diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
index ae2dbdb..de38dde 100644
--- a/rclcpp/include/rclcpp/executor.hpp
+++ b/rclcpp/include/rclcpp/executor.hpp
@@ -306,8 +306,6 @@ protected:
   /// Spinning state, used to prevent multi threaded calls to spin and to cancel blocking spins.
   std::atomic_bool spinning;
 
-  rmw_guard_conditions_t fixed_guard_conditions_;
-
   /// Guard condition for signaling the rmw layer to wake up for special events.
   rmw_guard_condition_t * interrupt_guard_condition_;
 
@@ -321,7 +319,6 @@ private:
   RCLCPP_DISABLE_COPY(Executor);
 
   std::vector<std::weak_ptr<rclcpp::node::Node>> weak_nodes_;
-  std::array<void *, 2> guard_cond_handles_;
 };
 
 }  // namespace executor
diff --git a/rclcpp/include/rclcpp/memory_strategy.hpp b/rclcpp/include/rclcpp/memory_strategy.hpp
index e363914..9386a80 100644
--- a/rclcpp/include/rclcpp/memory_strategy.hpp
+++ b/rclcpp/include/rclcpp/memory_strategy.hpp
@@ -49,6 +49,9 @@ public:
   // return the new number of clients
   virtual size_t fill_client_handles(void ** & ptr) = 0;
 
+  // return the new number of guard_conditions
+  virtual size_t fill_guard_condition_handles(void ** & ptr) = 0;
+
   virtual void clear_active_entities() = 0;
 
   virtual void clear_handles() = 0;
@@ -59,6 +62,10 @@ public:
   // \return Shared pointer to the fresh executable.
   virtual rclcpp::executor::AnyExecutable::SharedPtr instantiate_next_executable() = 0;
 
+  virtual void add_guard_condition(const rmw_guard_condition_t * guard_condition) = 0;
+
+  virtual void remove_guard_condition(const rmw_guard_condition_t * guard_condition) = 0;
+
   virtual void
   get_next_subscription(rclcpp::executor::AnyExecutable::SharedPtr any_exec,
     const WeakNodeVector & weak_nodes) = 0;
diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index b947169..3f9eaf0 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -77,6 +77,9 @@ public:
     const std::string & node_name, rclcpp::context::Context::SharedPtr context,
     bool use_intra_process_comms = false);
 
+  RCLCPP_PUBLIC
+  ~Node();
+
   /// Get the name of the node.
   // \return The name of the node.
   RCLCPP_PUBLIC
@@ -252,6 +255,9 @@ public:
   const CallbackGroupWeakPtrList &
   get_callback_groups() const;
 
+  RCLCPP_PUBLIC
+  rmw_guard_condition_t * get_notify_guard_condition() const;
+
   std::atomic_bool has_executor;
 
 private:
@@ -279,6 +285,9 @@ private:
 
   mutable std::mutex mutex_;
 
+  /// Guard condition for notifying the Executor of changes to this node.
+  rmw_guard_condition_t * notify_guard_condition_;
+
   std::map<std::string, rclcpp::parameter::ParameterVariant> parameters_;
 
   publisher::Publisher<rcl_interfaces::msg::ParameterEvent>::SharedPtr events_publisher_;
diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index d4e0892..7148571 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -134,6 +134,11 @@ Node::create_publisher(
       shared_publish_callback,
       intra_process_publisher_handle);
   }
+  if (rmw_trigger_guard_condition(notify_guard_condition_) != RMW_RET_OK) {
+    throw std::runtime_error(
+            std::string(
+              "Failed to notify waitset on publisher creation: ") + rmw_get_error_string());
+  }
   return publisher;
 }
 
@@ -243,6 +248,11 @@ Node::create_subscription(
     default_callback_group_->add_subscription(sub_base_ptr);
   }
   number_of_subscriptions_++;
+  if (rmw_trigger_guard_condition(notify_guard_condition_) != RMW_RET_OK) {
+    throw std::runtime_error(
+            std::string(
+              "Failed to notify waitset on subscription creation: ") + rmw_get_error_string());
+  }
   return sub;
 }
 
@@ -289,6 +299,11 @@ Node::create_wall_timer(
     default_callback_group_->add_timer(timer);
   }
   number_of_timers_++;
+  if (rmw_trigger_guard_condition(notify_guard_condition_) != RMW_RET_OK) {
+    throw std::runtime_error(
+            std::string(
+              "Failed to notify waitset on timer creation: ") + rmw_get_error_string());
+  }
   return timer;
 }
 
@@ -333,6 +348,11 @@ Node::create_client(
   }
   number_of_clients_++;
 
+  if (rmw_trigger_guard_condition(notify_guard_condition_) != RMW_RET_OK) {
+    throw std::runtime_error(
+            std::string(
+              "Failed to notify waitset on client creation: ") + rmw_get_error_string());
+  }
   return cli;
 }
 
