diff --git a/rclcpp/test/rclcpp/executors/test_events_executor.cpp b/rclcpp/test/rclcpp/executors/test_events_executor.cpp
index 447567047d..d0bbdd039e 100644
--- a/rclcpp/test/rclcpp/executors/test_events_executor.cpp
+++ b/rclcpp/test/rclcpp/executors/test_events_executor.cpp
@@ -615,3 +615,59 @@ TEST_F(TestEventsExecutor, waitable_with_timer)
 
   EXPECT_TRUE(waitable->timerTriggeredWaitable());
 }
+
+// Regression test for https://github.com/ros2/rmw_cyclonedds/pull/584
+// EventsExecutor must receive transient-local cached messages
+// when the subscriber uses KEEP_ALL history.
+//
+// Bug: rmw_cyclonedds reports depth=0 for KEEP_ALL, and
+// rmw_subscription_set_on_new_message_callback clips unread_count to depth
+// via std::min(unread_count, 0) == 0, causing the executor to never take the
+// cached message.
+//
+// This test publishes before the subscriber exists (transient-local caching),
+// then subscribes with KEEP_ALL + transient-local via EventsExecutor and
+// verifies the cached message is delivered.
+TEST_F(TestEventsExecutor, keep_all_transient_local_receives_cached_message)
+{
+  // Publisher node: transient-local, reliable, depth=1 (standard /tf_static pattern)
+  auto pub_node = std::make_shared<rclcpp::Node>("pub_node");
+  rclcpp::QoS pub_qos(1);
+  pub_qos.transient_local().reliable();
+  auto publisher = pub_node->create_publisher<test_msgs::msg::Empty>("tl_test_topic", pub_qos);
+
+  // Publish BEFORE subscriber exists — DDS caches this for late joiners
+  publisher->publish(test_msgs::msg::Empty{});
+  std::this_thread::sleep_for(500ms);
+
+  // Subscriber node: KEEP_ALL + transient-local (what rosbag2 adapt_request_to_offers produces)
+  auto sub_node = std::make_shared<rclcpp::Node>("sub_node");
+  rclcpp::QoS sub_qos(rclcpp::KeepAll{});
+  sub_qos.transient_local().reliable();
+
+  std::atomic<int> received{0};
+  auto subscription = sub_node->create_subscription<test_msgs::msg::Empty>(
+    "tl_test_topic", sub_qos,
+    [&received](test_msgs::msg::Empty::ConstSharedPtr) {
+      received.fetch_add(1);
+    });
+
+  EventsExecutor executor;
+  executor.add_node(sub_node);
+
+  auto start = std::chrono::steady_clock::now();
+  while (received.load() == 0 &&
+    (std::chrono::steady_clock::now() - start) < 5s)
+  {
+    executor.spin_some(100ms);
+  }
+  executor.remove_node(sub_node);
+
+  // With the rmw fix, the cached message must be received.
+  // Without the fix, received == 0 because the callback fires with 0 events.
+  EXPECT_GE(received.load(), 1)
+    << "EventsExecutor did not receive the transient-local cached message "
+       "with KEEP_ALL QoS. This indicates a regression in "
+       "rmw_subscription_set_on_new_message_callback where unread_count "
+       "is incorrectly clipped to depth=0 for KEEP_ALL history.";
+}