diff --git a/iceoryx_ros2_bridge/src/generic_subscription.cpp b/iceoryx_ros2_bridge/src/generic_subscription.cpp
index 27c2d2f..27c74ec 100644
--- a/iceoryx_ros2_bridge/src/generic_subscription.cpp
+++ b/iceoryx_ros2_bridge/src/generic_subscription.cpp
@@ -106,16 +106,17 @@ GenericSubscription::borrow_serialized_message(size_t capacity)
     rclcpp::exceptions::throw_from_rcl_error(init_return);
   }
 
-  auto serialized_msg = std::shared_ptr<rmw_serialized_message_t>(message,
-      [](rmw_serialized_message_t * msg) {
-        auto fini_return = rmw_serialized_message_fini(msg);
-        delete msg;
-        if (fini_return != RCL_RET_OK) {
-          RCLCPP_ERROR_STREAM(
-            rclcpp::get_logger("iceoryx_ros2_bridge"),
-            "Failed to destroy serialized message: " << rcl_get_error_string().str);
-        }
-      });
+  auto serialized_msg = std::shared_ptr<rmw_serialized_message_t>(
+    message,
+    [](rmw_serialized_message_t * msg) {
+      auto fini_return = rmw_serialized_message_fini(msg);
+      delete msg;
+      if (fini_return != RCL_RET_OK) {
+        RCLCPP_ERROR_STREAM(
+          rclcpp::get_logger("iceoryx_ros2_bridge"),
+          "Failed to destroy serialized message: " << rcl_get_error_string().str);
+      }
+    });
 
   return serialized_msg;
 }
diff --git a/iceoryx_ros2_bridge/src/iceoryx_ros2_bridge.cpp b/iceoryx_ros2_bridge/src/iceoryx_ros2_bridge.cpp
index 7bfbc08..d5f3085 100644
--- a/iceoryx_ros2_bridge/src/iceoryx_ros2_bridge.cpp
+++ b/iceoryx_ros2_bridge/src/iceoryx_ros2_bridge.cpp
@@ -231,7 +231,8 @@ int main(int argc, char ** argv)
     std::function<void(std::shared_ptr<rmw_serialized_message_t>)> cb =
       std::bind(&publish_to_iceoryx, std::placeholders::_1, ts, iceoryx_pubs.back());
 
-    ros2_subs.emplace_back(std::make_shared<iceoryx_ros2_bridge::GenericSubscription>(
+    ros2_subs.emplace_back(
+      std::make_shared<iceoryx_ros2_bridge::GenericSubscription>(
         node->get_node_base_interface().get(), *ts, topic, cb));
     node->get_node_topics_interface()->add_subscription(ros2_subs.back(), nullptr);
   }
@@ -261,7 +262,8 @@ int main(int argc, char ** argv)
 
     auto ts = iceoryx_ros2_bridge::get_typesupport(type, "rosidl_typesupport_cpp");
 
-    ros2_pubs.emplace_back(std::make_shared<iceoryx_ros2_bridge::GenericPublisher>(
+    ros2_pubs.emplace_back(
+      std::make_shared<iceoryx_ros2_bridge::GenericPublisher>(
         node->get_node_base_interface().get(), topic, *ts));
 
