From 2fb8a204700ea99f9075fc0b6a84a00bfd987295 Mon Sep 17 00:00:00 2001
From: William Woodall <william+github@osrfoundation.org>
Date: Thu, 29 Nov 2018 21:33:57 -0800
Subject: [PATCH] refactor to support init options and context (#313)

* refactor to support init options and context

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix security tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* pass context to timer api

Signed-off-by: William Woodall <william@osrfoundation.org>

* avoid custom main just for init/shutdown

Signed-off-by: William Woodall <william@osrfoundation.org>

* avoid terminate in ~thread on exceptions

Signed-off-by: William Woodall <william@osrfoundation.org>

* update expected output

Signed-off-by: William Woodall <william@osrfoundation.org>

* add missing fini in test fixture

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup pub/sub test fixture

Signed-off-by: William Woodall <william@osrfoundation.org>
---
 test_communication/CMakeLists.txt             |  4 +++
 test_communication/package.xml                |  1 +
 test_communication/test/test_messages_c.cpp   | 27 +++++++++++++++----
 .../test/test_publisher_subscriber.cpp        | 10 ++++---
 test_rclcpp/CMakeLists.txt                    | 18 ++++++++++---
 ...st_avoid_ros_namespace_conventions_qos.cpp | 10 +------
 test_rclcpp/test/test_client_scope_client.cpp | 10 +------
 .../test_client_scope_consistency_client.cpp  | 10 +------
 .../test_client_wait_for_service_shutdown.cpp |  5 ++--
 test_rclcpp/test/test_executor.cpp            | 14 ++++------
 test_rclcpp/test/test_local_parameters.cpp    | 15 ++++++++---
 .../test/test_multiple_service_calls.cpp      | 12 +++------
 test_rclcpp/test/test_multithreaded.cpp       | 17 +++++-------
 test_rclcpp/test/test_publisher.cpp           | 10 +------
 test_rclcpp/test/test_remote_parameters.cpp   | 12 +++------
 test_rclcpp/test/test_services_client.cpp     | 12 +++------
 .../test/test_services_in_constructor.cpp     | 12 ++-------
 ...ndler_before_shutdown__expected_output.txt |  2 +-
 test_rclcpp/test/test_spin.cpp                | 15 ++++-------
 test_rclcpp/test/test_subscription.cpp        | 22 +++++++--------
 test_rclcpp/test/test_timer.cpp               | 13 +++------
 test_rclcpp/test/test_waitable.cpp            | 19 ++++++-------
 .../test_invalid_secure_node_creation_c.cpp   | 11 +++++---
 23 files changed, 123 insertions(+), 158 deletions(-)

diff --git a/test_communication/CMakeLists.txt b/test_communication/CMakeLists.txt
index 87412aa7..a6d52d4a 100644
--- a/test_communication/CMakeLists.txt
+++ b/test_communication/CMakeLists.txt
@@ -21,6 +21,7 @@ ament_auto_find_build_dependencies()
 if(BUILD_TESTING)
   find_package(ament_cmake REQUIRED)
   find_package(test_msgs REQUIRED)
+  find_package(osrf_testing_tools_cpp REQUIRED)
 
   ament_index_get_resource(interface_files "rosidl_interfaces" "test_msgs")
   string(REPLACE "\n" ";" interface_files "${interface_files}")
@@ -124,6 +125,9 @@ if(BUILD_TESTING)
       RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
       RMW_IMPLEMENTATION=${rmw_implementation})
     if(TARGET ${target}${target_suffix})
+      target_include_directories(${target}${target_suffix}
+        PUBLIC ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+      )
       target_link_libraries(${target}${target_suffix}
         ${_AMENT_EXPORT_ABSOLUTE_LIBRARIES}
         ${_AMENT_EXPORT_LIBRARY_TARGETS})
diff --git a/test_communication/package.xml b/test_communication/package.xml
index 99341852..0aef6be2 100644
--- a/test_communication/package.xml
+++ b/test_communication/package.xml
@@ -24,6 +24,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>launch</test_depend>
+  <test_depend>osrf_testing_tools_cpp</test_depend>
   <test_depend>rcl</test_depend>
   <test_depend>rclcpp</test_depend>
   <test_depend>rclpy</test_depend>
diff --git a/test_communication/test/test_messages_c.cpp b/test_communication/test/test_messages_c.cpp
index cea2a310..47a00f53 100644
--- a/test_communication/test/test_messages_c.cpp
+++ b/test_communication/test/test_messages_c.cpp
@@ -21,6 +21,8 @@
 #include <string>
 #include <thread>
 
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+
 #include "rcl/subscription.h"
 #include "rcl/publisher.h"
 
