diff --git a/rcl_action/CMakeLists.txt b/rcl_action/CMakeLists.txt
index 1d4f17b..820eac2 100644
--- a/rcl_action/CMakeLists.txt
+++ b/rcl_action/CMakeLists.txt
@@ -70,20 +70,23 @@ install(TARGETS ${PROJECT_NAME}
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
+  find_package(test_msgs REQUIRED)
   ament_lint_auto_find_test_dependencies()
   ament_find_gtest()
   # Gtests
-  # ament_add_gtest(test_action_client
-  #   test/rcl_action/test_action_client.cpp
-  # )
-  # if(TARGET test_action_client)
-  #   target_include_directories(test_action_client PUBLIC
-  #     ${rcl_INCLUDE_DIRS}
-  #   )
-  #   target_link_libraries(test_action_client
-  #     ${PROJECT_NAME}
-  #   )
-  # endif()
+  ament_add_gtest(test_action_client
+    test/rcl_action/test_action_client.cpp
+  )
+  if(TARGET test_action_client)
+    target_include_directories(test_action_client PUBLIC
+      ${rcl_INCLUDE_DIRS}
+      ${test_msgs_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_action_client
+      ${PROJECT_NAME}
+      ${test_msgs_LIBRARIES}
+    )
+  endif()
   ament_add_gtest(test_goal_handle
     test/rcl_action/test_goal_handle.cpp
   )
diff --git a/rcl_action/package.xml b/rcl_action/package.xml
index c5eab74..da9d64c 100644
--- a/rcl_action/package.xml
+++ b/rcl_action/package.xml
@@ -18,6 +18,7 @@
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>test_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/rcl_action/src/rcl_action/action_client.c b/rcl_action/src/rcl_action/action_client.c
index 4734788..2b2ac15 100644
--- a/rcl_action/src/rcl_action/action_client.c
+++ b/rcl_action/src/rcl_action/action_client.c
@@ -18,6 +18,7 @@ extern "C"
 #endif
 
 #include "rcl_action/action_client.h"
+
 #include "rcl_action/default_qos.h"
 #include "rcl_action/names.h"
 #include "rcl_action/types.h"
@@ -322,7 +323,7 @@ rcl_action_client_init(
     return RCL_RET_ALREADY_INIT;
   }
   // Allocate space for the implementation struct.
-  rcl_action_client_impl_t *impl = action_client->impl = allocator->allocate(
+  rcl_action_client_impl_t * impl = action_client->impl = allocator->allocate(
     sizeof(rcl_action_client_impl_t), allocator->state);
   RCL_CHECK_FOR_NULL_WITH_MSG(impl, "allocating memory failed", return RCL_RET_BAD_ALLOC);
   // Copy action client name and options.
@@ -688,7 +689,8 @@ rcl_action_client_get_action_name(const rcl_action_client_t * action_client)
 }
 
 const rcl_action_client_options_t *
-rcl_action_client_get_options(const rcl_action_client_t * action_client) {
+rcl_action_client_get_options(const rcl_action_client_t * action_client)
+{
   if (!rcl_action_client_is_valid(action_client)) {
     return NULL;
   }
@@ -699,7 +701,7 @@ bool
 rcl_action_client_is_valid(const rcl_action_client_t * action_client)
 {
   RCL_CHECK_FOR_NULL_WITH_MSG(
-      action_client,"action client pointer is invalid", return false);
+    action_client, "action client pointer is invalid", return false);
   RCL_CHECK_FOR_NULL_WITH_MSG(
     action_client->impl, "action client implementation is invalid", return false);
   return true;
@@ -708,7 +710,8 @@ rcl_action_client_is_valid(const rcl_action_client_t * action_client)
 rcl_ret_t
 rcl_action_wait_set_add_action_client(
   rcl_wait_set_t * wait_set,
-  const rcl_action_client_t * action_client) {
+  const rcl_action_client_t * action_client)
+{
   rcl_ret_t ret;
   RCL_CHECK_ARGUMENT_FOR_NULL(wait_set, RCL_RET_WAIT_SET_INVALID);
   if (!rcl_action_client_is_valid(action_client)) {
diff --git a/rcl_action/test/rcl_action/test_action_client.cpp b/rcl_action/test/rcl_action/test_action_client.cpp
new file mode 100644
index 0000000..b10ad2b
--- /dev/null
+++ b/rcl_action/test/rcl_action/test_action_client.cpp
@@ -0,0 +1,213 @@
+// Copyright 2018 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_action/action_client.h"
+
+#include "rcl/error_handling.h"
+#include "rcl/rcl.h"
+
+#include "test_msgs/action/fibonacci.h"
+
+class TestActionClientBaseFixture : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    rcl_ret_t ret = rcl_init(0, nullptr, rcl_get_default_allocator());
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    this->node = rcl_get_zero_initialized_node();
+    rcl_node_options_t node_options = rcl_node_get_default_options();
+    const char * node_name = "test_action_client_node";
+    ret = rcl_node_init(&this->node, node_name, "", &node_options);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  void TearDown() override
+  {
+    rcl_ret_t ret = rcl_node_fini(&this->node);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_shutdown();
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  rcl_node_t node;
+};
+
+
+TEST_F(TestActionClientBaseFixture, test_action_client_init_fini) {
+  rcl_ret_t ret = RCL_RET_OK;
+  rcl_action_client_t invalid_action_client =
+    rcl_action_get_zero_initialized_client();
+  rcl_node_t invalid_node = rcl_get_zero_initialized_node();
+  const char * action_name = "test_action_client_name";
+  const rosidl_action_type_support_t * action_typesupport =
+    ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
+  const rcl_action_client_options_t action_client_options =
+    rcl_action_client_get_default_options();
+  rcl_action_client_options_t invalid_action_client_options =
+    rcl_action_client_get_default_options();
