diff --git a/rcl/test/rcl/test_info_by_topic.cpp b/rcl/test/rcl/test_info_by_topic.cpp
index 0c66d5e0ff..4088aecb3b 100644
--- a/rcl/test/rcl/test_info_by_topic.cpp
+++ b/rcl/test/rcl/test_info_by_topic.cpp
@@ -50,11 +50,12 @@ class CLASSNAME (TestInfoByTopicFixture, RMW_IMPLEMENTATION) : public ::testing:
   const char * test_graph_node_name = "test_graph_node";
   rmw_topic_endpoint_info_array_t topic_endpoint_info_array;
   const char * const topic_name = "valid_topic_name";
-  bool is_fastrtps;
+  bool is_fastrtps, is_cyclonedds;
 
   void SetUp()
   {
     is_fastrtps = (std::string(rmw_get_implementation_identifier()).find("rmw_fastrtps") == 0);
+    is_cyclonedds = (std::string(rmw_get_implementation_identifier()).find("rmw_cyclonedds") == 0);
     rcl_ret_t ret;
     rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
     ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
@@ -320,7 +321,7 @@ TEST_F(
   test_rcl_get_publishers_subscription_info_by_topic)
 {
   // This is implemented only in fastrtps currently.
-  if (!is_fastrtps) {
+  if (!is_fastrtps && !is_cyclonedds) {
     GTEST_SKIP();
   }
   rmw_qos_profile_t default_qos_profile;