diff --git a/rclcpp/src/rclcpp/executor.cpp b/rclcpp/src/rclcpp/executor.cpp
index a406cb6e8e..2a402de819 100644
--- a/rclcpp/src/rclcpp/executor.cpp
+++ b/rclcpp/src/rclcpp/executor.cpp
@@ -298,16 +298,18 @@ Executor::remove_callback_group_from_map(
   } else {
     throw std::runtime_error("Callback group needs to be associated with executor.");
   }
+  // The group is no longer handled by this executor, so stop waiting on its guard condition.
+  // This must not depend on the node having other groups left in the executor: the guard
+  // condition is owned by the group, and the memory strategy only keeps a raw pointer to it.
+  auto guard_condition_iter = weak_groups_to_guard_conditions_.find(weak_group_ptr);
+  if (guard_condition_iter != weak_groups_to_guard_conditions_.end()) {
+    memory_strategy_->remove_guard_condition(guard_condition_iter->second);
+    weak_groups_to_guard_conditions_.erase(guard_condition_iter);
+  }
   // If the node was matched and removed, interrupt waiting.
   if (!has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_) &&
     !has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_))
   {
-    auto iter = weak_groups_to_guard_conditions_.find(weak_group_ptr);
-    if (iter != weak_groups_to_guard_conditions_.end()) {
-      memory_strategy_->remove_guard_condition(iter->second);
-    }
-    weak_groups_to_guard_conditions_.erase(weak_group_ptr);
-
     if (notify) {
       try {
         interrupt_guard_condition_.trigger();
diff --git a/rclcpp/test/rclcpp/test_executor.cpp b/rclcpp/test/rclcpp/test_executor.cpp
index bdbb0a1079..731c406de6 100644
--- a/rclcpp/test/rclcpp/test_executor.cpp
+++ b/rclcpp/test/rclcpp/test_executor.cpp
@@ -577,3 +577,50 @@ TEST_F(TestExecutor, is_spinning) {
 
   ASSERT_TRUE(timer_called);
 }
+
+TEST_F(TestExecutor, remove_node_removes_guard_conditions_of_all_callback_groups) {
+  DummyExecutor dummy;
+  const size_t guard_conditions_before = dummy.memory_strategy_ptr()->number_of_guard_conditions();
+
+  auto node = std::make_shared<rclcpp::Node>("node", "ns");
+  // In addition to the default callback group, this one is added automatically with the node.
+  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
+    rclcpp::CallbackGroupType::MutuallyExclusive);
+
+  dummy.add_node(node->get_node_base_interface(), false);
+  EXPECT_EQ(
+    guard_conditions_before + 2u, dummy.memory_strategy_ptr()->number_of_guard_conditions());
+
+  dummy.remove_node(node->get_node_base_interface(), false);
+  // The guard conditions are owned by the callback groups, so none of them may be left behind.
+  EXPECT_EQ(guard_conditions_before, dummy.memory_strategy_ptr()->number_of_guard_conditions());
+
+  cb_group.reset();
+  node.reset();
+  // The executor must not wait on anything that belonged to the destroyed node.
+  EXPECT_NO_THROW(dummy.spin_some(std::chrono::milliseconds(1)));
+}
+
+TEST_F(TestExecutor, remove_callback_group_removes_guard_condition) {
+  DummyExecutor dummy;
+  const size_t guard_conditions_before = dummy.memory_strategy_ptr()->number_of_guard_conditions();
+
+  auto node = std::make_shared<rclcpp::Node>("node", "ns");
+  rclcpp::CallbackGroup::SharedPtr cb_group1 = node->create_callback_group(
+    rclcpp::CallbackGroupType::MutuallyExclusive, false);
+  rclcpp::CallbackGroup::SharedPtr cb_group2 = node->create_callback_group(
+    rclcpp::CallbackGroupType::MutuallyExclusive, false);
+
+  dummy.add_callback_group(cb_group1, node->get_node_base_interface(), false);
+  dummy.add_callback_group(cb_group2, node->get_node_base_interface(), false);
+  EXPECT_EQ(
+    guard_conditions_before + 2u, dummy.memory_strategy_ptr()->number_of_guard_conditions());
+
+  // The node still has another callback group in the executor.
+  dummy.remove_callback_group(cb_group1, false);
+  EXPECT_EQ(
+    guard_conditions_before + 1u, dummy.memory_strategy_ptr()->number_of_guard_conditions());
+
+  dummy.remove_callback_group(cb_group2, false);
+  EXPECT_EQ(guard_conditions_before, dummy.memory_strategy_ptr()->number_of_guard_conditions());
+}