     auto service_desc =
diff --git a/rmw_iceoryx_cpp/src/internal/iceoryx_deserialize.cpp b/rmw_iceoryx_cpp/src/internal/iceoryx_deserialize.cpp
index 5fa034f..613adfd 100644
--- a/rmw_iceoryx_cpp/src/internal/iceoryx_deserialize.cpp
+++ b/rmw_iceoryx_cpp/src/internal/iceoryx_deserialize.cpp
@@ -203,8 +203,9 @@ const char * copy_payload_cpp(
     serialized_msg += size;
   } else {
     if (member->array_size_ > 0 && !member->is_upper_bound_) {
-      serialized_msg = copy_payload_fixed_array_cpp<T>(serialized_msg, ros_message_field,
-          member->array_size_);
+      serialized_msg = copy_payload_fixed_array_cpp<T>(
+        serialized_msg, ros_message_field,
+        member->array_size_);
     } else {
       serialized_msg = copy_payload_array_cpp<T>(serialized_msg, ros_message_field);
     }
@@ -271,8 +272,9 @@ const char * copy_payload_c(
     serialized_msg += size;
   } else {
     if (member->array_size_ > 0 && !member->is_upper_bound_) {
-      serialized_msg = copy_payload_fixed_array_cpp<T>(serialized_msg, ros_message_field,
-          member->array_size_);
+      serialized_msg = copy_payload_fixed_array_cpp<T>(
+        serialized_msg, ros_message_field,
+        member->array_size_);
     } else {
       serialized_msg = copy_payload_array_c<T>(serialized_msg, ros_message_field);
     }
diff --git a/rmw_iceoryx_cpp/src/internal/iceoryx_name_conversion.cpp b/rmw_iceoryx_cpp/src/internal/iceoryx_name_conversion.cpp
index e1f4bd0..3cc22a0 100644
--- a/rmw_iceoryx_cpp/src/internal/iceoryx_name_conversion.cpp
+++ b/rmw_iceoryx_cpp/src/internal/iceoryx_name_conversion.cpp
@@ -103,8 +103,9 @@ get_name_n_type_from_iceoryx_service_description(
     // ARA Naming
     std::string delimiter_msg = "_ara_msgs/msg/";
 
-    return std::make_tuple("/" + instance + "/" + service + "/" + event,
-             service + delimiter_msg + event);
+    return std::make_tuple(
+      "/" + instance + "/" + service + "/" + event,
+      service + delimiter_msg + event);
   }
 }
 
@@ -119,9 +120,10 @@ get_iceoryx_service_description(
   type_name = package_name + "/" + type_name;
 
   auto serviceDescriptionTuple = get_service_description_elements(topic_name, type_name);
-  return iox::capro::ServiceDescription(std::get<0>(serviceDescriptionTuple),
-           std::get<1>(serviceDescriptionTuple),
-           std::get<2>(serviceDescriptionTuple));
+  return iox::capro::ServiceDescription(
+    std::get<0>(serviceDescriptionTuple),
+    std::get<1>(serviceDescriptionTuple),
+    std::get<2>(serviceDescriptionTuple));
 }
 
 }  // namespace rmw_iceoryx_cpp
diff --git a/rmw_iceoryx_cpp/src/internal/iceoryx_serialize.cpp b/rmw_iceoryx_cpp/src/internal/iceoryx_serialize.cpp
index 1ab0931..fe965ab 100644
--- a/rmw_iceoryx_cpp/src/internal/iceoryx_serialize.cpp
+++ b/rmw_iceoryx_cpp/src/internal/iceoryx_serialize.cpp
@@ -242,9 +242,10 @@ void copy_data_c_ros_message(
   } else {
     void * subros_message = nullptr;
     size_t sub_members_size = sub_members->size_of_;
-    size_t array_elememts = get_array_elememts_and_assign_ros_message_field_c(member,
-        ros_message_field,
-        subros_message);
+    size_t array_elememts = get_array_elememts_and_assign_ros_message_field_c(
+      member,
+      ros_message_field,
+      subros_message);
 
     store_array_size(payloadVector, array_elememts);
 
@@ -268,9 +269,10 @@ void copy_data_cpp_ros_message(
     size_t array_elements;
     size_t sub_members_size = sub_members->size_of_;
 
-    array_elements = get_array_elememts_and_assign_ros_message_field_cpp(member, ros_message_field,
-        subros_message,
-        sub_members_size);
+    array_elements = get_array_elememts_and_assign_ros_message_field_cpp(
+      member, ros_message_field,
+      subros_message,
+      sub_members_size);
     store_array_size(payloadVector, array_elements);
     for (size_t index = 0; index < array_elements; ++index) {
       serialize(subros_message, sub_members, payloadVector);
diff --git a/rmw_iceoryx_cpp/src/internal/iceoryx_topic_names_and_types.cpp b/rmw_iceoryx_cpp/src/internal/iceoryx_topic_names_and_types.cpp
index a1bd8b3..272921b 100644
--- a/rmw_iceoryx_cpp/src/internal/iceoryx_topic_names_and_types.cpp
+++ b/rmw_iceoryx_cpp/src/internal/iceoryx_topic_names_and_types.cpp
@@ -81,7 +81,8 @@ void fill_topic_containers(
           std::string(receiver.m_caproEventMethodID.to_cstring()));
 
