diff --git a/rcl/test/rcl/test_wait.cpp b/rcl/test/rcl/test_wait.cpp
index d61c02cd44..3578072ef5 100644
--- a/rcl/test/rcl/test_wait.cpp
+++ b/rcl/test/rcl/test_wait.cpp
@@ -46,11 +46,12 @@ class CLASSNAME (WaitSetTestFixture, RMW_IMPLEMENTATION) : public ::testing::Tes
   {
     rcl_ret_t ret;
     rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-    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;
     });
+    ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
+    ASSERT_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();
     ret = rcl_init(0, nullptr, &init_options, this->context_ptr);
@@ -66,10 +67,14 @@ 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());
+  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_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;
 
   ret = rcl_wait_set_resize(&wait_set, 0u, 0u, 0u, 0u, 0u, 0u);
@@ -80,16 +85,17 @@ 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());
+  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_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;
 
   int64_t timeout = RCL_MS_TO_NS(10);  // nanoseconds
@@ -100,20 +106,26 @@ 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());
+  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_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;
 
   // Add a dummy guard condition to avoid an error
   rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
+  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_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;
@@ -126,21 +138,16 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 
   rcl_timer_t timer = rcl_get_zero_initialized_timer();
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_timer_fini(&timer);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
   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;
-  });
-
   int64_t timeout = -1;
   std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
   ret = rcl_wait(&wait_set, timeout);
@@ -154,26 +161,28 @@ 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());
+  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_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;
 
   // Add a dummy guard condition to avoid an error
   rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
+  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_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);
-    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();
@@ -187,12 +196,20 @@ 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());
+  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_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;
 
   rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
+  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_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;
@@ -201,13 +218,6 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered
   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();
@@ -221,13 +231,21 @@ 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());
+  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_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;
 
   // Add a dummy guard condition to avoid an error
   rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
+  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_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;
@@ -240,6 +258,11 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 
   rcl_timer_t canceled_timer = rcl_get_zero_initialized_timer();
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_timer_fini(&canceled_timer);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+
   ret = rcl_timer_init(
     &canceled_timer, &clock, this->context_ptr,
     RCL_MS_TO_NS(1), nullptr, rcl_get_default_allocator());
@@ -249,15 +272,6 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
   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;
-  });
-
   int64_t timeout = RCL_MS_TO_NS(10);
   std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
   ret = rcl_wait(&wait_set, timeout);
@@ -274,9 +288,15 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
 
 // 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());
+  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_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;
 
   int64_t timeout = 1;
@@ -350,16 +370,17 @@ 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
     test_set.guard_condition = rcl_get_zero_initialized_guard_condition();
+    // guard_condition must live longer than this loop. Call fini from function-level exit-scope.
     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;
     // setup the wait set
     test_set.wait_set = rcl_get_zero_initialized_wait_set();
+    // wait_set must live longer than this loop. Call fini from function-level exit-scope.
     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;
@@ -370,7 +391,7 @@ 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;
@@ -417,24 +438,25 @@ 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());
+  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_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;
   rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
+  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_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;
-  });
-
   std::promise<rcl_ret_t> p;
 
   int64_t timeout = -1;
@@ -464,10 +486,17 @@ 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(
+  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_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;
 
   // Initialize to invalid value
@@ -476,6 +505,10 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), add_with_index) {
   rcl_guard_condition_t guard_conditions[kNumEntities];
   for (size_t i = 0u; i < kNumEntities; ++i) {
     guard_conditions[i] = rcl_get_zero_initialized_guard_condition();
+    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_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;