diff --git a/rclcpp/test/CMakeLists.txt b/rclcpp/test/CMakeLists.txt
index f9dbf0c4b5..bf2fa94af8 100644
--- a/rclcpp/test/CMakeLists.txt
+++ b/rclcpp/test/CMakeLists.txt
@@ -25,6 +25,14 @@ if(TARGET test_allocator_memory_strategy)
   )
   target_link_libraries(test_allocator_memory_strategy ${PROJECT_NAME})
 endif()
+ament_add_gtest(test_message_pool_memory_strategy rclcpp/strategies/test_message_pool_memory_strategy.cpp)
+if(TARGET test_message_pool_memory_strategy)
+  ament_target_dependencies(test_message_pool_memory_strategy
+    "rcl"
+    "test_msgs"
+  )
+  target_link_libraries(test_message_pool_memory_strategy ${PROJECT_NAME})
+endif()
 ament_add_gtest(test_any_service_callback rclcpp/test_any_service_callback.cpp)
 if(TARGET test_any_service_callback)
   ament_target_dependencies(test_any_service_callback
@@ -126,6 +134,18 @@ ament_target_dependencies(test_loaned_message
 )
 target_link_libraries(test_loaned_message ${PROJECT_NAME})
 
+ament_add_gtest(test_memory_strategy rclcpp/test_memory_strategy.cpp)
+ament_target_dependencies(test_memory_strategy
+  "test_msgs"
+)
+target_link_libraries(test_memory_strategy ${PROJECT_NAME})
+
+ament_add_gtest(test_message_memory_strategy rclcpp/test_message_memory_strategy.cpp)
+ament_target_dependencies(test_message_memory_strategy
+  "test_msgs"
+)
+target_link_libraries(test_message_memory_strategy ${PROJECT_NAME})
+
 ament_add_gtest(test_node rclcpp/test_node.cpp TIMEOUT 240)
 if(TARGET test_node)
   ament_target_dependencies(test_node
diff --git a/rclcpp/test/rclcpp/strategies/test_message_pool_memory_strategy.cpp b/rclcpp/test/rclcpp/strategies/test_message_pool_memory_strategy.cpp
new file mode 100644
index 0000000000..b68bc96ab6
--- /dev/null
+++ b/rclcpp/test/rclcpp/strategies/test_message_pool_memory_strategy.cpp
@@ -0,0 +1,73 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+
+#include "gtest/gtest.h"
+
+#include "rclcpp/strategies/message_pool_memory_strategy.hpp"
+#include "test_msgs/msg/empty.hpp"
+#include "../../utils/rclcpp_gtest_macros.hpp"
+
+using rclcpp::strategies::message_pool_memory_strategy::MessagePoolMemoryStrategy;
+
+class TestMessagePoolMemoryStrategy : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    message_memory_strategy_ =
+      std::make_shared<MessagePoolMemoryStrategy<test_msgs::msg::Empty, 1>>();
+  }
+
+protected:
+  std::shared_ptr<MessagePoolMemoryStrategy<test_msgs::msg::Empty, 1>> message_memory_strategy_;
+};
+
+TEST_F(TestMessagePoolMemoryStrategy, construct_destruct) {
+  ASSERT_NE(nullptr, message_memory_strategy_);
+  EXPECT_NE(nullptr, message_memory_strategy_->message_allocator_);
+  EXPECT_NE(nullptr, message_memory_strategy_->serialized_message_allocator_);
+  EXPECT_NE(nullptr, message_memory_strategy_->buffer_allocator_);
+}
+
+TEST_F(TestMessagePoolMemoryStrategy, borrow_return) {
+  auto message = message_memory_strategy_->borrow_message();
+  ASSERT_NE(nullptr, message);
+
+  EXPECT_NO_THROW(message_memory_strategy_->return_message(message));
+}
+
+TEST_F(TestMessagePoolMemoryStrategy, borrow_too_many) {
+  auto message = message_memory_strategy_->borrow_message();
+  ASSERT_NE(nullptr, message);
+
+  // Size is 1, borrowing second time should fail
+  RCLCPP_EXPECT_THROW_EQ(
+    message_memory_strategy_->borrow_message(),
+    std::runtime_error("Tried to access message that was still in use! Abort."));
+  EXPECT_NO_THROW(message_memory_strategy_->return_message(message));
+}
+
+TEST_F(TestMessagePoolMemoryStrategy, return_unrecognized) {
+  auto message = message_memory_strategy_->borrow_message();
+  ASSERT_NE(nullptr, message);
+
+  auto unrecognized = std::make_shared<test_msgs::msg::Empty>();
+  // Unrecognized does not belong to pool
+  RCLCPP_EXPECT_THROW_EQ(
+    message_memory_strategy_->return_message(unrecognized),