         names_n_types[std::get<0>(name_and_type)] = std::get<1>(name_and_type);
-        subscribers_topics[std::string(receiver.m_runnable.to_cstring())].push_back(std::get<0>(
+        subscribers_topics[std::string(receiver.m_runnable.to_cstring())].push_back(
+          std::get<0>(
             name_and_type));
       }
       for (auto & sender : port_sample->m_senderList) {
@@ -91,7 +92,8 @@ void fill_topic_containers(
           std::string(sender.m_caproEventMethodID.to_cstring()));
 
         names_n_types[std::get<0>(name_and_type)] = std::get<1>(name_and_type);
-        publishers_topics[std::string(sender.m_runnable.to_cstring())].push_back(std::get<0>(
+        publishers_topics[std::string(sender.m_runnable.to_cstring())].push_back(
+          std::get<0>(
             name_and_type));
       }
       port_receiver.releaseChunk(latest_chunk_header);
@@ -186,8 +188,9 @@ rmw_ret_t fill_rmw_names_and_types(
   rmw_ret_t rmw_ret = RMW_RET_ERROR;
 
   if (!iceoryx_topic_names_and_types.empty()) {
-    rmw_ret = rmw_names_and_types_init(rmw_topic_names_and_types,
-        iceoryx_topic_names_and_types.size(), allocator);
+    rmw_ret = rmw_names_and_types_init(
+      rmw_topic_names_and_types,
+      iceoryx_topic_names_and_types.size(), allocator);
     if (rmw_ret != RMW_RET_OK) {
       return rmw_ret;
     }
diff --git a/rmw_iceoryx_cpp/src/rmw_guard_condition.cpp b/rmw_iceoryx_cpp/src/rmw_guard_condition.cpp
index 4fc2a8d..a64c6dc 100644
--- a/rmw_iceoryx_cpp/src/rmw_guard_condition.cpp
+++ b/rmw_iceoryx_cpp/src/rmw_guard_condition.cpp
@@ -29,7 +29,8 @@ rmw_create_guard_condition(rmw_context_t * context)
 {
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, nullptr);
 
-  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(rmw_create_guard_condition
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    rmw_create_guard_condition
     : context,
     context->implementation_identifier,
     rmw_get_implementation_identifier(),
@@ -80,7 +81,8 @@ rmw_destroy_guard_condition(rmw_guard_condition_t * guard_condition)
 {
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(guard_condition, RMW_RET_ERROR);
 
