diff --git a/rcl/src/rcl/wait.c b/rcl/src/rcl/wait.c
index 79556df9f4..3e8d00b7c1 100644
--- a/rcl/src/rcl/wait.c
+++ b/rcl/src/rcl/wait.c
@@ -86,13 +86,13 @@ rcl_wait_set_is_valid(const rcl_wait_set_t * wait_set)
 }
 
 static void
-__wait_set_clean_up(rcl_wait_set_t * wait_set, rcl_allocator_t allocator)
+__wait_set_clean_up(rcl_wait_set_t * wait_set)
 {
   rcl_ret_t ret = rcl_wait_set_resize(wait_set, 0, 0, 0, 0, 0, 0);
   (void)ret;  // NO LINT
   assert(RCL_RET_OK == ret);  // Defensive, shouldn't fail with size 0.
   if (wait_set->impl) {
-    allocator.deallocate(wait_set->impl, allocator.state);
+    wait_set->impl->allocator.deallocate(wait_set->impl, wait_set->impl->allocator.state);
     wait_set->impl = NULL;
   }
 }
@@ -146,6 +146,10 @@ rcl_wait_set_init(
   wait_set->impl->rmw_services.service_count = 0;
   wait_set->impl->rmw_events.events = NULL;
   wait_set->impl->rmw_events.event_count = 0;
+  // Set context.
+  wait_set->impl->context = context;
+  // Set allocator.
+  wait_set->impl->allocator = allocator;
 
   size_t num_conditions =
     (2 * number_of_subscriptions) +
@@ -159,10 +163,6 @@ rcl_wait_set_init(
     goto fail;
   }
 
-  // Set context.
-  wait_set->impl->context = context;
-  // Set allocator.
-  wait_set->impl->allocator = allocator;
   // Initialize subscription space.
   rcl_ret_t ret = rcl_wait_set_resize(
     wait_set, number_of_subscriptions, number_of_guard_conditions, number_of_timers,
@@ -179,7 +179,7 @@ rcl_wait_set_init(
       fail_ret = RCL_RET_WAIT_SET_INVALID;
     }
   }
-  __wait_set_clean_up(wait_set, allocator);
+  __wait_set_clean_up(wait_set);
   return fail_ret;
 }
 
@@ -195,7 +195,7 @@ rcl_wait_set_fini(rcl_wait_set_t * wait_set)
       RCL_SET_ERROR_MSG(rmw_get_error_string().str);
       result = RCL_RET_WAIT_SET_INVALID;
     }
-    __wait_set_clean_up(wait_set, wait_set->impl->allocator);
+    __wait_set_clean_up(wait_set);
   }
   return result;
 }
@@ -300,6 +300,7 @@ rcl_wait_set_get_allocator(const rcl_wait_set_t * wait_set, rcl_allocator_t * al
     wait_set->impl->RMWStorage, sizeof(void *) * Type ## s_size, allocator.state); \
   if (!wait_set->impl->RMWStorage) { \
     allocator.deallocate((void *)wait_set->Type ## s, allocator.state); \
+    wait_set->Type ## s = NULL; \
     wait_set->size_of_ ## Type ## s = 0; \
     RCL_SET_ERROR_MSG("allocating memory failed"); \
     return RCL_RET_BAD_ALLOC; \
@@ -381,6 +382,7 @@ rcl_wait_set_resize(
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(wait_set, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(wait_set->impl, RCL_RET_WAIT_SET_INVALID);
+
   SET_RESIZE(
     subscription,
     SET_RESIZE_RMW_DEALLOC(
diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index 17d9c0ac2e..52423d0edc 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -264,7 +264,7 @@ function(test_target_function)
     SRCS rcl/test_wait.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"
   )
 
diff --git a/rcl/test/rcl/test_wait.cpp b/rcl/test/rcl/test_wait.cpp
index 82244406f3..c903b6f91e 100644
--- a/rcl/test/rcl/test_wait.cpp
+++ b/rcl/test/rcl/test_wait.cpp
@@ -30,6 +30,7 @@
 #include "rcutils/logging_macros.h"
 
 #include "./allocator_testing_utils.h"
+#include "../mocking_utils/patch.hpp"
 
 #ifdef RMW_IMPLEMENTATION
 # define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
@@ -684,3 +685,68 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_get_allocator
   ret = rcl_wait_set_fini(&wait_set);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
+
+// Test wait set init failure cases using mocks
+TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_failed_init) {
+  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
+  // nullptr failures
+  rcl_ret_t ret =
+    rcl_wait_set_init(nullptr, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
+  EXPECT_TRUE(rcl_error_is_set());
+  rcl_reset_error();
+
+  ret =
+    rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, nullptr, rcl_get_default_allocator());
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
+  EXPECT_TRUE(rcl_error_is_set());
+  rcl_reset_error();
+
+  {
+    // Mock rmw implementation to fail init
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rcl", rmw_create_wait_set, nullptr);
+    ret =
+      rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
+    EXPECT_EQ(RCL_RET_WAIT_SET_INVALID, ret);
+    EXPECT_TRUE(rcl_error_is_set());
+    rcl_reset_error();
+  }
+}
+
+// Test failure init when using a bad allocators
+TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_failed_init_bomb_alloc) {
+  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
+  rcl_ret_t ret = RCL_RET_OK;
+
+  // Pass bomb allocator to make resize function fail
+  rcl_allocator_t bomb_alloc = get_time_bombed_allocator();
+  for (int i = 0; i < 10; i++) {
+    set_time_bombed_allocator_count(bomb_alloc, i);
+    ret =
+      rcl_wait_set_init(&wait_set, 1, 0, 0, 1, 1, 0, context_ptr, bomb_alloc);
+    if (RCL_RET_OK == ret) {
+      EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));
+      break;
+    } else {
+      EXPECT_EQ(RCL_RET_BAD_ALLOC, ret);
+      rcl_reset_error();
+    }
+  }
+}
+
+// Test wait set fini failure cases using mocks
+TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_failed_fini) {
+  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
+  rcl_ret_t ret =
+    rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
+  ASSERT_EQ(RCL_RET_OK, ret);
+  {
+    // Mock rmw implementation to fail fini
+    auto mock = mocking_utils::inject_on_return(
+      "lib:rcl", rmw_destroy_wait_set, RMW_RET_ERROR);
+    EXPECT_EQ(RCL_RET_WAIT_SET_INVALID, rcl_wait_set_fini(&wait_set));
+    EXPECT_TRUE(rcl_error_is_set());
+    rcl_reset_error();
+  }
+}