diff --git a/src/cpp/rtps/transport/TCPChannelResource.cpp b/src/cpp/rtps/transport/TCPChannelResource.cpp
index ab95d4eaf2b..315e9f6cbe0 100644
--- a/src/cpp/rtps/transport/TCPChannelResource.cpp
+++ b/src/cpp/rtps/transport/TCPChannelResource.cpp
@@ -176,9 +176,9 @@ void TCPChannelResource::add_logical_port_response(
         negotiating_logical_ports_.erase(it);
         if (portIt != pending_logical_output_ports_.end())
         {
-            pending_logical_output_ports_.erase(portIt);
             if (success)
             {
+                pending_logical_output_ports_.erase(portIt);
                 logical_output_ports_.push_back(port);
                 EPROSIMA_LOG_INFO(RTCP, "OpenedLogicalPort: " << port);
             }
diff --git a/test/unittest/transport/TCPv4Tests.cpp b/test/unittest/transport/TCPv4Tests.cpp
index 91c68be0843..ceff1931f5f 100644
--- a/test/unittest/transport/TCPv4Tests.cpp
+++ b/test/unittest/transport/TCPv4Tests.cpp
@@ -1959,6 +1959,92 @@ TEST_F(TCPv4Tests, non_blocking_send)
 }
 #endif // ifndef _WIN32
 
+// This test verifies that a server can reconnect to a client after the client has once failed in a
+// openLogicalPort request
+TEST_F(TCPv4Tests, reconnect_after_open_port_failure)
+{
+    eprosima::fastdds::dds::Log::SetVerbosity(eprosima::fastdds::dds::Log::Warning);
+    uint16_t port = g_default_port;
+    // Create a TCP Server transport
+    TCPv4TransportDescriptor serverDescriptor;
+    serverDescriptor.add_listener_port(port);
+    std::unique_ptr<TCPv4Transport> serverTransportUnderTest(new TCPv4Transport(serverDescriptor));
+    serverTransportUnderTest->init();
+
+    // Create a TCP Client transport
+    TCPv4TransportDescriptor clientDescriptor;
+    std::unique_ptr<MockTCPv4Transport> clientTransportUnderTest(new MockTCPv4Transport(clientDescriptor));
+    clientTransportUnderTest->init();
+
+    // Add initial peer to the client
+    Locator_t initialPeerLocator;
+    IPLocator::createLocator(LOCATOR_KIND_TCPv4, "127.0.0.1", port, initialPeerLocator);
+    IPLocator::setLogicalPort(initialPeerLocator, 7410);
+
+    // Connect client to server
+    EXPECT_TRUE(serverTransportUnderTest->OpenInputChannel(initialPeerLocator, nullptr, 0x00FF));
+    SendResourceList client_resource_list;
+    ASSERT_TRUE(clientTransportUnderTest->OpenOutputChannel(client_resource_list, initialPeerLocator));
+    ASSERT_FALSE(client_resource_list.empty());
+    std::this_thread::sleep_for(std::chrono::milliseconds(300));
+    auto channel = clientTransportUnderTest->get_channel_resources().begin()->second;
+
+    // Logical port is opened
+    ASSERT_TRUE(channel->is_logical_port_opened(7410));
+
+    // Disconnect server
+    EXPECT_TRUE(serverTransportUnderTest->CloseInputChannel(initialPeerLocator));
+    serverTransportUnderTest.reset();
+    std::this_thread::sleep_for(std::chrono::milliseconds(300));
+    // Client should have passed logical port to pending list
