diff --git a/rosbag2_transport/test/rosbag2_transport/test_play_topic_remap.cpp b/rosbag2_transport/test/rosbag2_transport/test_play_topic_remap.cpp
index 041511c680..4db645099a 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_play_topic_remap.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_play_topic_remap.cpp
@@ -22,7 +22,6 @@
 #include <utility>
 #include <vector>
 
-
 #include "rosbag2_test_common/subscription_manager.hpp"
 
 #include "rosbag2_transport/rosbag2_transport.hpp"
@@ -32,14 +31,13 @@
 
 #include "rosbag2_play_test_fixture.hpp"
 
-
 TEST_F(RosBag2PlayTestFixture, recorded_message_is_played_on_remapped_topic) {
   //  test constants
   const std::string original_topic = "/topic_before_remap";
   const std::string remapped_topic = "/topic_after_remap";
   const int32_t test_value = 42;
-  const int64_t timestamp_in_milliseconds = 700;
-  const size_t expected_number_of_messages = 1;
+  const int64_t dt_in_milliseconds = 100;
+  const size_t expected_number_of_outgoing_messages = 5;
   play_options_.topic_remapping_options =
   {"--ros-args", "--remap", "topic_before_remap:=topic_after_remap"};
 
@@ -50,26 +48,30 @@ TEST_F(RosBag2PlayTestFixture, recorded_message_is_played_on_remapped_topic) {
     {original_topic, "test_msgs/BasicTypes", "", ""}
   };
 
-  std::vector<std::shared_ptr<rosbag2_storage::SerializedBagMessage>> messages =
-  {serialize_test_message(original_topic, timestamp_in_milliseconds, primitive_message1), };
-
+  std::vector<std::shared_ptr<rosbag2_storage::SerializedBagMessage>> messages;
+  for (auto i = 1u; i <= expected_number_of_outgoing_messages; ++i) {
+    messages.push_back(
+      serialize_test_message(original_topic, dt_in_milliseconds * i, primitive_message1));
+  }
   auto prepared_mock_reader = std::make_unique<MockSequentialReader>();
   prepared_mock_reader->prepare(messages, topic_types);
   reader_ = std::make_unique<rosbag2_cpp::Reader>(std::move(prepared_mock_reader));
 
-  sub_->add_subscription<test_msgs::msg::BasicTypes>(remapped_topic, expected_number_of_messages);
+  // We can't reliably test for an exact number of messages to arrive.
+  // Therefore, we test that at least one message is being received over the remapped topic.
+  sub_->add_subscription<test_msgs::msg::BasicTypes>(
+    remapped_topic, 1u);
   auto await_received_messages = sub_->spin_subscriptions();
 
   rosbag2_transport::Rosbag2Transport rosbag2_transport(reader_, writer_, info_);
 
-  rosbag2_transport.play(
-    storage_options_, play_options_);
+  rosbag2_transport.play(storage_options_, play_options_);
 
   await_received_messages.get();
 
   auto replayed_test_primitives = sub_->get_received_messages<test_msgs::msg::BasicTypes>(
     remapped_topic);
-  EXPECT_THAT(replayed_test_primitives, SizeIs(Ge(expected_number_of_messages)));
+  EXPECT_FALSE(replayed_test_primitives.empty());
   EXPECT_THAT(
     replayed_test_primitives,
     Each(Pointee(Field(&test_msgs::msg::BasicTypes::int32_value, test_value))));