diff --git a/launch_testing_ros/launch_testing_ros/wait_for_topics.py b/launch_testing_ros/launch_testing_ros/wait_for_topics.py
index 8e99423d..748ab6cf 100644
--- a/launch_testing_ros/launch_testing_ros/wait_for_topics.py
+++ b/launch_testing_ros/launch_testing_ros/wait_for_topics.py
@@ -19,6 +19,8 @@
 from threading import Thread
 
 import rclpy
+from rclpy.event_handler import QoSSubscriptionMatchedInfo
+from rclpy.event_handler import SubscriptionEventCallbacks
 from rclpy.executors import SingleThreadedExecutor
 from rclpy.node import Node
 
@@ -50,12 +52,28 @@ def method_2():
             print(wait_for_topics.topics_received()) # Should be {'topic_1', 'topic_2'}
             print(wait_for_topics.messages_received('topic_1')) # Should be [message_1, ...]
             wait_for_topics.shutdown()
+
+        # Method3, using a callback
+        def callback_function(arg):
+            print(f'Callback function called with argument: {arg}')
+
+        def method_3():
+            topic_list = [('topic_1', String), ('topic_2', String)]
+            with WaitForTopics(topic_list, callback=callback_function, callback_arguments="Hello"):
+                print('Given topics are receiving messages !')
     """
 
-    def __init__(self, topic_tuples, timeout=5.0, messages_received_buffer_length=10):
+    def __init__(self, topic_tuples, timeout=5.0, messages_received_buffer_length=10,
+                 callback=None, callback_arguments=None):
         self.topic_tuples = topic_tuples
         self.timeout = timeout
         self.messages_received_buffer_length = messages_received_buffer_length
+        self.callback = callback
+        if self.callback is not None and not callable(self.callback):
+            raise TypeError('The passed callback is not callable')
+        self.callback_arguments = (
+            callback_arguments if callback_arguments is not None else []
+        )
         self.__ros_context = rclpy.Context()
         rclpy.init(context=self.__ros_context)
         self.__ros_executor = SingleThreadedExecutor(context=self.__ros_context)
@@ -85,6 +103,14 @@ def _prepare_ros_node(self):
 
     def wait(self):
         self.__ros_node.start_subscribers(self.topic_tuples)
+        if self.callback:
+            if isinstance(self.callback_arguments, dict):
+                self.callback(**self.callback_arguments)
+            elif isinstance(self.callback_arguments, (list, set, tuple)):
+                self.callback(*self.callback_arguments)
+            else:
+                self.callback(self.callback_arguments)
+        self.__ros_node._any_publisher_connected.wait()
         return self.__ros_node.msg_event_object.wait(self.timeout)
 
     def shutdown(self):
@@ -131,6 +157,13 @@ def __init__(
         self.expected_topics = set()
         self.received_topics = set()
         self.received_messages_buffer = {}
+        self._any_publisher_connected = Event()
+
+    def _sub_matched_event_callback(self, info: QoSSubscriptionMatchedInfo):
+        if info.current_count != 0:
+            self._any_publisher_connected.set()
+        else:
+            self._any_publisher_connected.clear()
 
     def _reset(self):
         self.msg_event_object.clear()
@@ -149,12 +182,16 @@ def start_subscribers(self, topic_tuples):
                     maxlen=self.messages_received_buffer_length
                 )
                 # Create a subscriber
+                sub_event_callback = SubscriptionEventCallbacks(
+                    matched=self._sub_matched_event_callback
+                )
                 self.subscriber_list.append(
                     self.create_subscription(
                         topic_type,
                         topic_name,
                         self.callback_template(topic_name),
-                        10
+                        10,
+                        event_callbacks=sub_event_callback,
                     )
                 )
 