@@ -83,17 +85,28 @@ make_scope_exit(Callable callable)
 class CLASSNAME (TestMessagesFixture, RMW_IMPLEMENTATION) : public ::testing::Test
 {
 public:
+  rcl_context_t * context_ptr;
   rcl_node_t * node_ptr;
   void SetUp()
   {
     rcl_ret_t ret;
-    ret = rcl_init(0, nullptr, rcl_get_default_allocator());
-    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    {
+      rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+      ret = rcl_init_options_init(&init_options, rcl_get_default_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;
+      });
+      this->context_ptr = new rcl_context_t;
+      *this->context_ptr = rcl_get_zero_initialized_context();
+      ret = rcl_init(0, nullptr, &init_options, this->context_ptr);
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    }
     this->node_ptr = new rcl_node_t;
     *this->node_ptr = rcl_get_zero_initialized_node();
-    const char * name = "node_name";
+    const char * name = "test_message_fixture_node";
     rcl_node_options_t node_options = rcl_node_get_default_options();
-    ret = rcl_node_init(this->node_ptr, name, "", &node_options);
+    ret = rcl_node_init(this->node_ptr, name, "", this->context_ptr, &node_options);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   }
 
@@ -102,9 +115,13 @@ class CLASSNAME (TestMessagesFixture, RMW_IMPLEMENTATION) : public ::testing::Te
     rcl_ret_t ret = rcl_node_fini(this->node_ptr);
     delete this->node_ptr;
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-    ret = rcl_shutdown();
+    ret = rcl_shutdown(this->context_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_context_fini(this->context_ptr);
+    delete this->context_ptr;
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   }
+
   template<typename MessageT>
   void test_message_type(const char * topic_name, const rosidl_message_type_support_t * ts)
   {
diff --git a/test_communication/test/test_publisher_subscriber.cpp b/test_communication/test/test_publisher_subscriber.cpp
index 593595fe..e6a17ef5 100644
--- a/test_communication/test/test_publisher_subscriber.cpp
+++ b/test_communication/test/test_publisher_subscriber.cpp
@@ -14,6 +14,7 @@
 
 #include <chrono>
 #include <string>
+#include <thread>
 #include <vector>
 
 #include "rclcpp/rclcpp.hpp"
@@ -45,11 +46,9 @@ void publish(
       publisher->publish(messages[message_index]);
       ++message_index;
       message_rate.sleep();
-      rclcpp::spin_some(node);
     }
     ++cycle_index;
     cycle_rate.sleep();
-    rclcpp::spin_some(node);
   }
 }
 
@@ -134,6 +133,10 @@ int main(int argc, char ** argv)
   auto messages_static_array_nested = get_messages_static_array_nested();
   auto messages_builtins = get_messages_builtins();
 
+  std::thread spin_thread([node]() {
+      rclcpp::spin(node);
+    });
+
   if (message == "Empty") {
     subscriber = subscribe<test_msgs::msg::Empty>(
       node, message, messages_empty, received_messages);
@@ -202,11 +205,10 @@ int main(int argc, char ** argv)
     publish<test_msgs::msg::Builtins>(node, message, messages_builtins);
   } else {
     fprintf(stderr, "Unknown message argument '%s'\n", message.c_str());
-    rclcpp::shutdown();
     return 1;
   }
 
-  rclcpp::spin_some(node);
+  spin_thread.join();
 
   auto end = std::chrono::steady_clock::now();
   std::chrono::duration<float> diff = (end - start);
diff --git a/test_rclcpp/CMakeLists.txt b/test_rclcpp/CMakeLists.txt
index f64ca129..700b291b 100644
--- a/test_rclcpp/CMakeLists.txt
+++ b/test_rclcpp/CMakeLists.txt
@@ -66,6 +66,16 @@ if(BUILD_TESTING)
       "rclcpp")
   endfunction()
 
+  function(custom_gtest_executable target)
+    ament_add_gtest_executable(${target} ${ARGN})
+    target_compile_definitions(${target}
+      PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
+    rosidl_target_interfaces(${target}
+      ${PROJECT_NAME} "rosidl_typesupport_cpp")
+    ament_target_dependencies(${target}
+      "rclcpp")
+  endfunction()
+
   macro(custom_launch_test_two_executables test_name executable1 executable2)
     cmake_parse_arguments(_ARG "" "ARGS1;ARGS2;RMW1;RMW2" "" ${ARGN})
     set(TEST_NAME "${test_name}")
@@ -270,7 +280,7 @@ if(BUILD_TESTING)
 
   # Parameter tests single implementation
   custom_executable(test_parameters_server_cpp "test/test_parameters_server.cpp")
-  custom_executable(test_remote_parameters_cpp "test/test_remote_parameters.cpp")
+  custom_gtest_executable(test_remote_parameters_cpp "test/test_remote_parameters.cpp")
   target_include_directories(test_remote_parameters_cpp
     PUBLIC ${GTEST_INCLUDE_DIRS})
   target_link_libraries(test_remote_parameters_cpp
@@ -278,21 +288,21 @@ if(BUILD_TESTING)
 