+    std::runtime_error("Unrecognized message ptr in return_message."));
+  EXPECT_NO_THROW(message_memory_strategy_->return_message(message));
+}
diff --git a/rclcpp/test/rclcpp/test_memory_strategy.cpp b/rclcpp/test/rclcpp/test_memory_strategy.cpp
new file mode 100644
index 0000000000..f076094643
--- /dev/null
+++ b/rclcpp/test/rclcpp/test_memory_strategy.cpp
@@ -0,0 +1,400 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <list>
+#include <memory>
+#include <utility>
+
+#include "rclcpp/strategies/allocator_memory_strategy.hpp"
+#include "rclcpp/memory_strategy.hpp"
+#include "test_msgs/msg/empty.hpp"
+#include "test_msgs/srv/empty.hpp"
+
+using rclcpp::memory_strategy::MemoryStrategy;
+using WeakNodeList = std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>;
+
+/**
+ * Mock Waitable class
+ */
+class TestWaitable : public rclcpp::Waitable
+{
+public:
+  bool add_to_wait_set(rcl_wait_set_t *) override {return true;}
+  bool is_ready(rcl_wait_set_t *) override {return true;}
+  void execute() override {}
+};
+
+class TestMemoryStrategy : public ::testing::Test
+{
+public:
+  TestMemoryStrategy()
+  : memory_strategy_(nullptr) {}
+
+  void SetUp() override
+  {
+    rclcpp::init(0, nullptr);
+
+    // This doesn't test AllocatorMemoryStrategy directly, so we cast to the base class.
+    // AllocatorMemoryStrategy is more commonly used than MessagePoolMemoryStrategy
+    // so we use this derived class for these tests.
+    memory_strategy_ =
+      std::make_shared<
+      rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
+  }
+
+  void TearDown() override
+  {
+    rclcpp::shutdown();
+  }
+
+protected:
+  std::shared_ptr<MemoryStrategy> memory_strategy()
+  {
+    return memory_strategy_;
+  }
+
+private:
+  std::shared_ptr<MemoryStrategy> memory_strategy_;
+};
+
+TEST_F(TestMemoryStrategy, construct_destruct) {
+  EXPECT_NE(nullptr, memory_strategy());
+}
+
+TEST_F(TestMemoryStrategy, get_subscription_by_handle) {
+  WeakNodeList nodes;
+  std::shared_ptr<const rcl_subscription_t> subscription_handle;
+  rclcpp::SubscriptionBase::SharedPtr found_subscription = nullptr;
+  {
+    auto node = std::make_shared<rclcpp::Node>("node", "ns");
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
+    {
+      auto callback_group =
+        node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+      auto subscription_callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+      const rclcpp::QoS qos(10);
+
+      {
+        auto subscription = node->create_subscription<
+          test_msgs::msg::Empty, decltype(subscription_callback)>(
+          "topic", qos, std::move(subscription_callback));
+
+        subscription_handle = subscription->get_subscription_handle();
+
+        EXPECT_EQ(
+          subscription,
+          memory_strategy()->get_subscription_by_handle(subscription_handle, nodes));
+      }  // subscription goes out of scope
+      EXPECT_EQ(
+        nullptr,
+        memory_strategy()->get_subscription_by_handle(subscription_handle, nodes));
+    }  // callback_group goes out of scope
+    EXPECT_EQ(
+      nullptr,
+      memory_strategy()->get_subscription_by_handle(subscription_handle, nodes));
+  }  // Node goes out of scope
+  EXPECT_EQ(
+    nullptr,
+    memory_strategy()->get_subscription_by_handle(subscription_handle, nodes));
+}
+
+TEST_F(TestMemoryStrategy, get_service_by_handle) {
+  WeakNodeList nodes;
+  std::shared_ptr<const rcl_service_t> service_handle;
+  rclcpp::ServiceBase::SharedPtr found_service = nullptr;
+  {
+    auto node = std::make_shared<rclcpp::Node>("node", "ns");
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
+    {
+      auto callback_group =
+        node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+      auto service_callback =
+        [](const test_msgs::srv::Empty::Request::SharedPtr,
