diff --git a/rcl/test/rcl/test_context.cpp b/rcl/test/rcl/test_context.cpp
index 9ef189fed6..22cc6ff8b0 100644
--- a/rcl/test/rcl/test_context.cpp
+++ b/rcl/test/rcl/test_context.cpp
@@ -128,4 +128,26 @@ TEST_F(CLASSNAME(TestContextFixture, RMW_IMPLEMENTATION), nominal) {
 TEST_F(CLASSNAME(TestContextFixture, RMW_IMPLEMENTATION), bad_fini) {
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_context_fini(nullptr));
   rcl_reset_error();
+
+  rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+  rcl_ret_t 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;
+  });
+
+  rcl_context_t context = rcl_get_zero_initialized_context();
+  ret = rcl_init(0, nullptr, &init_options, &context);
+  EXPECT_EQ(RCL_RET_OK, ret);
+
+  ret = rcl_context_fini(&context);
+  EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
+  rcl_reset_error();
+
+  ret = rcl_shutdown(&context);
+  EXPECT_EQ(ret, RCL_RET_OK);
+
+  ret = rcl_context_fini(&context);
+  EXPECT_EQ(ret, RCL_RET_OK);
 }
diff --git a/rcl/test/rcl/test_events.cpp b/rcl/test/rcl/test_events.cpp
index c5184ac32c..d645b4bbb8 100644
--- a/rcl/test/rcl/test_events.cpp
+++ b/rcl/test/rcl/test_events.cpp
@@ -696,6 +696,40 @@ TEST_P(TestEventFixture, test_pubsub_incompatible_qos)
   tear_down_publisher_subscriber();
 }
 
+/*
+ * Passing bad param subscriber/publisher event ini
+ */
+TEST_F(TestEventFixture, test_bad_event_ini)
+{
+  setup_publisher_subscriber(default_qos_profile, default_qos_profile);
+  const rcl_subscription_event_type_t unknown_sub_type = (rcl_subscription_event_type_t) 5432;
+  const rcl_publisher_event_type_t unknown_pub_type = (rcl_publisher_event_type_t) 5432;
+
+  publisher_event = rcl_get_zero_initialized_event();
+  rcl_ret_t ret = rcl_publisher_event_init(
+    &publisher_event,
+    &publisher,
+    unknown_pub_type);
+  EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
+
+  subscription_event = rcl_get_zero_initialized_event();
+  ret = rcl_subscription_event_init(
+    &subscription_event,
+    &subscription,
+    unknown_sub_type);
+  EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
+
+  tear_down_publisher_subscriber();
+}
+
+/*
+ * Passing bad argument to get_rmw_handle
+ */
+TEST_F(TestEventFixture, test_bad_get_handle)
+{
+  EXPECT_EQ(NULL, rcl_event_get_rmw_handle(NULL));
+}
+
 static
 std::array<TestIncompatibleQosEventParams, 5>
 get_test_pubsub_incompatible_qos_inputs()
diff --git a/rcl/test/rcl/test_guard_condition.cpp b/rcl/test/rcl/test_guard_condition.cpp
index 6a3ee01cf0..b34e68d7fa 100644
--- a/rcl/test/rcl/test_guard_condition.cpp
+++ b/rcl/test/rcl/test_guard_condition.cpp
@@ -216,3 +216,14 @@ TEST_F(
   EXPECT_EQ(RCL_RET_OK, ret);
   rcl_reset_error();
 }
+
+/* Tests trigger_guard_condition with bad arguments
+ */
+TEST_F(
+  CLASSNAME(TestGuardConditionFixture, RMW_IMPLEMENTATION), test_rcl_guard_condition_bad_arg) {
+  rcl_guard_condition_t zero_guard_condition = rcl_get_zero_initialized_guard_condition();
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_trigger_guard_condition(nullptr));
+  rcl_reset_error();
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_trigger_guard_condition(&zero_guard_condition));
+  rcl_reset_error();
+}
diff --git a/rcl/test/rcl/test_lexer_lookahead.cpp b/rcl/test/rcl/test_lexer_lookahead.cpp
index fd625e5187..0fe8ff05e9 100644
--- a/rcl/test/rcl/test_lexer_lookahead.cpp
+++ b/rcl/test/rcl/test_lexer_lookahead.cpp
@@ -195,6 +195,47 @@ TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_accept)
   EXPECT_EQ(RCL_LEXEME_EOF, lexeme);
 }
 
+TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_accept_bad_arg)
+{
+  rcl_lexer_lookahead2_t buffer;
+  rcl_lexer_lookahead2_t buffer_not_ini = rcl_get_zero_initialized_lexer_lookahead2();
+  SCOPE_LOOKAHEAD2(buffer, "foobar/");
+
+  rcl_lexeme_t lexeme = RCL_LEXEME_NONE;
+  const char * lexeme_text;
+  size_t lexeme_text_length = 0;
+
+  // Can't accept without peek first
+  rcl_ret_t ret = rcl_lexer_lookahead2_accept(&buffer, &lexeme_text, &lexeme_text_length);
+  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  // Expected usage
+  ret = rcl_lexer_lookahead2_peek(&buffer, &lexeme);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  EXPECT_EQ(RCL_LEXEME_TOKEN, lexeme);
+
+  // Invalid nullptr parameter
+  ret = rcl_lexer_lookahead2_accept(nullptr, &lexeme_text, &lexeme_text_length);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  // Invalid not ini parameter
+  ret = rcl_lexer_lookahead2_accept(&buffer_not_ini, &lexeme_text, &lexeme_text_length);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  // Invalid nullptr as lexeme_text_length
+  ret = rcl_lexer_lookahead2_accept(&buffer, &lexeme_text, nullptr);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  // Invalid nullptr as lexeme_text
+  ret = rcl_lexer_lookahead2_accept(&buffer, nullptr, &lexeme_text_length);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+}
+
 TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_expect)
 {
   rcl_ret_t ret;
diff --git a/rcl/test/rcl/test_service.cpp b/rcl/test/rcl/test_service.cpp
index 024738d46a..16d1498e9a 100644
--- a/rcl/test/rcl/test_service.cpp
+++ b/rcl/test/rcl/test_service.cpp
@@ -402,3 +402,21 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_bad_arguments) {
       &service, this->node_ptr, ts,
       topic, &service_options_bad_alloc)) << rcl_get_error_string().str;
 }
+
+/* Name failed tests
+ */
+TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_fail_name) {
+  const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
+    test_msgs, srv, BasicTypes);
+  const char * topic = "white space";
+  rcl_service_t service = rcl_get_zero_initialized_service();
+  rcl_service_options_t service_options = rcl_service_get_default_options();
+  rcl_ret_t ret = rcl_service_init(&service, this->node_ptr, ts, topic, &service_options);
+  EXPECT_EQ(RCL_RET_SERVICE_NAME_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  const char * topic2 = "{invalidbecausecurlybraces}";
+  ret = rcl_service_init(&service, this->node_ptr, ts, topic2, &service_options);
+  EXPECT_EQ(RCL_RET_SERVICE_NAME_INVALID, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
+}
diff --git a/rcl/test/rcl/test_validate_topic_name.cpp b/rcl/test/rcl/test_validate_topic_name.cpp
index f54b8567ad..eb4a2cecbe 100644
--- a/rcl/test/rcl/test_validate_topic_name.cpp
+++ b/rcl/test/rcl/test_validate_topic_name.cpp
@@ -120,6 +120,11 @@ TEST(test_validate_topic_name, various_valid_topics) {
     EXPECT_EQ(42u, invalid_index);
     EXPECT_STREQ(nullptr, rcl_topic_name_validation_result_string(validation_result));
   }
+
+  int not_valid_validation_result = 5600;
+  EXPECT_STREQ(
+    "unknown result code for rcl topic name validation",
+    rcl_topic_name_validation_result_string(not_valid_validation_result));
 }
 
 TEST(test_validate_topic_name, various_invalid_topics) {