diff --git a/rcl/test/rcl/test_get_actual_qos.cpp b/rcl/test/rcl/test_get_actual_qos.cpp
index c8570f4af..54616ebcc 100644
--- a/rcl/test/rcl/test_get_actual_qos.cpp
+++ b/rcl/test/rcl/test_get_actual_qos.cpp
@@ -133,9 +133,9 @@ TEST_P_RMW(TestGetActualQoS, test_publisher_get_qos_settings) {
   EXPECT_EQ(
     qos->history,
     parameters.qos_expected.history);
-  EXPECT_EQ(
-    qos->depth,
-    parameters.qos_expected.depth);
+  if (parameters.qos_expected.history == RMW_QOS_POLICY_HISTORY_KEEP_LAST) {
+    EXPECT_EQ(qos->depth, parameters.qos_expected.depth);
+  }
   EXPECT_EQ(
     qos->reliability,
     parameters.qos_expected.reliability);