diff --git a/rcl/include/rcl/client.h b/rcl/include/rcl/client.h
index d8bba97..77b8e32 100644
--- a/rcl/include/rcl/client.h
+++ b/rcl/include/rcl/client.h
@@ -389,6 +389,7 @@ rcl_client_get_rmw_handle(const rcl_client_t * client);
  * \param[in] client pointer to the rcl client
  * \return `true` if `client` is valid, otherwise `false`
  */
+RCL_PUBLIC
 bool
 rcl_client_is_valid(const rcl_client_t * client);
 
diff --git a/rcl/include/rcl/publisher.h b/rcl/include/rcl/publisher.h
index 315df65..d3d1a04 100644
--- a/rcl/include/rcl/publisher.h
+++ b/rcl/include/rcl/publisher.h
@@ -353,9 +353,9 @@ rcl_publisher_get_rmw_handle(const rcl_publisher_t * publisher);
  * Lock-Free          | Yes
  *
  * \param[in] publisher pointer to the rcl publisher
- * \return `true` if the publisher is valid, otherwise `false`
+ * \return `true` if `publisher` is valid, otherwise `false`
  */
-
+RCL_PUBLIC
 bool
 rcl_publisher_is_valid(const rcl_publisher_t * publisher);
 
diff --git a/rcl/include/rcl/service.h b/rcl/include/rcl/service.h
index 44e6f7e..5133779 100644
--- a/rcl/include/rcl/service.h
+++ b/rcl/include/rcl/service.h
@@ -401,6 +401,7 @@ rcl_service_get_rmw_handle(const rcl_service_t * service);
  * \param[in] service pointer to the rcl service
  * \return `true` if `service` is valid, otherwise `false`
  */
+RCL_PUBLIC
 bool
 rcl_service_is_valid(const rcl_service_t * service);
 
diff --git a/rcl/include/rcl/subscription.h b/rcl/include/rcl/subscription.h
index e78c213..76390e4 100644
--- a/rcl/include/rcl/subscription.h
+++ b/rcl/include/rcl/subscription.h
@@ -358,6 +358,7 @@ rcl_subscription_get_rmw_handle(const rcl_subscription_t * subscription);
  * \param[in] subscription pointer to the rcl subscription
  * \return `true` if `subscription` is valid, otherwise `false`
  */
+RCL_PUBLIC
 bool
 rcl_subscription_is_valid(const rcl_subscription_t * subscription);
 
diff --git a/rcl/test/rcl/test_client.cpp b/rcl/test/rcl/test_client.cpp
index fe50085..e7fd362 100644
--- a/rcl/test/rcl/test_client.cpp
+++ b/rcl/test/rcl/test_client.cpp
@@ -129,6 +129,22 @@ TEST_F(TestClientFixture, test_client_init_fini) {
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string_safe();
   rcl_reset_error();
 
+  // Check if null publisher is valid
+  EXPECT_FALSE(rcl_client_is_valid(nullptr));
+  rcl_reset_error();
+
+  // Check if zero initialized client is valid
+  client = rcl_get_zero_initialized_client();
+  EXPECT_FALSE(rcl_client_is_valid(&client));
+  rcl_reset_error();
+
+  // Check that a valid client is valid
+  client = rcl_get_zero_initialized_client();
+  ret = rcl_client_init(&client, this->node_ptr, ts, topic_name, &default_client_options);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+  EXPECT_TRUE(rcl_client_is_valid(&client));
+  rcl_reset_error();
+
   // Try passing an invalid (uninitialized) node in init.
   client = rcl_get_zero_initialized_client();
   rcl_node_t invalid_node = rcl_get_zero_initialized_node();
diff --git a/rcl/test/rcl/test_publisher.cpp b/rcl/test/rcl/test_publisher.cpp
index 93a3091..d8b993d 100644
--- a/rcl/test/rcl/test_publisher.cpp
+++ b/rcl/test/rcl/test_publisher.cpp
@@ -144,6 +144,21 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
   const char * topic_name = "chatter";
   rcl_publisher_options_t default_publisher_options = rcl_publisher_get_default_options();
 
+  // Check if null publisher is valid
+  EXPECT_FALSE(rcl_publisher_is_valid(nullptr));
+
+  // Check if zero initialized node is valid
+  publisher = rcl_get_zero_initialized_publisher();
+  EXPECT_FALSE(rcl_publisher_is_valid(&publisher));
+  rcl_reset_error();
+
+  // Check that valid publisher is valid
+  publisher = rcl_get_zero_initialized_publisher();
+  ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &default_publisher_options);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+  EXPECT_TRUE(rcl_publisher_is_valid(&publisher));
+  rcl_reset_error();
+
   // Try passing null for publisher in init.
   ret = rcl_publisher_init(nullptr, this->node_ptr, ts, topic_name, &default_publisher_options);
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string_safe();
diff --git a/rcl/test/rcl/test_service.cpp b/rcl/test/rcl/test_service.cpp
index 29f19b8..e51d787 100644
--- a/rcl/test/rcl/test_service.cpp
+++ b/rcl/test/rcl/test_service.cpp
@@ -127,6 +127,22 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
   ret = rcl_service_init(&service, this->node_ptr, ts, topic, &service_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
 
+  // Check if null service is valid
+  EXPECT_FALSE(rcl_service_is_valid(nullptr));
+  rcl_reset_error();
+
+  // Check if zero initialized client is valid
+  service = rcl_get_zero_initialized_service();
+  EXPECT_FALSE(rcl_service_is_valid(&service));
+  rcl_reset_error();
+
+  // Check that a valid service is valid
+  service = rcl_get_zero_initialized_service();
+  ret = rcl_service_init(&service, this->node_ptr, ts, topic, &service_options);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+  EXPECT_TRUE(rcl_service_is_valid(&service));
+  rcl_reset_error();
+
   // Check that the service name matches what we assigned.
   EXPECT_EQ(strcmp(rcl_service_get_service_name(&service), expected_topic), 0);
   auto service_exit = make_scope_exit(
@@ -147,7 +163,6 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
     });
 
-
   // TODO(wjwwood): add logic to wait for the connection to be established
   //                use count_services busy wait mechanism
   //                until then we will sleep for a short period of time
diff --git a/rcl/test/rcl/test_subscription.cpp b/rcl/test/rcl/test_subscription.cpp
index d30e58c..9d5e39f 100644
--- a/rcl/test/rcl/test_subscription.cpp
+++ b/rcl/test/rcl/test_subscription.cpp
@@ -152,6 +152,23 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
     });
   EXPECT_EQ(strcmp(rcl_subscription_get_topic_name(&subscription), expected_topic), 0);
+
+  // Test is_valid for subscription with nullptr
+  EXPECT_FALSE(rcl_subscription_is_valid(nullptr));
+  rcl_reset_error();
+
+  // Test is_valid for zero initialized subscription
+  subscription = rcl_get_zero_initialized_subscription();
+  EXPECT_FALSE(rcl_subscription_is_valid(&subscription));
+  rcl_reset_error();
+
+  // Check that valid subscriber is valid
+  subscription = rcl_get_zero_initialized_subscription();
+  ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
+  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+  EXPECT_TRUE(rcl_subscription_is_valid(&subscription));
+  rcl_reset_error();
+
   // TODO(wjwwood): add logic to wait for the connection to be established
   //                probably using the count_subscriptions busy wait mechanism
   //                until then we will sleep for a short period of time