   # Service tests single implementation
   custom_executable(test_services_server_cpp "test/test_services_server.cpp")
-  custom_executable(test_services_client_cpp "test/test_services_client.cpp")
+  custom_gtest_executable(test_services_client_cpp "test/test_services_client.cpp")
   target_include_directories(test_services_client_cpp
     PUBLIC ${GTEST_INCLUDE_DIRS})
   target_link_libraries(test_services_client_cpp
     ${GTEST_LIBRARIES})
 
   custom_executable(test_client_scope_server_cpp "test/test_client_scope_server.cpp")
-  custom_executable(test_client_scope_client_cpp "test/test_client_scope_client.cpp")
+  custom_gtest_executable(test_client_scope_client_cpp "test/test_client_scope_client.cpp")
   target_include_directories(test_client_scope_client_cpp
     PUBLIC ${GTEST_INCLUDE_DIRS})
   target_link_libraries(test_client_scope_client_cpp
     ${GTEST_LIBRARIES})
 
   custom_executable(test_client_scope_consistency_server_cpp "test/test_client_scope_consistency_server.cpp")
-  custom_executable(test_client_scope_consistency_client_cpp "test/test_client_scope_consistency_client.cpp")
+  custom_gtest_executable(test_client_scope_consistency_client_cpp "test/test_client_scope_consistency_client.cpp")
   target_include_directories(test_client_scope_consistency_client_cpp
     PUBLIC ${GTEST_INCLUDE_DIRS})
   target_link_libraries(test_client_scope_consistency_client_cpp
diff --git a/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp b/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp
index a69785f1..55536a2a 100644
--- a/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp
+++ b/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp
@@ -37,6 +37,7 @@ TEST(
   CLASSNAME(test_avoid_ros_namespace_conventions_qos, RMW_IMPLEMENTATION),
   pub_sub_works
 ) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   // topic name
   std::string topic_name = "test_avoid_ros_namespace_conventions_qos";
   // code to create the callback and subscription
@@ -72,12 +73,3 @@ TEST(
   single_message_pub_sub_fixture<test_rclcpp::msg::UInt32>(
     topic_name, counter, create_subscription_func, publish_func, custom_qos);
 }
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return ret;
-}
diff --git a/test_rclcpp/test/test_client_scope_client.cpp b/test_rclcpp/test/test_client_scope_client.cpp
index 99814832..329caa4a 100644
--- a/test_rclcpp/test/test_client_scope_client.cpp
+++ b/test_rclcpp/test/test_client_scope_client.cpp
@@ -31,6 +31,7 @@
 using namespace std::chrono_literals;
 
 TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_regression_test) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("client_scope_regression_test");
 
   // Extra scope so the first client will be deleted afterwards
@@ -89,12 +90,3 @@ TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_regression_test
     std::cout.flush();
   }
 }
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return ret;
-}
diff --git a/test_rclcpp/test/test_client_scope_consistency_client.cpp b/test_rclcpp/test/test_client_scope_consistency_client.cpp
index 33ee2a8e..181e709b 100644
--- a/test_rclcpp/test/test_client_scope_consistency_client.cpp
+++ b/test_rclcpp/test/test_client_scope_consistency_client.cpp
@@ -35,6 +35,7 @@ using namespace std::chrono_literals;
 // This test is concerned with the consistency of the two clients' behavior, not necessarily whether
 // or not they are successful.
 TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_consistency_regression_test) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("client_scope_consistency_regression_test");
 
   // Replicate the settings that caused https://github.com/ros2/system_tests/issues/153
@@ -123,12 +124,3 @@ TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_consistency_reg
     std::cout.flush();
   }
 }
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return ret;
-}
diff --git a/test_rclcpp/test/test_client_wait_for_service_shutdown.cpp b/test_rclcpp/test/test_client_wait_for_service_shutdown.cpp
index 3d1906f2..cffea5a0 100644
--- a/test_rclcpp/test/test_client_wait_for_service_shutdown.cpp
+++ b/test_rclcpp/test/test_client_wait_for_service_shutdown.cpp
@@ -17,6 +17,7 @@
 
 #include "gtest/gtest.h"
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp/scope_exit.hpp"
 #include "test_rclcpp/srv/add_two_ints.hpp"
 
 #ifdef RMW_IMPLEMENTATION
@@ -35,14 +36,14 @@ TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), wait_for_service_shutdown) {
 
   auto client = node->create_client<test_rclcpp::srv::AddTwoInts>("wait_for_service_shutdown");
 