+    ASSERT_FALSE(channel->is_logical_port_opened(7410));
+    ASSERT_TRUE(channel->is_logical_port_added(7410));
+
+    // Now try normal reconnection
+    serverTransportUnderTest.reset(new TCPv4Transport(serverDescriptor));
+    serverTransportUnderTest->init();
+    ASSERT_TRUE(serverTransportUnderTest->OpenInputChannel(initialPeerLocator, nullptr, 0x00FF));
+    clientTransportUnderTest->send(nullptr, 0, channel->locator(), initialPeerLocator); // connect()
+
+    // Logical port is opened (moved from pending list)
+    std::this_thread::sleep_for(std::chrono::milliseconds(300));
+    ASSERT_TRUE(channel->is_logical_port_opened(7410));
+
+    // Disconnect server
+    EXPECT_TRUE(serverTransportUnderTest->CloseInputChannel(initialPeerLocator));
+    serverTransportUnderTest.reset();
+    std::this_thread::sleep_for(std::chrono::milliseconds(300));
+    // Client should have passed logical port to pending list
+    ASSERT_FALSE(channel->is_logical_port_opened(7410));
+    ASSERT_TRUE(channel->is_logical_port_added(7410));
+
+    // Now try reconnect the server and close server's input channel before client's open logical
+    // port request, and then delete server and reconnect
+    serverTransportUnderTest.reset(new TCPv4Transport(serverDescriptor));
+    serverTransportUnderTest->init();
+    ASSERT_TRUE(serverTransportUnderTest->OpenInputChannel(initialPeerLocator, nullptr, 0x00FF));
+    EXPECT_TRUE(serverTransportUnderTest->CloseInputChannel(initialPeerLocator));
+    clientTransportUnderTest->send(nullptr, 0, channel->locator(), initialPeerLocator); // connect()
+    std::this_thread::sleep_for(std::chrono::milliseconds(300));
+    serverTransportUnderTest.reset();
+    ASSERT_FALSE(channel->is_logical_port_opened(7410));
+    ASSERT_TRUE(channel->is_logical_port_added(7410));
+
+    // Now try normal reconnection
+    serverTransportUnderTest.reset(new TCPv4Transport(serverDescriptor));
+    serverTransportUnderTest->init();
+    ASSERT_TRUE(serverTransportUnderTest->OpenInputChannel(initialPeerLocator, nullptr, 0x00FF));
+    clientTransportUnderTest->send(nullptr, 0, channel->locator(), initialPeerLocator); // connect()
+
+    // Logical port is opened (moved from pending list)
+    std::this_thread::sleep_for(std::chrono::milliseconds(300));
+    ASSERT_TRUE(channel->is_logical_port_opened(7410));
+
+    // Clear test
+    EXPECT_TRUE(serverTransportUnderTest->CloseInputChannel(initialPeerLocator));
+    client_resource_list.clear();
+}
+
 void TCPv4Tests::HELPER_SetDescriptorDefaults()
 {
     descriptor.add_listener_port(g_default_port);
diff --git a/test/unittest/transport/TCPv6Tests.cpp b/test/unittest/transport/TCPv6Tests.cpp
index d0c77c98277..bb554e6bd36 100644
--- a/test/unittest/transport/TCPv6Tests.cpp
+++ b/test/unittest/transport/TCPv6Tests.cpp
@@ -328,6 +328,93 @@ TEST_F(TCPv6Tests, non_blocking_send)
 }
 #endif // ifndef _WIN32
 
