diff --git a/rcl_yaml_param_parser/CMakeLists.txt b/rcl_yaml_param_parser/CMakeLists.txt
index d11cd33a52..e231047433 100644
--- a/rcl_yaml_param_parser/CMakeLists.txt
+++ b/rcl_yaml_param_parser/CMakeLists.txt
@@ -49,6 +49,7 @@ install(TARGETS ${PROJECT_NAME}
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
+  find_package(osrf_testing_tools_cpp REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
   # Gtests
@@ -57,6 +58,8 @@ if(BUILD_TESTING)
   )
   if(TARGET test_parse_yaml)
     target_link_libraries(test_parse_yaml ${PROJECT_NAME})
+    target_include_directories(test_parse_yaml
+      PRIVATE ${osrf_testing_tools_cpp_INCLUDE_DIRS})
   endif()
 
 endif()
diff --git a/rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h b/rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h
index 9e7d1f2a41..628d161237 100644
--- a/rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h
+++ b/rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h
@@ -25,28 +25,53 @@ extern "C"
 {
 #endif
 
-/// \brief Init param structure
+/// \brief Initialize parameter structure
 /// \param[in] allocator memory allocator to be used
 /// \return a pointer to param structure on success or NULL on failure
 RCL_YAML_PARAM_PARSER_PUBLIC
 rcl_params_t * rcl_yaml_node_struct_init(
   const rcutils_allocator_t allocator);
 
-/// \brief Free param structure
-/// \param[in] params_st points to the populated paramter struct
+/// \brief Free parameter structure
+/// \param[in] params_st points to the populated parameter struct
 RCL_YAML_PARAM_PARSER_PUBLIC
 void rcl_yaml_node_struct_fini(
   rcl_params_t * params_st);
 
 /// \brief Parse the YAML file, initialize and populate params_st
 /// \param[in] file_path is the path to the YAML file
-/// \param[inout] params_st points to the populated paramter struct
+/// \param[inout] params_st points to the populated parameter struct
 /// \return true on success and false on failure
 RCL_YAML_PARAM_PARSER_PUBLIC
 bool rcl_parse_yaml_file(
   const char * file_path,
   rcl_params_t * params_st);
 
+/// \brief Parse a parameter value as a YAML string, updating params_st accordingly
+/// \param[in] node_name is the name of the node to which the parameter belongs
+/// \param[in] param_name is the name of the parameter whose value will be parsed
+/// \param[in] yaml_value is the parameter value as a YAML string to be parsed
+/// \param[inout] params_st points to the parameter struct
+/// \return true on success and false on failure
+RCL_YAML_PARAM_PARSER_PUBLIC
+bool rcl_parse_yaml_value(
+  const char * node_name,
+  const char * param_name,
+  const char * yaml_value,
+  rcl_params_t * params_st);
+
+/// \brief Get the variant value for a given parameter, zero initializing it in the
+/// process if not present already
+/// \param[in] node_name is the name of the node to which the parameter belongs
+/// \param[in] param_name is the name of the parameter whose value is to be retrieved
+/// \param[inout] params_st points to the populated (or to be populated) parameter struct
+/// \return parameter variant value on success and NULL on failure
+RCL_YAML_PARAM_PARSER_PUBLIC
+rcl_variant_t * rcl_yaml_node_struct_get(
+  const char * node_name,
+  const char * param_name,
+  rcl_params_t * params_st);
+
 /// \brief Print the parameter structure to stdout
 /// \param[in] params_st points to the populated parameter struct
 RCL_YAML_PARAM_PARSER_PUBLIC
diff --git a/rcl_yaml_param_parser/package.xml b/rcl_yaml_param_parser/package.xml
index 8ed4ef127f..c0dacb9b2a 100644
--- a/rcl_yaml_param_parser/package.xml
+++ b/rcl_yaml_param_parser/package.xml
@@ -16,6 +16,7 @@
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>osrf_testing_tools_cpp</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/rcl_yaml_param_parser/src/parser.c b/rcl_yaml_param_parser/src/parser.c
index 01bd48bf46..5fdd01a4a2 100644
--- a/rcl_yaml_param_parser/src/parser.c
+++ b/rcl_yaml_param_parser/src/parser.c
@@ -12,12 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <assert.h>
 #include <errno.h>
 #include <inttypes.h>
 #include <stdbool.h>
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
+#include <string.h>
 #include <yaml.h>
 
