TestExecutors, testSpinUntilFutureCompleteNodePtr) {
 
   rclcpp::shutdown();
 }
+
+TYPED_TEST(TestExecutors, testIntraprocessRetrigger) {
+  using ExecutorType = TypeParam;
+  ExecutorType executor;
+
+  const std::string kTopic = "~/test_service_intraprocess";
+  const size_t kNumMessages = 100;
+
+  auto ipc_node = std::make_shared<rclcpp::Node>("node");
+  rclcpp::PublisherOptions po;
+  po.use_intra_process_comm = rclcpp::IntraProcessSetting::Enable;
+  auto pub = ipc_node->create_publisher<test_msgs::msg::Empty>(kTopic, 1, po);
+
+  std::atomic_int counter = 0;
+  auto count_subs = [&counter](std::shared_ptr<const test_msgs::msg::Empty>) {
+    counter.fetch_add(1);
+  };
+
+  rclcpp::SubscriptionOptions so;
+  so.use_intra_process_comm = rclcpp::IntraProcessSetting::Enable;
+  auto sub = ipc_node->create_subscription<test_msgs::msg::Empty>(kTopic, kNumMessages, count_subs, so);
+
+  executor.add_node(ipc_node);
+
+  EXPECT_EQ(0, counter.load());
+  pub->publish(test_msgs::msg::Empty());
+
+  const std::chrono::milliseconds sleep_per_loop(10);
+  while (1u != counter.load()) {
+    rclcpp::sleep_for(sleep_per_loop);
+    executor.spin_some();
+  }
+  EXPECT_EQ(1u, counter.load());
+
+  // reset counter
+  counter.store(0);
+
+  for (size_t ii = 0; ii < kNumMessages; ++ii)
+  {
+    pub->publish(test_msgs::msg::Empty());
+  }
+  auto timer = ipc_node->create_wall_timer(std::chrono::milliseconds(250), [&executor](){executor.cancel();});
+  executor.spin();
+
+  EXPECT_EQ(kNumMessages, counter.load());
+}