-  auto shutdown_thread = std::thread(
+  std::thread shutdown_thread(
     []() {
       std::this_thread::sleep_for(1s);
       rclcpp::shutdown();
     });
+  RCLCPP_SCOPE_EXIT({shutdown_thread.join();});
   auto start = std::chrono::steady_clock::now();
   client->wait_for_service(15s);
   auto end = std::chrono::steady_clock::now();
   ASSERT_LE(end - start, 10s);
-  shutdown_thread.join();
 }
diff --git a/test_rclcpp/test/test_executor.cpp b/test_rclcpp/test/test_executor.cpp
index 9d5b68ff..fcee2e2b 100644
--- a/test_rclcpp/test/test_executor.cpp
+++ b/test_rclcpp/test/test_executor.cpp
@@ -40,6 +40,7 @@
 using namespace std::chrono_literals;
 
 TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), recursive_spin_call) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   rclcpp::executors::SingleThreadedExecutor executor;
   auto node = rclcpp::Node::make_shared("recursive_spin_call");
   auto timer = node->create_wall_timer(
@@ -55,6 +56,7 @@ TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), recursive_spin_call) {
 }
 
 TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), spin_some_max_duration) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   rclcpp::executors::SingleThreadedExecutor executor;
   auto node = rclcpp::Node::make_shared("spin_some_max_duration");
   auto timer = node->create_wall_timer(
@@ -73,6 +75,7 @@ TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), spin_some_max_duration) {
 }
 
 TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), multithreaded_spin_call) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   rclcpp::executors::SingleThreadedExecutor executor;
   auto node = rclcpp::Node::make_shared("multithreaded_spin_call");
   std::mutex m;
@@ -105,6 +108,7 @@ TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), multithreaded_spin_call) {
 
 // Try spinning 2 single-threaded executors in two separate threads.
 TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), multiple_executors) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   std::atomic_uint counter1;
   counter1 = 0;
   std::atomic_uint counter2;
@@ -165,6 +169,7 @@ TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), multiple_executors) {
 // Check that the executor is notified when a node adds a new timer, publisher, subscription,
 // service or client.
 TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), notify) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   rclcpp::executors::SingleThreadedExecutor executor;
   auto executor_spin_lambda = [&executor]() {
       executor.spin();
@@ -254,12 +259,3 @@ TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), notify) {
 // test removing a node
 
 // test notify with multiple nodes
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return ret;
-}
diff --git a/test_rclcpp/test/test_local_parameters.cpp b/test_rclcpp/test/test_local_parameters.cpp
index e8c737cc..1dd39f6c 100644
--- a/test_rclcpp/test/test_local_parameters.cpp
+++ b/test_rclcpp/test/test_local_parameters.cpp
@@ -34,6 +34,7 @@ using namespace std::chrono_literals;
 #endif
 
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), to_string) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   rclcpp::Parameter pv("foo", "bar");
   rclcpp::Parameter pv2("foo2", "bar2");
   std::string json_dict = std::to_string(pv);
@@ -65,6 +66,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), to_string) {
 }
 
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("test_parameters_local_synchronous");
   auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
@@ -75,6 +77,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous) {
 }
 
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous_repeated) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("test_parameters_local_synchronous_repeated");
   auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
@@ -88,6 +91,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous_rep
 }
 
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_asynchronous) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared(std::string("test_parameters_local_asynchronous"));
   auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
@@ -138,6 +142,7 @@ class ParametersAsyncNode : public rclcpp::Node
 // Regression test for calling parameter client async services, but having the specified callback
 // go out of scope before it gets called: see https://github.com/ros2/rclcpp/pull/414
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_async_with_callback) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = std::make_shared<ParametersAsyncNode>();
   if (!node->parameters_client_->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
@@ -150,6 +155,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_async_with_call
 }
 
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), helpers) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
   auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
@@ -259,6 +265,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), helpers) {
 }
 
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_primitive_type) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
   auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
@@ -322,6 +329,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_primiti
 }
 
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_variant_type) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   using rclcpp::Parameter;
 
   auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
@@ -379,6 +387,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_variant
 }
 
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_parameter_or) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   using rclcpp::Parameter;
 
   auto node = rclcpp::Node::make_shared("test_parameters_get_parameter_or");
@@ -415,6 +424,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_parameter_or) {
 }
 
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_parameter_or_set) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   using rclcpp::Parameter;
 
   auto node = rclcpp::Node::make_shared("test_parameters_get_parameter_or_set_default");
@@ -447,6 +457,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_parameter_or_set)
 }
 