+          test_msgs::srv::Empty::Response::SharedPtr) {};
+      const rclcpp::QoS qos(10);
+
+      {
+        auto service = node->create_service<test_msgs::srv::Empty>(
+          "service", std::move(service_callback),
+          rmw_qos_profile_services_default, callback_group);
+
+        service_handle = service->get_service_handle();
+
+        EXPECT_EQ(
+          service,
+          memory_strategy()->get_service_by_handle(service_handle, nodes));
+      }  // service goes out of scope
+      EXPECT_EQ(
+        nullptr,
+        memory_strategy()->get_service_by_handle(service_handle, nodes));
+    }  // callback_group goes out of scope
+    EXPECT_EQ(
+      nullptr,
+      memory_strategy()->get_service_by_handle(service_handle, nodes));
+  }  // Node goes out of scope
+  EXPECT_EQ(
+    nullptr,
+    memory_strategy()->get_service_by_handle(service_handle, nodes));
+}
+
+TEST_F(TestMemoryStrategy, get_client_by_handle) {
+  WeakNodeList nodes;
+  std::shared_ptr<const rcl_client_t> client_handle;
+  rclcpp::ClientBase::SharedPtr found_client = nullptr;
+  {
+    auto node = std::make_shared<rclcpp::Node>("node", "ns");
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
+    {
+      auto callback_group =
+        node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+      {
+        auto client = node->create_client<test_msgs::srv::Empty>(
+          "service", rmw_qos_profile_services_default, callback_group);
+
+        client_handle = client->get_client_handle();
+
+        EXPECT_EQ(
+          client,
+          memory_strategy()->get_client_by_handle(client_handle, nodes));
+      }  // client goes out of scope
+      EXPECT_EQ(
+        nullptr,
+        memory_strategy()->get_client_by_handle(client_handle, nodes));
+    }  // callback_group goes out of scope
+    EXPECT_EQ(
+      nullptr,
+      memory_strategy()->get_client_by_handle(client_handle, nodes));
+  }  // Node goes out of scope
+  EXPECT_EQ(
+    nullptr,
+    memory_strategy()->get_client_by_handle(client_handle, nodes));
+}
+
+TEST_F(TestMemoryStrategy, get_timer_by_handle) {
+  WeakNodeList nodes;
+  std::shared_ptr<const rcl_timer_t> timer_handle;
+  rclcpp::TimerBase::SharedPtr found_timer = nullptr;
+  {
+    auto node = std::make_shared<rclcpp::Node>("node", "ns");
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
+    {
+      auto callback_group =
+        node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+      {
+        auto timer_callback = []() {};
+        auto timer = node->create_wall_timer(
+          std::chrono::milliseconds(1), timer_callback, callback_group);
+
+        timer_handle = timer->get_timer_handle();
+
+        EXPECT_EQ(
+          timer,
+          memory_strategy()->get_timer_by_handle(timer_handle, nodes));
+      }  // timer goes out of scope
+      EXPECT_EQ(
+        nullptr,
+        memory_strategy()->get_timer_by_handle(timer_handle, nodes));
+    }  // callback_group goes out of scope
+    EXPECT_EQ(
+      nullptr,
+      memory_strategy()->get_timer_by_handle(timer_handle, nodes));
+  }  // Node goes out of scope
+  EXPECT_EQ(
+    nullptr,
+    memory_strategy()->get_timer_by_handle(timer_handle, nodes));
+}
+
+TEST_F(TestMemoryStrategy, get_node_by_group) {
+  WeakNodeList nodes;
+  rclcpp::CallbackGroup::SharedPtr callback_group = nullptr;
+  {
+    auto node = std::make_shared<rclcpp::Node>("node", "ns");
+    auto node_handle = node->get_node_base_interface();
+    nodes.push_back(node_handle);
+    memory_strategy()->collect_entities(nodes);
+    EXPECT_EQ(
+      nullptr,
+      memory_strategy()->get_node_by_group(nullptr, nodes));
+
+    callback_group =
+      node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+
+    EXPECT_EQ(
+      node_handle,
