diff --git a/rcl/src/rcl/graph.c b/rcl/src/rcl/graph.c
index 574a7d0f2..f16efe4db 100644
--- a/rcl/src/rcl/graph.c
+++ b/rcl/src/rcl/graph.c
@@ -42,7 +42,7 @@ rcl_get_publisher_names_and_types_by_node(
   if (!rcl_node_is_valid(node)) {
     return RCL_RET_NODE_INVALID;
   }
-  RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT);
@@ -80,7 +80,7 @@ rcl_get_subscriber_names_and_types_by_node(
   if (!rcl_node_is_valid(node)) {
     return RCL_RET_NODE_INVALID;
   }
-  RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT);
@@ -117,7 +117,7 @@ rcl_get_service_names_and_types_by_node(
   if (!rcl_node_is_valid(node)) {
     return RCL_RET_NODE_INVALID;
   }
-  RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node_name, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node_namespace, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(service_names_and_types, RCL_RET_INVALID_ARGUMENT);
@@ -152,7 +152,7 @@ rcl_get_topic_names_and_types(
   if (!rcl_node_is_valid(node)) {
     return RCL_RET_NODE_INVALID;  // error already set
   }
-  RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RCL_RET_INVALID_ARGUMENT);
   rmw_ret_t rmw_ret;
   rmw_ret = rmw_names_and_types_check_zero(topic_names_and_types);
@@ -178,6 +178,7 @@ rcl_get_service_names_and_types(
   if (!rcl_node_is_valid(node)) {
     return RCL_RET_NODE_INVALID;  // error already set
   }
+  RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(service_names_and_types, RCL_RET_INVALID_ARGUMENT);
   rmw_ret_t rmw_ret;
   rmw_ret = rmw_names_and_types_check_zero(service_names_and_types);
@@ -200,6 +201,7 @@ rcl_names_and_types_init(
   rcl_allocator_t * allocator)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(names_and_types, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ALLOCATOR(allocator, return RCL_RET_INVALID_ARGUMENT);
   rmw_ret_t rmw_ret = rmw_names_and_types_init(names_and_types, size, allocator);
   return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
 }
diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index 56fab0921..9cf17c1c7 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -100,7 +100,7 @@ function(test_target_function)
   # TODO(mm318): why rmw_connext tests run much slower than rmw_fastrtps and rmw_opensplice tests
   elseif(rmw_implementation STREQUAL "rmw_connext_cpp")
     message(STATUS "Increasing test_graph${target_suffix} test timeout.")
-    set(AMENT_GTEST_ARGS TIMEOUT 90)
+    set(AMENT_GTEST_ARGS TIMEOUT 180)
   endif()
   rcl_add_custom_gtest(test_graph${target_suffix}
     SRCS rcl/test_graph.cpp
diff --git a/rcl/test/rcl/test_graph.cpp b/rcl/test/rcl/test_graph.cpp
index 4e424ae1b..d611bafbd 100644
--- a/rcl/test/rcl/test_graph.cpp
+++ b/rcl/test/rcl/test_graph.cpp
@@ -131,7 +131,7 @@ class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
 
 /* Test the rcl_get_topic_names_and_types and rcl_destroy_topic_names_and_types functions.
  *
- * This does not test content of the rcl_topic_names_and_types_t structure.
+ * This does not test content of the rcl_names_and_types_t structure.
  */
 TEST_F(
   CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
@@ -139,6 +139,8 @@ TEST_F(
 ) {
   rcl_ret_t ret;
   rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
+    rcutils_get_zero_initialized_allocator());
   rcl_names_and_types_t tnat {};
   rcl_node_t zero_node = rcl_get_zero_initialized_node();
   // invalid node
@@ -155,6 +157,9 @@ TEST_F(
   ret = rcl_get_topic_names_and_types(this->node_ptr, nullptr, false, &tnat);
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
   rcl_reset_error();
+  ret = rcl_get_topic_names_and_types(this->node_ptr, &zero_allocator, false, &tnat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
   // invalid topic_names_and_types
   ret = rcl_get_topic_names_and_types(this->node_ptr, &allocator, false, nullptr);
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
@@ -170,6 +175,52 @@ TEST_F(
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
+/* Test the rcl_get_service_names_and_types function.
+ *
+ * This does not test content of the rcl_names_and_types_t structure.
+ */
+TEST_F(
+  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
+  test_rcl_get_service_names_and_types
+) {
+  rcl_ret_t ret;
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
+    rcutils_get_zero_initialized_allocator());
+  rcl_names_and_types_t tnat {};
+  rcl_node_t zero_node = rcl_get_zero_initialized_node();
+  // invalid node
+  ret = rcl_get_service_names_and_types(nullptr, &allocator, &tnat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_service_names_and_types(&zero_node, &allocator, &tnat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_service_names_and_types(this->old_node_ptr, &allocator, &tnat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // invalid allocator
+  ret = rcl_get_service_names_and_types(this->node_ptr, nullptr, &tnat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_service_names_and_types(this->node_ptr, &zero_allocator, &tnat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // invalid service_names_and_types
+  ret = rcl_get_service_names_and_types(this->node_ptr, &allocator, nullptr);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // invalid argument to rcl_destroy_service_names_and_types
+  ret = rcl_names_and_types_fini(nullptr);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // valid calls
+  ret = rcl_get_service_names_and_types(this->node_ptr, &allocator, &tnat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  ret = rcl_names_and_types_fini(&tnat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+}
+
 /* Test the rcl_names_and_types_init function.
