diff --git a/rclcpp/test/CMakeLists.txt b/rclcpp/test/CMakeLists.txt
index 2db9a99b11..53a2da36d7 100644
--- a/rclcpp/test/CMakeLists.txt
+++ b/rclcpp/test/CMakeLists.txt
@@ -110,7 +110,7 @@ if(TARGET test_expand_topic_or_service_name)
     "rosidl_runtime_cpp"
     "rosidl_typesupport_cpp"
   )
-  target_link_libraries(test_expand_topic_or_service_name ${PROJECT_NAME})
+  target_link_libraries(test_expand_topic_or_service_name ${PROJECT_NAME} mimick)
 endif()
 ament_add_gtest(test_function_traits rclcpp/test_function_traits.cpp)
 if(TARGET test_function_traits)
diff --git a/rclcpp/test/rclcpp/test_expand_topic_or_service_name.cpp b/rclcpp/test/rclcpp/test_expand_topic_or_service_name.cpp
index 98c10609b4..37c876dd34 100644
--- a/rclcpp/test/rclcpp/test_expand_topic_or_service_name.cpp
+++ b/rclcpp/test/rclcpp/test_expand_topic_or_service_name.cpp
@@ -14,9 +14,20 @@
 
 #include <gtest/gtest.h>
 
+#include <stdexcept>
+
+#include "rcl/expand_topic_name.h"
+#include "rcl/validate_topic_name.h"
+#include "rmw/validate_full_topic_name.h"
+#include "rmw/validate_namespace.h"
+#include "rmw/validate_node_name.h"
+
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
 
