diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
index 925c5f6286..9b64432487 100644
--- a/rclcpp/include/rclcpp/service.hpp
+++ b/rclcpp/include/rclcpp/service.hpp
@@ -495,7 +495,18 @@ class Service
       return;
     }
     if (ret != RCL_RET_OK) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send response");
+      constexpr size_t retry_num = 100;
+      rcl_ret_t ret_2 = RCL_RET_NOT_INIT;
+      for (size_t i = 1; i < retry_num; ++i) {
+        rclcpp::sleep_for(std::chrono::milliseconds(100));
+        ret_2 = rcl_send_response(get_service_handle().get(), &req_id, &response);
+        if (ret_2 == RCL_RET_OK) {
+          break;
+        }
+      }
+      if (ret_2 != RCL_RET_OK) {
+        rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send response");
+      }
     }
   }