+      memory_strategy()->get_node_by_group(callback_group, nodes));
+  }  // Node goes out of scope
+  EXPECT_EQ(
+    nullptr,
+    memory_strategy()->get_node_by_group(callback_group, nodes));
+}
+
+TEST_F(TestMemoryStrategy, get_group_by_subscription) {
+  WeakNodeList nodes;
+  rclcpp::SubscriptionBase::SharedPtr subscription = nullptr;
+  rclcpp::CallbackGroup::SharedPtr callback_group = nullptr;
+  {
+    auto node = std::make_shared<rclcpp::Node>("node", "ns");
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
+    {
+      // This group is just used to test that a callback group that is held as a weak pointer
+      // by node, doesn't confuse get_group_by_subscription() when it goes out of scope
+      auto non_persistant_group =
+        node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+
+      callback_group =
+        node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+      auto subscription_callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+      const rclcpp::QoS qos(10);
+
+      rclcpp::SubscriptionOptions subscription_options;
+
+      // This callback group is held as a shared_ptr in subscription_options, which means it
+      // stays alive as long as subscription does.
+      subscription_options.callback_group = callback_group;
+
+      subscription = node->create_subscription<
+        test_msgs::msg::Empty, decltype(subscription_callback)>(
+        "topic", qos, std::move(subscription_callback), subscription_options);
+
+      EXPECT_EQ(
+        callback_group,
+        memory_strategy()->get_group_by_subscription(subscription, nodes));
+    }  // callback_group goes out of scope
+    EXPECT_EQ(
+      callback_group,
+      memory_strategy()->get_group_by_subscription(subscription, nodes));
+  }  // Node goes out of scope
+  EXPECT_EQ(
+    nullptr,
+    memory_strategy()->get_group_by_subscription(subscription, nodes));
+}
+
+TEST_F(TestMemoryStrategy, get_group_by_service) {
+  WeakNodeList nodes;
+  rclcpp::ServiceBase::SharedPtr service = nullptr;
+  {
+    auto node = std::make_shared<rclcpp::Node>("node", "ns");
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
+    {
+      auto callback_group =
+        node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+      auto service_callback =
+        [](const test_msgs::srv::Empty::Request::SharedPtr,
+          test_msgs::srv::Empty::Response::SharedPtr) {};
+      const rclcpp::QoS qos(10);
+
+      service = node->create_service<test_msgs::srv::Empty>(
+        "service", std::move(service_callback),
+        rmw_qos_profile_services_default, callback_group);
+
+      EXPECT_EQ(
+        callback_group,
+        memory_strategy()->get_group_by_service(service, nodes));
+    }  // callback_group goes out of scope
+    EXPECT_EQ(
+      nullptr,
+      memory_strategy()->get_group_by_service(service, nodes));
+  }  // Node goes out of scope
+  EXPECT_EQ(
+    nullptr,
+    memory_strategy()->get_group_by_service(service, nodes));
+}
+
+TEST_F(TestMemoryStrategy, get_group_by_client) {
+  WeakNodeList nodes;
+  rclcpp::ClientBase::SharedPtr client = nullptr;
+  {
+    auto node = std::make_shared<rclcpp::Node>("node", "ns");
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
+    {
+      auto callback_group =
+        node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+
+      client = node->create_client<test_msgs::srv::Empty>(
+        "service", rmw_qos_profile_services_default, callback_group);
+
+      EXPECT_EQ(
+        callback_group,
+        memory_strategy()->get_group_by_client(client, nodes));
+    }  // callback_group goes out of scope
+    EXPECT_EQ(
+      nullptr,
+      memory_strategy()->get_group_by_client(client, nodes));
+  }  // Node goes out of scope
+  EXPECT_EQ(
+    nullptr,
+    memory_strategy()->get_group_by_client(client, nodes));
