diff --git a/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp b/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp
index e519adb409..7c48d914bf 100644
--- a/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp
+++ b/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp
@@ -304,9 +304,23 @@ class IntraProcessManager
 
     auto service_it = services_.find(service_id);
     if (service_it == services_.end()) {
-      throw std::runtime_error(
-              "There are no services to receive the intra-process request. "
-              "Do Inter process.");
+      auto cli = get_client_intra_process(intra_process_client_id);
+      auto warning_msg =
+        "Intra-process service gone out of scope. "
+        "Do inter-process requests.\n"
+        "Client topic name: " + std::string(cli->get_service_name());
+      RCLCPP_WARN(rclcpp::get_logger("rclcpp"), warning_msg.c_str());
+
+      // Remove all entries of the out-of-scope service
+      // from the client/service pairs.
+      for (auto it = clients_to_services_.cbegin(); it != clients_to_services_.cend(); ) {
+        if (it->second == service_id) {
+          it = clients_to_services_.erase(it);
+        } else {
+          it++;
+        }
+      }
+      return;
     }
     auto service_intra_process_base = service_it->second.lock();
     if (service_intra_process_base) {