diff --git a/rmw_zenoh_cpp/src/detail/guard_condition.cpp b/rmw_zenoh_cpp/src/detail/guard_condition.cpp
index feb6ea48..76f1c1f8 100644
--- a/rmw_zenoh_cpp/src/detail/guard_condition.cpp
+++ b/rmw_zenoh_cpp/src/detail/guard_condition.cpp
@@ -53,16 +53,21 @@ void GuardCondition::detach_condition()
   condition_variable_ = nullptr;
 }
 
+bool GuardCondition::has_triggered() const
+{
+  std::lock_guard<std::mutex> lock(internal_mutex_);
+  return has_triggered_;
+}
+
 ///=============================================================================
 bool GuardCondition::get_and_reset_trigger()
 {
   std::lock_guard<std::mutex> lock(internal_mutex_);
   bool ret = has_triggered_;
 
-  // 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;
 }
+
 }  // namespace rmw_zenoh_cpp
diff --git a/rmw_zenoh_cpp/src/detail/guard_condition.hpp b/rmw_zenoh_cpp/src/detail/guard_condition.hpp
index 07e1e6b0..9adb737e 100644
--- a/rmw_zenoh_cpp/src/detail/guard_condition.hpp
+++ b/rmw_zenoh_cpp/src/detail/guard_condition.hpp
@@ -35,6 +35,8 @@ class GuardCondition final
 
   void detach_condition();
 
+  bool has_triggered() const;
+
   bool get_and_reset_trigger();
 
 private:
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index 87aebac8..7ea0dea2 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -3143,14 +3143,12 @@ static bool has_triggered_condition(
   rmw_clients_t * clients,
   rmw_events_t * events)
 {
-  static_cast<void>(events);
-
   if (guard_conditions) {
     for (size_t i = 0; i < guard_conditions->guard_condition_count; ++i) {
       rmw_zenoh_cpp::GuardCondition * gc =
         static_cast<rmw_zenoh_cpp::GuardCondition *>(guard_conditions->guard_conditions[i]);
       if (gc != nullptr) {
-        if (gc->get_and_reset_trigger()) {
+        if (gc->has_triggered()) {
           return true;
         }
       }