From e6ffa30cdb74fcdca6a2206571eede0935835df6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ricardo=20Gonz=C3=A1lez=20Moreno?= <ricardo@richiware.dev>
Date: Wed, 13 Jul 2022 09:05:13 +0200
Subject: [PATCH] Fix waiting events

---
 rmw_fastrtps_shared_cpp/src/rmw_wait.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp b/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp
index 46dc16369..e67b6c207 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp
@@ -191,6 +191,15 @@ __rmw_wait(
       bool active = false;
 
       if (ReturnCode_t::RETCODE_OK == ret_code) {
+        eprosima::fastdds::dds::Entity * entity = status_condition.get_entity();
+        eprosima::fastdds::dds::StatusMask changed_statuses = entity->get_status_changes();
+        if (changed_statuses.is_active(
+            rmw_fastrtps_shared_cpp::internal::rmw_event_to_dds_statusmask(
+              event->event_type)))
+        {
+          active = true;
+        }
+
         if (guard_condition->get_trigger_value()) {
           active = true;
           guard_condition->set_trigger_value(false);