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), set_parameter_if_not_set) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   using rclcpp::Parameter;
 
   auto node = rclcpp::Node::make_shared("test_parameters_set_parameter_if_not_set");
@@ -482,11 +493,7 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), set_parameter_if_not_
 int main(int argc, char ** argv)
 {
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
-
-  // NOTE: use custom main to ensure that rclcpp::init is called only once
-  rclcpp::init(argc, argv);
   ::testing::InitGoogleTest(&argc, argv);
   int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
   return ret;
 }
diff --git a/test_rclcpp/test/test_multiple_service_calls.cpp b/test_rclcpp/test/test_multiple_service_calls.cpp
index e26096b6..aaa10587 100644
--- a/test_rclcpp/test/test_multiple_service_calls.cpp
+++ b/test_rclcpp/test/test_multiple_service_calls.cpp
@@ -44,6 +44,7 @@ void handle_add_two_ints(
 }
 
 TEST(CLASSNAME(test_two_service_calls, RMW_IMPLEMENTATION), two_service_calls) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("test_two_service_calls");
 
   auto service = node->create_service<test_rclcpp::srv::AddTwoInts>(
@@ -86,6 +87,7 @@ TEST(CLASSNAME(test_two_service_calls, RMW_IMPLEMENTATION), two_service_calls) {
 // Regression test for async client not being able to queue another request in a response callback.
 // See https://github.com/ros2/rclcpp/pull/415
 TEST(CLASSNAME(test_two_service_calls, RMW_IMPLEMENTATION), recursive_service_call) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("test_recursive_service_call");
 
   auto service = node->create_service<test_rclcpp::srv::AddTwoInts>(
@@ -133,6 +135,7 @@ TEST(CLASSNAME(test_two_service_calls, RMW_IMPLEMENTATION), recursive_service_ca
 }
 
 TEST(CLASSNAME(test_multiple_service_calls, RMW_IMPLEMENTATION), multiple_clients) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   const uint32_t n = 5;
 
   auto node = rclcpp::Node::make_shared("test_multiple_clients");
@@ -190,12 +193,3 @@ TEST(CLASSNAME(test_multiple_service_calls, RMW_IMPLEMENTATION), multiple_client
     fflush(stdout);
   }
 }
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return ret;
-}
diff --git a/test_rclcpp/test/test_multithreaded.cpp b/test_rclcpp/test/test_multithreaded.cpp
index 558d5155..2c91bf4c 100644
--- a/test_rclcpp/test/test_multithreaded.cpp
+++ b/test_rclcpp/test/test_multithreaded.cpp
@@ -137,16 +137,19 @@ static inline void multi_consumer_pub_sub_test(bool intra_process)
 }
 
 TEST(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_consumer_single_producer) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   // multiple subscriptions, single publisher
   multi_consumer_pub_sub_test(false);
 }
 
 TEST(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_consumer_intra_process) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   // multiple subscriptions, single publisher, intra-process
   multi_consumer_pub_sub_test(true);
 }
 
 TEST(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_consumer_clients) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   // multiple clients, single server
   auto node = rclcpp::Node::make_shared("multi_consumer_clients");
   rclcpp::executors::MultiThreadedExecutor executor;
@@ -252,6 +255,7 @@ static inline void multi_access_publisher(bool intra_process)
 {
   // Try to access the same publisher simultaneously
   auto context = std::make_shared<rclcpp::Context>();
+  context->init(0, nullptr);
   std::string node_topic_name = "multi_access_publisher";
   if (intra_process) {
     node_topic_name += "_intra_process";
@@ -323,20 +327,11 @@ static inline void multi_access_publisher(bool intra_process)
 }
 
 TEST(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_access_publisher) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   multi_access_publisher(false);
 }
 
 TEST(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_access_publisher_intra_process) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   multi_access_publisher(true);
 }
-
-
-int main(int argc, char ** argv)
-{
-  // use custom main to ensure that rclcpp::init is called only once
-  rclcpp::init(argc, argv);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return ret;
-}
diff --git a/test_rclcpp/test/test_publisher.cpp b/test_rclcpp/test/test_publisher.cpp
index 6ad78ec1..98c5b61c 100644
--- a/test_rclcpp/test/test_publisher.cpp
+++ b/test_rclcpp/test/test_publisher.cpp
@@ -34,6 +34,7 @@
 
 // Short test for the const reference publish signature.
 TEST(CLASSNAME(test_publisher, RMW_IMPLEMENTATION), publish_with_const_reference) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   // topic name
   std::string topic_name = "test_publish_with_const_reference";
   // code to create the callback and subscription
@@ -67,12 +68,3 @@ TEST(CLASSNAME(test_publisher, RMW_IMPLEMENTATION), publish_with_const_reference
   single_message_pub_sub_fixture<test_rclcpp::msg::UInt32>(
     topic_name, counter, create_subscription_func, publish_func);
 }
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return ret;
-}
diff --git a/test_rclcpp/test/test_remote_parameters.cpp b/test_rclcpp/test/test_remote_parameters.cpp
index f02fab20..3b06c52f 100644
--- a/test_rclcpp/test/test_remote_parameters.cpp
+++ b/test_rclcpp/test/test_remote_parameters.cpp
@@ -32,6 +32,7 @@
 using namespace std::chrono_literals;
 
