diff --git a/test_rmw_implementation/test/test_init_shutdown.cpp b/test_rmw_implementation/test/test_init_shutdown.cpp
index 6f47c096..9595be35 100644
--- a/test_rmw_implementation/test/test_init_shutdown.cpp
+++ b/test_rmw_implementation/test/test_init_shutdown.cpp
@@ -14,8 +14,6 @@
 
 #include <gtest/gtest.h>
 
-#include "osrf_testing_tools_cpp/scope_exit.hpp"
-
 #include "rcutils/allocator.h"
 #include "rcutils/error_handling.h"
 
@@ -28,27 +26,138 @@
 # define CLASSNAME(NAME, SUFFIX) NAME
 #endif
 
-class CLASSNAME (TestInitShutdown, RMW_IMPLEMENTATION) : public ::testing::Test {};
+class CLASSNAME (TestInitShutdown, RMW_IMPLEMENTATION) : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    options = rmw_get_zero_initialized_init_options();
+    rmw_ret_t ret = rmw_init_options_init(&options, rcutils_get_default_allocator());
+    ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+  }
 
-TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), init_shutdown) {
-  rmw_context_t context = rmw_get_zero_initialized_context();
-  rmw_init_options_t options = rmw_get_zero_initialized_init_options();
-  rmw_ret_t ret = rmw_init_options_init(&options, rcutils_get_default_allocator());
-  ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  void TearDown() override
   {
     rmw_ret_t ret = rmw_init_options_fini(&options);
     EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
-  });
+  }
+
+  rmw_init_options_t options;
+};
+
+TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), init_with_bad_arguments) {
+  rmw_context_t context = rmw_get_zero_initialized_context();
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, rmw_init(nullptr, &context));
+  rcutils_reset_error();
+
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, rmw_init(&options, nullptr));
+  rcutils_reset_error();
+
+  rmw_init_options_t invalid_options = rmw_get_zero_initialized_init_options();
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, rmw_init(&invalid_options, &context));
+  rcutils_reset_error();
+
+  const char * implementation_identifier = options.implementation_identifier;
+  options.implementation_identifier = "not-a-real-rmw-implementation-identifier";
+  EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, rmw_init(&options, &context));
+  options.implementation_identifier = implementation_identifier;
+  rcutils_reset_error();
+
+  // Initialization, shutdown, and finalization should still succeed
+  rmw_ret_t ret = rmw_init(&options, &context);
+  ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+  ret = rmw_shutdown(&context);
+  EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+  ret = rmw_context_fini(&context);
+  EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+}
+
+TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), shutdown_with_bad_arguments) {
+  rmw_ret_t ret = rmw_shutdown(nullptr);
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
+  rcutils_reset_error();
+
+  rmw_context_t context = rmw_get_zero_initialized_context();
+  ret = rmw_shutdown(&context);
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
+  rcutils_reset_error();
 
   ret = rmw_init(&options, &context);
   ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    rmw_ret_t ret = rmw_context_fini(&context);
-    EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
-  });
 
+  const char * implementation_identifier = context.implementation_identifier;
+  context.implementation_identifier = "not-a-real-rmw-implementation-identifier";
+  EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, rmw_shutdown(&context));
+  context.implementation_identifier = implementation_identifier;
+  rcutils_reset_error();
+
+  // Shutdown, and finalization should still succeed
+  ret = rmw_shutdown(&context);
+  EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+  ret = rmw_context_fini(&context);
+  EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+}
+
+TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), context_fini_with_bad_arguments) {
+  rmw_ret_t ret = rmw_context_fini(nullptr);
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
+  rcutils_reset_error();
+
+  rmw_context_t context = rmw_get_zero_initialized_context();
+  ret = rmw_context_fini(&context);
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
+  rcutils_reset_error();
+
+  ret = rmw_init(&options, &context);
+  ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+
+  const char * implementation_identifier = context.implementation_identifier;
+  context.implementation_identifier = "not-a-real-rmw-implementation-identifier";
+  EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, rmw_context_fini(&context));
+  context.implementation_identifier = implementation_identifier;
+  rcutils_reset_error();
+
+  // Shutdown and finalization should still succeed
+  ret = rmw_shutdown(&context);
+  EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+  ret = rmw_context_fini(&context);
+  EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+}
+
+TEST_F(CLASSNAME(TestInitShutdown, RMW_IMPLEMENTATION), init_shutdown) {
+  rmw_context_t context = rmw_get_zero_initialized_context();
+  rmw_ret_t ret = rmw_init(&options, &context);
+  ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+
+  // Initialization twice should fail
+  ret = rmw_init(&options, &context);
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
+  rcutils_reset_error();
+
+  // Finalization w/o shutdown should fail
+  ret = rmw_context_fini(&context);
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
+  rcutils_reset_error();
+
+  ret = rmw_shutdown(&context);
+  EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+
+  // Shutdown twice should succeed
   ret = rmw_shutdown(&context);
   EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+
+  ret = rmw_context_fini(&context);
+  EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+
+  // Finalization twice should fail
+  ret = rmw_context_fini(&context);
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
+
+  // Initialization, shutdown, and finalization should still succeed
+  ret = rmw_init(&options, &context);
+  ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+  ret = rmw_shutdown(&context);
+  EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+  ret = rmw_context_fini(&context);
+  EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
 }