-  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(rmw_destroy_guard_condition
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    rmw_destroy_guard_condition
     : guard_condition,
     guard_condition->implementation_identifier,
     rmw_get_implementation_identifier(),
diff --git a/rmw_iceoryx_cpp/src/rmw_init.cpp b/rmw_iceoryx_cpp/src/rmw_init.cpp
index b526f13..9649161 100644
--- a/rmw_iceoryx_cpp/src/rmw_init.cpp
+++ b/rmw_iceoryx_cpp/src/rmw_init.cpp
@@ -48,7 +48,8 @@ rmw_init_options_copy(const rmw_init_options_t * src, rmw_init_options_t * dst)
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(src, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(dst, RMW_RET_INVALID_ARGUMENT);
-  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(rmw_init_options_copy
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    rmw_init_options_copy
     : source options,
     src->implementation_identifier,
     rmw_get_implementation_identifier(),
@@ -67,7 +68,8 @@ rmw_init_options_fini(rmw_init_options_t * init_options)
 {
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(init_options, RMW_RET_INVALID_ARGUMENT);
   RCUTILS_CHECK_ALLOCATOR(&(init_options->allocator), return RMW_RET_INVALID_ARGUMENT);
-  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(rmw_init_options_fini
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    rmw_init_options_fini
     : options,
     init_options->implementation_identifier,
     rmw_get_implementation_identifier(),
@@ -81,7 +83,8 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
 {
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(options, RMW_RET_INVALID_ARGUMENT);
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
-  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(rmw_init
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    rmw_init
     : options,
     options->implementation_identifier,
     rmw_get_implementation_identifier(),
@@ -110,7 +113,8 @@ rmw_ret_t
 rmw_shutdown(rmw_context_t * context)
 {
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
-  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(rmw_shutdown
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    rmw_shutdown
     : context,
     context->implementation_identifier,
     rmw_get_implementation_identifier(),
@@ -123,7 +127,8 @@ rmw_ret_t
 rmw_context_fini(rmw_context_t * context)
 {
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
-  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(rmw_context_fini
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    rmw_context_fini
     : context,
     context->implementation_identifier,
     rmw_get_implementation_identifier(),
diff --git a/rmw_iceoryx_cpp/src/rmw_node.cpp b/rmw_iceoryx_cpp/src/rmw_node.cpp
index fead18d..e380197 100644
--- a/rmw_iceoryx_cpp/src/rmw_node.cpp
+++ b/rmw_iceoryx_cpp/src/rmw_node.cpp
@@ -72,7 +72,8 @@ rmw_create_node(
     RMW_SET_ERROR_MSG("failed to allocate memory for graph change notifier");
     goto fail;
   }
-  RMW_TRY_PLACEMENT_NEW(graph_change_notifier, graph_change_notifier, goto fail,
+  RMW_TRY_PLACEMENT_NEW(
+    graph_change_notifier, graph_change_notifier, goto fail,
     IceoryxGraphChangeNotifier, guard_condition)
 
   // allocate iceoryx_runnable
@@ -92,7 +93,8 @@ rmw_create_node(
     RMW_SET_ERROR_MSG("failed to allocate memory for node info");
     goto fail;
   }
-  RMW_TRY_PLACEMENT_NEW(node_info, node_info, goto fail, IceoryxNodeInfo, guard_condition,
+  RMW_TRY_PLACEMENT_NEW(
+    node_info, node_info, goto fail, IceoryxNodeInfo, guard_condition,
     graph_change_notifier, iceoryx_runnable)
 