 TEST(CLASSNAME(parameters, rmw_implementation), test_remote_parameters_async) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   std::string test_server_name = "test_parameters_server";
   // TODO(tfoote) make test_server name parameterizable
   // if (argc >= 2) {
@@ -52,6 +53,7 @@ TEST(CLASSNAME(parameters, rmw_implementation), test_remote_parameters_async) {
 }
 
 TEST(CLASSNAME(parameters, rmw_implementation), test_remote_parameters_sync) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   std::string test_server_name = "test_parameters_server";
 
   auto node = rclcpp::Node::make_shared(std::string("test_remote_parameters_sync"));
@@ -68,6 +70,7 @@ TEST(CLASSNAME(parameters, rmw_implementation), test_remote_parameters_sync) {
 }
 
 TEST(CLASSNAME(parameters, rmw_implementation), test_set_remote_parameters_atomically_sync) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   std::string test_server_name = "test_parameters_server";
 
   auto node = rclcpp::Node::make_shared(std::string("test_set_remote_parameters_atomically_sync"));
@@ -82,12 +85,3 @@ TEST(CLASSNAME(parameters, rmw_implementation), test_set_remote_parameters_atomi
 
   verify_test_parameters(parameters_client);
 }
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return ret;
-}
diff --git a/test_rclcpp/test/test_services_client.cpp b/test_rclcpp/test/test_services_client.cpp
index bfd9830f..19424519 100644
--- a/test_rclcpp/test/test_services_client.cpp
+++ b/test_rclcpp/test/test_services_client.cpp
@@ -32,6 +32,7 @@
 using namespace std::chrono_literals;
 
 TEST(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_add_noreqid) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("test_services_client_no_reqid");
 
   auto client = node->create_client<test_rclcpp::srv::AddTwoInts>("add_two_ints_noreqid");
@@ -52,6 +53,7 @@ TEST(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_add_noreqid) {
 }
 
 TEST(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_add_reqid) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("test_services_client_add_reqid");
 
   auto client = node->create_client<test_rclcpp::srv::AddTwoInts>("add_two_ints_reqid");
@@ -72,6 +74,7 @@ TEST(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_add_reqid) {
 }
 
 TEST(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_return_request) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("test_services_client_return_request");
 
   auto client = node->create_client<test_rclcpp::srv::AddTwoInts>(
@@ -95,12 +98,3 @@ TEST(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_return_request) {
   auto ret = rclcpp::spin_until_future_complete(node, result, 5s);  // Wait for the result.
   ASSERT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
 }
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return ret;
-}
diff --git a/test_rclcpp/test/test_services_in_constructor.cpp b/test_rclcpp/test/test_services_in_constructor.cpp
index dcb98dfc..e60e7e4f 100644
--- a/test_rclcpp/test/test_services_in_constructor.cpp
+++ b/test_rclcpp/test/test_services_in_constructor.cpp
@@ -54,6 +54,7 @@ class MyNodeWithService : public rclcpp::Node
 };
 
 TEST(CLASSNAME(test_services_in_constructor, RMW_IMPLEMENTATION), service_in_constructor) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto n = std::make_shared<MyNodeWithService>();
 }
 
@@ -71,15 +72,6 @@ class MyNodeWithClient : public rclcpp::Node
 };
 
 TEST(CLASSNAME(test_services_in_constructor, RMW_IMPLEMENTATION), client_in_constructor) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto n = std::make_shared<MyNodeWithClient>();
 }
-
-int main(int argc, char ** argv)
-{
-  // NOTE: use custom main to ensure that rclcpp::init is called only once
-  rclcpp::init(0, nullptr);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return ret;
-}
diff --git a/test_rclcpp/test/test_signal_handler_before_shutdown__expected_output.txt b/test_rclcpp/test/test_signal_handler_before_shutdown__expected_output.txt
index ea29c6c4..511c8e36 100644
--- a/test_rclcpp/test/test_signal_handler_before_shutdown__expected_output.txt
+++ b/test_rclcpp/test/test_signal_handler_before_shutdown__expected_output.txt
@@ -1,7 +1,7 @@
 Registered custom signal handler.
 Called rclcpp::init.
 Waiting to give an opportunity for interrupt...
-signal_handler(2)
+[INFO] [rclcpp]: signal_handler(signal_value=2)
 Custom sigint handler called.
 Calling rclcpp::shutdown...
 Called rclcpp::shutdown.
diff --git a/test_rclcpp/test/test_spin.cpp b/test_rclcpp/test/test_spin.cpp
index d1b33a57..d3b7e2ae 100644
--- a/test_rclcpp/test/test_spin.cpp
+++ b/test_rclcpp/test/test_spin.cpp
@@ -37,6 +37,7 @@ using namespace std::chrono_literals;
    Ensures that the timeout behavior of spin_until_future_complete is correct.
  */
 TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), test_spin_until_future_complete_timeout) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   using rclcpp::executor::FutureReturnCode;
   rclcpp::executors::SingleThreadedExecutor executor;
 
