diff --git a/rcl/src/rcl/service.c b/rcl/src/rcl/service.c
index cf7de3c4e..d773f2549 100644
--- a/rcl/src/rcl/service.c
+++ b/rcl/src/rcl/service.c
@@ -111,7 +111,6 @@ rcl_service_init(
     RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
     ret = RCL_RET_ERROR;
     goto cleanup;
-    return RCL_RET_ERROR;
   }
   if (ret != RCL_RET_OK) {
     if (ret == RCL_RET_TOPIC_NAME_INVALID || ret == RCL_RET_UNKNOWN_SUBSTITUTION) {
diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index 3aac54c91..9c4780b77 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -217,7 +217,7 @@ function(test_target_function)
     SRCS rcl/test_service.cpp rcl/wait_for_entity_helpers.cpp
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}
+    LIBRARIES ${PROJECT_NAME} mimick
     AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
   )
 
diff --git a/rcl/test/rcl/test_service.cpp b/rcl/test/rcl/test_service.cpp
index 16d1498e9..9ec820f8c 100644
--- a/rcl/test/rcl/test_service.cpp
+++ b/rcl/test/rcl/test_service.cpp
@@ -21,8 +21,11 @@
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcl/error_handling.h"
+#include "rmw/validate_namespace.h"
+
 #include "wait_for_entity_helpers.hpp"
 #include "./allocator_testing_utils.h"
+#include "../mocking_utils/patch.hpp"
 
 #ifdef RMW_IMPLEMENTATION
 # define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
@@ -420,3 +423,206 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_fail_name
   EXPECT_EQ(RCL_RET_SERVICE_NAME_INVALID, ret) << rcl_get_error_string().str;
   rcl_reset_error();
 }
+
+// Define dummy comparison operators for rcutils_allocator_t type for use with the Mimick Library
+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 failed service initialization using mocks
+ */
+TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_fail_ini_mocked) {
+  const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
+    test_msgs, srv, BasicTypes);
+  constexpr char topic[] = "topic";
+  rcl_service_t service = rcl_get_zero_initialized_service();
+  rcl_service_options_t service_options = rcl_service_get_default_options();
+  service_options.qos.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+  rcl_ret_t ret = RCL_RET_OK;
+
+  {
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rcl", rcutils_string_map_init, RCUTILS_RET_ERROR);
+    ret = rcl_service_init(&service, this->node_ptr, ts, topic, &service_options);
+    EXPECT_EQ(RCL_RET_ERROR, ret);
+    EXPECT_TRUE(rcl_error_is_set());
+    rcl_reset_error();
+  }
+  {
+    // Mocking this function causes rcl_expand_topic_name to return RCL_RET_ERROR
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rcl", rmw_validate_namespace, RMW_RET_ERROR);
+    ret = rcl_service_init(&service, this->node_ptr, ts, topic, &service_options);
+    EXPECT_EQ(RCL_RET_ERROR, ret);
+    EXPECT_TRUE(rcl_error_is_set());
+    rcl_reset_error();
+  }
+  {
+    auto mock = mocking_utils::inject_on_return(
+      "lib:rcl", rcutils_string_map_fini, RCUTILS_RET_ERROR);
+    ret = rcl_service_init(&service, this->node_ptr, ts, topic, &service_options);
+    EXPECT_EQ(RCL_RET_ERROR, ret);
+  }
+  {
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rcl", rmw_validate_full_topic_name, RMW_RET_ERROR);
+    ret = rcl_service_init(&service, this->node_ptr, ts, topic, &service_options);
+    EXPECT_EQ(RCL_RET_ERROR, ret);
+    EXPECT_TRUE(rcl_error_is_set());
+    rcl_reset_error();
+  }
+  {
+    auto mock = mocking_utils::patch(
+      "lib:rcl", rmw_validate_full_topic_name,
+      [](auto, int * result, auto) {
+        *result = RMW_TOPIC_INVALID_IS_EMPTY_STRING;
+        return RMW_RET_OK;
+      });
+    ret = rcl_service_init(&service, this->node_ptr, ts, topic, &service_options);
+    EXPECT_EQ(RCL_RET_SERVICE_NAME_INVALID, ret);
+    EXPECT_TRUE(rcl_error_is_set());
+    rcl_reset_error();
+  }
+  {
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rcl", rmw_create_service, nullptr);
+    ret = rcl_service_init(&service, this->node_ptr, ts, topic, &service_options);
+    EXPECT_EQ(RCL_RET_ERROR, ret);
+    EXPECT_TRUE(rcl_error_is_set());
+    rcl_reset_error();
+  }
+}
+
