diff --git a/rmw_zenoh_cpp/src/detail/guard_condition.cpp b/rmw_zenoh_cpp/src/detail/guard_condition.cpp
index 91509570..b850095f 100644
--- a/rmw_zenoh_cpp/src/detail/guard_condition.cpp
+++ b/rmw_zenoh_cpp/src/detail/guard_condition.cpp
@@ -52,15 +52,14 @@ void GuardCondition::detach_condition()
 }
 
 ///==============================================================================
-bool GuardCondition::has_triggered() const
+bool GuardCondition::get_and_reset_trigger()
 {
   std::lock_guard<std::mutex> lock(internal_mutex_);
-  return has_triggered_;
-}
+  bool ret = has_triggered_;
 
-///==============================================================================
-void GuardCondition::reset_trigger()
-{
-  std::lock_guard<std::mutex> lock(internal_mutex_);
+  // There is no data associated with the guard condition, so as soon as the callers asks about the
+  // state, we can immediately reset and get ready for the next trigger.
   has_triggered_ = false;
+
+  return ret;
 }
diff --git a/rmw_zenoh_cpp/src/detail/guard_condition.hpp b/rmw_zenoh_cpp/src/detail/guard_condition.hpp
index bbd81b7f..b556c5f7 100644
--- a/rmw_zenoh_cpp/src/detail/guard_condition.hpp
+++ b/rmw_zenoh_cpp/src/detail/guard_condition.hpp
@@ -33,10 +33,7 @@ class GuardCondition final
 
   void detach_condition();
 
-  bool has_triggered() const;
-
-  // Resets has_triggered_ to false.
-  void reset_trigger();
+  bool get_and_reset_trigger();
 
 private:
   mutable std::mutex internal_mutex_;
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index 304d1ae2..c510db3e 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -3026,8 +3026,10 @@ static bool has_triggered_condition(
   if (guard_conditions) {
     for (size_t i = 0; i < guard_conditions->guard_condition_count; ++i) {
       GuardCondition * gc = static_cast<GuardCondition *>(guard_conditions->guard_conditions[i]);
-      if (gc != nullptr && gc->has_triggered()) {
-        return true;
+      if (gc != nullptr) {
+        if (gc->get_and_reset_trigger()) {
+          return true;
+        }
       }
     }
   }
@@ -3186,7 +3188,7 @@ rmw_wait(
         gc->detach_condition();
         // According to the documentation for rmw_wait in rmw.h, entries in the
         // array that have *not* been triggered should be set to NULL
-        if (!gc->has_triggered()) {
+        if (!gc->get_and_reset_trigger()) {
           guard_conditions->guard_conditions[i] = nullptr;
         }
       }