diff --git a/rosbag2_cpp/src/rosbag2_cpp/readers/sequential_reader.cpp b/rosbag2_cpp/src/rosbag2_cpp/readers/sequential_reader.cpp
index fd579ccb8..1f0e473ee 100644
--- a/rosbag2_cpp/src/rosbag2_cpp/readers/sequential_reader.cpp
+++ b/rosbag2_cpp/src/rosbag2_cpp/readers/sequential_reader.cpp
@@ -185,9 +185,7 @@ void SequentialReader::set_filter(const rosbag2_storage::StorageFilter & storage
   {
     // Empty filter. Add all topics with a supported serialization format.
     for (const auto & topic : topics_metadata_) {
-      if (topic.serialization_format != storage_serialization_format) {
-        topics_filter_.topics.push_back(topic.name);
-      }
+      topics_filter_.topics.push_back(topic.name);
     }
   } else {
     // Non-empty filter. Add all requested topics with a supported serialization format.
@@ -201,12 +199,12 @@ void SequentialReader::set_filter(const rosbag2_storage::StorageFilter & storage
         ROSBAG2_CPP_LOG_WARN(
           "Requested topic %s not found or has unsupported serialization format.", topic.c_str());
       }
+    }
 
-      // Edge case: we cannot find any supported topic.
-      // To avoid reading all messages, throw an error.
-      if (topics_filter_.topics.empty()) {
-        throw std::runtime_error("No topics found that match the filter.");
-      }
+    // Edge case: we cannot find any supported topic.
+    // To avoid reading all messages, throw an error.
+    if (topics_filter_.topics.empty()) {
+      throw std::runtime_error("No topics found that match the filter.");
     }
   }
 
@@ -252,7 +250,6 @@ void SequentialReader::load_current_file()
   }
   // set filters
   storage_->seek(seek_time_);
-  set_filter(topics_filter_);
 }
 
 void SequentialReader::load_next_file()
diff --git a/rosbag2_cpp/test/rosbag2_cpp/test_sequential_reader.cpp b/rosbag2_cpp/test/rosbag2_cpp/test_sequential_reader.cpp
index 6e6331a1e..4c5eac976 100644
--- a/rosbag2_cpp/test/rosbag2_cpp/test_sequential_reader.cpp
+++ b/rosbag2_cpp/test/rosbag2_cpp/test_sequential_reader.cpp
@@ -58,7 +58,12 @@ class SequentialReaderTest : public Test
     topic_with_type.name = "topic";
     topic_with_type.type = "test_msgs/BasicTypes";
     topic_with_type.serialization_format = storage_serialization_format_;
-    auto topics_and_types = std::vector<rosbag2_storage::TopicMetadata>{topic_with_type};
+    rosbag2_storage::TopicMetadata topic2_with_type;
+    topic2_with_type.name = "topic2";
+    topic2_with_type.type = "test_msgs/BasicTypes";
+    topic2_with_type.serialization_format = storage_serialization_format_;
+    auto topics_and_types =
+      std::vector<rosbag2_storage::TopicMetadata>{topic_with_type, topic2_with_type};
 
     auto message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
     message->topic_name = topic_with_type.name;
@@ -72,6 +77,7 @@ class SequentialReaderTest : public Test
     metadata_.relative_file_paths = {bag_file_1_path_.string(), bag_file_2_path_.string()};
     metadata_.version = 4;
     metadata_.topics_with_message_count.push_back({{topic_with_type}, 6});
+    metadata_.topics_with_message_count.push_back({{topic2_with_type}, 1});
     metadata_.storage_identifier = "mock_storage";
 
     EXPECT_CALL(*metadata_io, read_metadata(_)).WillRepeatedly(Return(metadata_));