@@ -124,6 +125,7 @@ TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), test_spin_until_future_complete_t
 }
 
 TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("test_spin");
 
   // Construct a fake future to wait on
@@ -145,6 +147,7 @@ TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete) {
 }
 
 TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete_timeout) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("test_spin");
 
   // Construct a fake future to wait on
@@ -168,6 +171,7 @@ TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete_timeou
 }
 
 TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete_interrupted) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("test_spin");
 
   // Construct a fake future to wait on
@@ -191,6 +195,7 @@ TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete_interr
 }
 
 TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), cancel) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("cancel");
   rclcpp::executors::SingleThreadedExecutor executor;
   auto pub = node->create_publisher<test_rclcpp::msg::UInt32>("cancel", 10);
@@ -214,13 +219,3 @@ TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), cancel) {
   executor.add_node(node);
   executor.spin();
 }
-
-int main(int argc, char ** argv)
-{
-  // NOTE: use custom main to ensure that rclcpp::init is called only once
-  rclcpp::init(0, nullptr);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return ret;
-}
diff --git a/test_rclcpp/test/test_subscription.cpp b/test_rclcpp/test/test_subscription.cpp
index 872402f4..1785df4e 100644
--- a/test_rclcpp/test/test_subscription.cpp
+++ b/test_rclcpp/test/test_subscription.cpp
@@ -56,6 +56,7 @@ void wait_for_future(
 }
 
 TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_and_spinning) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("test_subscription");
 
   rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_default;
@@ -174,6 +175,7 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_and_spinning
 
 // Shortened version of the test for the ConstSharedPtr callback signature
 TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_shared_ptr_const) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   std::string topic_name = "test_subscription_subscription_shared_ptr_const";
   // create the callback and subscription
   int counter = 0;
@@ -223,7 +225,9 @@ class CallbackHolder
 
 // Shortened version of the test for the ConstSharedPtr callback signature in a method
 TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION),
-  subscription_shared_ptr_const_method_std_function) {
+  subscription_shared_ptr_const_method_std_function
+) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   std::string topic_name = "test_subscription_shared_ptr_const_method_std_function";
   // create the callback and subscription
   CallbackHolder cb_holder;
@@ -255,7 +259,9 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION),
 
 // Shortened version of the test for the ConstSharedPtr callback signature in a method
 TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION),
-  subscription_shared_ptr_const_method_direct) {
+  subscription_shared_ptr_const_method_direct
+) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   std::string topic_name = "test_subscription_shared_ptr_const_method_direct";
   // create the callback and subscription
   CallbackHolder cb_holder;
@@ -287,6 +293,7 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION),
 
 // Shortened version of the test for the ConstSharedPtr with info callback signature
 TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_shared_ptr_const_with_info) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   std::string topic_name = "test_subscription_shared_ptr_const_method_direct";
   // create the callback and subscription
   int counter = 0;
@@ -322,6 +329,7 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_shared_ptr_c
 
 // Shortened version of the test for subscribing after spinning has started.
 TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), spin_before_subscription) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   std::string topic_name = "test_spin_before_subscription";
   // create the callback and subscription
   int counter = 0;
@@ -366,6 +374,7 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), spin_before_subscription)
 
 // Test of the queue size create_subscription signature.
 TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), create_subscription_with_queue_size) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("test_subscription");
 
   auto callback = [](test_rclcpp::msg::UInt32::ConstSharedPtr) -> void {};
@@ -373,12 +382,3 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), create_subscription_with_
   auto subscriber = node->create_subscription<test_rclcpp::msg::UInt32>(
     "test_subscription", callback, 10);
 }
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return ret;
-}
diff --git a/test_rclcpp/test/test_timer.cpp b/test_rclcpp/test/test_timer.cpp
index b32b24c7..908746da 100644
--- a/test_rclcpp/test/test_timer.cpp
+++ b/test_rclcpp/test/test_timer.cpp
@@ -27,6 +27,7 @@
 #endif
 
 TEST(CLASSNAME(test_time, RMW_IMPLEMENTATION), timer_fire_regularly) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("test_timer_fire_regularly");
 
   int counter = 0;
@@ -81,6 +82,7 @@ TEST(CLASSNAME(test_time, RMW_IMPLEMENTATION), timer_fire_regularly) {
 }
 