 #include "rcl_yaml_param_parser/parser.h"
@@ -25,8 +27,8 @@
 
 #include "rcutils/allocator.h"
 #include "rcutils/error_handling.h"
-#include "rcutils/types.h"
 #include "rcutils/strdup.h"
+#include "rcutils/types.h"
 
 /// NOTE: Will allow a max YAML mapping depth of 5
 /// map level 1 : Node name mapping
@@ -126,6 +128,8 @@ static void * get_value(
 static rcutils_ret_t parse_value(
   const yaml_event_t event,
   const bool is_seq,
+  const size_t node_idx,
+  const size_t parameter_idx,
   data_types_t * seq_data_type,
   rcl_params_t * params_st);
 
@@ -136,11 +140,17 @@ static rcutils_ret_t parse_key(
   namespace_tracker_t * ns_tracker,
   rcl_params_t * params_st);
 
-static rcutils_ret_t parse_events(
+static rcutils_ret_t parse_file_events(
   yaml_parser_t * parser,
   namespace_tracker_t * ns_tracker,
   rcl_params_t * params_st);
 
+static rcutils_ret_t parse_value_events(
+  yaml_parser_t * parser,
+  const size_t node_idx,
+  const size_t parameter_idx,
+  rcl_params_t * params_st);
+
 ///
 /// Add name to namespace tracker
 ///
@@ -410,14 +420,14 @@ void rcl_yaml_node_struct_fini(
     }
 
     if (NULL != params_st->params) {
-      rcl_node_params_t * node_params_st = &params_st->params[node_idx];
+      rcl_node_params_t * node_params_st = &(params_st->params[node_idx]);
       for (size_t parameter_idx = 0U; parameter_idx < node_params_st->num_params; parameter_idx++) {
         if (
           (NULL != node_params_st->parameter_names) &&
           (NULL != node_params_st->parameter_values))
         {
           char * param_name = node_params_st->parameter_names[parameter_idx];
-          rcl_variant_t * param_var = &node_params_st->parameter_values[parameter_idx];
+          rcl_variant_t * param_var = &(node_params_st->parameter_values[parameter_idx]);
           if (NULL != param_name) {
             allocator.deallocate(param_name, allocator.state);
           }
@@ -478,6 +488,96 @@ void rcl_yaml_node_struct_fini(
   allocator.deallocate(params_st, allocator.state);
 }
 
+
+///
+/// Find node entry index in parameters' structure
+///
+static rcutils_ret_t find_node(
+  const char * node_name,
+  rcl_params_t * param_st,
+  size_t * node_idx)
+{
+  assert(NULL != node_name);
+  assert(NULL != param_st);
+  assert(NULL != node_idx);
+
+  for (*node_idx = 0U; *node_idx < param_st->num_nodes; (*node_idx)++) {
+    if (0 == strcmp(param_st->node_names[*node_idx], node_name)) {
+      // Node found.
+      return RCUTILS_RET_OK;
+    }
+  }
+  // Node not found, add it.
+  rcutils_allocator_t allocator = param_st->allocator;
+  param_st->node_names[*node_idx] = rcutils_strdup(node_name, allocator);
+  if (NULL == param_st->node_names[*node_idx]) {
+    return RCUTILS_RET_BAD_ALLOC;
+  }
+  rcutils_ret_t ret = node_params_init(&(param_st->params[*node_idx]), allocator);
+  if (RCUTILS_RET_OK != ret) {
+    allocator.deallocate(param_st->node_names[*node_idx], allocator.state);
+    return ret;
+  }
+  param_st->num_nodes++;
+  return RCUTILS_RET_OK;
+}
+
+///
+/// Find paremeter entry index in node parameters' structure
+///
+static rcutils_ret_t find_parameter(
+  const size_t node_idx,
+  const char * parameter_name,
+  rcl_params_t * param_st,
+  size_t * parameter_idx)
+{
+  assert(NULL != parameter_name);
+  assert(NULL != param_st);
+  assert(NULL != parameter_idx);
+
+  assert(node_idx < param_st->num_nodes);
+
+  rcl_node_params_t * node_param_st = &(param_st->params[node_idx]);
+  for (*parameter_idx = 0U; *parameter_idx < node_param_st->num_params; (*parameter_idx)++) {
+    if (0 == strcmp(node_param_st->parameter_names[*parameter_idx], parameter_name)) {
+      // Parameter found.
+      return RCUTILS_RET_OK;
+    }
+  }
+  // Parameter not found, add it.
+  rcutils_allocator_t allocator = param_st->allocator;
+  node_param_st->parameter_names[*parameter_idx] = rcutils_strdup(parameter_name, allocator);
+  if (NULL == node_param_st->parameter_names[*parameter_idx]) {
+    return RCUTILS_RET_BAD_ALLOC;
+  }
+  node_param_st->num_params++;
+  return RCUTILS_RET_OK;
+}
+
+rcl_variant_t * rcl_yaml_node_struct_get(
+  const char * node_name,
+  const char * param_name,
+  rcl_params_t * params_st)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(node_name, NULL);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(param_name, NULL);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(params_st, NULL);
+
+  rcl_variant_t * param_value = NULL;
+
+  size_t node_idx = 0U;
+  rcutils_ret_t ret = find_node(node_name, params_st, &node_idx);
+  if (RCUTILS_RET_OK == ret) {
+    size_t parameter_idx = 0U;
+    ret = find_parameter(node_idx, param_name, params_st, &parameter_idx);
+    if (RCUTILS_RET_OK == ret) {
+      param_value = &(params_st->params[node_idx].parameter_values[parameter_idx]);
+    }
+  }
+  return param_value;
+}
+
+
 ///
 /// Dump the param structure
 ///
@@ -497,14 +597,14 @@ void rcl_yaml_node_struct_print(
     }
 