   node_handle->data = node_info;
@@ -160,7 +162,8 @@ rmw_destroy_node(rmw_node_t * node)
   IceoryxNodeInfo * node_info = static_cast<IceoryxNodeInfo *>(node->data);
   if (node_info) {
     if (node_info->graph_change_notifier_) {
-      RMW_TRY_DESTRUCTOR(node_info->graph_change_notifier_->~IceoryxGraphChangeNotifier(),
+      RMW_TRY_DESTRUCTOR(
+        node_info->graph_change_notifier_->~IceoryxGraphChangeNotifier(),
         node_info->graph_change_notifier_,
         result = RMW_RET_ERROR)
       rmw_free(node_info->graph_change_notifier_);
@@ -170,12 +173,14 @@ rmw_destroy_node(rmw_node_t * node)
       result = RMW_RET_ERROR;
     }
     if (node_info->iceoryx_runnable_) {
-      RMW_TRY_DESTRUCTOR(node_info->iceoryx_runnable_->~Runnable(),
+      RMW_TRY_DESTRUCTOR(
+        node_info->iceoryx_runnable_->~Runnable(),
         node_info->iceoryx_runnable_,
         result = RMW_RET_ERROR)
       rmw_free(node_info->iceoryx_runnable_);
     }
-    RMW_TRY_DESTRUCTOR(node_info->~IceoryxNodeInfo(),
+    RMW_TRY_DESTRUCTOR(
+      node_info->~IceoryxNodeInfo(),
       node_info_,
       result = RMW_RET_ERROR)
     rmw_free(node_info);
diff --git a/rmw_iceoryx_cpp/src/rmw_publisher.cpp b/rmw_iceoryx_cpp/src/rmw_publisher.cpp
index 8e1d355..e41d210 100644
--- a/rmw_iceoryx_cpp/src/rmw_publisher.cpp
+++ b/rmw_iceoryx_cpp/src/rmw_publisher.cpp
@@ -183,12 +183,14 @@ rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher)
   IceoryxPublisher * iceoryx_publisher = static_cast<IceoryxPublisher *>(publisher->data);
   if (iceoryx_publisher) {
     if (iceoryx_publisher->iceoryx_sender_) {
-      RMW_TRY_DESTRUCTOR(iceoryx_publisher->iceoryx_sender_->~Publisher(),
+      RMW_TRY_DESTRUCTOR(
+        iceoryx_publisher->iceoryx_sender_->~Publisher(),
         iceoryx_publisher->iceoryx_sender_,
         result = RMW_RET_ERROR)
       rmw_free(iceoryx_publisher->iceoryx_sender_);
     }
-    RMW_TRY_DESTRUCTOR(iceoryx_publisher->~IceoryxPublisher(),
+    RMW_TRY_DESTRUCTOR(
+      iceoryx_publisher->~IceoryxPublisher(),
       iceoryx_publisher,
       result = RMW_RET_ERROR)
     rmw_free(iceoryx_publisher);
diff --git a/rmw_iceoryx_cpp/src/rmw_subscription.cpp b/rmw_iceoryx_cpp/src/rmw_subscription.cpp
index a1b1292..7074492 100644
--- a/rmw_iceoryx_cpp/src/rmw_subscription.cpp
+++ b/rmw_iceoryx_cpp/src/rmw_subscription.cpp
@@ -175,12 +175,14 @@ rmw_destroy_subscription(
     static_cast<IceoryxSubscription *>(subscription->data);
   if (iceoryx_subscription) {
     if (iceoryx_subscription->iceoryx_receiver_) {
-      RMW_TRY_DESTRUCTOR(iceoryx_subscription->iceoryx_receiver_->~Subscriber(),
+      RMW_TRY_DESTRUCTOR(
+        iceoryx_subscription->iceoryx_receiver_->~Subscriber(),
         iceoryx_subscription->iceoryx_receiver_,
         result = RMW_RET_ERROR)
       rmw_free(iceoryx_subscription->iceoryx_receiver_);
     }
-    RMW_TRY_DESTRUCTOR(iceoryx_subscription->~IceoryxSubscription(),
+    RMW_TRY_DESTRUCTOR(
+      iceoryx_subscription->~IceoryxSubscription(),
       iceoryx_subscription,
       result = RMW_RET_ERROR)
     rmw_free(iceoryx_subscription);
diff --git a/rmw_iceoryx_cpp/src/rmw_take.cpp b/rmw_iceoryx_cpp/src/rmw_take.cpp
index 2cb6d2f..761a66b 100644
--- a/rmw_iceoryx_cpp/src/rmw_take.cpp
+++ b/rmw_iceoryx_cpp/src/rmw_take.cpp
@@ -46,7 +46,8 @@ rmw_take(
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(taken, RMW_RET_ERROR);
   (void)allocation;
 
-  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(rmw_take
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    rmw_take
     : subscription,
     subscription->implementation_identifier,
     rmw_get_implementation_identifier(),
@@ -185,7 +186,8 @@ rmw_take_loaned_message(
 
   *taken = false;
 
-  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(rmw_take
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    rmw_take
     : subscription,
     subscription->implementation_identifier,
     rmw_get_implementation_identifier(),
@@ -243,7 +245,8 @@ rmw_return_loaned_message_from_subscription(
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(subscription, RMW_RET_ERROR);
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(loaned_message, RMW_RET_ERROR);
 
-  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(rmw_take
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    rmw_take
     : subscription,
     subscription->implementation_identifier,
     rmw_get_implementation_identifier(),
diff --git a/rmw_iceoryx_cpp/src/rmw_trigger_guard_condition.cpp b/rmw_iceoryx_cpp/src/rmw_trigger_guard_condition.cpp
index 6ac8c6b..f84e02c 100644
--- a/rmw_iceoryx_cpp/src/rmw_trigger_guard_condition.cpp
+++ b/rmw_iceoryx_cpp/src/rmw_trigger_guard_condition.cpp
@@ -26,7 +26,8 @@ rmw_trigger_guard_condition(const rmw_guard_condition_t * guard_condition_handle
 {
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(guard_condition_handle, RMW_RET_ERROR);
 
