diff --git a/rcl_action/CMakeLists.txt b/rcl_action/CMakeLists.txt
index 783ee737d..b75606f6e 100644
--- a/rcl_action/CMakeLists.txt
+++ b/rcl_action/CMakeLists.txt
@@ -81,6 +81,7 @@ if(BUILD_TESTING)
   # Gtests
   ament_add_gtest(test_action_client
     test/rcl_action/test_action_client.cpp
+    TIMEOUT 360
   )
   if(TARGET test_action_client)
     target_include_directories(test_action_client PUBLIC
@@ -95,6 +96,7 @@ if(BUILD_TESTING)
       "rcl"
       "test_msgs"
     )
+    target_compile_definitions(test_action_client PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
   endif()
 
   # get the rmw implementations ahead of time
@@ -107,7 +109,7 @@ if(BUILD_TESTING)
   function(custom_test_c target)
     ament_add_gtest(
       "${target}${target_suffix}" ${ARGN}
-      TIMEOUT 60
+      TIMEOUT 180
       ENV
       RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
       RMW_IMPLEMENTATION=${rmw_implementation}
@@ -115,6 +117,8 @@ if(BUILD_TESTING)
     if(TARGET ${target}${target_suffix})
       target_compile_definitions(${target}${target_suffix}
         PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
+        target_compile_definitions(${target}${target_suffix}
+          PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
       target_include_directories(${target}${target_suffix} PUBLIC
         include
       )
@@ -143,6 +147,7 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_action_server
     test/rcl_action/test_action_server.cpp
+    TIMEOUT 120
   )
   if(TARGET test_action_server)
     target_include_directories(test_action_server PUBLIC
@@ -157,6 +162,7 @@ if(BUILD_TESTING)
       "rcl"
       "test_msgs"
     )
+    target_compile_definitions(test_action_server PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
   endif()
   ament_add_gtest(test_goal_handle
     test/rcl_action/test_goal_handle.cpp
diff --git a/rcl_action/src/rcl_action/goal_handle.c b/rcl_action/src/rcl_action/goal_handle.c
index f86f96cba..4dab6f679 100644
--- a/rcl_action/src/rcl_action/goal_handle.c
+++ b/rcl_action/src/rcl_action/goal_handle.c
@@ -42,6 +42,10 @@ rcl_action_goal_handle_init(
   const rcl_action_goal_info_t * goal_info,
   rcl_allocator_t allocator)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_INVALID_ARGUMENT);
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ALREADY_INIT);
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_BAD_ALLOC);
+
   RCL_CHECK_ARGUMENT_FOR_NULL(goal_handle, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(goal_info, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
@@ -103,6 +107,9 @@ rcl_action_goal_handle_get_info(
   const rcl_action_goal_handle_t * goal_handle,
   rcl_action_goal_info_t * goal_info)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ACTION_GOAL_HANDLE_INVALID);
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_INVALID_ARGUMENT);
+
   if (!rcl_action_goal_handle_is_valid(goal_handle)) {
     return RCL_RET_ACTION_GOAL_HANDLE_INVALID;  // error message is set
   }
@@ -117,6 +124,9 @@ rcl_action_goal_handle_get_status(
   const rcl_action_goal_handle_t * goal_handle,
   rcl_action_goal_state_t * status)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ACTION_GOAL_HANDLE_INVALID);
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_INVALID_ARGUMENT);
+
   if (!rcl_action_goal_handle_is_valid(goal_handle)) {
     return RCL_RET_ACTION_GOAL_HANDLE_INVALID;  // error message is set
   }
diff --git a/rcl_action/src/rcl_action/types.c b/rcl_action/src/rcl_action/types.c
index 03c9cbeef..e6df16805 100644
--- a/rcl_action/src/rcl_action/types.c
+++ b/rcl_action/src/rcl_action/types.c
@@ -19,6 +19,7 @@ extern "C"
 #include "rcl_action/types.h"
 
 #include "rcl/error_handling.h"
+#include "rcutils/macros.h"
 
 rcl_action_goal_info_t
 rcl_action_get_zero_initialized_goal_info(void)
@@ -96,6 +97,10 @@ rcl_action_cancel_response_init(
   const size_t num_goals_canceling,
   const rcl_allocator_t allocator)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_INVALID_ARGUMENT);
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ALREADY_INIT);
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_BAD_ALLOC);
+
   RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(cancel_response, RCL_RET_INVALID_ARGUMENT);
   // Size of array to allocate must be greater than 0
diff --git a/rcl_action/test/rcl_action/test_action_client.cpp b/rcl_action/test/rcl_action/test_action_client.cpp
index 5970cfe77..8fed2e955 100644
--- a/rcl_action/test/rcl_action/test_action_client.cpp
+++ b/rcl_action/test/rcl_action/test_action_client.cpp
@@ -14,11 +14,14 @@
 
