diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index 9db174e..b8b630f 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -100,6 +100,14 @@ function(test_target_function)
     LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
     AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
   )
+
+  rcl_add_custom_gtest(test_wait${target_suffix}
+    SRCS rcl/test_wait.cpp
+    ENV ${extra_test_env}
+    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
+    LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
+    AMENT_DEPENDENCIES ${rmw_implementation}
+  )
 endfunction()
 
 call_for_each_rmw_implementation(test_target)
diff --git a/rcl/test/rcl/test_wait.cpp b/rcl/test/rcl/test_wait.cpp
new file mode 100644
index 0000000..28e96db
--- /dev/null
+++ b/rcl/test/rcl/test_wait.cpp
@@ -0,0 +1,43 @@
+// Copyright 2016 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 "rcl/rcl.h"
+#include "rcl/error_handling.h"
+#include "rcl/wait.h"
+
+#ifdef RMW_IMPLEMENTATION
+# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
+# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
+#else
+# define CLASSNAME(NAME, SUFFIX) NAME
+#endif
+
+
+TEST(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_resize_to_zero) {
+  // Initialize a waitset with a subscription and then resize it to zero.
+  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
+  rcl_ret_t ret = rcl_wait_set_init(&wait_set, 1, 0, 0, 0, 0, rcl_get_default_allocator());
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+
+  ret = rcl_wait_set_resize_subscriptions(&wait_set, 0);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+
+  EXPECT_EQ(wait_set.size_of_subscriptions, 0);
+
+  ret = rcl_wait_set_fini(&wait_set);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+}