diff --git a/rmw_cyclonedds_cpp/src/rmw_node.cpp b/rmw_cyclonedds_cpp/src/rmw_node.cpp
index 6b33a5f2..c1342509 100644
--- a/rmw_cyclonedds_cpp/src/rmw_node.cpp
+++ b/rmw_cyclonedds_cpp/src/rmw_node.cpp
@@ -2338,6 +2338,39 @@ rmw_ret_t rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher)
   return RMW_RET_OK;
 }
 
+rmw_ret_t rmw_publisher_wait_for_all_acked(
+  const rmw_publisher_t * publisher,
+  rmw_time_t wait_timeout)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    publisher,
+    publisher->implementation_identifier,
+    eclipse_cyclonedds_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+
+  auto pub = static_cast<CddsPublisher *>(publisher->data);
+  if (pub == nullptr) {
+    RMW_SET_ERROR_MSG("The publisher is not a valid publisher.");
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+
+  dds_duration_t timeout = rmw_duration_to_dds(wait_timeout);
+  switch (dds_wait_for_acks(pub->enth, timeout)) {
+    case DDS_RETCODE_OK:
+      return RMW_RET_OK;
+    case DDS_RETCODE_BAD_PARAMETER:
+      RMW_SET_ERROR_MSG("The publisher is not a valid publisher.");
+      return RMW_RET_INVALID_ARGUMENT;
+    case DDS_RETCODE_TIMEOUT:
+      return RMW_RET_TIMEOUT;
+    case DDS_RETCODE_UNSUPPORTED:
+      return RMW_RET_UNSUPPORTED;
+    default:
+      return RMW_RET_ERROR;
+  }
+}
+
 rmw_ret_t rmw_publisher_get_actual_qos(const rmw_publisher_t * publisher, rmw_qos_profile_t * qos)
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);