diff --git a/rcl/test/rcl/test_init.cpp b/rcl/test/rcl/test_init.cpp
index 6ecce73..2abf6f7 100644
--- a/rcl/test/rcl/test_init.cpp
+++ b/rcl/test/rcl/test_init.cpp
@@ -458,3 +458,73 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_acce
   EXPECT_EQ(RCL_RET_ALREADY_INIT, rcl_init_options_copy(&init_options, &init_options_dst));
   EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options_dst));
 }
+
+// Define dummy comparison operators for rcutils_allocator_t type for use with the Mimick Library
+MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, ==)
+MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, <)
+MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, >)
+MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, !=)
+
+// Tests rcl_init_options_init() mocked to fail
+TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_mocked_rcl_init_options_ini) {
+  rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+  auto mock = mocking_utils::patch_and_return("lib:rcl", rmw_init_options_init, RMW_RET_ERROR);
+  EXPECT_EQ(RCL_RET_ERROR, rcl_init_options_init(&init_options, rcl_get_default_allocator()));
+  rcl_reset_error();
+}
+
+// Tests rcl_init_options_fini() mocked to fail
+TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_mocked_rcl_init_options_fini) {
+  rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+  rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  auto mock = mocking_utils::inject_on_return("lib:rcl", rmw_init_options_fini, RMW_RET_ERROR);
+  EXPECT_EQ(RCL_RET_ERROR, rcl_init_options_fini(&init_options));
+  rcl_reset_error();
+  auto mock_ok = mocking_utils::inject_on_return("lib:rcl", rmw_init_options_fini, RMW_RET_OK);
+  EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options));
+}
+
+// Mock rcl_init_options_copy to fail
+TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_copy_mocked_fail_fini) {
+  rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+  rcl_ret_t 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;
+  });
+  rcl_init_options_t init_options_dst = rcl_get_zero_initialized_init_options();
+  auto mock = mocking_utils::inject_on_return("lib:rcl", rmw_init_options_fini, RMW_RET_ERROR);
+  EXPECT_EQ(RCL_RET_ERROR, rcl_init_options_copy(&init_options, &init_options_dst));
+  rcl_reset_error();
+  auto mock_ok = mocking_utils::inject_on_return("lib:rcl", rmw_init_options_fini, RMW_RET_OK);
+  EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options_dst));
+}
+
+// Mock rcl_init_options_copy to fail
+TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_copy_fail_rmw_copy) {
+  rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+  rcl_ret_t 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;
+  });
+  rcl_init_options_t init_options_dst = rcl_get_zero_initialized_init_options();
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    // dst is in a invalid state after failed copy
+    EXPECT_EQ(
+      RCL_RET_INVALID_ARGUMENT,
+      rcl_init_options_fini(&init_options_dst)) << rcl_get_error_string().str;
+    rcl_reset_error();
+    auto mock_ok = mocking_utils::patch_and_return("lib:rcl", rmw_init_options_fini, RMW_RET_OK);
+    EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options_dst)) << rcl_get_error_string().str;
+  });
+
+  // rmw_init_options_copy error is logged
+  auto mock = mocking_utils::patch_and_return("lib:rcl", rmw_init_options_copy, RMW_RET_ERROR);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_init_options_copy(&init_options, &init_options_dst));
+  rcl_reset_error();
+}