  */
 TEST_F(
@@ -178,6 +229,8 @@ TEST_F(
 ) {
   rcl_ret_t ret;
   rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
+    rcutils_get_zero_initialized_allocator());
   rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
   // invalid names and types
   ret = rcl_names_and_types_init(nullptr, 10, &allocator);
@@ -187,6 +240,9 @@ TEST_F(
   ret = rcl_names_and_types_init(&nat, 10, nullptr);
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
   rcl_reset_error();
+  ret = rcl_names_and_types_init(&nat, 10, &zero_allocator);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
   // zero size
   ret = rcl_names_and_types_init(&nat, 0, &allocator);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -205,9 +261,261 @@ TEST_F(
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
+/* Test the rcl_get_publisher_names_and_types_by_node function.
+ *
+ * This does not test content of the response.
+ */
+TEST_F(
+  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
+  test_rcl_get_publisher_names_and_types_by_node
+) {
+  rcl_ret_t ret;
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
+    rcutils_get_zero_initialized_allocator());
+  rcl_node_t zero_node = rcl_get_zero_initialized_node();
+  const char * unknown_node_name = "/test_rcl_get_publisher_names_and_types_by_node";
+  // const char * unknown_node_ns = "/test/namespace";
+  rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
+  // invalid node
+  ret = rcl_get_publisher_names_and_types_by_node(
+    nullptr, &allocator, false, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_publisher_names_and_types_by_node(
+    &zero_node, &allocator, false, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_publisher_names_and_types_by_node(
+    this->old_node_ptr, &allocator, false, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // invalid allocator
+  ret = rcl_get_publisher_names_and_types_by_node(
+    this->node_ptr, nullptr, false, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_publisher_names_and_types_by_node(
+    this->node_ptr, &zero_allocator, false, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // invalid names
+  ret = rcl_get_publisher_names_and_types_by_node(
+    this->node_ptr, &allocator, false, nullptr, "", &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_publisher_names_and_types_by_node(
+    this->node_ptr, &allocator, false, this->test_graph_node_name, nullptr, &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // test valid strings with invalid node names
+  ret = rcl_get_publisher_names_and_types_by_node(
+    this->node_ptr, &allocator, false, "", "", &nat);
+  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_publisher_names_and_types_by_node(
+    this->node_ptr, &allocator, false, "_InvalidNodeName", "", &nat);
+  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // TODO(jacobperron): This succeeds, but should fail due to invalid namespace
+  // ret = rcl_get_publisher_names_and_types_by_node(
+  //   this->node_ptr, &allocator, false, this->test_graph_node_name, "_!invalidNs", &nat);
+  // EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  // rcl_reset_error();
+  // invalid names and types
+  ret = rcl_get_publisher_names_and_types_by_node(
+    this->node_ptr, &allocator, false, this->test_graph_node_name, "", nullptr);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // unknown node name
+  ret = rcl_get_publisher_names_and_types_by_node(
+    this->node_ptr, &allocator, false, unknown_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // unknown node namespace
+  // TODO(jacobperron): This succeeds, but should fail due to invalid namespace
+  // ret = rcl_get_publisher_names_and_types_by_node(
+  //   this->node_ptr, &allocator, false, this->test_graph_node_name, unknown_node_ns, &nat);
+  // EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  // rcl_reset_error();
+  // valid call
+  ret = rcl_get_publisher_names_and_types_by_node(
+    this->node_ptr, &allocator, false, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+}
+
+/* Test the rcl_get_subscriber_names_and_types_by_node function.
+ *
+ * This does not test content of the response.
