diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index 2dddece21..6a3647b87 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -244,9 +244,6 @@ function(test_target_function)
         PUBLIC "RMW_TIMESTAMPS_SUPPORTED=1")
       target_compile_definitions(test_service${target_suffix}
         PUBLIC "RMW_TIMESTAMPS_SUPPORTED=1")
-      # TODO(tfoote) Disable this tests on CI as it's being flakey
-      # This should be removed when https://github.com/ros2/rmw_cyclonedds/issues/185 is resolved.
-      ament_add_test_label(test_service${target_suffix} xfail)
     else()
       message(STATUS "Disabling message timestamp test for ${rmw_implementation}")
     endif()