diff --git a/rcl/test/rcl/test_wait.cpp b/rcl/test/rcl/test_wait.cpp
index d61c02cd44..ae9c56eae4 100644
--- a/rcl/test/rcl/test_wait.cpp
+++ b/rcl/test/rcl/test_wait.cpp
@@ -49,7 +49,8 @@ class CLASSNAME (WaitSetTestFixture, RMW_IMPLEMENTATION) : public ::testing::Tes
     ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
     OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
-      EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
+      ret = rcl_init_options_fini(&init_options);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
     });
     this->context_ptr = new rcl_context_t;
     *this->context_ptr = rcl_get_zero_initialized_context();
@@ -66,11 +67,15 @@ class CLASSNAME (WaitSetTestFixture, RMW_IMPLEMENTATION) : public ::testing::Tes
 };
 
 TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_resize_to_zero) {
+  rcl_ret_t ret;
   // Initialize a wait set with a subscription and then resize it to zero.
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_ret_t ret =
-    rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
+  ret = rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_wait_set_fini(&wait_set);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
 
   ret = rcl_wait_set_resize(&wait_set, 0u, 0u, 0u, 0u, 0u, 0u);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -80,17 +85,18 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_resize_to_zero) {
   EXPECT_EQ(wait_set.size_of_clients, 0ull);
   EXPECT_EQ(wait_set.size_of_services, 0ull);
   EXPECT_EQ(wait_set.size_of_timers, 0ull);
-
-  ret = rcl_wait_set_fini(&wait_set);
-  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
 // Test rcl_wait with a positive finite timeout value (1ms)
 TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), finite_timeout) {
+  rcl_ret_t ret;
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_ret_t ret =
-    rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
+  ret = rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_wait_set_fini(&wait_set);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
 
   int64_t timeout = RCL_MS_TO_NS(10);  // nanoseconds
   std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
@@ -100,23 +106,28 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), finite_timeout) {
   // Check time
   int64_t diff = std::chrono::duration_cast<std::chrono::nanoseconds>(after_sc - before_sc).count();
   EXPECT_LE(diff, timeout + TOLERANCE);
-
-  ret = rcl_wait_set_fini(&wait_set);
-  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
 // Check that a timer overrides a negative timeout value (blocking forever)
 TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
+  rcl_ret_t ret;
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_ret_t ret =
-    rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
+  ret = rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_wait_set_fini(&wait_set);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
 
   // Add a dummy guard condition to avoid an error
   rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
   ret = rcl_guard_condition_init(
     &guard_cond, this->context_ptr, rcl_guard_condition_get_default_options());
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_guard_condition_fini(&guard_cond);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
   ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond, NULL);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 
@@ -124,22 +135,21 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_clock_fini(&clock);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
 
   rcl_timer_t timer = rcl_get_zero_initialized_timer();
   ret = rcl_timer_init(
     &timer, &clock, this->context_ptr, RCL_MS_TO_NS(10), nullptr, rcl_get_default_allocator());
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-  ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
-  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-
   OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
-    rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-    ret = rcl_wait_set_fini(&wait_set);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
     ret = rcl_timer_fini(&timer);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   });
+  ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 
   int64_t timeout = -1;
   std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
@@ -154,25 +164,26 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
 
 // Test rcl_wait with a timeout value of 0 (non-blocking)
 TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
+  rcl_ret_t ret;
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_ret_t ret =
-    rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
+  ret = rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_wait_set_fini(&wait_set);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
 
   // Add a dummy guard condition to avoid an error
   rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
   ret = rcl_guard_condition_init(
     &guard_cond, this->context_ptr, rcl_guard_condition_get_default_options());
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-  ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond, NULL);
-  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-
   OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
-    rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-    ret = rcl_wait_set_fini(&wait_set);
+    ret = rcl_guard_condition_fini(&guard_cond);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   });
+  ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond, NULL);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 
   // Time spent during wait should be negligible.
   int64_t timeout = 0;
@@ -187,27 +198,28 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
 
 // Test rcl_wait with a timeout value of 0 (non-blocking) and an already triggered guard condition
 TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered_guard_condition) {
+  rcl_ret_t ret;
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_ret_t ret =
-    rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
+  ret = rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_wait_set_fini(&wait_set);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
 
   rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
   ret = rcl_guard_condition_init(
     &guard_cond, this->context_ptr, rcl_guard_condition_get_default_options());
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_guard_condition_fini(&guard_cond);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
   ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond, NULL);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   ret = rcl_trigger_guard_condition(&guard_cond);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
-    rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-    ret = rcl_wait_set_fini(&wait_set);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-  });
-
 // Time spent during wait should be negligible.
   int64_t timeout = 0;
   std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
@@ -221,16 +233,24 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered
 
 // Check that a canceled timer doesn't wake up rcl_wait
 TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
+  rcl_ret_t ret;
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_ret_t ret =
-    rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
+  ret = rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_wait_set_fini(&wait_set);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
 