     if (NULL != params_st->params) {
-      rcl_node_params_t * node_params_st = &params_st->params[node_idx];
+      rcl_node_params_t * node_params_st = &(params_st->params[node_idx]);
       for (size_t parameter_idx = 0U; parameter_idx < node_params_st->num_params; parameter_idx++) {
         if (
           (NULL != node_params_st->parameter_names) &&
           (NULL != node_params_st->parameter_values))
         {
           char * param_name = node_params_st->parameter_names[parameter_idx];
-          rcl_variant_t * param_var = &node_params_st->parameter_values[parameter_idx];
+          rcl_variant_t * param_var = &(node_params_st->parameter_values[parameter_idx]);
           if (NULL != param_name) {
             printf("%*s", param_col, param_name);
           }
@@ -817,6 +917,8 @@ static void * get_value(
 static rcutils_ret_t parse_value(
   const yaml_event_t event,
   const bool is_seq,
+  const size_t node_idx,
+  const size_t parameter_idx,
   data_types_t * seq_data_type,
   rcl_params_t * params_st)
 {
@@ -832,13 +934,6 @@ static rcutils_ret_t parse_value(
     return RCUTILS_RET_INVALID_ARGUMENT;
   }
 
-  const size_t node_idx = (params_st->num_nodes - 1U);
-  if (0U == params_st->params[node_idx].num_params) {
-    RCUTILS_SET_ERROR_MSG("No parameter to update");
-    return RCUTILS_RET_INVALID_ARGUMENT;
-  }
-
-  const size_t parameter_idx = ((params_st->params[node_idx].num_params) - 1U);
   const size_t val_size = event.data.scalar.length;
   const char * value = (char *)event.data.scalar.value;
   yaml_scalar_style_t style = event.data.scalar.style;
@@ -1056,11 +1151,10 @@ static rcutils_ret_t parse_key(
   }
 
   size_t node_idx = 0U;
-  size_t num_nodes = params_st->num_nodes;  // New node index
+  size_t num_nodes = params_st->num_nodes;
   if (num_nodes > 0U) {
-    node_idx = (num_nodes - 1U);  // Current node index
+    node_idx = num_nodes - 1U;
   }
-
   rcutils_ret_t ret = RCUTILS_RET_OK;
   switch (*map_level) {
     case MAP_UNINIT_LVL:
@@ -1114,8 +1208,8 @@ static rcutils_ret_t parse_key(
       break;
     case MAP_PARAMS_LVL:
       {
-        char * parameter_ns;
         size_t parameter_idx;
+        char * parameter_ns;
         char * param_name;
 
         /// If it is a new map, the previous key is param namespace
@@ -1194,15 +1288,14 @@ static rcutils_ret_t parse_key(
 }
 
 ///
-/// Get events from the parser and process the events
+/// Get events from parsing a parameter YAML file and process them
 ///
-static rcutils_ret_t parse_events(
+static rcutils_ret_t parse_file_events(
   yaml_parser_t * parser,
   namespace_tracker_t * ns_tracker,
   rcl_params_t * params_st)
 {
   int32_t done_parsing = 0;
-  yaml_event_t event;
   bool is_key = true;
   bool is_seq = false;
   uint32_t line_num = 0;
@@ -1217,6 +1310,7 @@ static rcutils_ret_t parse_events(
   RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
     &allocator, "invalid allocator", return RCUTILS_RET_INVALID_ARGUMENT);
 
