diff --git a/rclcpp/src/rclcpp/executors/events_cbg_executor/events_cbg_executor.cpp b/rclcpp/src/rclcpp/executors/events_cbg_executor/events_cbg_executor.cpp
index 329f233125..2328bafe18 100644
--- a/rclcpp/src/rclcpp/executors/events_cbg_executor/events_cbg_executor.cpp
+++ b/rclcpp/src/rclcpp/executors/events_cbg_executor/events_cbg_executor.cpp
@@ -382,6 +382,10 @@ EventsCBGExecutor::run(
       continue;
     }
 
+    if(ready_entity.moreEntitiesReady) {
+      scheduler->unblock_one_worker_thread();
+    }
+
     try {
       ready_entity.entity->execute_function();
     } catch (const std::exception & e) {
diff --git a/rclcpp/src/rclcpp/executors/events_cbg_executor/first_in_first_out_scheduler.cpp b/rclcpp/src/rclcpp/executors/events_cbg_executor/first_in_first_out_scheduler.cpp
index e00d9c586b..5b7fb316be 100644
--- a/rclcpp/src/rclcpp/executors/events_cbg_executor/first_in_first_out_scheduler.cpp
+++ b/rclcpp/src/rclcpp/executors/events_cbg_executor/first_in_first_out_scheduler.cpp
@@ -154,8 +154,6 @@ FirstInFirstOutScheduler::get_handle_for_callback_group(
 
 CBGScheduler::ExecutableEntityWithInfo FirstInFirstOutScheduler::get_next_ready_entity_intern()
 {
-  std::lock_guard l(ready_callback_groups_mutex);
-
   while(!ready_callback_groups.empty()) {
     FirstInFirstOutCallbackGroupHandle *ready_cbg =
       static_cast<FirstInFirstOutCallbackGroupHandle *>(ready_callback_groups.front());
@@ -183,8 +181,6 @@ CBGScheduler::ExecutableEntityWithInfo FirstInFirstOutScheduler::get_next_ready_
 CBGScheduler::ExecutableEntityWithInfo FirstInFirstOutScheduler::get_next_ready_entity_intern(
   GlobalEventIdProvider::MonotonicId max_id)
 {
-  std::lock_guard l(ready_callback_groups_mutex);
-
   // as, we remove an reappend ready callback_groups during execution,
   // the first ready cbg may not contain the lowest id. Therefore we
   // need to search the whole deque
diff --git a/rclcpp/src/rclcpp/executors/events_cbg_executor/first_in_first_out_scheduler.hpp b/rclcpp/src/rclcpp/executors/events_cbg_executor/first_in_first_out_scheduler.hpp
index df55e22f29..52f5c072f0 100644
--- a/rclcpp/src/rclcpp/executors/events_cbg_executor/first_in_first_out_scheduler.hpp
+++ b/rclcpp/src/rclcpp/executors/events_cbg_executor/first_in_first_out_scheduler.hpp
@@ -68,11 +68,11 @@ class FirstInFirstOutScheduler : public CBGScheduler
 public:
   using CBGScheduler::CBGScheduler;
 
+private:
   ExecutableEntityWithInfo get_next_ready_entity_intern() final;
   ExecutableEntityWithInfo get_next_ready_entity_intern(
     GlobalEventIdProvider::MonotonicId max_id) final;
 
-private:
   std::unique_ptr<CallbackGroupHandle> get_handle_for_callback_group(
     const rclcpp::CallbackGroup::SharedPtr & callback_group) final;
 
diff --git a/rclcpp/src/rclcpp/executors/events_cbg_executor/scheduler.hpp b/rclcpp/src/rclcpp/executors/events_cbg_executor/scheduler.hpp
index cbdf4b50c7..833a813ed0 100644
--- a/rclcpp/src/rclcpp/executors/events_cbg_executor/scheduler.hpp
+++ b/rclcpp/src/rclcpp/executors/events_cbg_executor/scheduler.hpp
@@ -263,14 +263,14 @@ class CBGScheduler
    */
   ExecutableEntityWithInfo get_next_ready_entity()
   {
-    {
-      std::lock_guard l(ready_callback_groups_mutex);
-      if(needs_sync) {
-        needs_sync = false;
-        return ExecutableEntityWithInfo{
-          ExecutableEntity{sync_function, nullptr},
-          false};
-      }
+    std::lock_guard l(ready_callback_groups_mutex);
+    worker_checking_for_work = false;
+
+    if(needs_sync) {
+      needs_sync = false;
+      return ExecutableEntityWithInfo{
+        ExecutableEntity{sync_function, nullptr},
+        false};
     }
 
     return get_next_ready_entity_intern();
@@ -279,19 +279,22 @@ class CBGScheduler
   ExecutableEntityWithInfo get_next_ready_entity(
     GlobalEventIdProvider::MonotonicId max_id)
   {
-    {
-      std::lock_guard l(ready_callback_groups_mutex);
-      if(needs_sync) {
-        needs_sync = false;
-        return ExecutableEntityWithInfo{
-          ExecutableEntity{sync_function, nullptr},
-          false};
-      }
+    std::lock_guard l(ready_callback_groups_mutex);
+    worker_checking_for_work = false;
+
+    if(needs_sync) {
+      needs_sync = false;
+      return ExecutableEntityWithInfo{
+        ExecutableEntity{sync_function, nullptr},
+        false};
     }
 
     return get_next_ready_entity_intern(max_id);
   }
 
+  /**
+   * Will be called while holding the ready_callback_groups_mutex lock
+   */
   virtual ExecutableEntityWithInfo get_next_ready_entity_intern() = 0;
   virtual ExecutableEntityWithInfo get_next_ready_entity_intern(
     GlobalEventIdProvider::MonotonicId max_id) = 0;
@@ -338,6 +341,10 @@ class CBGScheduler
   {
     {
       std::lock_guard lk(ready_callback_groups_mutex);
+      if(worker_checking_for_work) {
+        return;
+      }
+      worker_checking_for_work = true;
       release_worker_once = true;
     }
     work_ready_conditional.notify_one();
@@ -385,6 +392,7 @@ class CBGScheduler
 
   bool release_workers = false;
   bool release_worker_once = false;
+  bool worker_checking_for_work = false;
 
   std::condition_variable work_ready_conditional;