diff --git a/test_rmw_implementation/CMakeLists.txt b/test_rmw_implementation/CMakeLists.txt
index 7b072732e..7c7b1c2a8 100644
--- a/test_rmw_implementation/CMakeLists.txt
+++ b/test_rmw_implementation/CMakeLists.txt
@@ -109,6 +109,26 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_unique_identifiers${target_suffix}
       osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
     )
+
+    ament_add_gtest(test_service${target_suffix}
+      test/test_service.cpp
+      ENV ${rmw_implementation_env_var}
+    )
+    target_compile_definitions(test_service${target_suffix}
+      PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
+    ament_target_dependencies(test_service${target_suffix}
+      osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
+    )
+
+    ament_add_gtest(test_client${target_suffix}
+      test/test_client.cpp
+      ENV ${rmw_implementation_env_var}
+    )
+    target_compile_definitions(test_client${target_suffix}
+      PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
+    ament_target_dependencies(test_client${target_suffix}
+      osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
+    )
   endmacro()
 
   call_for_each_rmw_implementation(test_api)
diff --git a/test_rmw_implementation/test/test_client.cpp b/test_rmw_implementation/test/test_client.cpp
new file mode 100644
index 000000000..18bee27ae
--- /dev/null
+++ b/test_rmw_implementation/test/test_client.cpp
@@ -0,0 +1,206 @@
+// 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 "osrf_testing_tools_cpp/scope_exit.hpp"
+
+#include "rcutils/allocator.h"
+#include "rcutils/strdup.h"
+
+#include "rmw/rmw.h"
+#include "rmw/error_handling.h"
+
+#include "test_msgs/srv/basic_types.h"
+
+#include "./config.hpp"
+#include "./testing_macros.hpp"
+
+#ifdef RMW_IMPLEMENTATION
+# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
+# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
+#else
+# define CLASSNAME(NAME, SUFFIX) NAME
+#endif
+
+class CLASSNAME (TestClient, RMW_IMPLEMENTATION) : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    rmw_init_options_t init_options = rmw_get_zero_initialized_init_options();
+    rmw_ret_t ret = rmw_init_options_init(&init_options, rcutils_get_default_allocator());
+    ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      rmw_ret_t ret = rmw_init_options_fini(&init_options);
+      EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    });
+    init_options.enclave = rcutils_strdup("/", rcutils_get_default_allocator());
+    ASSERT_STREQ("/", init_options.enclave);
+    ret = rmw_init(&init_options, &context);
+    ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+    constexpr char node_name[] = "my_test_node";
+    constexpr char node_namespace[] = "/my_test_ns";
+    node = rmw_create_node(&context, node_name, node_namespace);
+    ASSERT_NE(nullptr, node) << rcutils_get_error_string().str;
+  }
+
+  void TearDown() override
+  {
+    rmw_ret_t ret = rmw_destroy_node(node);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    ret = rmw_shutdown(&context);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    ret = rmw_context_fini(&context);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  }
+
+  rmw_context_t context{rmw_get_zero_initialized_context()};
+  rmw_node_t * node{nullptr};
+};
+
+TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), create_and_destroy) {
+  constexpr char service_name[] = "/test";
+  const rosidl_service_type_support_t * ts =
+    ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
+  rmw_client_t * client =
+    rmw_create_client(node, ts, service_name, &rmw_qos_profile_default);
+  ASSERT_NE(nullptr, client) << rmw_get_error_string().str;
+  rmw_ret_t ret = rmw_destroy_client(node, client);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+}
+
+TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), create_and_destroy_native) {
+  constexpr char service_name[] = "/test";
+  const rosidl_service_type_support_t * ts =