 #include <gtest/gtest.h>
 
+#include <string>
+
 #include "rcl_action/action_client.h"
 #include "rcl_action/action_client_impl.h"
 
 #include "rcl/error_handling.h"
 #include "rcl/rcl.h"
+#include "rcutils/testing/fault_injection.h"
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "test_msgs/action/fibonacci.h"
@@ -80,7 +83,6 @@ class TestActionClientBaseFixture : public ::testing::Test
   rcl_node_t node;
 };
 
-
 TEST_F(TestActionClientBaseFixture, test_action_client_init_fini) {
   rcl_ret_t ret = RCL_RET_OK;
   rcl_action_client_t invalid_action_client =
@@ -349,3 +351,52 @@ TEST_F(TestActionClientFixture, test_action_client_get_options) {
   options = rcl_action_client_get_options(&this->action_client);
   ASSERT_NE(options, nullptr) << rcl_get_error_string().str;
 }
+
+TEST_F(TestActionClientBaseFixture, test_action_client_init_fini_maybe_fail)
+{
+  rcl_node_t node = rcl_get_zero_initialized_node();
+  rcl_node_options_t node_options = rcl_node_get_default_options();
+  rcl_ret_t ret =
+    rcl_node_init(&node, "test_action_client_node", "", &this->context, &node_options);
+  ASSERT_EQ(RCL_RET_OK, ret);
+  const rosidl_action_type_support_t * action_typesupport =
+    ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
+  rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
+  rcl_action_client_options_t action_client_options = rcl_action_client_get_default_options();
+
+  RCUTILS_FAULT_INJECTION_TEST(
+  {
+    int64_t count = rcutils_fault_injection_get_count();
+    std::string action_name = std::string("test_action_client_name_") + std::to_string(count);
+    ret = rcl_action_client_init(
+      &action_client,
+      &node,
+      action_typesupport,
+      action_name.c_str(),
+      &action_client_options);
+
+    if (RCL_RET_OK == ret) {
+      ret = rcl_action_client_fini(&action_client, &node);
+      if (RCL_RET_OK != ret) {
+        // Not always guaranteed be set, but reset anyway
+        rcl_reset_error();
+      }
+    } else {
+      EXPECT_TRUE(rcl_error_is_set());
+      rcl_reset_error();
+    }
+    EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node));
+  });
+}
+
+TEST_F(TestActionClientFixture, test_action_server_is_available_maybe_fail)
+{
+  RCUTILS_FAULT_INJECTION_TEST(
+  {
+    bool is_available = false;
+    rcl_ret_t ret = rcl_action_server_is_available(
+      &this->node, &this->action_client, &is_available);
+    (void)ret;
+    rcl_reset_error();
+  });
+}
diff --git a/rcl_action/test/rcl_action/test_action_communication.cpp b/rcl_action/test/rcl_action/test_action_communication.cpp
index d91d69185..4207847ad 100644
--- a/rcl_action/test/rcl_action/test_action_communication.cpp
+++ b/rcl_action/test/rcl_action/test_action_communication.cpp
@@ -1106,3 +1106,71 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_stat
   ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
   action_msgs__msg__GoalStatusArray__fini(&incoming_status_array);
 }
+
+TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedback_comm_maybe_fail)
+{
+  test_msgs__action__Fibonacci_FeedbackMessage outgoing_feedback;
+  test_msgs__action__Fibonacci_FeedbackMessage incoming_feedback;
+  test_msgs__action__Fibonacci_FeedbackMessage__init(&outgoing_feedback);
+  test_msgs__action__Fibonacci_FeedbackMessage__init(&incoming_feedback);
+
+  // Initialize feedback
+  ASSERT_TRUE(
+    rosidl_runtime_c__int32__Sequence__init(
+      &outgoing_feedback.feedback.sequence, 3));
+  outgoing_feedback.feedback.sequence.data[0] = 0;
+  outgoing_feedback.feedback.sequence.data[1] = 1;
+  outgoing_feedback.feedback.sequence.data[2] = 2;
+  init_test_uuid0(outgoing_feedback.goal_id.uuid);
+
+  RCUTILS_FAULT_INJECTION_TEST(
+  {
+    // Publish feedback with valid arguments
+    rcl_ret_t ret = rcl_action_publish_feedback(&this->action_server, &outgoing_feedback);
+    if (RCL_RET_OK != ret) {
+      // This isn't set in all cases, but reset anyway.
+      rcl_reset_error();
+      continue;
+    }
+
+    ret = rcl_action_wait_set_add_action_client(
+      &this->wait_set, &this->action_client, NULL, NULL);
+    if (RCL_RET_OK != ret) {
+      EXPECT_TRUE(rcl_error_is_set());
+      rcl_reset_error();
+      continue;
+    }
+
+    ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