 TEST(CLASSNAME(test_time, RMW_IMPLEMENTATION), timer_during_wait) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("test_timer_during_wait");
 
   int counter = 0;
@@ -133,6 +135,7 @@ TEST(CLASSNAME(test_time, RMW_IMPLEMENTATION), timer_during_wait) {
 
 
 TEST(CLASSNAME(test_time, RMW_IMPLEMENTATION), finite_timer) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("finite_timer");
 
   int counter = 0;
@@ -164,13 +167,3 @@ TEST(CLASSNAME(test_time, RMW_IMPLEMENTATION), finite_timer) {
     EXPECT_EQ(counter, 2);
   }
 }
-
-int main(int argc, char ** argv)
-{
-  // NOTE: use custom main to ensure that rclcpp::init is called only once
-  rclcpp::init(0, nullptr);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return ret;
-}
diff --git a/test_rclcpp/test/test_waitable.cpp b/test_rclcpp/test/test_waitable.cpp
index 9a307758..9da1578f 100644
--- a/test_rclcpp/test/test_waitable.cpp
+++ b/test_rclcpp/test/test_waitable.cpp
@@ -40,8 +40,13 @@ class WaitableWithTimer : public rclcpp::Waitable
     timer_.reset(new rcl_timer_t);
     *timer_ = rcl_get_zero_initialized_timer();
     rcl_clock_t * clock_handle = clock->get_clock_handle();
-    rcl_ret_t ret = rcl_timer_init(timer_.get(), clock_handle, period_nanoseconds, nullptr,
-        rcl_get_default_allocator());
+    rcl_ret_t ret = rcl_timer_init(
+      timer_.get(),
+      clock_handle,
+      rclcpp::contexts::default_context::get_global_default_context()->get_rcl_context().get(),
+      period_nanoseconds,
+      nullptr,
+      rcl_get_default_allocator());
     if (RCL_RET_OK != ret) {
       throw std::runtime_error("failed to create timer");
     }
@@ -85,6 +90,7 @@ class WaitableWithTimer : public rclcpp::Waitable
 };  // class WaitableWithTimer
 
 TEST(CLASSNAME(test_waitable, RMW_IMPLEMENTATION), waitable_with_timer) {
+  if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
   auto node = rclcpp::Node::make_shared("waitable_with_timer");
   auto waitable = WaitableWithTimer::make_shared(node->get_clock());
   auto group = node->create_callback_group(rclcpp::callback_group::CallbackGroupType::Reentrant);
@@ -95,12 +101,3 @@ TEST(CLASSNAME(test_waitable, RMW_IMPLEMENTATION), waitable_with_timer) {
 
   EXPECT_TRUE(fut.get());
 }
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(0, nullptr);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return ret;
-}
diff --git a/test_security/test/test_invalid_secure_node_creation_c.cpp b/test_security/test/test_invalid_secure_node_creation_c.cpp
index c47b8036..3e22ea45 100644
--- a/test_security/test/test_invalid_secure_node_creation_c.cpp
+++ b/test_security/test/test_invalid_secure_node_creation_c.cpp
@@ -71,6 +71,7 @@ void custom_putenv(const char * name, const char * value)
 class CLASSNAME (TestInvalidSecureNode, RMW_IMPLEMENTATION) : public ::testing::Test
 {
 public:
+  rcl_context_t context;
   rcl_node_t * node_ptr;
   void SetUp()
   {
@@ -80,7 +81,7 @@ class CLASSNAME (TestInvalidSecureNode, RMW_IMPLEMENTATION) : public ::testing::
   {
     rcl_ret_t ret = rcl_node_fini(this->node_ptr);
     delete this->node_ptr;
-    ret = rcl_shutdown();
+    ret = rcl_shutdown(&context);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   }
 
@@ -95,13 +96,17 @@ class CLASSNAME (TestInvalidSecureNode, RMW_IMPLEMENTATION) : public ::testing::
     custom_putenv("ROS_SECURITY_ENABLE", ROS_SECURITY_ENABLE);
     custom_putenv("ROS_SECURITY_STRATEGY", ROS_SECURITY_STRATEGY);
     rcl_ret_t ret;
-    ret = rcl_init(0, nullptr, rcl_get_default_allocator());
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
+    ASSERT_EQ(RCL_RET_OK, ret) << 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;
     this->node_ptr = new rcl_node_t;
     *this->node_ptr = rcl_get_zero_initialized_node();
     // const char * name = "node_name";
     rcl_node_options_t node_options = rcl_node_get_default_options();
-    ret = rcl_node_init(this->node_ptr, node_name, "", &node_options);
+    ret = rcl_node_init(this->node_ptr, node_name, "", &context, &node_options);
     if (should_fail_participant_creation) {
       ASSERT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
     } else {