+    ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
+  rmw_qos_profile_t native_qos_profile = rmw_qos_profile_default;
+  native_qos_profile.avoid_ros_namespace_conventions = true;
+  rmw_client_t * client =
+    rmw_create_client(node, ts, service_name, &native_qos_profile);
+  ASSERT_NE(nullptr, client) << rmw_get_error_string().str;
+  rmw_ret_t ret = rmw_destroy_client(node, client);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+}
+
+TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), create_with_bad_arguments) {
+  constexpr char service_name[] = "/test";
+  const rosidl_service_type_support_t * ts =
+    ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
+
+  rmw_client_t * client =
+    rmw_create_client(nullptr, ts, service_name, &rmw_qos_profile_default);
+  EXPECT_EQ(nullptr, client);
+  rmw_reset_error();
+
+  client = rmw_create_client(node, nullptr, service_name, &rmw_qos_profile_default);
+  EXPECT_EQ(nullptr, client);
+  rmw_reset_error();
+
+  const char * implementation_identifier = node->implementation_identifier;
+  node->implementation_identifier = "not-an-rmw-implementation-identifier";
+  client = rmw_create_client(node, ts, service_name, &rmw_qos_profile_default);
+  node->implementation_identifier = implementation_identifier;
+  EXPECT_EQ(nullptr, client);
+  rmw_reset_error();
+
+  client = rmw_create_client(node, ts, nullptr, &rmw_qos_profile_default);
+  EXPECT_EQ(nullptr, client);
+  rmw_reset_error();
+
+  client = rmw_create_client(node, ts, "", &rmw_qos_profile_default);
+  EXPECT_EQ(nullptr, client);
+  rmw_reset_error();
+
+  constexpr char service_name_with_spaces[] = "/foo bar";
+  client = rmw_create_client(node, ts, service_name_with_spaces, &rmw_qos_profile_default);
+  EXPECT_EQ(nullptr, client);
+  rmw_reset_error();
+
+  constexpr char relative_service_name[] = "foo";
+  client = rmw_create_client(node, ts, relative_service_name, &rmw_qos_profile_default);
+  EXPECT_EQ(nullptr, client);
+  rmw_reset_error();
+
+  client = rmw_create_client(node, ts, service_name, nullptr);
+  EXPECT_EQ(nullptr, client);
+  rmw_reset_error();
+
+  client = rmw_create_client(node, ts, service_name, &rmw_qos_profile_unknown);
+  EXPECT_EQ(nullptr, client);
+  rmw_reset_error();
+
+  // Creating and destroying a client still succeeds.
+  client = rmw_create_client(node, ts, service_name, &rmw_qos_profile_default);
+  ASSERT_NE(nullptr, client) << rmw_get_error_string().str;
+  rmw_ret_t ret = rmw_destroy_client(node, client);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+}
+
+class CLASSNAME (TestClientUse, RMW_IMPLEMENTATION)
+  : public CLASSNAME(TestClient, RMW_IMPLEMENTATION)
+{
+protected:
+  using Base = CLASSNAME(TestClient, RMW_IMPLEMENTATION);
+
+  void SetUp() override
+  {
+    Base::SetUp();
+    constexpr char service_name[] = "/test";
+    const rosidl_service_type_support_t * ts =
+      ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
+    client = rmw_create_client(node, ts, service_name, &rmw_qos_profile_default);
+    ASSERT_NE(nullptr, client) << rmw_get_error_string().str;
+  }
+
+  void TearDown() override
+  {
+    rmw_ret_t ret = rmw_destroy_client(node, client);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    Base::TearDown();
+  }
+
+  rmw_client_t * client{nullptr};
+};
+
+TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), destroy_with_null_node) {
+  rmw_ret_t ret = rmw_destroy_client(nullptr, client);
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
+  rmw_reset_error();
+}
+
+TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), destroy_null_client) {
+  rmw_ret_t ret = rmw_destroy_client(node, nullptr);
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
+  rmw_reset_error();
+}
+
+TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), destroy_with_node_of_another_impl) {
+  const char * implementation_identifier = node->implementation_identifier;
+  node->implementation_identifier = "not-an-rmw-implementation-identifier";
