diff --git a/rcl/test/rcl/test_publisher.cpp b/rcl/test/rcl/test_publisher.cpp
index 73a755170..5205817c9 100644
--- a/rcl/test/rcl/test_publisher.cpp
+++ b/rcl/test/rcl/test_publisher.cpp
@@ -173,6 +173,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
   test_msgs__msg__Strings__init(&msg_string);
   ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg_string.string_value, "testing"));
   ret = rcl_publish(&publisher_in_namespace, &msg_string, nullptr);
+  test_msgs__msg__Strings__fini(&msg_string);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
@@ -201,6 +202,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &default_publisher_options);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   EXPECT_TRUE(rcl_publisher_is_valid(&publisher));
+  ret = rcl_publisher_fini(&publisher, this->node_ptr);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   rcl_reset_error();
 
   // Try passing null for publisher in init.
@@ -212,6 +215,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
   publisher = rcl_get_zero_initialized_publisher();
   ret = rcl_publisher_init(&publisher, nullptr, ts, topic_name, &default_publisher_options);
   EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  ret = rcl_publisher_fini(&publisher, this->node_ptr);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   rcl_reset_error();
 
   // Try passing an invalid (uninitialized) node in init.
@@ -219,6 +224,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
   rcl_node_t invalid_node = rcl_get_zero_initialized_node();
   ret = rcl_publisher_init(&publisher, &invalid_node, ts, topic_name, &default_publisher_options);
   EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
+  ret = rcl_publisher_fini(&publisher, this->node_ptr);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   rcl_reset_error();
 
   // Try passing null for the type support in init.
@@ -226,18 +233,24 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
   ret = rcl_publisher_init(
     &publisher, this->node_ptr, nullptr, topic_name, &default_publisher_options);
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  ret = rcl_publisher_fini(&publisher, this->node_ptr);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   rcl_reset_error();
 
   // Try passing null for the topic name in init.
   publisher = rcl_get_zero_initialized_publisher();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, nullptr, &default_publisher_options);
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  ret = rcl_publisher_fini(&publisher, this->node_ptr);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   rcl_reset_error();
 
   // Try passing null for the options in init.
   publisher = rcl_get_zero_initialized_publisher();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, nullptr);
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  ret = rcl_publisher_fini(&publisher, this->node_ptr);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   rcl_reset_error();
 
   // Try passing options with an invalid allocate in allocator with init.
@@ -248,6 +261,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
   ret = rcl_publisher_init(
     &publisher, this->node_ptr, ts, topic_name, &publisher_options_with_invalid_allocator);
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  ret = rcl_publisher_fini(&publisher, this->node_ptr);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   rcl_reset_error();
 
   // Try passing options with an invalid deallocate in allocator with init.
@@ -257,6 +272,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
   ret = rcl_publisher_init(
     &publisher, this->node_ptr, ts, topic_name, &publisher_options_with_invalid_allocator);
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
+  ret = rcl_publisher_fini(&publisher, this->node_ptr);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   rcl_reset_error();
 
   // An allocator with an invalid realloc will probably work (so we will not test it).