+  yaml_event_t event;
   rcutils_ret_t ret = RCUTILS_RET_OK;
   while (0 == done_parsing) {
     if (RCUTILS_RET_OK != ret) {
@@ -1252,7 +1346,21 @@ static rcutils_ret_t parse_events(
               ret = RCUTILS_RET_ERROR;
               break;
             }
-            ret = parse_value(event, is_seq, &seq_data_type, params_st);
+            if (0U == params_st->num_nodes) {
+              RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
+                "Cannot have a value before %s at line %d", PARAMS_KEY, line_num);
+              yaml_event_delete(&event);
+              return RCUTILS_RET_ERROR;
+            }
+            const size_t node_idx = (params_st->num_nodes - 1U);
+            if (0U == params_st->params[node_idx].num_params) {
+              RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
+                "Cannot have a value before %s at line %d", PARAMS_KEY, line_num);
+              yaml_event_delete(&event);
+              return RCUTILS_RET_ERROR;
+            }
+            const size_t parameter_idx = (params_st->params[node_idx].num_params - 1U);
+            ret = parse_value(event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st);
             if (RCUTILS_RET_OK != ret) {
               break;
             }
@@ -1348,7 +1456,62 @@ static rcutils_ret_t parse_events(
 }
 
 ///
-/// TODO (anup.pemmaiah): Support string yaml similar to yaml file
+/// Get events from parsing a parameter YAML value string and process them
+///
+static rcutils_ret_t parse_value_events(
+  yaml_parser_t * parser,
+  const size_t node_idx,
+  const size_t parameter_idx,
+  rcl_params_t * params_st)
+{
+  bool is_seq = false;
+  data_types_t seq_data_type = DATA_TYPE_UNKNOWN;
+  rcutils_ret_t ret = RCUTILS_RET_OK;
+  bool done_parsing = false;
+  while (RCUTILS_RET_OK == ret && !done_parsing) {
+    yaml_event_t event;
+    int success = yaml_parser_parse(parser, &event);
+    if (0 == success) {
+      RCUTILS_SET_ERROR_MSG("Error parsing an event");
+      ret = RCUTILS_RET_ERROR;
+      break;
+    }
+    switch (event.type) {
+      case YAML_STREAM_END_EVENT:
+        done_parsing = true;
+        break;
+      case YAML_SCALAR_EVENT:
+        ret = parse_value(
+          event, is_seq, node_idx, parameter_idx, &seq_data_type, params_st);
+        break;
+      case YAML_SEQUENCE_START_EVENT:
+        is_seq = true;
+        seq_data_type = DATA_TYPE_UNKNOWN;
+        break;
+      case YAML_SEQUENCE_END_EVENT:
+        is_seq = false;
+        break;
+      case YAML_STREAM_START_EVENT:
+        break;
+      case YAML_DOCUMENT_START_EVENT:
+        break;
+      case YAML_DOCUMENT_END_EVENT:
+        break;
+      case YAML_NO_EVENT:
+        RCUTILS_SET_ERROR_MSG("Received an empty event");
+        ret = RCUTILS_RET_ERROR;
+        break;
+      default:
+        RCUTILS_SET_ERROR_MSG("Unknown YAML event");
+        ret = RCUTILS_RET_ERROR;
+        break;
+    }
+    yaml_event_delete(&event);
+  }
+  return ret;
+}
+
+///
 /// TODO (anup.pemmaiah): Support Mutiple yaml files
 ///
 ///
@@ -1358,14 +1521,13 @@ bool rcl_parse_yaml_file(
   const char * file_path,
   rcl_params_t * params_st)
 {
+  RCUTILS_CHECK_FOR_NULL_WITH_MSG(
+    file_path, "YAML file path is NULL", return false);
+
   if (NULL == params_st) {
-    RCUTILS_SAFE_FWRITE_TO_STDERR("Pass a initialized paramter structure");
+    RCUTILS_SAFE_FWRITE_TO_STDERR("Pass an initialized parameter structure");
     return false;
   }
-  rcutils_allocator_t allocator = params_st->allocator;
-
-  RCUTILS_CHECK_FOR_NULL_WITH_MSG(
-    file_path, "YAML file path is NULL", return false);
 
   yaml_parser_t parser;
   int success = yaml_parser_initialize(&parser);
@@ -1385,12 +1547,14 @@ bool rcl_parse_yaml_file(
 
   namespace_tracker_t ns_tracker;
   memset(&ns_tracker, 0, sizeof(namespace_tracker_t));
-  rcutils_ret_t ret = parse_events(&parser, &ns_tracker, params_st);
+  rcutils_ret_t ret = parse_file_events(&parser, &ns_tracker, params_st);
 
