diff --git a/rclpy/rclpy/executors.py b/rclpy/rclpy/executors.py
index d32700df7..6cf6cb92a 100644
--- a/rclpy/rclpy/executors.py
+++ b/rclpy/rclpy/executors.py
@@ -733,6 +733,7 @@ def __init__(self, num_threads: int = None, *, context: Context = None) -> None:
                 num_threads = multiprocessing.cpu_count()
             except NotImplementedError:
                 num_threads = 1
+        self._futures = []
         self._executor = ThreadPoolExecutor(num_threads)
 
     def _spin_once_impl(
@@ -753,6 +754,11 @@ def _spin_once_impl(
             pass
         else:
             self._executor.submit(handler)
+            self._futures.append(handler)
+            for future in self._futures:  # check for any exceptions
+                if future.done():
+                    self._futures.remove(future)
+                    future.result()
 
     def spin_once(self, timeout_sec: float = None) -> None:
         self._spin_once_impl(timeout_sec)