diff --git a/src/cpp/rtps/writer/LivelinessManager.cpp b/src/cpp/rtps/writer/LivelinessManager.cpp
index f7bd5adc774..08ca6f2d2c0 100644
--- a/src/cpp/rtps/writer/LivelinessManager.cpp
+++ b/src/cpp/rtps/writer/LivelinessManager.cpp
@@ -65,7 +65,7 @@ bool LivelinessManager::add_writer(
     if (!calculate_next())
     {
         timer_.cancel_timer();
-        return false;
+        return true;
     }
 
     // Some times the interval could be negative if a writer expired during the call to this function