@@ -374,6 +394,11 @@ Node::create_service(
     default_callback_group_->add_service(serv_base_ptr);
   }
   number_of_services_++;
+  if (rmw_trigger_guard_condition(notify_guard_condition_) != RMW_RET_OK) {
+    throw std::runtime_error(
+            std::string(
+              "Failed to notify waitset on service creation: ") + rmw_get_error_string());
+  }
   return serv;
 }
 
diff --git a/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp b/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
index d4d4975..c0a0a4b 100644
--- a/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
+++ b/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
@@ -23,6 +23,8 @@
 #include "rclcpp/node.hpp"
 #include "rclcpp/visibility_control.hpp"
 
+#include "rmw/types.h"
+
 namespace rclcpp
 {
 namespace memory_strategies
@@ -62,6 +64,26 @@ public:
     allocator_ = std::make_shared<VoidAlloc>();
   }
 
+  void add_guard_condition(const rmw_guard_condition_t * guard_condition)
+  {
+    for (const auto & existing_guard_condition : guard_conditions_) {
+      if (existing_guard_condition == guard_condition) {
+        return;
+      }
+    }
+    guard_conditions_.push_back(guard_condition);
+  }
+
+  void remove_guard_condition(const rmw_guard_condition_t * guard_condition)
+  {
+    for (auto it = guard_conditions_.begin(); it != guard_conditions_.end(); ++it) {
+      if (*it == guard_condition) {
+        guard_conditions_.erase(it);
+        break;
+      }
+    }
+  }
+
   size_t fill_subscriber_handles(void ** & ptr)
   {
     for (auto & subscription : subscriptions_) {
@@ -94,6 +116,17 @@ public:
     return client_handles_.size();
   }
 
+  size_t fill_guard_condition_handles(void ** & ptr)
+  {
+    for (const auto & guard_condition : guard_conditions_) {
+      if (guard_condition) {
+        guard_condition_handles_.push_back(guard_condition->data);
+      }
+    }
+    ptr = guard_condition_handles_.data();
+    return guard_condition_handles_.size();
+  }
+
   void clear_active_entities()
   {
     subscriptions_.clear();
@@ -106,6 +139,7 @@ public:
     subscriber_handles_.clear();
     service_handles_.clear();
     client_handles_.clear();
+    guard_condition_handles_.clear();
   }
 
   void remove_null_handles()
@@ -124,6 +158,11 @@ public:
       std::remove(client_handles_.begin(), client_handles_.end(), nullptr),
       client_handles_.end()
     );
+
+    guard_condition_handles_.erase(
+      std::remove(guard_condition_handles_.begin(), guard_condition_handles_.end(), nullptr),
+      guard_condition_handles_.end()
+    );
   }
 
   bool collect_entities(const WeakNodeVector & weak_nodes)
@@ -288,10 +327,12 @@ private:
   VectorRebind<rclcpp::subscription::SubscriptionBase::SharedPtr> subscriptions_;
   VectorRebind<rclcpp::service::ServiceBase::SharedPtr> services_;
   VectorRebind<rclcpp::client::ClientBase::SharedPtr> clients_;
+  VectorRebind<const rmw_guard_condition_t *> guard_conditions_;
 
   VectorRebind<void *> subscriber_handles_;
   VectorRebind<void *> service_handles_;
   VectorRebind<void *> client_handles_;
+  VectorRebind<void *> guard_condition_handles_;
 
   std::shared_ptr<ExecAlloc> executable_allocator_;
   std::shared_ptr<VoidAlloc> allocator_;
diff --git a/rclcpp/src/rclcpp/executor.cpp b/rclcpp/src/rclcpp/executor.cpp
index e734f48..041bee7 100644
--- a/rclcpp/src/rclcpp/executor.cpp
+++ b/rclcpp/src/rclcpp/executor.cpp
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <algorithm>
 #include <string>
 #include <type_traits>
 
@@ -34,23 +35,16 @@ Executor::Executor(const ExecutorArgs & args)
     throw std::runtime_error("Failed to create interrupt guard condition in Executor constructor");
   }
 
-  // The number of guard conditions is fixed at 2: 1 for the ctrl-c guard cond,
+  // The number of guard conditions is always at least 2: 1 for the ctrl-c guard cond,
   // and one for the executor's guard cond (interrupt_guard_condition_)
-  // These guard conditions are permanently attached to the waitset.
-  const size_t number_of_guard_conds = 2;
-  fixed_guard_conditions_.guard_condition_count = number_of_guard_conds;
-  fixed_guard_conditions_.guard_conditions = static_cast<void **>(guard_cond_handles_.data());
+  // The size of guard conditions is variable because the number of nodes can vary
 
   // Put the global ctrl-c guard condition in
-  assert(fixed_guard_conditions_.guard_condition_count > 1);
-  fixed_guard_conditions_.guard_conditions[0] = \
-    rclcpp::utilities::get_global_sigint_guard_condition()->data;
+  memory_strategy_->add_guard_condition(rclcpp::utilities::get_global_sigint_guard_condition());
   // Put the executor's guard condition in
-  fixed_guard_conditions_.guard_conditions[1] = interrupt_guard_condition_->data;
+  memory_strategy_->add_guard_condition(interrupt_guard_condition_);
 