-  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(rmw_trigger_guard_condition
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    rmw_trigger_guard_condition
     : guard_condition_handle,
     guard_condition_handle->implementation_identifier,
     rmw_get_implementation_identifier(),
diff --git a/rmw_iceoryx_cpp/src/rmw_wait.cpp b/rmw_iceoryx_cpp/src/rmw_wait.cpp
index f802acd..fec9ec9 100644
--- a/rmw_iceoryx_cpp/src/rmw_wait.cpp
+++ b/rmw_iceoryx_cpp/src/rmw_wait.cpp
@@ -65,21 +65,29 @@ rmw_wait(
       static_cast<IceoryxSubscription * const>(subscriptions->subscribers[i]);
     auto iceoryx_receiver = iceoryx_subscription->iceoryx_receiver_;
 
-    if (!iceoryx_receiver->isChunkReceiveSemaphoreSet()) {
-      iceoryx_receiver->setChunkReceiveSemaphore(semaphore);
+    // indicate that we do not have to wait if there is already a new sample
+    if (iceoryx_receiver->hasNewChunks()) {
+      goto after_wait;
     }
+
+    iceoryx_receiver->setChunkReceiveSemaphore(semaphore);
   }
 
   // attach semaphore to all guard conditions
   for (size_t i = 0; i < guard_conditions->guard_condition_count; ++i) {
     auto iceoryx_guard_condition =
       static_cast<IceoryxGuardCondition * const>(guard_conditions->guard_conditions[i]);
+
+    // indicate that we do not have to wait if there is already a triggered guard condition
+    if (iceoryx_guard_condition->hasTriggered()) {
+      goto after_wait;
+    }
+
     iceoryx_guard_condition->attachSemaphore(semaphore);
   }
 
-  bool semaphore_fired = false;
   if (!wait_timeout) {
-    semaphore_fired = semaphore->wait();
+    semaphore->wait();
   } else {
     struct timespec ts_start;
     struct timespec ts_end;
@@ -92,7 +100,7 @@ rmw_wait(
       ts_end.tv_sec = ts_start.tv_sec + wait_timeout->sec;
     }
     ts_end.tv_nsec = nsec;
-    semaphore_fired = semaphore->timedWait(&ts_end, true);
+    semaphore->timedWait(&ts_end, true);
 
     // // for debugging
     // struct timespec ts_diff;
@@ -108,22 +116,8 @@ rmw_wait(
     // printf("waited s %lu ns %lu\n", ts_diff.tv_sec, ts_diff.tv_nsec);
   }
 
-  if (semaphore_fired) {
-    // clear the semaphore again, could have received multiple triggers
-    // but we now evaluate each possible one
-    while (semaphore->tryWait()) {
-    }
-  }
+after_wait:
 
-  // TODO(mphnl) Do we want to detach the samaphore from all the subscriptions and guard_conditions?
-  // In iceoryx we would lose the sample arrived information via the semaphore
-  // in the time interval between detach and re-attach
-  // For now detaching for guard_conditions like in the other rmw,
-  // but not for subscription for ensuring fastest possible processing of arrived samples.
-  // But it seems that the rcl layer triggers guard conditions when not in rmw_wait.
-  // That these were triggered is then recognized after the wait, they are not triggered
-  // between attaching the wait_set and the wait timeout but between detaching and re-attaching.
-  // This means it is not recognized by the wait_set (semaphore in our case)
 
   // reset all the subscriptions that don't have new data
   for (size_t i = 0; i < subscriptions->subscriber_count; ++i) {
@@ -131,12 +125,15 @@ rmw_wait(
       static_cast<IceoryxSubscription * const>(subscriptions->subscribers[i]);
     iox::popo::Subscriber * iceoryx_receiver = iceoryx_subscription->iceoryx_receiver_;
 
