diff --git a/rcl_action/CMakeLists.txt b/rcl_action/CMakeLists.txt
index 620c9aac8..b32b8ed28 100644
--- a/rcl_action/CMakeLists.txt
+++ b/rcl_action/CMakeLists.txt
@@ -170,6 +170,7 @@ if(BUILD_TESTING)
       ${PROJECT_NAME}
     )
     ament_target_dependencies(test_action_server
+      "osrf_testing_tools_cpp"
       "rcl"
       "test_msgs"
     )
diff --git a/rcl_action/test/rcl_action/test_action_client.cpp b/rcl_action/test/rcl_action/test_action_client.cpp
index 9686e253f..4de1fd894 100644
--- a/rcl_action/test/rcl_action/test_action_client.cpp
+++ b/rcl_action/test/rcl_action/test_action_client.cpp
@@ -52,6 +52,8 @@ class TestActionClientBaseFixture : public ::testing::Test
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
     ret = rcl_shutdown(&this->context);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_context_fini(&this->context);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   }
 
   rcl_context_t context;
diff --git a/rcl_action/test/rcl_action/test_action_communication.cpp b/rcl_action/test/rcl_action/test_action_communication.cpp
index 07ab08a63..25947c76f 100644
--- a/rcl_action/test/rcl_action/test_action_communication.cpp
+++ b/rcl_action/test/rcl_action/test_action_communication.cpp
@@ -13,6 +13,8 @@
 // limitations under the License.
 #include <gtest/gtest.h>
 
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+
 #include "rcl_action/action_client.h"
 #include "rcl_action/action_server.h"
 #include "rcl_action/wait.h"
@@ -41,6 +43,9 @@ class CLASSNAME (TestActionCommunication, RMW_IMPLEMENTATION) : public ::testing
     rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
     ret = rcl_init_options_init(&init_options, 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;
+    });
     context = rcl_get_zero_initialized_context();
     ret = rcl_init(0, nullptr, &init_options, &context);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -119,6 +124,8 @@ class CLASSNAME (TestActionCommunication, RMW_IMPLEMENTATION) : public ::testing
     EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
     ret = rcl_shutdown(&context);
     EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+    ret = rcl_context_fini(&this->context);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   }
 
   void init_test_uuid0(uint8_t * uuid)
diff --git a/rcl_action/test/rcl_action/test_action_interaction.cpp b/rcl_action/test/rcl_action/test_action_interaction.cpp
index 49dc35178..7b3813229 100644
--- a/rcl_action/test/rcl_action/test_action_interaction.cpp
+++ b/rcl_action/test/rcl_action/test_action_interaction.cpp
@@ -13,6 +13,8 @@
 // limitations under the License.
 #include <gtest/gtest.h>
 
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+
 #include "rcl_action/action_client.h"
 #include "rcl_action/action_server.h"
 #include "rcl_action/wait.h"
@@ -53,6 +55,9 @@ class CLASSNAME (TestActionClientServerInteraction, RMW_IMPLEMENTATION) : public
     rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
     ret = rcl_init_options_init(&init_options, 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;
+    });
     context = rcl_get_zero_initialized_context();
     ret = rcl_init(0, nullptr, &init_options, &context);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -141,6 +146,8 @@ class CLASSNAME (TestActionClientServerInteraction, RMW_IMPLEMENTATION) : public
     EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
     ret = rcl_shutdown(&context);
     EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+    ret = rcl_context_fini(&this->context);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   }
 
   void init_test_uuid0(uint8_t * uuid)
diff --git a/rcl_action/test/rcl_action/test_action_server.cpp b/rcl_action/test/rcl_action/test_action_server.cpp
index aa6fe75e5..67dc438ba 100644
--- a/rcl_action/test/rcl_action/test_action_server.cpp
+++ b/rcl_action/test/rcl_action/test_action_server.cpp
@@ -19,6 +19,8 @@
 
 #include "action_msgs/srv/cancel_goal.h"
 
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+
 #include "rcl_action/action_server.h"
 
 #include "rcl/error_handling.h"
@@ -137,12 +139,21 @@ TEST(TestActionServerInitFini, test_action_server_init_fini)
   ret = rcl_clock_fini(&clock);
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
 
+  // Finalize init_options
+  ret = rcl_init_options_fini(&init_options);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
   // Finalize node
   ret = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 
+  // Shutdown node
   ret = rcl_shutdown(&context);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  // Finalize context
+  ret = rcl_context_fini(&context);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
 class TestActionServer : public ::testing::Test
@@ -155,6 +166,9 @@ class TestActionServer : public ::testing::Test
     rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
     ret = rcl_init_options_init(&init_options, 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;
+    });
     context = rcl_get_zero_initialized_context();
     ret = rcl_init(0, nullptr, &init_options, &context);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -185,6 +199,8 @@ class TestActionServer : public ::testing::Test
     EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
     ret = rcl_shutdown(&context);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_context_fini(&this->context);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   }
 
   void init_test_uuid0(uint8_t * uuid)