diff --git a/src/cpp/fastdds/subscriber/DataReaderImpl/ReadTakeCommand.hpp b/src/cpp/fastdds/subscriber/DataReaderImpl/ReadTakeCommand.hpp
index cc07e4e920b..19991b76d06 100644
--- a/src/cpp/fastdds/subscriber/DataReaderImpl/ReadTakeCommand.hpp
+++ b/src/cpp/fastdds/subscriber/DataReaderImpl/ReadTakeCommand.hpp
@@ -280,6 +280,40 @@ struct ReadTakeCommand
         }
     }
 
+    /**
+     * @brief Generate SampleInfo for an instance without data.
+     *
+     * @param[out]  info             SampleInfo to fill.
+     * @param[in]   instance_handle  Handle of the instance.
+     * @param[in]   instance         DataReaderInstance information.
+     */
+    static void generate_instance_info(
+            SampleInfo& info,
+            const InstanceHandle_t& instance_handle,
+            const DataReaderInstance& instance)
+    {
+        fastdds::rtps::Time_t current_time;
+        fastdds::rtps::Time_t::now(current_time);
+
+        info.sample_state = NOT_READ_SAMPLE_STATE;
+        info.instance_state = instance.instance_state;
+        info.view_state = instance.view_state;
+        info.disposed_generation_count = instance.disposed_generation_count;
+        info.no_writers_generation_count = instance.no_writers_generation_count;
+        info.sample_rank = 0;
+        info.generation_rank = 0;
+        info.absolute_generation_rank = 0;
+        info.source_timestamp = current_time;
+        info.reception_timestamp = current_time;
+        info.instance_handle = instance_handle;
+        info.publication_handle = InstanceHandle_t{};
+
+        info.sample_identity = rtps::SampleIdentity{};
+        info.related_sample_identity = rtps::SampleIdentity{};
+
+        info.valid_data = false;
+    }
+
 private:
 
     const TypeSupport& type_;
@@ -418,26 +452,7 @@ struct ReadTakeCommand
         }
         else
         {
-            fastdds::rtps::Time_t current_time;
-            fastdds::rtps::Time_t::now(current_time);
-
-            info.sample_state = NOT_READ_SAMPLE_STATE;
-            info.instance_state = instance.instance_state;
-            info.view_state = instance.view_state;
-            info.disposed_generation_count = instance.disposed_generation_count;
-            info.no_writers_generation_count = instance.no_writers_generation_count;
-            info.sample_rank = 0;
-            info.generation_rank = 0;
-            info.absolute_generation_rank = 0;
-            info.source_timestamp = current_time;
-            info.reception_timestamp = current_time;
-            info.instance_handle = instance_->first;
-            info.publication_handle = HANDLE_NIL;
-
-            info.sample_identity = rtps::SampleIdentity{};
-            info.related_sample_identity = rtps::SampleIdentity{};
-
-            info.valid_data = false;
+            generate_instance_info(info, instance_->first, instance);
         }
     }
 
diff --git a/src/cpp/fastdds/subscriber/history/DataReaderHistory.cpp b/src/cpp/fastdds/subscriber/history/DataReaderHistory.cpp
index e86be622d52..7a2a2d3cec0 100644
--- a/src/cpp/fastdds/subscriber/history/DataReaderHistory.cpp
+++ b/src/cpp/fastdds/subscriber/history/DataReaderHistory.cpp
@@ -387,6 +387,13 @@ bool DataReaderHistory::get_first_untaken_info(
             ReadTakeCommand::generate_info(info, *(it.second), instance_change);
             return true;
         }
+
+        if (it.second->has_state_notification_sample)
+        {
+            // Generate SampleInfo for state notification sample
+            ReadTakeCommand::generate_instance_info(info, it.first, *(it.second));
+            return true;
+        }
     }
 
     return false;
diff --git a/test/blackbox/common/DDSBlackboxTestsDataReader.cpp b/test/blackbox/common/DDSBlackboxTestsDataReader.cpp
index 30b90798a0c..535595dd0a2 100644
--- a/test/blackbox/common/DDSBlackboxTestsDataReader.cpp
+++ b/test/blackbox/common/DDSBlackboxTestsDataReader.cpp
@@ -42,7 +42,7 @@ using namespace eprosima::fastdds;
 using namespace eprosima::fastdds::rtps;
 