+  invalid_action_client_options.allocator =
+    (rcl_allocator_t)rcutils_get_zero_initialized_allocator();
+  rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
+
+  ret = rcl_action_client_init(
+    nullptr, &this->node, action_typesupport,
+    action_name, &action_client_options);
+  EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  ret = rcl_action_client_init(
+    &action_client, nullptr, action_typesupport,
+    action_name, &action_client_options);
+  EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  ret = rcl_action_client_init(
+    &action_client, &invalid_node, action_typesupport,
+    action_name, &action_client_options);
+  EXPECT_EQ(ret, RCL_RET_NODE_INVALID) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  ret = rcl_action_client_init(
+    &action_client, &this->node, nullptr,
+    action_name, &action_client_options);
+  EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  ret = rcl_action_client_init(
+    &action_client, &this->node, action_typesupport,
+    nullptr, &action_client_options);
+  EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  ret = rcl_action_client_init(
+    &action_client, &this->node,
+    action_typesupport, action_name,
+    nullptr);
+  EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  ret = rcl_action_client_init(
+    &action_client, &this->node,
+    action_typesupport, action_name,
+    &invalid_action_client_options);
+  EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  ret = rcl_action_client_init(
+    &action_client, &this->node, action_typesupport,
+    action_name, &action_client_options);
+  EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  ret = rcl_action_client_init(
+    &action_client, &this->node, action_typesupport,
+    action_name, &action_client_options);
+  EXPECT_EQ(ret, RCL_RET_ALREADY_INIT) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  ret = rcl_action_client_fini(nullptr, &this->node);
+  EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  ret = rcl_action_client_fini(&invalid_action_client, &this->node);
+  EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  ret = rcl_action_client_fini(&action_client, nullptr);
+  EXPECT_EQ(ret, RCL_RET_NODE_INVALID) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  ret = rcl_action_client_fini(&action_client, &invalid_node);
+  EXPECT_EQ(ret, RCL_RET_NODE_INVALID) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  ret = rcl_action_client_fini(&action_client, &this->node);
+  EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+  rcl_reset_error();
+}
+
+class TestActionClientFixture : public TestActionClientBaseFixture
+{
+protected:
+  void SetUp() override
+  {
+    TestActionClientBaseFixture::SetUp();
+    this->action_client = rcl_action_get_zero_initialized_client();
+    const rosidl_action_type_support_t * action_typesupport =
+      ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
+    this->action_client_options = rcl_action_client_get_default_options();
+    rcl_ret_t ret = rcl_action_client_init(
+      &this->action_client, &this->node, action_typesupport,
+      this->action_name, &this->action_client_options);
+    ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+    this->invalid_action_client = rcl_action_get_zero_initialized_client();
+  }
+
+  void TearDown() override
+  {
+    rcl_ret_t ret = rcl_action_client_fini(&this->action_client, &this->node);
+    ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+    TestActionClientBaseFixture::TearDown();
+  }
+
+  const char * const action_name = "test_action_client_name";
+  rcl_action_client_options_t action_client_options;
+  rcl_action_client_t invalid_action_client;
+  rcl_action_client_t action_client;
+};
+
+TEST_F(TestActionClientFixture, test_action_client_is_valid) {
+  bool is_valid = rcl_action_client_is_valid(nullptr);
+  EXPECT_FALSE(is_valid) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  is_valid = rcl_action_client_is_valid(&this->invalid_action_client);
+  EXPECT_FALSE(is_valid) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  is_valid = rcl_action_client_is_valid(&this->action_client);
+  EXPECT_TRUE(is_valid) << rcl_get_error_string().str;
+  rcl_reset_error();
+}
+
+TEST_F(TestActionClientFixture, test_action_client_get_action_name) {
+  const char * name = rcl_action_client_get_action_name(nullptr);
+  EXPECT_EQ(name, nullptr) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  name = rcl_action_client_get_action_name(&this->invalid_action_client);
+  EXPECT_EQ(name, nullptr) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  name = rcl_action_client_get_action_name(&this->action_client);
+  ASSERT_NE(name, nullptr) << rcl_get_error_string().str;
+  EXPECT_STREQ(name, this->action_name);
+}
+
+TEST_F(TestActionClientFixture, test_action_client_get_options) {
+  const rcl_action_client_options_t * options =
+    rcl_action_client_get_options(nullptr);
+  EXPECT_EQ(options, nullptr) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  options = rcl_action_client_get_options(&this->invalid_action_client);
+  EXPECT_EQ(options, nullptr) << rcl_get_error_string().str;
+  rcl_reset_error();
+
+  options = rcl_action_client_get_options(&this->action_client);
+  ASSERT_NE(options, nullptr) << rcl_get_error_string().str;
+}