diff --git a/rcl/src/rcl/wait.c b/rcl/src/rcl/wait.c
index dc338e1..1df4dfb 100644
--- a/rcl/src/rcl/wait.c
+++ b/rcl/src/rcl/wait.c
@@ -595,28 +595,24 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
   }
   // Set corresponding rcl subscription handles NULL.
   for (i = 0; i < wait_set->size_of_subscriptions; ++i) {
-    assert(i < wait_set->impl->rmw_subscriptions.subscriber_count);  // Defensive.
     if (!wait_set->impl->rmw_subscriptions.subscribers[i]) {
       wait_set->subscriptions[i] = NULL;
     }
   }
   // Set corresponding rcl guard_condition handles NULL.
   for (i = 0; i < wait_set->size_of_guard_conditions; ++i) {
-    assert(i < wait_set->impl->rmw_guard_conditions.guard_condition_count);  // Defensive.
     if (!wait_set->impl->rmw_guard_conditions.guard_conditions[i]) {
       wait_set->guard_conditions[i] = NULL;
     }
   }
   // Set corresponding rcl client handles NULL.
   for (i = 0; i < wait_set->size_of_clients; ++i) {
-    assert(i < wait_set->impl->rmw_clients.client_count);  // Defensive.
     if (!wait_set->impl->rmw_clients.clients[i]) {
       wait_set->clients[i] = NULL;
     }
   }
   // Set corresponding rcl service handles NULL.
   for (i = 0; i < wait_set->size_of_services; ++i) {
-    assert(i < wait_set->impl->rmw_services.service_count);  // Defensive.
     if (!wait_set->impl->rmw_services.services[i]) {
       wait_set->services[i] = NULL;
     }
diff --git a/rcl/test/rcl/test_wait.cpp b/rcl/test/rcl/test_wait.cpp
index 4dc8dee..5acab17 100644
--- a/rcl/test/rcl/test_wait.cpp
+++ b/rcl/test/rcl/test_wait.cpp
@@ -130,7 +130,6 @@ TEST(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
   });
 
-
   // Time spent during wait should be negligible.
   int64_t timeout = 0;
   std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
@@ -142,6 +141,17 @@ TEST(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
   EXPECT_LE(diff, TOLERANCE);
 }
 
+// Test rcl_wait_set_t with excess capacity works.
+TEST(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), excess_capacity) {
+  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
+  rcl_ret_t ret = rcl_wait_set_init(&wait_set, 42, 42, 42, 42, 42, rcl_get_default_allocator());
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+
+  int64_t timeout = 1;
+  ret = rcl_wait(&wait_set, timeout);
+  ASSERT_EQ(RCL_RET_TIMEOUT, ret) << rcl_get_error_string_safe();
+}
+
 // Check rcl_wait can be called in many threads, each with unique wait sets and resources.
 TEST(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threaded) {
   rcl_ret_t ret;