 #define INCOMPATIBLE_TEST_TOPIC_NAME std::string( \
-        std::string("incompatible_") + TEST_TOPIC_NAME)
+            std::string("incompatible_") + TEST_TOPIC_NAME)
 
 
 enum communication_type
@@ -59,11 +59,12 @@ class DDSDataReader : public testing::TestWithParam<communication_type>
     void SetUp() override
     {
         eprosima::fastdds::LibrarySettings library_settings;
+        auto factory = eprosima::fastdds::dds::DomainParticipantFactory::get_shared_instance();
         switch (GetParam())
         {
             case INTRAPROCESS:
                 library_settings.intraprocess_delivery = eprosima::fastdds::IntraprocessDeliveryType::INTRAPROCESS_FULL;
-                eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->set_library_settings(library_settings);
+                factory->set_library_settings(library_settings);
                 break;
             case DATASHARING:
                 enable_datasharing = true;
@@ -77,11 +78,12 @@ class DDSDataReader : public testing::TestWithParam<communication_type>
     void TearDown() override
     {
         eprosima::fastdds::LibrarySettings library_settings;
+        auto factory = eprosima::fastdds::dds::DomainParticipantFactory::get_shared_instance();
         switch (GetParam())
         {
             case INTRAPROCESS:
                 library_settings.intraprocess_delivery = eprosima::fastdds::IntraprocessDeliveryType::INTRAPROCESS_OFF;
-                eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->set_library_settings(library_settings);
+                factory->set_library_settings(library_settings);
                 break;
             case DATASHARING:
                 enable_datasharing = false;
@@ -1548,6 +1550,12 @@ TEST_P(DDSDataReader, return_sample_when_writer_disappears)
         EXPECT_TRUE(data_reader.get_status_changes().is_active(fdds::StatusMask::data_available()));
         EXPECT_EQ(listener.get_data_available_count(), 1u);
 
+        fdds::SampleInfo untaken_info;
+        EXPECT_EQ(data_reader.get_first_untaken_info(&untaken_info), fdds::RETCODE_OK);
+
+        EXPECT_TRUE(untaken_info.valid_data);
+        EXPECT_EQ(untaken_info.instance_state, fdds::ALIVE_INSTANCE_STATE);
+
         fdds::SampleInfo info;
         KeyedHelloWorldPubSubType::type sample;
         EXPECT_EQ(data_reader.take_next_sample(&sample, &info), fdds::RETCODE_OK);
@@ -1569,12 +1577,19 @@ TEST_P(DDSDataReader, return_sample_when_writer_disappears)
 
     // Verify expectations
     {
-        fdds::SampleInfo info;
-        KeyedHelloWorldPubSubType::type sample;
-
         EXPECT_TRUE(data_reader.get_status_changes().is_active(fdds::StatusMask::data_available()));
         EXPECT_EQ(listener.get_data_available_count(), 2u);
 
+        fdds::SampleInfo untaken_info;
+        EXPECT_EQ(data_reader.get_first_untaken_info(&untaken_info), fdds::RETCODE_OK);
+
+        EXPECT_FALSE(untaken_info.valid_data);
+        EXPECT_EQ(untaken_info.instance_handle, instance_handle);
+        EXPECT_EQ(untaken_info.instance_state, fdds::NOT_ALIVE_NO_WRITERS_INSTANCE_STATE);
+
+        fdds::SampleInfo info;
+        KeyedHelloWorldPubSubType::type sample;
+
         EXPECT_EQ(data_reader.take_next_sample(&sample, &info), fdds::RETCODE_OK);
         EXPECT_FALSE(data_reader.get_status_changes().is_active(fdds::StatusMask::data_available()));