diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
index 39acba3ec4..a5e21fa747 100644
--- a/rclcpp/include/rclcpp/executor.hpp
+++ b/rclcpp/include/rclcpp/executor.hpp
@@ -169,10 +169,16 @@ class Executor
    * \param[in] max_duration The maximum amount of time to spend executing work, or 0 for no limit.
    * Note that spin_some() may take longer than this time as it only returns once max_duration has
    * been exceeded.
+   * \param[in] exhaustive When true, it will try to collect entities again after executing executables
+   * until there is no more ready entities or the specified duration has been reached.
+   * When there are subscriptions/clients with long history queues, this will ensure all messages/requestes
+   * available are handled.
    */
   RCLCPP_PUBLIC
   virtual void
-  spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0));
+  spin_some(
+    std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0),
+    bool exhaustive = false);
 
   RCLCPP_PUBLIC
   virtual void
diff --git a/rclcpp/src/rclcpp/executor.cpp b/rclcpp/src/rclcpp/executor.cpp
index 94f29387a0..8c5d3acb7f 100644
--- a/rclcpp/src/rclcpp/executor.cpp
+++ b/rclcpp/src/rclcpp/executor.cpp
@@ -213,7 +213,7 @@ Executor::spin_node_some(std::shared_ptr<rclcpp::Node> node)
 }
 
 void
-Executor::spin_some(std::chrono::nanoseconds max_duration)
+Executor::spin_some(std::chrono::nanoseconds max_duration, bool exhaustive)
 {
   auto start = std::chrono::steady_clock::now();
   auto max_duration_not_elapsed = [max_duration, start]() {
@@ -242,7 +242,7 @@ Executor::spin_some(std::chrono::nanoseconds max_duration)
       execute_any_executable(any_exec);
       work_available = true;
     } else {
-      if (!work_available) {
+      if (!work_available || !exhaustive) {
         break;
       }
       work_available = false;