+    if (RCL_RET_OK != ret) {
+      EXPECT_TRUE(rcl_error_is_set());
+      rcl_reset_error();
+      continue;
+    }
+
+    ret = rcl_action_client_wait_set_get_entities_ready(
+      &this->wait_set,
+      &this->action_client,
+      &this->is_feedback_ready,
+      &this->is_status_ready,
+      &this->is_goal_response_ready,
+      &this->is_cancel_response_ready,
+      &this->is_result_response_ready);
+    if (RCL_RET_OK != ret) {
+      EXPECT_TRUE(rcl_error_is_set());
+      rcl_reset_error();
+      continue;
+    }
+
+    // Take feedback with valid arguments
+    ret = rcl_action_take_feedback(&this->action_client, &incoming_feedback);
+    if (RCL_RET_OK != ret) {
+      EXPECT_TRUE(rcl_error_is_set());
+      rcl_reset_error();
+      continue;
+    }
+
+    test_msgs__action__Fibonacci_FeedbackMessage__fini(&incoming_feedback);
+    test_msgs__action__Fibonacci_FeedbackMessage__fini(&outgoing_feedback);
+  });
+}
diff --git a/rcl_action/test/rcl_action/test_action_server.cpp b/rcl_action/test/rcl_action/test_action_server.cpp
index b116e3a4a..4a555c1e0 100644
--- a/rcl_action/test/rcl_action/test_action_server.cpp
+++ b/rcl_action/test/rcl_action/test_action_server.cpp
@@ -965,3 +965,86 @@ TEST_F(TestActionServerCancelPolicy, test_action_process_cancel_request_by_time_
   EXPECT_TRUE(uuidcmp(goal_info_out->goal_id.uuid, cancel_request.goal_info.goal_id.uuid));
   EXPECT_EQ(RCL_RET_OK, rcl_action_cancel_response_fini(&cancel_response));
 }
+
+TEST_F(TestActionServer, action_server_init_fini_maybe_fail)
+{
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+  rcl_ret_t 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_context_t 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;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context));
+    EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context));
+  });
+
+  rcl_node_t node = rcl_get_zero_initialized_node();
+  rcl_node_options_t node_options = rcl_node_get_default_options();
+  ret = rcl_node_init(&node, "test_action_server_node", "", &context, &node_options);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node));
+    EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(&node_options));
+  });
+
+  rcl_clock_t clock;
+  ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  const rosidl_action_type_support_t * ts = ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
+  const rcl_action_server_options_t options = rcl_action_server_get_default_options();
+  constexpr char action_name[] = "test_action_server_name";
+
+  RCUTILS_FAULT_INJECTION_TEST(
+  {
+    rcl_action_server_t action_server = rcl_action_get_zero_initialized_server();
+    rcl_ret_t ret = rcl_action_server_init(
+      &action_server, &node, &clock, ts, action_name, &options);
+
+    if (RCL_RET_OK == ret) {
+      ret = rcl_action_server_fini(&action_server, &node);
+    }
+  });
+}
+
+TEST_F(TestActionServerCancelPolicy, test_action_process_cancel_request_maybe_fail)
+{
+  // Request to cancel all goals
+  rcl_action_cancel_request_t cancel_request = rcl_action_get_zero_initialized_cancel_request();
+  cancel_request.goal_info.stamp.sec = 0;
+  cancel_request.goal_info.stamp.nanosec = 0u;
+  rcl_action_cancel_response_t cancel_response = rcl_action_get_zero_initialized_cancel_response();
+
+  RCUTILS_FAULT_INJECTION_TEST(
+  {
+    rcl_ret_t ret = rcl_action_process_cancel_request(
+      &this->action_server, &cancel_request, &cancel_response);
+    // Regardless of return, fini should be able to succeed
+    (void)ret;
+    EXPECT_EQ(RCL_RET_OK, rcl_action_cancel_response_fini(&cancel_response));
+  });
+}
+
+TEST_F(TestActionServerCancelPolicy, test_action_expire_goals_maybe_fail)
+{
+  const size_t capacity = 10u;
+  rcl_action_goal_info_t expired_goals[10u];
+  size_t num_expired = 42u;
+
+  RCUTILS_FAULT_INJECTION_TEST(
+  {
+    rcl_ret_t ret = rcl_action_expire_goals(
+      &this->action_server, expired_goals, capacity, &num_expired);
+    if (RCL_RET_OK != ret) {
+      rcl_reset_error();
+    }
+  });
+}
diff --git a/rcl_action/test/rcl_action/test_graph.cpp b/rcl_action/test/rcl_action/test_graph.cpp
index 95fb64baf..d155661c5 100644
--- a/rcl_action/test/rcl_action/test_graph.cpp
+++ b/rcl_action/test/rcl_action/test_graph.cpp
@@ -24,6 +24,7 @@
 