-  // The waitset adds the fixed guard conditions to the middleware waitset on initialization,
-  // and removes the guard conditions in rmw_destroy_waitset.
-  waitset_ = rmw_create_waitset(&fixed_guard_conditions_, args.max_conditions);
+  waitset_ = rmw_create_waitset(args.max_conditions);
 
   if (!waitset_) {
     fprintf(stderr,
@@ -107,6 +101,8 @@ Executor::add_node(rclcpp::node::Node::SharedPtr node_ptr, bool notify)
       throw std::runtime_error(rmw_get_error_string_safe());
     }
   }
+  // Add the node's notify condition to the guard condition handles
+  memory_strategy_->add_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
 void
@@ -136,6 +132,7 @@ Executor::remove_node(rclcpp::node::Node::SharedPtr node_ptr, bool notify)
       }
     }
   }
+  memory_strategy_->remove_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
 void
@@ -356,6 +353,7 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
     );
   }
 
+  memory_strategy_->clear_handles();
   // Use the number of subscriptions to allocate memory in the handles
   rmw_subscriptions_t subscriber_handles;
   subscriber_handles.subscriber_count =
@@ -369,7 +367,10 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
   client_handles.client_count =
     memory_strategy_->fill_client_handles(client_handles.clients);
 
-  // Don't pass guard conditions to rmw_wait; they are permanent fixtures of the waitset
+  // construct a guard conditions struct
+  rmw_guard_conditions_t guard_conditions;
+  guard_conditions.guard_condition_count =
+    memory_strategy_->fill_guard_condition_handles(guard_conditions.guard_conditions);
 
   rmw_time_t * wait_timeout = NULL;
   rmw_time_t rmw_timeout;
@@ -397,7 +398,7 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
   // Now wait on the waitable subscriptions and timers
   rmw_ret_t status = rmw_wait(
     &subscriber_handles,
-    nullptr,
+    &guard_conditions,
     &service_handles,
     &client_handles,
     waitset_,
diff --git a/rclcpp/src/rclcpp/node.cpp b/rclcpp/src/rclcpp/node.cpp
index 738fab7..df4ab3d 100644
--- a/rclcpp/src/rclcpp/node.cpp
+++ b/rclcpp/src/rclcpp/node.cpp
@@ -36,8 +36,13 @@ Node::Node(
   bool use_intra_process_comms)
 : name_(node_name), context_(context),
   number_of_subscriptions_(0), number_of_timers_(0), number_of_services_(0),
-  use_intra_process_comms_(use_intra_process_comms)
+  use_intra_process_comms_(use_intra_process_comms),
+  notify_guard_condition_(rmw_create_guard_condition())
 {
+  if (!notify_guard_condition_) {
+    throw std::runtime_error("Failed to create guard condition for node: " +
+            std::string(rmw_get_error_string_safe()));
+  }
   has_executor.store(false);
   size_t domain_id = 0;
   char * ros_domain_id = nullptr;
@@ -51,6 +56,10 @@ Node::Node(
   if (ros_domain_id) {
     uint32_t number = strtoul(ros_domain_id, NULL, 0);
     if (number == (std::numeric_limits<uint32_t>::max)()) {
+      if (rmw_destroy_guard_condition(notify_guard_condition_) != RMW_RET_OK) {
+        fprintf(
+          stderr, "Failed to destroy notify guard condition: %s\n", rmw_get_error_string_safe());
+      }
       throw std::runtime_error("failed to interpret ROS_DOMAIN_ID as integral number");
     }
     domain_id = static_cast<size_t>(number);
@@ -62,6 +71,10 @@ Node::Node(
   auto node = rmw_create_node(name_.c_str(), domain_id);
   if (!node) {
     // *INDENT-OFF*
+    if (rmw_destroy_guard_condition(notify_guard_condition_) != RMW_RET_OK) {
+      fprintf(
+        stderr, "Failed to destroy notify guard condition: %s\n", rmw_get_error_string_safe());
+    }
     throw std::runtime_error(
       std::string("could not create node: ") +
       rmw_get_error_string_safe());
@@ -85,6 +98,14 @@ Node::Node(
     "parameter_events", rmw_qos_profile_parameter_events);
 }
 
+Node::~Node()
+{
+  if (rmw_destroy_guard_condition(notify_guard_condition_) != RMW_RET_OK) {
+    fprintf(stderr, "Warning! Failed to destroy guard condition in Node destructor: %s\n",
+      rmw_get_error_string_safe());
+  }
+}
+
 const std::string &
 Node::get_name() const
 {
@@ -334,3 +355,8 @@ Node::get_callback_groups() const
 {
   return callback_groups_;
 }
+
+rmw_guard_condition_t * Node::get_notify_guard_condition() const
+{
+  return notify_guard_condition_;
+}