-  yaml_parser_delete(&parser);
   fclose(yaml_file);
 
+  yaml_parser_delete(&parser);
+
   if (RCUTILS_RET_OK != ret) {
+    rcutils_allocator_t allocator = params_st->allocator;
     if (NULL != ns_tracker.node_ns) {
       allocator.deallocate(ns_tracker.node_ns, allocator.state);
     }
@@ -1403,3 +1567,50 @@ bool rcl_parse_yaml_file(
 
   return true;
 }
+
+///
+/// Parse a YAML string and populate params_st
+///
+bool rcl_parse_yaml_value(
+  const char * node_name,
+  const char * param_name,
+  const char * yaml_value,
+  rcl_params_t * params_st)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(node_name, false);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(param_name, false);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(yaml_value, false);
+
+  if (NULL == params_st) {
+    RCUTILS_SAFE_FWRITE_TO_STDERR("Pass an initialized parameter structure");
+    return false;
+  }
+
+  size_t node_idx = 0U;
+  rcutils_ret_t ret = find_node(node_name, params_st, &node_idx);
+  if (RCUTILS_RET_OK != ret) {
+    return false;
+  }
+
+  size_t parameter_idx = 0U;
+  ret = find_parameter(node_idx, param_name, params_st, &parameter_idx);
+  if (RCUTILS_RET_OK != ret) {
+    return false;
+  }
+
+  yaml_parser_t parser;
+  int success = yaml_parser_initialize(&parser);
+  if (0 == success) {
+    RCUTILS_SET_ERROR_MSG("Could not initialize the parser");
+    return false;
+  }
+
+  yaml_parser_set_input_string(
+    &parser, (const unsigned char *)yaml_value, strlen(yaml_value));
+
+  ret = parse_value_events(&parser, node_idx, parameter_idx, params_st);
+
+  yaml_parser_delete(&parser);
+
+  return RCUTILS_RET_OK == ret;
+}
diff --git a/rcl_yaml_param_parser/test/test_parse_yaml.cpp b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
index 274e62f79a..cee2f388bb 100644
--- a/rcl_yaml_param_parser/test/test_parse_yaml.cpp
+++ b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
@@ -15,6 +15,8 @@
 #include <stdio.h>
 #include <gtest/gtest.h>
 
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+
 #include "rcl_yaml_param_parser/parser.h"
 
 #include "rcutils/allocator.h"
@@ -23,244 +25,361 @@
 
 static char cur_dir[1024];
 
