diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
index 980817062..6a4b4d515 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
@@ -99,7 +99,7 @@ class ClientListener : public eprosima::fastdds::dds::DataReaderListener
     data.is_cdr_buffer = true;
     data.data = response.buffer_.get();
     data.impl = nullptr;    // not used when is_cdr_buffer is true
-    if (reader->take_next_sample(&data, &response.sample_info_) == ReturnCode_t::RETCODE_OK) {
+    while (reader->take_next_sample(&data, &response.sample_info_) == ReturnCode_t::RETCODE_OK) {
       if (response.sample_info_.valid_data) {
         response.sample_identity_ = response.sample_info_.related_sample_identity;
 
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
index 0ddbfd04f..9d50c5a3d 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
@@ -212,7 +212,7 @@ class ServiceListener : public eprosima::fastdds::dds::DataReaderListener
     data.is_cdr_buffer = true;
     data.data = request.buffer_;
     data.impl = nullptr;    // not used when is_cdr_buffer is true
-    if (reader->take_next_sample(&data, &request.sample_info_) == ReturnCode_t::RETCODE_OK) {
+    while (reader->take_next_sample(&data, &request.sample_info_) == ReturnCode_t::RETCODE_OK) {
       if (request.sample_info_.valid_data) {
         request.sample_identity_ = request.sample_info_.sample_identity;
         // Use response subscriber guid (on related_sample_identity) when present.