diff --git a/launch_testing_ros/test/examples/repeater.py b/launch_testing_ros/test/examples/repeater.py
new file mode 100644
index 00000000..10009b1e
--- /dev/null
+++ b/launch_testing_ros/test/examples/repeater.py
@@ -0,0 +1,53 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import String
+
+
+class Repeater(Node):
+
+    def __init__(self):
+        super().__init__('repeater')
+        self.count = 0
+        self.subscription = self.create_subscription(
+            String, 'input', self.callback, 10
+        )
+        self.publisher = self.create_publisher(String, 'output', 10)
+
+    def callback(self, input_msg):
+        self.get_logger().info('I heard: [%s]' % input_msg.data)
+        output_msg_data = input_msg.data
+        self.get_logger().info('Publishing: "{0}"'.format(output_msg_data))
+        self.publisher.publish(String(data=output_msg_data))
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = Repeater()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/launch_testing_ros/test/examples/wait_for_topic_inject_callback_test.py b/launch_testing_ros/test/examples/wait_for_topic_inject_callback_test.py
new file mode 100644
index 00000000..08006b88
--- /dev/null
+++ b/launch_testing_ros/test/examples/wait_for_topic_inject_callback_test.py
@@ -0,0 +1,78 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import sys
+import unittest
+
+import launch
+import launch.actions
+import launch_ros.actions
+import launch_testing.actions
+import launch_testing.markers
+from launch_testing_ros import WaitForTopics
+import pytest
+import rclpy
+from std_msgs.msg import String
+
+
+def generate_node():
+    """Return node and remap the topic based on the index provided."""
+    path_to_test = os.path.dirname(__file__)
+    return launch_ros.actions.Node(
+        executable=sys.executable,
+        arguments=[os.path.join(path_to_test, 'repeater.py')],
+        name='demo_node',
+        additional_env={'PYTHONUNBUFFERED': '1'},
+    )
+
+
+def trigger_callback():
+    rclpy.init()
+    node = rclpy.create_node('trigger')
+    publisher = node.create_publisher(String, 'input', 10)
+    while publisher.get_subscription_count() == 0:
+        rclpy.spin_once(node, timeout_sec=0.1)
+    msg = String()
+    msg.data = 'Hello World'
+    publisher.publish(msg)
+    print('Published message')
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+@pytest.mark.launch_test
+@launch_testing.markers.keep_alive
+def generate_test_description():
+    description = [generate_node(), launch_testing.actions.ReadyToTest()]
+    return launch.LaunchDescription(description)
+
+
+# TODO: Test cases fail on Windows debug builds
+# https://github.com/ros2/launch_ros/issues/292
+if os.name != 'nt':
+
+    class TestFixture(unittest.TestCase):
+
+        def test_topics_successful(self):
+            """All the supplied topics should be read successfully."""
+            topic_list = [('output', String)]
+            expected_topics = {'output'}
+
+            # Method 1 : Using the magic methods and 'with' keyword
+            with WaitForTopics(
+                topic_list, timeout=10.0, callback=trigger_callback
+            ) as wait_for_node_object_1:
+                assert wait_for_node_object_1.topics_received() == expected_topics
+                assert wait_for_node_object_1.topics_not_received() == set()
diff --git a/launch_testing_ros/test/examples/wait_for_topic_launch_test.py b/launch_testing_ros/test/examples/wait_for_topic_launch_test.py
index c32ca361..ac445d5b 100644
--- a/launch_testing_ros/test/examples/wait_for_topic_launch_test.py
+++ b/launch_testing_ros/test/examples/wait_for_topic_launch_test.py
@@ -104,3 +104,20 @@ def test_topics_unsuccessful(self, count: int):
             assert wait_for_node_object.topics_received() == expected_topics
             assert wait_for_node_object.topics_not_received() == {'invalid_topic'}
             wait_for_node_object.shutdown()
+
+        def test_callback(self, count):
+            topic_list = [('chatter_' + str(i), String) for i in range(count)]
+            expected_topics = {'chatter_' + str(i) for i in range(count)}
+
+            # Method 1 : Using the magic methods and 'with' keyword
+
+            is_callback_called = [[False]]
+
+            def callback(arg):
+                arg[0] = True
+
+            with WaitForTopics(topic_list, timeout=2.0, callback=callback,
+                               callback_arguments=is_callback_called) as wait_for_node_object_1:
+                assert wait_for_node_object_1.topics_received() == expected_topics
+                assert wait_for_node_object_1.topics_not_received() == set()
+                assert is_callback_called[0]