diff --git a/rcl/test/rcl/test_wait.cpp b/rcl/test/rcl/test_wait.cpp
index d61c02cd4..a5399e91b 100644
--- a/rcl/test/rcl/test_wait.cpp
+++ b/rcl/test/rcl/test_wait.cpp
@@ -111,35 +111,42 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
   rcl_ret_t 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;
 
   rcl_clock_t clock;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_clock_fini(&clock);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
   ASSERT_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();
@@ -158,21 +165,22 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
   rcl_ret_t 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;
@@ -191,23 +199,24 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered
   rcl_ret_t 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();
@@ -225,18 +234,30 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
   rcl_ret_t 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;
 
   rcl_clock_t clock;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    ret = rcl_clock_fini(&clock);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 
   rcl_timer_t canceled_timer = rcl_get_zero_initialized_timer();
@@ -244,19 +265,14 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
     &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();
@@ -267,9 +283,6 @@ 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.
@@ -278,6 +291,10 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), excess_capacity) {
   rcl_ret_t 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);
@@ -358,11 +375,13 @@ 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;
@@ -421,19 +440,20 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), guard_condition) {
   rcl_ret_t 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;
 
@@ -469,6 +489,10 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), add_with_index) {
   rcl_ret_t 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 +503,10 @@ 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;