-TEST(test_file_parser, correct_syntax) {
+TEST(test_parser, correct_syntax) {
   rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(test_path, allocator.state);
+  });
   char * path = rcutils_join_path(test_path, "correct_config.yaml", allocator);
-  fprintf(stderr, "cur_path: %s\n", path);
-  EXPECT_TRUE(rcutils_exists(path));
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(path, allocator.state);
+  });
+  ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
   rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  EXPECT_FALSE(NULL == params_hdl);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    rcl_yaml_node_struct_fini(params_hdl);
+  });
   bool res = rcl_parse_yaml_file(path, params_hdl);
-  fprintf(stderr, "%s\n", rcutils_get_error_string().str);
-  EXPECT_TRUE(res);
+  ASSERT_TRUE(res) << rcutils_get_error_string().str;
+
+  rcl_variant_t * param_value = rcl_yaml_node_struct_get("lidar_ns/lidar_1", "ports", params_hdl);
+  ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
+  ASSERT_TRUE(NULL != param_value->integer_array_value);
+  ASSERT_EQ(3U, param_value->integer_array_value->size);
+  EXPECT_EQ(2438, param_value->integer_array_value->values[0]);
+  EXPECT_EQ(2439, param_value->integer_array_value->values[1]);
+  EXPECT_EQ(2440, param_value->integer_array_value->values[2]);
+  res = rcl_parse_yaml_value("lidar_ns/lidar_1", "ports", "[8080]", params_hdl);
+  EXPECT_TRUE(res) << rcutils_get_error_string().str;
+  ASSERT_TRUE(NULL != param_value->integer_array_value);
+  ASSERT_EQ(1U, param_value->integer_array_value->size);
+  EXPECT_EQ(8080, param_value->integer_array_value->values[0]);
+
+  param_value = rcl_yaml_node_struct_get("lidar_ns/lidar_2", "is_back", params_hdl);
+  ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
+  ASSERT_TRUE(NULL != param_value->bool_value);
+  EXPECT_FALSE(*param_value->bool_value);
+  res = rcl_parse_yaml_value("lidar_ns/lidar_2", "is_back", "true", params_hdl);
+  EXPECT_TRUE(res) << rcutils_get_error_string().str;
+  ASSERT_TRUE(NULL != param_value->bool_value);
+  EXPECT_TRUE(*param_value->bool_value);
+
+  param_value = rcl_yaml_node_struct_get("camera", "cam_spec.angle", params_hdl);
+  ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
+  ASSERT_TRUE(NULL != param_value->double_value);
+  EXPECT_DOUBLE_EQ(2.34, *param_value->double_value);
+  res = rcl_parse_yaml_value("camera", "cam_spec.angle", "2.2", params_hdl);
+  EXPECT_TRUE(res) << rcutils_get_error_string().str;
+  ASSERT_TRUE(NULL != param_value->double_value);
+  EXPECT_DOUBLE_EQ(2.2, *param_value->double_value);
+
+  param_value = rcl_yaml_node_struct_get("intel", "arch", params_hdl);
+  ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
+  ASSERT_TRUE(NULL != param_value->string_value);
+  EXPECT_STREQ("x86_64", param_value->string_value);
+  res = rcl_parse_yaml_value("intel", "arch", "x86", params_hdl);
+  EXPECT_TRUE(res) << rcutils_get_error_string().str;
+  ASSERT_TRUE(NULL != param_value->string_value);
+  EXPECT_STREQ("x86", param_value->string_value);
+
   rcl_yaml_node_struct_print(params_hdl);
-  rcl_yaml_node_struct_fini(params_hdl);
-  allocator.deallocate(test_path, allocator.state);
-  allocator.deallocate(path, allocator.state);
 }
 
 TEST(test_file_parser, string_array_with_quoted_number) {
   rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(test_path, allocator.state);
+  });
   char * path = rcutils_join_path(test_path, "string_array_with_quoted_number.yaml", allocator);
-  fprintf(stderr, "cur_path: %s\n", path);
-  EXPECT_TRUE(rcutils_exists(path));
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(path, allocator.state);
+  });
+  ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
   rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  EXPECT_TRUE(params_hdl);
-  if (params_hdl) {
-    bool res = rcl_parse_yaml_file(path, params_hdl);
-    fprintf(stderr, "%s\n", rcutils_get_error_string().str);
-    EXPECT_TRUE(res);
-    rcl_yaml_node_struct_print(params_hdl);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
     rcl_yaml_node_struct_fini(params_hdl);
-  }
-  allocator.deallocate(test_path, allocator.state);
-  allocator.deallocate(path, allocator.state);
+  });
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  ASSERT_TRUE(res) << rcutils_get_error_string().str;
+  rcl_variant_t * param_value = rcl_yaml_node_struct_get(
+    "initial_params_node", "sa2", params_hdl);
+  ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
+  ASSERT_TRUE(NULL != param_value->string_array_value);
+  ASSERT_EQ(2U, param_value->string_array_value->size);
+  EXPECT_STREQ("and", param_value->string_array_value->data[0]);
+  EXPECT_STREQ("7", param_value->string_array_value->data[1]);
+  res = rcl_parse_yaml_value("initial_params_node", "category", "'0'", params_hdl);
+  EXPECT_TRUE(res) << rcutils_get_error_string().str;
+  param_value = rcl_yaml_node_struct_get("initial_params_node", "category", params_hdl);
+  ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
+  ASSERT_TRUE(NULL != param_value->string_value);
+  EXPECT_STREQ("0", param_value->string_value);
+  rcl_yaml_node_struct_print(params_hdl);
 }
 