+  rmw_ret_t ret = rmw_destroy_client(node, client);
+  node->implementation_identifier = implementation_identifier;
+  EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret);
+  rmw_reset_error();
+}
+
+TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), destroy_client_of_another_impl) {
+  const char * implementation_identifier = client->implementation_identifier;
+  client->implementation_identifier = "not-an-rmw-implementation-identifier";
+  rmw_ret_t ret = rmw_destroy_client(node, client);
+  client->implementation_identifier = implementation_identifier;
+  EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret);
+  rmw_reset_error();
+}
diff --git a/test_rmw_implementation/test/test_service.cpp b/test_rmw_implementation/test/test_service.cpp
new file mode 100644
index 000000000..d68a3c7ab
--- /dev/null
+++ b/test_rmw_implementation/test/test_service.cpp
@@ -0,0 +1,206 @@
+// 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 "osrf_testing_tools_cpp/scope_exit.hpp"
+
+#include "rcutils/allocator.h"
+#include "rcutils/strdup.h"
+
+#include "rmw/rmw.h"
+#include "rmw/error_handling.h"
+
+#include "test_msgs/srv/basic_types.h"
+
+#include "./config.hpp"
+#include "./testing_macros.hpp"
+
+#ifdef RMW_IMPLEMENTATION
+# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
+# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
+#else
+# define CLASSNAME(NAME, SUFFIX) NAME
+#endif
+
+class CLASSNAME (TestService, RMW_IMPLEMENTATION) : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    rmw_init_options_t init_options = rmw_get_zero_initialized_init_options();
+    rmw_ret_t ret = rmw_init_options_init(&init_options, rcutils_get_default_allocator());
+    ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      rmw_ret_t ret = rmw_init_options_fini(&init_options);
+      EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    });
+    init_options.enclave = rcutils_strdup("/", rcutils_get_default_allocator());
+    ASSERT_STREQ("/", init_options.enclave);
+    ret = rmw_init(&init_options, &context);
+    ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+    constexpr char node_name[] = "my_test_node";
+    constexpr char node_namespace[] = "/my_test_ns";
+    node = rmw_create_node(&context, node_name, node_namespace);
+    ASSERT_NE(nullptr, node) << rcutils_get_error_string().str;
+  }
+
+  void TearDown() override
+  {
+    rmw_ret_t ret = rmw_destroy_node(node);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    ret = rmw_shutdown(&context);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    ret = rmw_context_fini(&context);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  }
+
+  rmw_context_t context{rmw_get_zero_initialized_context()};
+  rmw_node_t * node{nullptr};
+};
+
+TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), create_and_destroy) {
+  constexpr char service_name[] = "/test";
+  const rosidl_service_type_support_t * ts =
+    ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
+  rmw_service_t * srv =
+    rmw_create_service(node, ts, service_name, &rmw_qos_profile_default);
+  ASSERT_NE(nullptr, srv) << rmw_get_error_string().str;
+  rmw_ret_t ret = rmw_destroy_service(node, srv);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+}
+
+TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), create_and_destroy_native) {
+  constexpr char service_name[] = "/test";
+  const rosidl_service_type_support_t * ts =
+    ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
+  rmw_qos_profile_t native_qos_profile = rmw_qos_profile_default;
+  native_qos_profile.avoid_ros_namespace_conventions = true;
+  rmw_service_t * srv =
+    rmw_create_service(node, ts, service_name, &native_qos_profile);
+  ASSERT_NE(nullptr, srv) << rmw_get_error_string().str;
+  rmw_ret_t ret = rmw_destroy_service(node, srv);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+}
+
+TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), create_with_bad_arguments) {
+  constexpr char service_name[] = "/test";
