diff --git a/rosbag2_transport/include/rosbag2_transport/recorder.hpp b/rosbag2_transport/include/rosbag2_transport/recorder.hpp
index 8071f1e40c..0ce39ca1b2 100644
--- a/rosbag2_transport/include/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/include/rosbag2_transport/recorder.hpp
@@ -164,7 +164,7 @@ class Recorder : public rclcpp::Node
   std::unordered_set<std::string> topic_unknown_types_;
   rclcpp::Service<rosbag2_interfaces::srv::Snapshot>::SharedPtr srv_snapshot_;
   std::atomic<bool> paused_ = false;
-  std::atomic<bool> in_recording_ = false;
+
   // Keyboard handler
   std::shared_ptr<KeyboardHandler> keyboard_handler_;
   // Toogle paused key callback handle
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index 3b2fc77275..4d0c2649a1 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -141,18 +141,11 @@ void Recorder::stop()
   if (event_publisher_thread_.joinable()) {
     event_publisher_thread_.join();
   }
-  in_recording_ = false;
   RCLCPP_INFO(get_logger(), "Recording stopped");
 }
 
 void Recorder::record()
 {
-  if (in_recording_.exchange(true)) {
-    RCLCPP_WARN_STREAM(
-      get_logger(),
-      "Called Recorder::record() while already in recording, dismissing request.");
-    return;
-  }
   stop_discovery_ = record_options_.is_discovery_disabled;
   paused_ = record_options_.start_paused;
   topic_qos_profile_overrides_ = record_options_.topic_qos_profile_overrides;