+// This test verifies that a server can reconnect to a client after the client has once failed in a
+// openLogicalPort request
+TEST_F(TCPv6Tests, reconnect_after_open_port_failure)
+{
+    eprosima::fastdds::dds::Log::SetVerbosity(eprosima::fastdds::dds::Log::Warning);
+    uint16_t port = g_default_port;
+    // Create a TCP Server transport
+    TCPv6TransportDescriptor serverDescriptor;
+    serverDescriptor.add_listener_port(port);
+    std::unique_ptr<TCPv6Transport> serverTransportUnderTest(new TCPv6Transport(serverDescriptor));
+    serverTransportUnderTest->init();
+
+    // Create a TCP Client transport
+    TCPv6TransportDescriptor clientDescriptor;
+    std::unique_ptr<MockTCPv6Transport> clientTransportUnderTest(new MockTCPv6Transport(clientDescriptor));
+    clientTransportUnderTest->init();
+
+    // Add initial peer to the client
+    Locator_t initialPeerLocator;
+    IPLocator::createLocator(LOCATOR_KIND_TCPv6, "::1", port, initialPeerLocator);
+    IPLocator::setLogicalPort(initialPeerLocator, 7410);
+
+    // Connect client to server
+    EXPECT_TRUE(serverTransportUnderTest->OpenInputChannel(initialPeerLocator, nullptr, 0x00FF));
+    SendResourceList client_resource_list;
+    ASSERT_TRUE(clientTransportUnderTest->OpenOutputChannel(client_resource_list, initialPeerLocator));
+    ASSERT_FALSE(client_resource_list.empty());
+    std::this_thread::sleep_for(std::chrono::milliseconds(300));
+    auto channel = clientTransportUnderTest->get_channel_resources().begin()->second;
+
+    // Logical port is opened
+    ASSERT_TRUE(channel->is_logical_port_opened(7410));
+
+    // Disconnect server
+    EXPECT_TRUE(serverTransportUnderTest->CloseInputChannel(initialPeerLocator));
+    serverTransportUnderTest.reset();
+    std::this_thread::sleep_for(std::chrono::milliseconds(300));
+    // Client should have passed logical port to pending list
+    ASSERT_FALSE(channel->is_logical_port_opened(7410));
+    ASSERT_TRUE(channel->is_logical_port_added(7410));
+
+    // Now try normal reconnection
+    serverTransportUnderTest.reset(new TCPv6Transport(serverDescriptor));
+    serverTransportUnderTest->init();
+    ASSERT_TRUE(serverTransportUnderTest->OpenInputChannel(initialPeerLocator, nullptr, 0x00FF));
+    clientTransportUnderTest->send(nullptr, 0, channel->locator(), initialPeerLocator); // connect()
+
+    // Logical port is opened (moved from pending list)
+    std::this_thread::sleep_for(std::chrono::milliseconds(300));
+    ASSERT_TRUE(channel->is_logical_port_opened(7410));
+
+    // Disconnect server
+    EXPECT_TRUE(serverTransportUnderTest->CloseInputChannel(initialPeerLocator));
+    serverTransportUnderTest.reset();
+    std::this_thread::sleep_for(std::chrono::milliseconds(300));
+    // Client should have passed logical port to pending list
+    ASSERT_FALSE(channel->is_logical_port_opened(7410));
+    ASSERT_TRUE(channel->is_logical_port_added(7410));
+
+    // Now try reconnect the server and close server's input channel before client's open logical
+    // port request, and then delete server and reconnect
+    serverTransportUnderTest.reset(new TCPv6Transport(serverDescriptor));
+    serverTransportUnderTest->init();
+    ASSERT_TRUE(serverTransportUnderTest->OpenInputChannel(initialPeerLocator, nullptr, 0x00FF));
+    EXPECT_TRUE(serverTransportUnderTest->CloseInputChannel(initialPeerLocator));
+    clientTransportUnderTest->send(nullptr, 0, channel->locator(), initialPeerLocator); // connect()
+    std::this_thread::sleep_for(std::chrono::milliseconds(300));
+    serverTransportUnderTest.reset();
+    ASSERT_FALSE(channel->is_logical_port_opened(7410));
+    ASSERT_TRUE(channel->is_logical_port_added(7410));
+
+    // Now try normal reconnection
+    serverTransportUnderTest.reset(new TCPv6Transport(serverDescriptor));
+    serverTransportUnderTest->init();
+    ASSERT_TRUE(serverTransportUnderTest->OpenInputChannel(initialPeerLocator, nullptr, 0x00FF));
+    clientTransportUnderTest->send(nullptr, 0, channel->locator(), initialPeerLocator); // connect()
+
+    // Logical port is opened (moved from pending list)
+    std::this_thread::sleep_for(std::chrono::milliseconds(300));
+    ASSERT_TRUE(channel->is_logical_port_opened(7410));
+
+    // Clear test
+    EXPECT_TRUE(serverTransportUnderTest->CloseInputChannel(initialPeerLocator));
+    client_resource_list.clear();
+}
+
+
 /*
    TEST_F(TCPv6Tests, send_and_receive_between_both_secure_ports)
    {
diff --git a/test/unittest/transport/mock/MockTCPv4Transport.h b/test/unittest/transport/mock/MockTCPv4Transport.h
index f5aff8b452b..08569dbd08a 100644
--- a/test/unittest/transport/mock/MockTCPv4Transport.h
+++ b/test/unittest/transport/mock/MockTCPv4Transport.h
@@ -56,6 +56,15 @@ class MockTCPv4Transport : public TCPv4Transport
         return acceptors_;
     }
 
+    bool send(
+            const fastrtps::rtps::octet* send_buffer,
+            uint32_t send_buffer_size,
+            const fastrtps::rtps::Locator_t& send_resource_locator,
+            const Locator_t& remote_locator)
+    {
+        return TCPv4Transport::send(send_buffer, send_buffer_size, send_resource_locator, remote_locator);
+    }
+
 };
 
 } // namespace rtps
diff --git a/test/unittest/transport/mock/MockTCPv6Transport.h b/test/unittest/transport/mock/MockTCPv6Transport.h
index 33f9155e2dc..3ecbfaf3db9 100644
--- a/test/unittest/transport/mock/MockTCPv6Transport.h
+++ b/test/unittest/transport/mock/MockTCPv6Transport.h
@@ -56,6 +56,15 @@ class MockTCPv6Transport : public TCPv6Transport
         return acceptors_;
     }
 
+    bool send(
+            const fastrtps::rtps::octet* send_buffer,
+            uint32_t send_buffer_size,
+            const fastrtps::rtps::Locator_t& send_resource_locator,
+            const Locator_t& remote_locator)
+    {
+        return TCPv6Transport::send(send_buffer, send_buffer_size, send_resource_locator, remote_locator);
+    }
+
 };
 
 } // namespace rtps