+  const rosidl_service_type_support_t * ts =
+    ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
+
+  rmw_service_t * srv =
+    rmw_create_service(nullptr, ts, service_name, &rmw_qos_profile_default);
+  EXPECT_EQ(nullptr, srv);
+  rmw_reset_error();
+
+  srv = rmw_create_service(node, nullptr, service_name, &rmw_qos_profile_default);
+  EXPECT_EQ(nullptr, srv);
+  rmw_reset_error();
+
+  const char * implementation_identifier = node->implementation_identifier;
+  node->implementation_identifier = "not-an-rmw-implementation-identifier";
+  srv = rmw_create_service(node, ts, service_name, &rmw_qos_profile_default);
+  node->implementation_identifier = implementation_identifier;
+  EXPECT_EQ(nullptr, srv);
+  rmw_reset_error();
+
+  srv = rmw_create_service(node, ts, nullptr, &rmw_qos_profile_default);
+  EXPECT_EQ(nullptr, srv);
+  rmw_reset_error();
+
+  srv = rmw_create_service(node, ts, "", &rmw_qos_profile_default);
+  EXPECT_EQ(nullptr, srv);
+  rmw_reset_error();
+
+  constexpr char service_name_with_spaces[] = "/foo bar";
+  srv = rmw_create_service(node, ts, service_name_with_spaces, &rmw_qos_profile_default);
+  EXPECT_EQ(nullptr, srv);
+  rmw_reset_error();
+
+  constexpr char relative_service_name[] = "foo";
+  srv = rmw_create_service(node, ts, relative_service_name, &rmw_qos_profile_default);
+  EXPECT_EQ(nullptr, srv);
+  rmw_reset_error();
+
+  srv = rmw_create_service(node, ts, service_name, nullptr);
+  EXPECT_EQ(nullptr, srv);
+  rmw_reset_error();
+
+  srv = rmw_create_service(node, ts, service_name, &rmw_qos_profile_unknown);
+  EXPECT_EQ(nullptr, srv);
+  rmw_reset_error();
+
+  // Creating and destroying a service still succeeds.
+  srv = rmw_create_service(node, ts, service_name, &rmw_qos_profile_default);
+  ASSERT_NE(nullptr, srv) << rmw_get_error_string().str;
+  rmw_ret_t ret = rmw_destroy_service(node, srv);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+}
+
+class CLASSNAME (TestServiceUse, RMW_IMPLEMENTATION)
+  : public CLASSNAME(TestService, RMW_IMPLEMENTATION)
+{
+protected:
+  using Base = CLASSNAME(TestService, RMW_IMPLEMENTATION);
+
+  void SetUp() override
+  {
+    Base::SetUp();
+    constexpr char service_name[] = "/test";
+    const rosidl_service_type_support_t * ts =
+      ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
+    srv = rmw_create_service(node, ts, service_name, &rmw_qos_profile_default);
+    ASSERT_NE(nullptr, srv) << rmw_get_error_string().str;
+  }
+
+  void TearDown() override
+  {
+    rmw_ret_t ret = rmw_destroy_service(node, srv);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    Base::TearDown();
+  }
+
+  rmw_service_t * srv{nullptr};
+};
+
+TEST_F(CLASSNAME(TestServiceUse, RMW_IMPLEMENTATION), destroy_with_null_node) {
+  rmw_ret_t ret = rmw_destroy_service(nullptr, srv);
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
+  rmw_reset_error();
+}
+
+TEST_F(CLASSNAME(TestServiceUse, RMW_IMPLEMENTATION), destroy_null_service) {
+  rmw_ret_t ret = rmw_destroy_service(node, nullptr);
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
+  rmw_reset_error();
+}
+
+TEST_F(CLASSNAME(TestServiceUse, RMW_IMPLEMENTATION), destroy_with_node_of_another_impl) {
+  const char * implementation_identifier = node->implementation_identifier;
+  node->implementation_identifier = "not-an-rmw-implementation-identifier";
+  rmw_ret_t ret = rmw_destroy_service(node, srv);
+  node->implementation_identifier = implementation_identifier;
+  EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret);
+  rmw_reset_error();
+}
+
+TEST_F(CLASSNAME(TestServiceUse, RMW_IMPLEMENTATION), destroy_service_of_another_impl) {
+  const char * implementation_identifier = srv->implementation_identifier;
+  srv->implementation_identifier = "not-an-rmw-implementation-identifier";
+  rmw_ret_t ret = rmw_destroy_service(node, srv);
+  srv->implementation_identifier = implementation_identifier;
+  EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret);
+  rmw_reset_error();
+}