 TEST(test_file_parser, multi_ns_correct_syntax) {
   rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(test_path, allocator.state);
+  });
   char * path = rcutils_join_path(test_path, "multi_ns_correct.yaml", allocator);
-  fprintf(stderr, "cur_path: %s\n", path);
-  EXPECT_TRUE(rcutils_exists(path));
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(path, allocator.state);
+  });
+  ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
   rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  EXPECT_FALSE(NULL == params_hdl);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    rcl_yaml_node_struct_fini(params_hdl);
+  });
   bool res = rcl_parse_yaml_file(path, params_hdl);
-  fprintf(stderr, "%s\n", rcutils_get_error_string().str);
-  EXPECT_TRUE(res);
+  EXPECT_TRUE(res) << rcutils_get_error_string().str;
   rcl_yaml_node_struct_print(params_hdl);
-  rcl_yaml_node_struct_fini(params_hdl);
-  allocator.deallocate(test_path, allocator.state);
-  allocator.deallocate(path, allocator.state);
 }
 
 TEST(test_file_parser, root_ns) {
   rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(test_path, allocator.state);
+  });
   char * path = rcutils_join_path(test_path, "root_ns.yaml", allocator);
-  fprintf(stderr, "cur_path: %s\n", path);
-  EXPECT_TRUE(rcutils_exists(path));
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(path, allocator.state);
+  });
+  ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
   rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  EXPECT_FALSE(NULL == params_hdl);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    rcl_yaml_node_struct_fini(params_hdl);
+  });
   bool res = rcl_parse_yaml_file(path, params_hdl);
-  fprintf(stderr, "%s\n", rcutils_get_error_string().str);
-  EXPECT_TRUE(res);
+  EXPECT_TRUE(res) << rcutils_get_error_string().str;
   rcl_yaml_node_struct_print(params_hdl);
-
   // Check that there is only one forward slash in the node's FQN.
   // (Regression test for https://github.com/ros2/rcl/pull/299).
-  ASSERT_EQ(1u, params_hdl->num_nodes);
-  ASSERT_STREQ("/my_node", params_hdl->node_names[0]);
-
-  rcl_yaml_node_struct_fini(params_hdl);
-  allocator.deallocate(test_path, allocator.state);
-  allocator.deallocate(path, allocator.state);
+  EXPECT_EQ(1u, params_hdl->num_nodes);
+  EXPECT_STREQ("/my_node", params_hdl->node_names[0]);
 }
 
 TEST(test_file_parser, seq_map1) {
   rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(test_path, allocator.state);
+  });
   char * path = rcutils_join_path(test_path, "seq_map1.yaml", allocator);
-  fprintf(stderr, "cur_path: %s\n", path);
-  EXPECT_TRUE(rcutils_exists(path));
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(path, allocator.state);
+  });
+  ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
   rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  EXPECT_FALSE(NULL == params_hdl);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
   bool res = rcl_parse_yaml_file(path, params_hdl);
   fprintf(stderr, "%s\n", rcutils_get_error_string().str);
   EXPECT_FALSE(res);
-  allocator.deallocate(test_path, allocator.state);
-  allocator.deallocate(path, allocator.state);
 }
 
 TEST(test_file_parser, seq_map2) {
   rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(test_path, allocator.state);
+  });
   char * path = rcutils_join_path(test_path, "seq_map2.yaml", allocator);
-  fprintf(stderr, "cur_path: %s\n", path);
-  EXPECT_TRUE(rcutils_exists(path));
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(path, allocator.state);
+  });
+  ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
   rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  EXPECT_FALSE(NULL == params_hdl);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
   bool res = rcl_parse_yaml_file(path, params_hdl);
   fprintf(stderr, "%s\n", rcutils_get_error_string().str);
   EXPECT_FALSE(res);
-  allocator.deallocate(test_path, allocator.state);
-  allocator.deallocate(path, allocator.state);
 }
 
 TEST(test_file_parser, params_with_no_node) {
   rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(test_path, allocator.state);
+  });
   char * path = rcutils_join_path(test_path, "params_with_no_node.yaml", allocator);
-  fprintf(stderr, "cur_path: %s\n", path);
-  EXPECT_TRUE(rcutils_exists(path));
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(path, allocator.state);
+  });
+  ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
   rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  EXPECT_FALSE(NULL == params_hdl);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
   bool res = rcl_parse_yaml_file(path, params_hdl);
   fprintf(stderr, "%s\n", rcutils_get_error_string().str);
   EXPECT_FALSE(res);
-  allocator.deallocate(test_path, allocator.state);
-  allocator.deallocate(path, allocator.state);
 }
 