+/* Test failed service finalization using mocks
+ */
+TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_fail_fini_mocked) {
+  const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
+    test_msgs, srv, BasicTypes);
+  constexpr char topic[] = "primitives";
+
+  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);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  rcl_service_t empty_service = rcl_get_zero_initialized_service();
+  ret = rcl_service_fini(&empty_service, this->node_ptr);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  auto mock = mocking_utils::inject_on_return(
+    "lib:rcl", rmw_destroy_service, RMW_RET_ERROR);
+  ret = rcl_service_fini(&service, this->node_ptr);
+  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  EXPECT_TRUE(rcl_error_is_set());
+  rcl_reset_error();
+}
+
+/* Test failed service take_request_with_info using mocks and nullptrs
+ */
+TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_fail_take_request_with_info) {
+  const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
+    test_msgs, srv, BasicTypes);
+  constexpr char topic[] = "primitives";
+
+  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);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+
+  test_msgs__srv__BasicTypes_Request service_request;
+  test_msgs__srv__BasicTypes_Request__init(&service_request);
+  rmw_service_info_t header;
+
+  ret = rcl_take_request_with_info(nullptr, &header, &service_request);
+  EXPECT_EQ(RCL_RET_SERVICE_INVALID, ret);
+  EXPECT_TRUE(rcl_error_is_set());
+  rcl_reset_error();
+
+  ret = rcl_take_request_with_info(&service, nullptr, &service_request);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
+  EXPECT_TRUE(rcl_error_is_set());
+  rcl_reset_error();
+
+  ret = rcl_take_request_with_info(&service, &header, nullptr);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
+  EXPECT_TRUE(rcl_error_is_set());
+  rcl_reset_error();
+
+  {
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rcl", rmw_take_request, RMW_RET_ERROR);
+    ret = rcl_take_request_with_info(&service, &header, &service_request);
+    EXPECT_EQ(RCL_RET_ERROR, ret);
+    EXPECT_TRUE(rcl_error_is_set());
+    rcl_reset_error();
+  }
+  {
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rcl", rmw_take_request, RMW_RET_BAD_ALLOC);
+    ret = rcl_take_request_with_info(&service, &header, &service_request);
+    EXPECT_EQ(RCL_RET_BAD_ALLOC, ret);
+    EXPECT_TRUE(rcl_error_is_set());
+    rcl_reset_error();
+  }
+  {
+    auto mock = mocking_utils::patch(
+      "lib:rcl", rmw_take_request,
+      [](auto, auto, auto, bool * taken) {
+        *taken = false;
+        return RMW_RET_OK;
+      });
+    ret = rcl_take_request_with_info(&service, &header, &service_request);
+    EXPECT_EQ(RCL_RET_SERVICE_TAKE_FAILED, ret);
+  }
+}
+
+/* Test failed service send_response using mocks and nullptrs
+ */
+TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_fail_send_response) {
+  const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
+    test_msgs, srv, BasicTypes);
+  constexpr char topic[] = "primitives";
+
+  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);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+
+  // Init dummy response.
+  test_msgs__srv__BasicTypes_Response service_response;
+  test_msgs__srv__BasicTypes_Response__init(&service_response);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    test_msgs__srv__BasicTypes_Response__fini(&service_response);
+  });
+  rmw_service_info_t header;
+
+  ret = rcl_send_response(nullptr, &header.request_id, &service_response);
+  EXPECT_EQ(RCL_RET_SERVICE_INVALID, ret);
+
+  ret = rcl_send_response(&service, nullptr, &service_response);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
+
+  ret = rcl_send_response(&service, &header.request_id, nullptr);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
+
+  {
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rcl", rmw_send_response, RMW_RET_ERROR);
+    ret = rcl_send_response(&service, &header.request_id, &service_response);
+    EXPECT_EQ(RCL_RET_ERROR, ret);
+    EXPECT_TRUE(rcl_error_is_set());
+    rcl_reset_error();
+  }
+}