diff --git a/rmw/include/rmw/topic_endpoint_info_array.h b/rmw/include/rmw/topic_endpoint_info_array.h
index e736b811..cdec3e76 100644
--- a/rmw/include/rmw/topic_endpoint_info_array.h
+++ b/rmw/include/rmw/topic_endpoint_info_array.h
@@ -28,7 +28,7 @@ extern "C"
 typedef struct RMW_PUBLIC_TYPE rmw_topic_endpoint_info_array_t
 {
   /// Size of the array.
-  size_t count;
+  size_t size;
   /// Pointer representing an array of rmw_topic_endpoint_info_t
   rmw_topic_endpoint_info_t * info_array;
 } rmw_topic_endpoint_info_array_t;
@@ -60,6 +60,7 @@ rmw_topic_endpoint_info_array_check_zero(
  * type rmw_topic_endpoint_info_t.
  * This function allocates memory to this array to hold n elements,
  * where n is the value of the size param to this function.
+ * The member `size` is updated accordingly.
  *
  * topic_endpoint_info_array must be zero initialized before being passed into this function.
  *
@@ -85,7 +86,7 @@ rmw_topic_endpoint_info_array_init_with_size(
  * The info_array member variable inside of rmw_topic_endpoint_info_array represents an array of
  * rmw_topic_endpoint_info_t.
  * When initializing this array, memory is allocated for it using the allocator.
- * This function reclaims any allocated resources within the object and also sets the value of count
+ * This function reclaims any allocated resources within the object and also sets the value of size
  * to 0.
  *
  * \param[inout] topic_endpoint_info_array object to be finalized
diff --git a/rmw/src/topic_endpoint_info.c b/rmw/src/topic_endpoint_info.c
index d09dcbde..4cc91185 100644
--- a/rmw/src/topic_endpoint_info.c
+++ b/rmw/src/topic_endpoint_info.c
@@ -47,10 +47,6 @@ _rmw_topic_endpoint_info_fini_node_name(
   rmw_topic_endpoint_info_t * topic_endpoint_info,
   rcutils_allocator_t * allocator)
 {
-  if (!topic_endpoint_info->node_name) {
-    RMW_SET_ERROR_MSG("topic_endpoint_info->node_name is null");
-    return RMW_RET_INVALID_ARGUMENT;
-  }
   return _rmw_topic_endpoint_info_fini_str(&topic_endpoint_info->node_name, allocator);
 }
 
@@ -59,10 +55,6 @@ _rmw_topic_endpoint_info_fini_node_namespace(
   rmw_topic_endpoint_info_t * topic_endpoint_info,
   rcutils_allocator_t * allocator)
 {
-  if (!topic_endpoint_info->node_namespace) {
-    RMW_SET_ERROR_MSG("topic_endpoint_info->node_namespace is null");
-    return RMW_RET_INVALID_ARGUMENT;
-  }
   return _rmw_topic_endpoint_info_fini_str(&topic_endpoint_info->node_namespace, allocator);
 }
 
@@ -71,10 +63,6 @@ _rmw_topic_endpoint_info_fini_topic_type(
   rmw_topic_endpoint_info_t * topic_endpoint_info,
   rcutils_allocator_t * allocator)
 {
-  if (!topic_endpoint_info->topic_type) {
-    RMW_SET_ERROR_MSG("topic_endpoint_info->topic_type is null");
-    return RMW_RET_INVALID_ARGUMENT;
-  }
   return _rmw_topic_endpoint_info_fini_str(&topic_endpoint_info->topic_type, allocator);
 }
 
diff --git a/rmw/src/topic_endpoint_info_array.c b/rmw/src/topic_endpoint_info_array.c
index aa6f4b2a..1cd1f47d 100644
--- a/rmw/src/topic_endpoint_info_array.c
+++ b/rmw/src/topic_endpoint_info_array.c
@@ -38,7 +38,7 @@ rmw_topic_endpoint_info_array_check_zero(
     RMW_SET_ERROR_MSG("topic_endpoint_info_array is null");
     return RMW_RET_INVALID_ARGUMENT;
   }
-  if (topic_endpoint_info_array->count != 0 || topic_endpoint_info_array->info_array != NULL) {
+  if (topic_endpoint_info_array->size != 0 || topic_endpoint_info_array->info_array != NULL) {
     RMW_SET_ERROR_MSG("topic_endpoint_info_array is not zeroed");
     return RMW_RET_ERROR;
   }
@@ -65,6 +65,10 @@ rmw_topic_endpoint_info_array_init_with_size(
     RMW_SET_ERROR_MSG("failed to allocate memory for info_array");
     return RMW_RET_BAD_ALLOC;
   }
+  topic_endpoint_info_array->size = size;
+  for (size_t i = 0; i < size; i++) {
+    topic_endpoint_info_array->info_array[i] = rmw_get_zero_initialized_topic_endpoint_info();
+  }
   return RMW_RET_OK;
 }
 