 TEST(test_file_parser, no_alias_support) {
   rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(test_path, allocator.state);
+  });
   char * path = rcutils_join_path(test_path, "no_alias_support.yaml", allocator);
-  fprintf(stderr, "cur_path: %s\n", path);
-  EXPECT_TRUE(rcutils_exists(path));
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(path, allocator.state);
+  });
+  ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
   rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  EXPECT_FALSE(NULL == params_hdl);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
   bool res = rcl_parse_yaml_file(path, params_hdl);
   fprintf(stderr, "%s\n", rcutils_get_error_string().str);
   EXPECT_FALSE(res);
-  allocator.deallocate(test_path, allocator.state);
-  allocator.deallocate(path, allocator.state);
 }
 
 TEST(test_file_parser, max_string_sz) {
   rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(test_path, allocator.state);
+  });
   char * path = rcutils_join_path(test_path, "max_string_sz.yaml", allocator);
-  fprintf(stderr, "cur_path: %s\n", path);
-  EXPECT_TRUE(rcutils_exists(path));
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(path, allocator.state);
+  });
+  ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
   rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  EXPECT_FALSE(NULL == params_hdl);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
   bool res = rcl_parse_yaml_file(path, params_hdl);
   fprintf(stderr, "%s\n", rcutils_get_error_string().str);
   EXPECT_FALSE(res);
-  allocator.deallocate(test_path, allocator.state);
-  allocator.deallocate(path, allocator.state);
 }
 
 TEST(test_file_parser, empty_string) {
   rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(test_path, allocator.state);
+  });
   char * path = rcutils_join_path(test_path, "empty_string.yaml", allocator);
-  fprintf(stderr, "cur_path: %s\n", path);
-  EXPECT_TRUE(rcutils_exists(path));
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(path, allocator.state);
+  });
+  ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
   rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  EXPECT_FALSE(NULL == params_hdl);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
   bool res = rcl_parse_yaml_file(path, params_hdl);
-  fprintf(stderr, "%s\n", rcutils_get_error_string().str);
-  EXPECT_TRUE(res);
+  EXPECT_TRUE(res) << rcutils_get_error_string().str;
   rcl_yaml_node_struct_print(params_hdl);
-  rcl_yaml_node_struct_fini(params_hdl);
-  allocator.deallocate(test_path, allocator.state);
-  allocator.deallocate(path, allocator.state);
 }
 
 TEST(test_file_parser, no_value1) {
   rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(test_path, allocator.state);
+  });
   char * path = rcutils_join_path(test_path, "no_value1.yaml", allocator);
-  fprintf(stderr, "cur_path: %s\n", path);
-  EXPECT_TRUE(rcutils_exists(path));
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(path, allocator.state);
+  });
+  ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
   rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  EXPECT_FALSE(NULL == params_hdl);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
   bool res = rcl_parse_yaml_file(path, params_hdl);
   fprintf(stderr, "%s\n", rcutils_get_error_string().str);
   EXPECT_FALSE(res);
-  allocator.deallocate(test_path, allocator.state);
-  allocator.deallocate(path, allocator.state);
 }
 
 TEST(test_file_parser, indented_ns) {
   rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(test_path, allocator.state);
+  });
   char * path = rcutils_join_path(test_path, "indented_name_space.yaml", allocator);
-  fprintf(stderr, "cur_path: %s\n", path);
-  EXPECT_TRUE(rcutils_exists(path));
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(path, allocator.state);
+  });
+  ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
   rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  EXPECT_FALSE(NULL == params_hdl);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
   bool res = rcl_parse_yaml_file(path, params_hdl);
   fprintf(stderr, "%s\n", rcutils_get_error_string().str);
   EXPECT_FALSE(res);
-  allocator.deallocate(test_path, allocator.state);
-  allocator.deallocate(path, allocator.state);
 }
 
 // Regression test for https://github.com/ros2/rcl/issues/419
 TEST(test_file_parser, maximum_number_parameters) {
   rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)) << rcutils_get_error_string().str;
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(test_path, allocator.state);
+  });
   char * path = rcutils_join_path(test_path, "max_num_params.yaml", allocator);
-  fprintf(stderr, "cur_path: %s\n", path);
-  EXPECT_TRUE(rcutils_exists(path));
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    allocator.deallocate(path, allocator.state);
+  });
+  ASSERT_TRUE(rcutils_exists(path)) << "No test YAML file found at " << path;
   rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  EXPECT_FALSE(NULL == params_hdl);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
   bool res = rcl_parse_yaml_file(path, params_hdl);
   fprintf(stderr, "%s\n", rcutils_get_error_string().str);
   EXPECT_FALSE(res);
-  allocator.deallocate(test_path, allocator.state);
-  allocator.deallocate(path, allocator.state);
 }
 
 int32_t main(int32_t argc, char ** argv)