diff --git a/rmw_fastrtps_cpp/src/publisher.cpp b/rmw_fastrtps_cpp/src/publisher.cpp
index 0ab4a609c..ccece0ffd 100644
--- a/rmw_fastrtps_cpp/src/publisher.cpp
+++ b/rmw_fastrtps_cpp/src/publisher.cpp
@@ -18,6 +18,8 @@
 #include "fastrtps/Domain.h"
 #include "fastrtps/participant/Participant.h"
 
+#include "rcutils/macros.h"
+
 #include "rmw/allocators.h"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
@@ -52,6 +54,8 @@ rmw_fastrtps_cpp::create_publisher(
   bool keyed,
   bool create_publisher_listener)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(nullptr);
+
   RMW_CHECK_ARGUMENT_FOR_NULL(participant_info, nullptr);
   RMW_CHECK_ARGUMENT_FOR_NULL(type_supports, nullptr);
   RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, nullptr);
diff --git a/rmw_fastrtps_cpp/src/subscription.cpp b/rmw_fastrtps_cpp/src/subscription.cpp
index c446c6534..6259bb5b8 100644
--- a/rmw_fastrtps_cpp/src/subscription.cpp
+++ b/rmw_fastrtps_cpp/src/subscription.cpp
@@ -16,6 +16,7 @@
 #include <utility>
 
 #include "rcutils/allocator.h"
+#include "rcutils/macros.h"
 #include "rcutils/strdup.h"
 
 #include "rmw/allocators.h"
@@ -58,6 +59,8 @@ create_subscription(
   bool keyed,
   bool create_subscription_listener)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(nullptr);
+
   RMW_CHECK_ARGUMENT_FOR_NULL(participant_info, nullptr);
   RMW_CHECK_ARGUMENT_FOR_NULL(type_supports, nullptr);
   RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, nullptr);
diff --git a/rmw_fastrtps_shared_cpp/src/participant.cpp b/rmw_fastrtps_shared_cpp/src/participant.cpp
index 5498033e0..6f4a1d56b 100644
--- a/rmw_fastrtps_shared_cpp/src/participant.cpp
+++ b/rmw_fastrtps_shared_cpp/src/participant.cpp
@@ -144,6 +144,8 @@ rmw_fastrtps_shared_cpp::create_participant(
   const char * enclave,
   rmw_dds_common::Context * common_context)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(nullptr);
+
   if (!security_options) {
     RMW_SET_ERROR_MSG("security_options is null");
     return nullptr;
@@ -261,7 +263,6 @@ rmw_fastrtps_shared_cpp::create_participant(
 rmw_ret_t
 rmw_fastrtps_shared_cpp::destroy_participant(CustomParticipantInfo * participant_info)
 {
-  rmw_ret_t result_ret = RMW_RET_OK;
   if (!participant_info) {
     RMW_SET_ERROR_MSG("participant_info is null");
     return RMW_RET_ERROR;
@@ -270,5 +271,7 @@ rmw_fastrtps_shared_cpp::destroy_participant(CustomParticipantInfo * participant
   delete participant_info->listener;
   participant_info->listener = nullptr;
   delete participant_info;
-  return result_ret;
+
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_ERROR);  // on completion
+  return RMW_RET_OK;
 }
diff --git a/rmw_fastrtps_shared_cpp/src/publisher.cpp b/rmw_fastrtps_shared_cpp/src/publisher.cpp
index 03c6f5cb0..90eb10984 100644
--- a/rmw_fastrtps_shared_cpp/src/publisher.cpp
+++ b/rmw_fastrtps_shared_cpp/src/publisher.cpp
@@ -48,6 +48,7 @@ destroy_publisher(
   rmw_free(const_cast<char *>(publisher->topic_name));
   rmw_publisher_free(publisher);
 
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_ERROR);  // on completion
   return RMW_RET_OK;
 }
 }  // namespace rmw_fastrtps_shared_cpp
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_client.cpp b/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
index 25bb952c1..67f226bdc 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
@@ -77,6 +77,7 @@ __rmw_destroy_client(
   rmw_free(const_cast<char *>(client->service_name));
   rmw_client_free(client);
 
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_ERROR);  // on completion
   return ret;
 }
 }  // namespace rmw_fastrtps_shared_cpp
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_guard_condition.cpp b/rmw_fastrtps_shared_cpp/src/rmw_guard_condition.cpp
index 4dac80e26..cdcac523c 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_guard_condition.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_guard_condition.cpp
@@ -24,6 +24,8 @@ namespace rmw_fastrtps_shared_cpp
 rmw_guard_condition_t *
 __rmw_create_guard_condition(const char * identifier)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(nullptr);
+
   rmw_guard_condition_t * guard_condition_handle = new rmw_guard_condition_t;
   guard_condition_handle->implementation_identifier = identifier;
   guard_condition_handle->data = new GuardCondition();
@@ -33,12 +35,15 @@ __rmw_create_guard_condition(const char * identifier)
 rmw_ret_t
 __rmw_destroy_guard_condition(rmw_guard_condition_t * guard_condition)
 {
+  rmw_ret_t ret = RMW_RET_ERROR;
+
   if (guard_condition) {
     delete static_cast<GuardCondition *>(guard_condition->data);
     delete guard_condition;
-    return RMW_RET_OK;
+    ret = RMW_RET_OK;
   }
 
-  return RMW_RET_ERROR;
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_ERROR);  // on completion
+  return ret;
 }
 }  // namespace rmw_fastrtps_shared_cpp
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_node.cpp b/rmw_fastrtps_shared_cpp/src/rmw_node.cpp
index 7a3a4f915..2bda0b746 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_node.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_node.cpp
@@ -150,6 +150,8 @@ __rmw_destroy_node(
   rmw_free(const_cast<char *>(node->name));
   rmw_free(const_cast<char *>(node->namespace_));
   rmw_node_free(node);
+
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_ERROR);  // on completion
   return RMW_RET_OK;
 }
 
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_service.cpp b/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
index 9c7cbc4af..df5b47133 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
@@ -90,6 +90,7 @@ __rmw_destroy_service(
   rmw_free(const_cast<char *>(service->service_name));
   rmw_service_free(service);
 
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_ERROR);  // on completion
   return ret;
 }
 }  // namespace rmw_fastrtps_shared_cpp
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_wait_set.cpp b/rmw_fastrtps_shared_cpp/src/rmw_wait_set.cpp
index acba1e184..2fbfa2ac5 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_wait_set.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_wait_set.cpp
@@ -96,6 +96,8 @@ __rmw_destroy_wait_set(const char * identifier, rmw_wait_set_t * wait_set)
     rmw_free(wait_set->data);
   }
   rmw_wait_set_free(wait_set);
+
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_ERROR);  // on completion
   return result;
 }
 }  // namespace rmw_fastrtps_shared_cpp
diff --git a/rmw_fastrtps_shared_cpp/src/subscription.cpp b/rmw_fastrtps_shared_cpp/src/subscription.cpp
index 1fc5c18b7..c66955350 100644
--- a/rmw_fastrtps_shared_cpp/src/subscription.cpp
+++ b/rmw_fastrtps_shared_cpp/src/subscription.cpp
@@ -62,6 +62,7 @@ destroy_subscription(
   rmw_free(const_cast<char *>(subscription->topic_name));
   rmw_subscription_free(subscription);
 
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_ERROR);  // on completion
   return ret;
 }
 }  // namespace rmw_fastrtps_shared_cpp