diff --git a/ros2bag/ros2bag/api/__init__.py b/ros2bag/ros2bag/api/__init__.py
index b96e81f8b8..f054fe5aaa 100644
--- a/ros2bag/ros2bag/api/__init__.py
+++ b/ros2bag/ros2bag/api/__init__.py
@@ -107,3 +107,14 @@ def check_path_exists(value: Any) -> str:
         raise ArgumentTypeError("Bag file '{}' does not exist!".format(value))
     except ValueError:
         raise ArgumentTypeError('{} is not the valid type (string)'.format(value))
+
+
+def check_not_negative_int(arg: str) -> int:
+    """Argparse validator to verify that a value is a int and not negative."""
+    try:
+        value = int(arg)
+        if value < 0:
+            raise ArgumentTypeError(f'Value {value} is less than zero.')
+        return value
+    except ValueError:
+        raise ArgumentTypeError('{} is not the valid type (int)'.format(value))
diff --git a/ros2bag/ros2bag/verb/play.py b/ros2bag/ros2bag/verb/play.py
index 23b603ecda..d82f1a2a7b 100644
--- a/ros2bag/ros2bag/verb/play.py
+++ b/ros2bag/ros2bag/verb/play.py
@@ -15,6 +15,7 @@
 from argparse import FileType
 
 from rclpy.qos import InvalidQoSProfileException
+from ros2bag.api import check_not_negative_int
 from ros2bag.api import check_path_exists
 from ros2bag.api import check_positive_float
 from ros2bag.api import convert_yaml_to_qos_profile
@@ -93,6 +94,17 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
         parser.add_argument(
             '--start-offset', type=check_positive_float, default=0.0,
             help='Start the playback player this many seconds into the bag file.')
+        parser.add_argument(
+            '--wait-for-all-acked', type=check_not_negative_int, default=-1,
+            help='Wait until all published messages are acknowledged by all subscribers or until '
+                 'the timeout elapses in millisecond before play is terminated. '
+                 'Especially for the case of sending message with big size in a short time. '
+                 'Negative timeout is invalid. '
+                 '0 means wait forever until all published messages are acknowledged by all '
+                 'subscribers. '
+                 "Note that this option is valid only if the publisher\'s QOS profile is "
+                 'RELIABLE.',
+            metavar='TIMEOUT')
 
     def main(self, *, args):  # noqa: D102
         qos_profile_overrides = {}  # Specify a valid default
@@ -131,6 +143,7 @@ def main(self, *, args):  # noqa: D102
         play_options.disable_keyboard_controls = args.disable_keyboard_controls
         play_options.start_paused = args.start_paused
         play_options.start_offset = args.start_offset
+        play_options.wait_acked_timeout = args.wait_for_all_acked
 
         player = Player()
         player.play(storage_options, play_options)
diff --git a/rosbag2_py/src/rosbag2_py/_transport.cpp b/rosbag2_py/src/rosbag2_py/_transport.cpp
index 9ea5ba3a67..c11ca23929 100644
--- a/rosbag2_py/src/rosbag2_py/_transport.cpp
+++ b/rosbag2_py/src/rosbag2_py/_transport.cpp
@@ -247,6 +247,7 @@ PYBIND11_MODULE(_transport, m) {
     "start_offset",
     &PlayOptions::getStartOffset,
     &PlayOptions::setStartOffset)
+  .def_readwrite("wait_acked_timeout", &PlayOptions::wait_acked_timeout)
   ;
 
   py::class_<RecordOptions>(m, "RecordOptions")
diff --git a/rosbag2_transport/include/rosbag2_transport/play_options.hpp b/rosbag2_transport/include/rosbag2_transport/play_options.hpp
index 623233e4a8..27e33b9561 100644
--- a/rosbag2_transport/include/rosbag2_transport/play_options.hpp
+++ b/rosbag2_transport/include/rosbag2_transport/play_options.hpp
@@ -62,6 +62,10 @@ struct PlayOptions
   KeyboardHandler::KeyCode play_next_key = KeyboardHandler::KeyCode::CURSOR_RIGHT;
   KeyboardHandler::KeyCode increase_rate_key = KeyboardHandler::KeyCode::CURSOR_UP;
   KeyboardHandler::KeyCode decrease_rate_key = KeyboardHandler::KeyCode::CURSOR_DOWN;
+
+  // Timeout for waiting for all published messages to be acknowledged.
+  // Negative value means that published messages do not need to be acknowledged.
+  int64_t wait_acked_timeout = -1;
 };
 
 }  // namespace rosbag2_transport
diff --git a/rosbag2_transport/src/rosbag2_transport/player.cpp b/rosbag2_transport/src/rosbag2_transport/player.cpp
index 53d4075fd5..446bb8303f 100644
--- a/rosbag2_transport/src/rosbag2_transport/player.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/player.cpp
@@ -229,6 +229,31 @@ void Player::play()
   std::lock_guard<std::mutex> lk(ready_to_play_from_queue_mutex_);
   is_ready_to_play_from_queue_ = false;
   ready_to_play_from_queue_cv_.notify_all();
+
+  // Wait for all published messages to be acknowledged.
+  if (play_options_.wait_acked_timeout >= 0) {
+    std::chrono::milliseconds timeout(play_options_.wait_acked_timeout);
+    if (timeout == std::chrono::milliseconds(0)) {
+      timeout = std::chrono::milliseconds(-1);
+    }
+    for (auto pub : publishers_) {
+      try {
+        if (!pub.second->wait_for_all_acked(timeout)) {
+          RCLCPP_ERROR(
+            get_logger(),
+            "Timed out while waiting for all published messages to be acknowledged for topic %s",
+            pub.first.c_str());
+        }
+      } catch (std::exception & e) {
+        RCLCPP_ERROR(
+          get_logger(),
+          "Exception occurred while waiting for all published messages to be acknowledged for "
+          "topic %s : %s",
+          pub.first.c_str(),
+          e.what());
+      }
+    }
+  }
 }
 
 void Player::pause()
@@ -463,6 +488,7 @@ void Player::prepare_publishers()
 
   // Create topic publishers
   auto topics = reader_->get_all_topics_and_types();
+  std::string topic_without_support_acked;
   for (const auto & topic : topics) {
     if (publishers_.find(topic.name) != publishers_.end()) {
       continue;
@@ -483,6 +509,11 @@ void Player::prepare_publishers()
       publishers_.insert(
         std::make_pair(
           topic.name, create_generic_publisher(topic.name, topic.type, topic_qos)));
+      if (play_options_.wait_acked_timeout >= 0 &&
+        topic_qos.reliability() == rclcpp::ReliabilityPolicy::BestEffort)
+      {
+        topic_without_support_acked += topic.name + ", ";
+      }
     } catch (const std::runtime_error & e) {
       // using a warning log seems better than adding a new option
       // to ignore some unknown message type library
@@ -491,6 +522,18 @@ void Player::prepare_publishers()
         "Ignoring a topic '%s', reason: %s.", topic.name.c_str(), e.what());
     }
   }
+
+  if (!topic_without_support_acked.empty()) {
+    // remove the last ", "
+    topic_without_support_acked.erase(
+      topic_without_support_acked.end() - 2,
+      topic_without_support_acked.end());
+
+    RCLCPP_WARN(
+      get_logger(),
+      "--wait-for-all-acked is invalid for the below topics since reliability of QOS is "
+      "BestEffort.\n%s", topic_without_support_acked.c_str());
+  }
 }
 
 bool Player::publish_message(rosbag2_storage::SerializedBagMessageSharedPtr message)