+#include "../mocking_utils/patch.hpp"
+#include "../utils/rclcpp_gtest_macros.hpp"
+
 /*
    Testing expand_topic_or_service_name.
  */
@@ -78,3 +89,140 @@ TEST(TestExpandTopicOrServiceName, exceptions) {
     }, rclcpp::exceptions::InvalidServiceNameError);
   }
 }
+
+// Required for mocking_utils below
+MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, ==)
+MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, !=)
+MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, <)
+MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, >)
+
+TEST(TestExpandTopicOrServiceName, rcutils_string_map_init_fail_bad_alloc) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcutils_string_map_init, RCUTILS_RET_BAD_ALLOC);
+  RCLCPP_EXPECT_THROW_EQ(
+    rclcpp::expand_topic_or_service_name("chatter", "node", "/ns"),
+    std::bad_alloc());
+}
+
+TEST(TestExpandTopicOrServiceName, rcutils_string_map_init_fail_other) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcutils_string_map_init, RCUTILS_RET_ERROR);
+  RCLCPP_EXPECT_THROW_EQ(
+    rclcpp::expand_topic_or_service_name("chatter", "node", "/ns"),
+    std::runtime_error("error not set"));
+}
+
+TEST(TestExpandTopicOrServiceName, rcl_get_default_topic_name_substitution_fail) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcl_get_default_topic_name_substitutions, RCL_RET_ERROR);
+  RCLCPP_EXPECT_THROW_EQ(
+    rclcpp::expand_topic_or_service_name("chatter", "node", "/ns"),
+    std::runtime_error("error not set"));
+}
+
+TEST(TestExpandTopicOrServiceName, rcl_get_default_topic_name_substitution_and_map_fini_fail) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcl_get_default_topic_name_substitutions, RCL_RET_ERROR);
+  auto mock2 = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcutils_string_map_fini, RCUTILS_RET_ERROR);
+  RCLCPP_EXPECT_THROW_EQ(
+    rclcpp::expand_topic_or_service_name("chatter", "node", "/ns"),
+    std::runtime_error("error not set"));
+}
+
+TEST(TestExpandTopicOrServiceName, rcutils_string_map_fini_fail_bad_alloc) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcutils_string_map_fini, RCUTILS_RET_ERROR);
+  RCLCPP_EXPECT_THROW_EQ(
+    rclcpp::expand_topic_or_service_name("chatter", "node", "/ns"),
+    std::runtime_error("error not set"));
+}
+
+TEST(TestExpandTopicOrServiceName, rmw_valid_full_topic_name_fail_invalid_argument) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rmw_validate_full_topic_name, RMW_RET_INVALID_ARGUMENT);
+  RCLCPP_EXPECT_THROW_EQ(
+    rclcpp::expand_topic_or_service_name("chatter", "node", "/ns"),
+    rclcpp::exceptions::RCLInvalidArgument(
+      RCL_RET_INVALID_ARGUMENT, rcl_get_error_state(), "failed to validate full topic name"));
+}
+
+TEST(TestExpandTopicOrServiceName, rcl_expand_topic_name_fail) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcl_expand_topic_name, RCL_RET_TOPIC_NAME_INVALID);
+  RCLCPP_EXPECT_THROW_EQ(
+    rclcpp::expand_topic_or_service_name("chatter", "node", "/ns"),
+    std::runtime_error("topic name unexpectedly valid"));
+}
+
+TEST(TestExpandTopicOrServiceName, rcl_validate_topic_name_fail) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcl_expand_topic_name, RCL_RET_TOPIC_NAME_INVALID);
+  auto mock2 = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcl_validate_topic_name, RCL_RET_ERROR);
+  RCLCPP_EXPECT_THROW_EQ(
+    rclcpp::expand_topic_or_service_name("chatter", "node", "/ns"),
+    rclcpp::exceptions::RCLError(
+      RCL_RET_ERROR, rcl_get_error_state(), "failed to validate full topic name"));
+}
+
+TEST(TestExpandTopicOrServiceName, rmw_validate_node_name_fail_invalid_argument) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcl_expand_topic_name, RCL_RET_NODE_INVALID_NAME);
+  auto mock2 = mocking_utils::patch_and_return(
+    "lib:rclcpp", rmw_validate_node_name, RMW_RET_INVALID_ARGUMENT);
+  RCLCPP_EXPECT_THROW_EQ(
+    rclcpp::expand_topic_or_service_name("chatter", "node", "/ns"),
+    rclcpp::exceptions::RCLInvalidArgument(
+      RCL_RET_INVALID_ARGUMENT, rcl_get_error_state(), "failed to validate node name"));
+}
+
+TEST(TestExpandTopicOrServiceName, rmw_validate_node_name_fail_other) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcl_expand_topic_name, RCL_RET_NODE_INVALID_NAME);
+  auto mock2 = mocking_utils::patch_and_return(
+    "lib:rclcpp", rmw_validate_node_name, RMW_RET_ERROR);
+  RCLCPP_EXPECT_THROW_EQ(
+    rclcpp::expand_topic_or_service_name("chatter", "node", "/ns"),
+    rclcpp::exceptions::RCLError(
+      RCL_RET_ERROR, rcl_get_error_state(), "failed to validate node name"));
+}
+
+TEST(TestExpandTopicOrServiceName, rmw_validate_namespace_fail_invalid_argument) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcl_expand_topic_name, RCL_RET_NODE_INVALID_NAMESPACE);
+  auto mock2 = mocking_utils::patch_and_return(
+    "lib:rclcpp", rmw_validate_namespace, RMW_RET_INVALID_ARGUMENT);
+  RCLCPP_EXPECT_THROW_EQ(
+    rclcpp::expand_topic_or_service_name("chatter", "node", "/ns"),
+    rclcpp::exceptions::RCLInvalidArgument(
+      RCL_RET_INVALID_ARGUMENT, rcl_get_error_state(), "failed to validate namespace"));
+}
+
+TEST(TestExpandTopicOrServiceName, rmw_validate_namespace_fail_other) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcl_expand_topic_name, RCL_RET_NODE_INVALID_NAMESPACE);
+  auto mock2 = mocking_utils::patch_and_return(
+    "lib:rclcpp", rmw_validate_namespace, RMW_RET_ERROR);
+  RCLCPP_EXPECT_THROW_EQ(
+    rclcpp::expand_topic_or_service_name("chatter", "node", "/ns"),
+    rclcpp::exceptions::RCLError(
+      RCL_RET_ERROR, rcl_get_error_state(), "failed to validate namespace"));
+}
+
+TEST(TestExpandTopicOrServiceName, rcl_expand_topic_name_fail_other) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcl_expand_topic_name, RCL_RET_ERROR);
+  RCLCPP_EXPECT_THROW_EQ(
+    rclcpp::expand_topic_or_service_name("chatter", "node", "/ns"),
+    rclcpp::exceptions::RCLError(RCL_RET_ERROR, rcl_get_error_state(), "error not set"));
+}
+
+TEST(TestExpandTopicOrServiceName, rmw_validate_full_topic_name_fail_other) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rmw_validate_full_topic_name, RMW_RET_ERROR);
+  RCLCPP_EXPECT_THROW_EQ(
+    rclcpp::expand_topic_or_service_name("chatter", "node", "/ns"),
+    rclcpp::exceptions::RCLError(
+      RCL_RET_ERROR, rcl_get_error_state(), "failed to validate full topic name"));
+}