 #include "rcl/error_handling.h"
 #include "rcl/rcl.h"
+#include "rcutils/testing/fault_injection.h"
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 
@@ -593,3 +594,82 @@ TEST_F(TestActionGraphMultiNodeFixture, test_action_get_client_names_and_types_b
   ret = rcl_names_and_types_fini(&nat);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
+
+TEST_F(TestActionGraphMultiNodeFixture, get_names_and_types_maybe_fail)
+{
+  RCUTILS_FAULT_INJECTION_TEST(
+  {
+    rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
+    rcl_ret_t ret = rcl_action_get_names_and_types(&this->node, &this->allocator, &nat);
+    if (RCL_RET_OK == ret) {
+      ret = rcl_names_and_types_fini(&nat);
+      if (RCL_RET_OK != ret) {
+        EXPECT_TRUE(rcutils_error_is_set());
+        rcutils_reset_error();
+        EXPECT_EQ(RCL_RET_OK, rcl_names_and_types_fini(&nat));
+      }
+    }
+  });
+}
+
+TEST_F(TestActionGraphMultiNodeFixture, action_client_init_maybe_fail)
+{
+  RCUTILS_FAULT_INJECTION_TEST(
+  {
+    const rosidl_action_type_support_t * action_typesupport = ROSIDL_GET_ACTION_TYPE_SUPPORT(
+      test_msgs, Fibonacci);
+
+    rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
+    rcl_action_client_options_t action_client_options = rcl_action_client_get_default_options();
+    rcl_ret_t ret = rcl_action_client_init(
+      &action_client,
+      &this->remote_node,
+      action_typesupport,
+      this->action_name,
+      &action_client_options);
+
+    if (RCL_RET_OK == ret) {
+      ret = rcl_action_client_fini(&action_client, &this->remote_node);
+      if (RCL_RET_OK != ret) {
+        // This isn't always set, but just in case reset anyway
+        rcutils_reset_error();
+      }
+    }
+  });
+}
+
+TEST_F(TestActionGraphMultiNodeFixture, rcl_get_client_names_and_types_by_node_maybe_fail)
+{
+  RCUTILS_FAULT_INJECTION_TEST(
+  {
+    rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
+    rcl_ret_t ret = rcl_action_get_client_names_and_types_by_node(
+      &this->node, &this->allocator, this->test_graph_node_name, "", &nat);
+    if (RCL_RET_OK == ret) {
+      ret = rcl_names_and_types_fini(&nat);
+      if (ret != RCL_RET_OK) {
+        EXPECT_TRUE(rcutils_error_is_set());
+        rcutils_reset_error();
+        EXPECT_EQ(RCL_RET_OK, rcl_names_and_types_fini(&nat));
+      }
+    }
+  });
+}
+
+TEST_F(TestActionGraphMultiNodeFixture, rcl_get_server_names_and_types_by_node_maybe_fail)
+{
+  RCUTILS_FAULT_INJECTION_TEST(
+  {
+    rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
+    rcl_ret_t ret = rcl_action_get_server_names_and_types_by_node(
+      &this->node, &this->allocator, this->test_graph_node_name, "", &nat);
+    if (RCL_RET_OK == ret) {
+      ret = rcl_names_and_types_fini(&nat);
+      if (ret != RCL_RET_OK) {
+        EXPECT_TRUE(rcutils_error_is_set());
+        rcutils_reset_error();
+        EXPECT_EQ(RCL_RET_OK, rcl_names_and_types_fini(&nat));
+      }
+    }
+  });
+}