diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
index edebfeb..4bf346d 100644
--- a/rclcpp/include/rclcpp/executor.hpp
+++ b/rclcpp/include/rclcpp/executor.hpp
@@ -52,8 +52,11 @@ public:
   virtual ~Executor()
   {
     if (interrupt_guard_condition_ != nullptr) {
-      // TODO(wjwwood): Check ret code.
-      rmw_destroy_guard_condition(interrupt_guard_condition_);
+      rmw_ret_t status = rmw_destroy_guard_condition(interrupt_guard_condition_);
+      if (status != RMW_RET_OK) {
+        fprintf(stderr,
+          "[rclcpp::error] failed to destroy guard condition: %s\n", rmw_get_error_string_safe());
+      }
     }
   }
 
diff --git a/rclcpp/include/rclcpp/timer.hpp b/rclcpp/include/rclcpp/timer.hpp
index 6b7c969..8cf010f 100644
--- a/rclcpp/include/rclcpp/timer.hpp
+++ b/rclcpp/include/rclcpp/timer.hpp
@@ -121,7 +121,11 @@ public:
       if (!rclcpp::utilities::ok()) {
         return;
       }
-      rmw_trigger_guard_condition(guard_condition_);
+      rmw_ret_t status = rmw_trigger_guard_condition(guard_condition_);
+      if (status != RMW_RET_OK) {
+        fprintf(stderr,
+          "[rclcpp::error] failed to trigger guard condition: %s\n", rmw_get_error_string_safe());
+      }
     }
   }
 
diff --git a/rclcpp/include/rclcpp/utilities.hpp b/rclcpp/include/rclcpp/utilities.hpp
index eb6db5c..e82cb44 100644
--- a/rclcpp/include/rclcpp/utilities.hpp
+++ b/rclcpp/include/rclcpp/utilities.hpp
@@ -79,7 +79,11 @@ signal_handler(int signal_value)
   }
 #endif
   g_signal_status = signal_value;
-  rmw_trigger_guard_condition(g_sigint_guard_cond_handle);
+  rmw_ret_t status = rmw_trigger_guard_condition(g_sigint_guard_cond_handle);
+  if (status != RMW_RET_OK) {
+    fprintf(stderr,
+      "[rclcpp::error] failed to trigger guard condition: %s\n", rmw_get_error_string_safe());
+  }
   g_interrupt_condition_variable.notify_all();
 }
 } // namespace
@@ -97,8 +101,13 @@ init(int argc, char * argv[])
 {
   (void)argc;
   (void)argv;
-  // TODO(wjwwood): Handle rmw_ret_t's value.
-  rmw_init();
+  rmw_ret_t status = rmw_init();
+  if (status != RMW_RET_OK) {
+    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+    throw std::runtime_error(
+      std::string("failed to initialize rmw implementation: ") + rmw_get_error_string_safe());
+    // *INDENT-ON*
+  }
 #ifdef HAS_SIGACTION
   struct sigaction action;
   memset(&action, 0, sizeof(action));
@@ -131,7 +140,11 @@ void
 shutdown()
 {
   g_signal_status = SIGINT;
-  rmw_trigger_guard_condition(g_sigint_guard_cond_handle);
+  rmw_ret_t status = rmw_trigger_guard_condition(g_sigint_guard_cond_handle);
+  if (status != RMW_RET_OK) {
+    fprintf(stderr,
+      "[rclcpp::error] failed to trigger guard condition: %s\n", rmw_get_error_string_safe());
+  }
   g_interrupt_condition_variable.notify_all();
 }