   // Add a dummy guard condition to avoid an error
   rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
   ret = rcl_guard_condition_init(
     &guard_cond, this->context_ptr, rcl_guard_condition_get_default_options());
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_guard_condition_fini(&guard_cond);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
   ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond, NULL);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 
@@ -238,25 +258,24 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_clock_fini(&clock);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
 
   rcl_timer_t canceled_timer = rcl_get_zero_initialized_timer();
   ret = rcl_timer_init(
     &canceled_timer, &clock, this->context_ptr,
     RCL_MS_TO_NS(1), nullptr, rcl_get_default_allocator());
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-  ret = rcl_timer_cancel(&canceled_timer);
-  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-  ret = rcl_wait_set_add_timer(&wait_set, &canceled_timer, NULL);
-  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-
   OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
-    rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-    ret = rcl_wait_set_fini(&wait_set);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
     ret = rcl_timer_fini(&canceled_timer);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   });
+  ret = rcl_timer_cancel(&canceled_timer);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  ret = rcl_wait_set_add_timer(&wait_set, &canceled_timer, NULL);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 
   int64_t timeout = RCL_MS_TO_NS(10);
   std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
@@ -267,17 +286,19 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
   // Check time
   int64_t diff = std::chrono::duration_cast<std::chrono::nanoseconds>(after_sc - before_sc).count();
   EXPECT_LE(diff, RCL_MS_TO_NS(10) + TOLERANCE);
-
-  ret = rcl_clock_fini(&clock);
-  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
 // Test rcl_wait_set_t with excess capacity works.
 TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), excess_capacity) {
+  rcl_ret_t ret;
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_ret_t ret =
-    rcl_wait_set_init(&wait_set, 42, 42, 42, 42, 42, 0, context_ptr, rcl_get_default_allocator());
+  ret = rcl_wait_set_init(
+    &wait_set, 42, 42, 42, 42, 42, 0, context_ptr, rcl_get_default_allocator());
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_wait_set_fini(&wait_set);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
 
   int64_t timeout = 1;
   ret = rcl_wait(&wait_set, timeout);
@@ -350,7 +371,6 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
   // *INDENT-ON*
   // Setup each test set.
   for (auto & test_set : test_sets) {
-    rcl_ret_t ret;
     // init the wake count
     test_set.wake_count.store(0);
     // setup the guard condition
@@ -358,11 +378,13 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
     ret = rcl_guard_condition_init(
       &test_set.guard_condition, this->context_ptr, rcl_guard_condition_get_default_options());
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    // guard_condition must live longer than this loop. Call fini from function-level exit-scope.
     // setup the wait set
     test_set.wait_set = rcl_get_zero_initialized_wait_set();
     ret = rcl_wait_set_init(
       &test_set.wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    // wait_set must live longer than this loop. Call fini from function-level exit-scope.
     ret = rcl_wait_set_add_guard_condition(&test_set.wait_set, &test_set.guard_condition, NULL);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
     test_set.thread_id = 0;
@@ -370,7 +392,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
   // Setup safe tear-down.
   OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
     for (auto & test_set : test_sets) {
-      rcl_ret_t ret = rcl_guard_condition_fini(&test_set.guard_condition);
+      ret = rcl_guard_condition_fini(&test_set.guard_condition);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
       ret = rcl_wait_set_fini(&test_set.wait_set);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -417,23 +439,24 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
 // Check the interaction of a guard condition and a negative timeout by
 // triggering a guard condition in a separate thread
 TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), guard_condition) {
+  rcl_ret_t ret;
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_ret_t ret =
-    rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
+  ret = rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_wait_set_fini(&wait_set);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
   rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
   ret = rcl_guard_condition_init(
     &guard_cond, this->context_ptr, rcl_guard_condition_get_default_options());
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-  ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond, NULL);
-  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-
   OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
-    rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
-    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
     ret = rcl_guard_condition_fini(&guard_cond);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   });
+  ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond, NULL);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 
   std::promise<rcl_ret_t> p;
 
@@ -464,11 +487,16 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), guard_condition) {
 
 // Check that index arguments are properly set when adding entities
 TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), add_with_index) {
+  rcl_ret_t ret;
   const size_t kNumEntities = 3u;
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_ret_t ret = rcl_wait_set_init(
+  ret = rcl_wait_set_init(
     &wait_set, 0, kNumEntities, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_wait_set_fini(&wait_set);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
 
   // Initialize to invalid value
   size_t guard_condition_index = 42u;
@@ -479,6 +507,10 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), add_with_index) {
     ret = rcl_guard_condition_init(
       &guard_conditions[i], this->context_ptr, rcl_guard_condition_get_default_options());
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+      ret = rcl_guard_condition_fini(&guard_conditions[i]);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    });
     ret = rcl_wait_set_add_guard_condition(
       &wait_set, &guard_conditions[i], &guard_condition_index);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;