diff --git a/rmw_fastrtps_shared_cpp/src/custom_publisher_info.cpp b/rmw_fastrtps_shared_cpp/src/custom_publisher_info.cpp
index b2563c52b..ba41fe9b0 100644
--- a/rmw_fastrtps_shared_cpp/src/custom_publisher_info.cpp
+++ b/rmw_fastrtps_shared_cpp/src/custom_publisher_info.cpp
@@ -171,20 +171,18 @@ bool RMWPublisherEvent::take_event(
       {
         auto rmw_data = static_cast<rmw_matched_status_t *>(event_info);
 
+        eprosima::fastdds::dds::PublicationMatchedStatus matched_status;
+        publisher_info_->data_writer_->get_publication_matched_status(matched_status);
+
+        rmw_data->total_count = static_cast<size_t>(matched_status.total_count);
+        rmw_data->current_count = static_cast<size_t>(matched_status.current_count);
+        rmw_data->total_count_change = static_cast<size_t>(matched_status.total_count_change);
+        rmw_data->current_count_change = matched_status.current_count_change;
+
         if (matched_changes_) {
-          rmw_data->total_count = static_cast<size_t>(matched_status_.total_count);
-          rmw_data->total_count_change = static_cast<size_t>(matched_status_.total_count_change);
-          rmw_data->current_count = static_cast<size_t>(matched_status_.current_count);
-          rmw_data->current_count_change = matched_status_.current_count_change;
+          rmw_data->total_count_change += static_cast<size_t>(matched_status_.total_count_change);
+          rmw_data->current_count_change += matched_status_.current_count_change;
           matched_changes_ = false;
-        } else {
-          eprosima::fastdds::dds::PublicationMatchedStatus matched_status;
-          publisher_info_->data_writer_->get_publication_matched_status(matched_status);
-
-          rmw_data->total_count = static_cast<size_t>(matched_status.total_count);
-          rmw_data->total_count_change = static_cast<size_t>(matched_status.total_count_change);
-          rmw_data->current_count = static_cast<size_t>(matched_status.current_count);
-          rmw_data->current_count_change = matched_status.current_count_change;
         }
 
         matched_status_.total_count_change = 0;
@@ -267,7 +265,11 @@ void RMWPublisherEvent::set_on_new_event_callback(
     user_data_[event_type] = nullptr;
     on_new_event_cb_[event_type] = nullptr;
 
-    status_mask &= ~rmw_fastrtps_shared_cpp::internal::rmw_event_to_dds_statusmask(event_type);
+    // publication_matched status should be kept enabled, since we need to
+    // keep tracking matched subscriptions
+    if (RMW_EVENT_PUBLICATION_MATCHED != event_type) {
+      status_mask &= ~rmw_fastrtps_shared_cpp::internal::rmw_event_to_dds_statusmask(event_type);
+    }
   }
 
   publisher_info_->data_writer_->set_listener(publisher_info_->data_writer_listener_, status_mask);
@@ -362,7 +364,6 @@ void RMWPublisherEvent::update_matched(
   matched_status_.total_count_change += total_count_change;
   matched_status_.current_count = current_count;
   matched_status_.current_count_change += current_count_change;
-
   matched_changes_ = true;
 
   trigger_event(RMW_EVENT_PUBLICATION_MATCHED);
diff --git a/rmw_fastrtps_shared_cpp/src/custom_subscriber_info.cpp b/rmw_fastrtps_shared_cpp/src/custom_subscriber_info.cpp
index 284b1bb84..5eb367d02 100644
--- a/rmw_fastrtps_shared_cpp/src/custom_subscriber_info.cpp
+++ b/rmw_fastrtps_shared_cpp/src/custom_subscriber_info.cpp
@@ -206,21 +206,20 @@ bool RMWSubscriptionEvent::take_event(
       {
         auto rmw_data = static_cast<rmw_matched_status_t *>(event_info);
 
+        eprosima::fastdds::dds::SubscriptionMatchedStatus matched_status;
+        subscriber_info_->data_reader_->get_subscription_matched_status(matched_status);
+
+        rmw_data->total_count = static_cast<size_t>(matched_status.total_count);
+        rmw_data->total_count_change = static_cast<size_t>(matched_status.total_count_change);
+        rmw_data->current_count = static_cast<size_t>(matched_status.current_count);
+        rmw_data->current_count_change = matched_status.current_count_change;
+
         if (matched_changes_) {
-          rmw_data->total_count = static_cast<size_t>(matched_status_.total_count);
-          rmw_data->total_count_change = static_cast<size_t>(matched_status_.total_count_change);
-          rmw_data->current_count = static_cast<size_t>(matched_status_.current_count);
-          rmw_data->current_count_change = matched_status_.current_count_change;
+          rmw_data->total_count_change += static_cast<size_t>(matched_status_.total_count_change);
+          rmw_data->current_count_change += matched_status_.current_count_change;
           matched_changes_ = false;
-        } else {
-          eprosima::fastdds::dds::SubscriptionMatchedStatus matched_status;
-          subscriber_info_->data_reader_->get_subscription_matched_status(matched_status);
-
-          rmw_data->total_count = static_cast<size_t>(matched_status.total_count);
-          rmw_data->total_count_change = static_cast<size_t>(matched_status.total_count_change);
-          rmw_data->current_count = static_cast<size_t>(matched_status.current_count);
-          rmw_data->current_count_change = matched_status.current_count_change;
         }
+
         matched_status_.total_count_change = 0;
         matched_status_.current_count_change = 0;
       }
@@ -323,7 +322,11 @@ void RMWSubscriptionEvent::set_on_new_event_callback(
     user_data_[event_type] = nullptr;
     on_new_event_cb_[event_type] = nullptr;
 
-    status_mask &= ~rmw_fastrtps_shared_cpp::internal::rmw_event_to_dds_statusmask(event_type);
+    // subscription_matched status should be kept enabled, since we need to
+    // keep tracking matched publications
+    if (RMW_EVENT_SUBSCRIPTION_MATCHED != event_type) {
+      status_mask &= ~rmw_fastrtps_shared_cpp::internal::rmw_event_to_dds_statusmask(event_type);
+    }
   }
 
   subscriber_info_->data_reader_->set_listener(
@@ -488,7 +491,6 @@ void RMWSubscriptionEvent::update_matched(
   matched_status_.total_count_change += total_count_change;
   matched_status_.current_count = current_count;
   matched_status_.current_count_change += current_count_change;
-
   matched_changes_ = true;
 
   trigger_event(RMW_EVENT_SUBSCRIPTION_MATCHED);