diff --git a/rclcpp/test/rclcpp/test_publisher_with_type_adapter.cpp b/rclcpp/test/rclcpp/test_publisher_with_type_adapter.cpp
index 8b9d25aef3..01fc38dfd9 100644
--- a/rclcpp/test/rclcpp/test_publisher_with_type_adapter.cpp
+++ b/rclcpp/test/rclcpp/test_publisher_with_type_adapter.cpp
@@ -166,19 +166,25 @@ TEST_F(TestPublisher, various_creation_signatures) {
 
 /*
  * Testing that conversion errors are passed up.
- * TODO. This test was removed when implementing non convering intra-proccess
- * publishing. It may be fixed and added again later.
  */
-// TEST_F(TestPublisher, conversion_exception_is_passed_up) {
-//   using BadStringTypeAdapter = rclcpp::TypeAdapter<int, rclcpp::msg::String>;
-//   for (auto is_intra_process : {true, false}) {
-//     rclcpp::NodeOptions options;
-//     options.use_intra_process_comms(is_intra_process);
-//     initialize(options);
-//     auto pub = node->create_publisher<BadStringTypeAdapter>("topic_name", 1);
-//     EXPECT_THROW(pub->publish(1), std::runtime_error);
-//   }
-// }
+TEST_F(TestPublisher, conversion_exception_is_passed_up) {
+  using BadStringTypeAdapter = rclcpp::TypeAdapter<int, rclcpp::msg::String>;
+  for (auto is_intra_process : {true, false}) {
+    rclcpp::NodeOptions options;
+    options.use_intra_process_comms(is_intra_process);
+
+    auto callback =
+      [](const rclcpp::msg::String::ConstSharedPtr msg) -> void
+      {
+        (void)msg;
+      };
+
+    initialize(options);
+    auto pub = node->create_publisher<BadStringTypeAdapter>("topic_name", 1);
+    auto sub = node->create_subscription<rclcpp::msg::String>("topic_name", 1, callback);
+    EXPECT_THROW(pub->publish(1), std::runtime_error);
+  }
+}
 
 /*
  * Testing that publisher sends type adapted types and ROS message types with intra proccess communications.