+ */
+TEST_F(
+  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
+  test_rcl_get_subscriber_names_and_types_by_node
+) {
+  rcl_ret_t ret;
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
+    rcutils_get_zero_initialized_allocator());
+  rcl_node_t zero_node = rcl_get_zero_initialized_node();
+  const char * unknown_node_name = "/test_rcl_get_subscriber_names_and_types_by_node";
+  // const char * unknown_node_ns = "/test/namespace";
+  rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
+  // invalid node
+  ret = rcl_get_subscriber_names_and_types_by_node(
+    nullptr, &allocator, false, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_subscriber_names_and_types_by_node(
+    &zero_node, &allocator, false, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_subscriber_names_and_types_by_node(
+    this->old_node_ptr, &allocator, false, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // invalid allocator
+  ret = rcl_get_subscriber_names_and_types_by_node(
+    this->node_ptr, nullptr, false, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_subscriber_names_and_types_by_node(
+    this->node_ptr, &zero_allocator, false, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // invalid names
+  ret = rcl_get_subscriber_names_and_types_by_node(
+    this->node_ptr, &allocator, false, nullptr, "", &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_subscriber_names_and_types_by_node(
+    this->node_ptr, &allocator, false, this->test_graph_node_name, nullptr, &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // test valid strings with invalid node names
+  ret = rcl_get_subscriber_names_and_types_by_node(
+    this->node_ptr, &allocator, false, "", "", &nat);
+  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_subscriber_names_and_types_by_node(
+    this->node_ptr, &allocator, false, "_InvalidNodeName", "", &nat);
+  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // TODO(jacobperron): This succeeds, but should fail due to invalid namespace
+  // ret = rcl_get_subscriber_names_and_types_by_node(
+  //   this->node_ptr, &allocator, false, this->test_graph_node_name, "_!invalidNs", &nat);
+  // EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  // rcl_reset_error();
+  // invalid names and types
+  ret = rcl_get_subscriber_names_and_types_by_node(
+    this->node_ptr, &allocator, false, this->test_graph_node_name, "", nullptr);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // unknown node name
+  ret = rcl_get_subscriber_names_and_types_by_node(
+    this->node_ptr, &allocator, false, unknown_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // unknown node namespace
+  // TODO(jacobperron): This succeeds, but should fail due to invalid namespace
+  // ret = rcl_get_subscriber_names_and_types_by_node(
+  //   this->node_ptr, &allocator, false, this->test_graph_node_name, unknown_node_ns, &nat);
+  // EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  // rcl_reset_error();
+  // valid call
+  ret = rcl_get_subscriber_names_and_types_by_node(
+    this->node_ptr, &allocator, false, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+}
+
+/* Test the rcl_get_service_names_and_types_by_node function.
+ *
+ * This does not test content of the response.
+ */
+TEST_F(
+  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
+  test_rcl_get_service_names_and_types_by_node
+) {
+  rcl_ret_t ret;
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
+    rcutils_get_zero_initialized_allocator());
+  rcl_node_t zero_node = rcl_get_zero_initialized_node();
+  const char * unknown_node_name = "/test_rcl_get_service_names_and_types_by_node";
+  // const char * unknown_node_ns = "/test/namespace";
+  rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
+  // invalid node
+  ret = rcl_get_service_names_and_types_by_node(
+    nullptr, &allocator, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_service_names_and_types_by_node(
+    &zero_node, &allocator, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_service_names_and_types_by_node(
+    this->old_node_ptr, &allocator, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // invalid allocator
+  ret = rcl_get_service_names_and_types_by_node(
+    this->node_ptr, nullptr, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_service_names_and_types_by_node(
+    this->node_ptr, &zero_allocator, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // invalid names
+  ret = rcl_get_service_names_and_types_by_node(
+    this->node_ptr, &allocator, nullptr, "", &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_service_names_and_types_by_node(
+    this->node_ptr, &allocator, this->test_graph_node_name, nullptr, &nat);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // test valid strings with invalid node names
+  ret = rcl_get_service_names_and_types_by_node(
+    this->node_ptr, &allocator, "", "", &nat);
+  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  ret = rcl_get_service_names_and_types_by_node(
+    this->node_ptr, &allocator, "_InvalidNodeName", "", &nat);
+  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // TODO(jacobperron): This succeeds, but should fail due to invalid namespace
+  // ret = rcl_get_service_names_and_types_by_node(
+  //   this->node_ptr, &allocator, false, this->test_graph_node_name, "_!invalidNs", &nat);
+  // EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  // rcl_reset_error();
+  // invalid names and types
+  ret = rcl_get_service_names_and_types_by_node(
+    this->node_ptr, &allocator, this->test_graph_node_name, "", nullptr);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // unknown node name
+  ret = rcl_get_service_names_and_types_by_node(
+    this->node_ptr, &allocator, unknown_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+  // unknown node namespace
+  // TODO(jacobperron): This succeeds, but should fail due to invalid namespace
+  // ret = rcl_get_service_names_and_types_by_node(
+  //   this->node_ptr, &allocator, this->test_graph_node_name, unknown_node_ns, &nat);
+  // EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  // rcl_reset_error();
+  // valid call
+  ret = rcl_get_service_names_and_types_by_node(
+    this->node_ptr, &allocator, this->test_graph_node_name, "", &nat);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+}
+
 /* Test the rcl_count_publishers function.
  *
- * This does not test content the response.
+ * This does not test content of the response.
  */
 TEST_F(
   CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
@@ -244,7 +552,7 @@ TEST_F(
 
 /* Test the rcl_count_subscribers function.
  *
- * This does not test content the response.
+ * This does not test content of the response.
  */
 TEST_F(
   CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),