+}
+
+TEST_F(TestMemoryStrategy, get_group_by_timer) {
+  WeakNodeList nodes;
+  rclcpp::TimerBase::SharedPtr timer = nullptr;
+  {
+    auto node = std::make_shared<rclcpp::Node>("node", "ns");
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
+    {
+      auto callback_group =
+        node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+      auto timer_callback = []() {};
+      timer = node->create_wall_timer(
+        std::chrono::milliseconds(1), timer_callback, callback_group);
+
+      EXPECT_EQ(
+        callback_group,
+        memory_strategy()->get_group_by_timer(timer, nodes));
+    }  // callback_group goes out of scope
+    EXPECT_EQ(
+      nullptr,
+      memory_strategy()->get_group_by_timer(timer, nodes));
+  }  // Node goes out of scope
+  EXPECT_EQ(
+    nullptr,
+    memory_strategy()->get_group_by_timer(timer, nodes));
+}
+
+TEST_F(TestMemoryStrategy, get_group_by_waitable) {
+  WeakNodeList nodes;
+  rclcpp::Waitable::SharedPtr waitable = nullptr;
+  {
+    auto node = std::make_shared<rclcpp::Node>("node", "ns");
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
+    {
+      waitable = std::make_shared<TestWaitable>();
+      auto callback_group =
+        node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+      node->get_node_waitables_interface()->add_waitable(waitable, callback_group);
+
+      EXPECT_EQ(
+        callback_group,
+        memory_strategy()->get_group_by_waitable(waitable, nodes));
+    }  // callback_group goes out of scope
+    EXPECT_EQ(
+      nullptr,
+      memory_strategy()->get_group_by_waitable(waitable, nodes));
+  }  // Node goes out of scope
+  EXPECT_EQ(
+    nullptr,
+    memory_strategy()->get_group_by_waitable(waitable, nodes));
+}
diff --git a/rclcpp/test/rclcpp/test_message_memory_strategy.cpp b/rclcpp/test/rclcpp/test_message_memory_strategy.cpp
new file mode 100644
index 0000000000..26ebd5ec37
--- /dev/null
+++ b/rclcpp/test/rclcpp/test_message_memory_strategy.cpp
@@ -0,0 +1,58 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <memory>
+
+#include "rclcpp/message_memory_strategy.hpp"
+#include "test_msgs/msg/empty.hpp"
+
+TEST(TestMemoryStrategies, construct_destruct) {
+  rclcpp::message_memory_strategy::MessageMemoryStrategy<test_msgs::msg::Empty> memory_strategy1;
+
+  EXPECT_NE(nullptr, memory_strategy1.message_allocator_);
+  EXPECT_NE(nullptr, memory_strategy1.serialized_message_allocator_);
+  EXPECT_NE(nullptr, memory_strategy1.buffer_allocator_);
+
+  auto allocator = std::make_shared<std::allocator<void>>();
+  rclcpp::message_memory_strategy::MessageMemoryStrategy<test_msgs::msg::Empty> memory_strategy2(
+    allocator);
+
+  EXPECT_NE(nullptr, memory_strategy2.message_allocator_);
+  EXPECT_NE(nullptr, memory_strategy2.serialized_message_allocator_);
+  EXPECT_NE(nullptr, memory_strategy2.buffer_allocator_);
+}
+
+TEST(TestMemoryStrategies, standard_allocation) {
+  auto memory_strategy =
+    rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    test_msgs::msg::Empty>::create_default();
+  ASSERT_NE(nullptr, memory_strategy);
+
+  auto borrowed_message = memory_strategy->borrow_message();
+  ASSERT_NE(nullptr, borrowed_message);
+  EXPECT_NO_THROW(memory_strategy->return_message(borrowed_message));
+
+  auto serialized_message = memory_strategy->borrow_serialized_message();
+  ASSERT_NE(nullptr, serialized_message);
+  EXPECT_EQ(0u, serialized_message->capacity());
+  EXPECT_NO_THROW(memory_strategy->return_serialized_message(serialized_message));
+
+  memory_strategy->set_default_buffer_capacity(42);
+  serialized_message = memory_strategy->borrow_serialized_message();
+  ASSERT_NE(nullptr, serialized_message);
+  EXPECT_EQ(42u, serialized_message->capacity());
+  EXPECT_NO_THROW(memory_strategy->return_serialized_message(serialized_message));
+}