@@ -85,7 +89,7 @@ rmw_topic_endpoint_info_array_fini(
 
   rmw_ret_t ret;
   // free all const char * inside the topic_endpoint_info_t
-  for (size_t i = 0u; i < topic_endpoint_info_array->count; i++) {
+  for (size_t i = 0u; i < topic_endpoint_info_array->size; i++) {
     ret = rmw_topic_endpoint_info_fini(&topic_endpoint_info_array->info_array[i], allocator);
     if (ret != RMW_RET_OK) {
       return ret;
@@ -94,6 +98,6 @@ rmw_topic_endpoint_info_array_fini(
 
   allocator->deallocate(topic_endpoint_info_array->info_array, allocator->state);
   topic_endpoint_info_array->info_array = NULL;
-  topic_endpoint_info_array->count = 0;
+  topic_endpoint_info_array->size = 0;
   return RMW_RET_OK;
 }
diff --git a/rmw/test/test_topic_endpoint_info_array.cpp b/rmw/test/test_topic_endpoint_info_array.cpp
index 70b35b6a..1907b5fe 100644
--- a/rmw/test/test_topic_endpoint_info_array.cpp
+++ b/rmw/test/test_topic_endpoint_info_array.cpp
@@ -16,24 +16,28 @@
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcutils/allocator.h"
 
+#include "rmw/error_handling.h"
 #include "rmw/topic_endpoint_info_array.h"
 #include "rmw/types.h"
 
 TEST(test_topic_endpoint_info_array, zero_initialize) {
   rmw_topic_endpoint_info_array_t arr = rmw_get_zero_initialized_topic_endpoint_info_array();
-  EXPECT_EQ(arr.count, 0u);
+  EXPECT_EQ(arr.size, 0u);
   EXPECT_FALSE(arr.info_array);
 }
 
 TEST(test_topic_endpoint_info_array, check_zero) {
   rmw_topic_endpoint_info_array_t arr = rmw_get_zero_initialized_topic_endpoint_info_array();
   EXPECT_EQ(rmw_topic_endpoint_info_array_check_zero(&arr), RMW_RET_OK);
-  rmw_topic_endpoint_info_array_t arr_count_not_zero = {1, nullptr};
-  EXPECT_EQ(rmw_topic_endpoint_info_array_check_zero(&arr_count_not_zero), RMW_RET_ERROR);
+  rmw_topic_endpoint_info_array_t arr_size_not_zero = {1, nullptr};
+  EXPECT_EQ(rmw_topic_endpoint_info_array_check_zero(&arr_size_not_zero), RMW_RET_ERROR);
+  rmw_reset_error();
   rmw_topic_endpoint_info_t topic_endpoint_info;
   rmw_topic_endpoint_info_array_t arr_info_array_not_null = {0, &topic_endpoint_info};
   EXPECT_EQ(rmw_topic_endpoint_info_array_check_zero(&arr_info_array_not_null), RMW_RET_ERROR);
+  rmw_reset_error();
   EXPECT_EQ(rmw_topic_endpoint_info_array_check_zero(nullptr), RMW_RET_INVALID_ARGUMENT);
+  rmw_reset_error();
 }
 
 TEST(test_topic_endpoint_info_array, check_init_with_size) {
@@ -47,10 +51,12 @@ TEST(test_topic_endpoint_info_array, check_init_with_size) {
   EXPECT_EQ(
     rmw_topic_endpoint_info_array_init_with_size(&arr, 1, nullptr),
     RMW_RET_INVALID_ARGUMENT);
+  rmw_reset_error();
   EXPECT_EQ(
     rmw_topic_endpoint_info_array_init_with_size(
       nullptr, 1,
       &allocator), RMW_RET_INVALID_ARGUMENT);
+  rmw_reset_error();
   EXPECT_FALSE(arr.info_array);
   rmw_ret_t ret = rmw_topic_endpoint_info_array_init_with_size(&arr, 5, &allocator);
   EXPECT_EQ(ret, RMW_RET_OK);