+    // remove semaphore from all receivers because next call a new waitset could be provided
+    iceoryx_receiver->unsetChunkReceiveSemaphore();
+
     if (!iceoryx_receiver->hasNewChunks()) {
       subscriptions->subscribers[i] = nullptr;
     }
   }
 
-  // reset all the guard_conditions that havenot triggered
+  // reset all the guard_conditions that have not triggered
   for (size_t i = 0; i < guard_conditions->guard_condition_count; ++i) {
     auto iceoryx_guard_condition =
       static_cast<IceoryxGuardCondition * const>(guard_conditions->guard_conditions[i]);
@@ -150,6 +147,11 @@ rmw_wait(
     }
   }
 
+  // clear the semaphore
+  // events that triggered it and where not yet collected will be seen on next rmw_wait
+  while (semaphore->tryWait()) {
+  }
+
   return RMW_RET_OK;
 }
 }  // extern "C"
diff --git a/rmw_iceoryx_cpp/src/rmw_wait_set.cpp b/rmw_iceoryx_cpp/src/rmw_wait_set.cpp
index 27eab15..07067d5 100644
--- a/rmw_iceoryx_cpp/src/rmw_wait_set.cpp
+++ b/rmw_iceoryx_cpp/src/rmw_wait_set.cpp
@@ -56,7 +56,8 @@ rmw_create_wait_set(rmw_context_t * context, size_t max_conditions)
     RMW_SET_ERROR_MSG("failed to allocate memory for wait_set data");
     goto fail;
   }
-  RMW_TRY_PLACEMENT_NEW(process_receiver,
+  RMW_TRY_PLACEMENT_NEW(
+    process_receiver,
     process_receiver,
     goto fail,
     iox::popo::Subscriber,
@@ -82,7 +83,8 @@ rmw_create_wait_set(rmw_context_t * context, size_t max_conditions)
 fail:
   if (rmw_wait_set) {
     if (process_receiver) {
-      RMW_TRY_DESTRUCTOR_FROM_WITHIN_FAILURE(process_receiver->~Subscriber(),
+      RMW_TRY_DESTRUCTOR_FROM_WITHIN_FAILURE(
+        process_receiver->~Subscriber(),
         iox::popo::Subscriber)
       rmw_free(process_receiver);
     }
@@ -113,7 +115,8 @@ rmw_destroy_wait_set(rmw_wait_set_t * wait_set)
   auto iceoryx_wait_set = static_cast<IceoryxWaitSet *>(wait_set->data);
   if (iceoryx_wait_set) {
     if (iceoryx_wait_set->iceoryx_receiver_) {
-      RMW_TRY_DESTRUCTOR(iceoryx_wait_set->iceoryx_receiver_->~Subscriber(),
+      RMW_TRY_DESTRUCTOR(
+        iceoryx_wait_set->iceoryx_receiver_->~Subscriber(),
         iceoryx_wait_set->iceoryx_receiver_,
         result = RMW_RET_ERROR)
       rmw_free(iceoryx_wait_set->iceoryx_receiver_);
diff --git a/rmw_iceoryx_cpp/src/types/iceoryx_node.hpp b/rmw_iceoryx_cpp/src/types/iceoryx_node.hpp
index ea1e75d..2fd5fa3 100644
--- a/rmw_iceoryx_cpp/src/types/iceoryx_node.hpp
+++ b/rmw_iceoryx_cpp/src/types/iceoryx_node.hpp
@@ -44,7 +44,8 @@ class IceoryxGraphChangeNotifier
       iceoryx_guard_condition_ = nullptr;
     } else {
       iceoryx_guard_condition_ = static_cast<IceoryxGuardCondition *>(guard_condition->data);
-      RMW_CHECK_TYPE_IDENTIFIERS_MATCH(IceoryxGraphChangeNotifier
+      RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+        IceoryxGraphChangeNotifier
         : guard_condition,
         guard_condition->implementation_identifier,
         rmw_get_implementation_identifier(),