diff --git a/rmw_fastrtps_shared_cpp/package.xml b/rmw_fastrtps_shared_cpp/package.xml
index c716f5966..678337639 100644
--- a/rmw_fastrtps_shared_cpp/package.xml
+++ b/rmw_fastrtps_shared_cpp/package.xml
@@ -31,6 +31,7 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>osrf_testing_tools_cpp</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/rmw_fastrtps_shared_cpp/test/CMakeLists.txt b/rmw_fastrtps_shared_cpp/test/CMakeLists.txt
index 19201042a..fd7d467d2 100644
--- a/rmw_fastrtps_shared_cpp/test/CMakeLists.txt
+++ b/rmw_fastrtps_shared_cpp/test/CMakeLists.txt
@@ -1,4 +1,5 @@
 find_package(ament_cmake_gtest REQUIRED)
+find_package(osrf_testing_tools_cpp REQUIRED)
 
 ament_add_gtest(test_dds_attributes_to_rmw_qos test_dds_attributes_to_rmw_qos.cpp)
 if(TARGET test_dds_attributes_to_rmw_qos)
@@ -11,3 +12,9 @@ if(TARGET test_security_logging)
     ament_target_dependencies(test_security_logging)
     target_link_libraries(test_security_logging ${PROJECT_NAME})
 endif()
+
+ament_add_gtest(test_rmw_init_options test_rmw_init_options.cpp)
+if(TARGET test_rmw_init_options)
+  ament_target_dependencies(test_rmw_init_options osrf_testing_tools_cpp rcutils rmw)
+  target_link_libraries(test_rmw_init_options ${PROJECT_NAME})
+endif()
diff --git a/rmw_fastrtps_shared_cpp/test/test_rmw_init_options.cpp b/rmw_fastrtps_shared_cpp/test/test_rmw_init_options.cpp
new file mode 100644
index 000000000..10a7e24b8
--- /dev/null
+++ b/rmw_fastrtps_shared_cpp/test/test_rmw_init_options.cpp
@@ -0,0 +1,239 @@
+// Copyright 2020 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 "rcutils/allocator.h"
+#include "rcutils/strdup.h"
+#include "rmw/init_options.h"
+#include "rmw/security_options.h"
+#include "rmw/types.h"
+
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+
+#include "rmw_fastrtps_shared_cpp/rmw_init.hpp"
+
+using rmw_fastrtps_shared_cpp::rmw_init_options_init;
+using rmw_fastrtps_shared_cpp::rmw_init_options_copy;
+using rmw_fastrtps_shared_cpp::rmw_init_options_fini;
+
+TEST(RMWInitOptionsTest, init_w_invalid_args_fails) {
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  // Cannot initialize a null options instance.
+  EXPECT_EQ(
+    RMW_RET_INVALID_ARGUMENT,
+    rmw_init_options_init("some_identifier", nullptr, allocator));
+  rcutils_reset_error();
+
+  rmw_init_options_t options = rmw_get_zero_initialized_init_options();
+  rcutils_allocator_t invalid_allocator = rcutils_get_zero_initialized_allocator();
+  // Cannot initialize using an invalid allocator.
+  EXPECT_EQ(
+    RMW_RET_INVALID_ARGUMENT,
+    rmw_init_options_init("some_identifier", &options, invalid_allocator));
+  rcutils_reset_error();
+}
+
+
+TEST(RMWInitOptionsTest, init_twice_fails) {
+  rmw_init_options_t options = rmw_get_zero_initialized_init_options();
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+
+  ASSERT_EQ(RMW_RET_OK, rmw_init_options_init("some_identifier", &options, allocator)) <<
+    rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcutils_reset_error();
+    EXPECT_EQ(RMW_RET_OK, rmw_init_options_fini("some_identifier", &options)) <<
+      rcutils_get_error_string().str;
+    rcutils_reset_error();
+  });
+
+  EXPECT_EQ(
+    RMW_RET_INVALID_ARGUMENT,
+    rmw_init_options_init("some_identifier", &options, allocator));
+  rcutils_reset_error();
+}
+
+
+TEST(RMWInitOptionsTest, init) {
+  rmw_init_options_t options = rmw_get_zero_initialized_init_options();
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+
+  ASSERT_EQ(RMW_RET_OK, rmw_init_options_init("some_identifier", &options, allocator)) <<
+    rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcutils_reset_error();
+    EXPECT_EQ(RMW_RET_OK, rmw_init_options_fini("some_identifier", &options)) <<
+      rcutils_get_error_string().str;
+    rcutils_reset_error();
+  });
+
+  EXPECT_EQ("some_identifier", options.implementation_identifier);
+}
+
+
+TEST(RMWInitOptionsTest, copy_w_invalid_args_fails) {
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  rmw_init_options_t not_initialized_options = rmw_get_zero_initialized_init_options();
+  rmw_init_options_t initialized_options = rmw_get_zero_initialized_init_options();
+
+  ASSERT_EQ(
+    RMW_RET_OK,
+    rmw_init_options_init(
+      "some_identifier",
+      &initialized_options,
+      allocator)) <<
+    rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcutils_reset_error();
+    EXPECT_EQ(RMW_RET_OK, rmw_init_options_fini("some_identifier", &initialized_options)) <<
+      rcutils_get_error_string().str;
+    rcutils_reset_error();
+  });
+
+  // Cannot copy from a null options instance.
+  EXPECT_EQ(
+    RMW_RET_INVALID_ARGUMENT,
+    rmw_init_options_copy(
+      "some_identifier",
+      nullptr,
+      &not_initialized_options));
+  rcutils_reset_error();
+
+  // Cannot copy to a null options instance.
+  EXPECT_EQ(
+    RMW_RET_INVALID_ARGUMENT,
+    rmw_init_options_copy(
+      "some_identifier",
+      &initialized_options,
+      nullptr));
+  rcutils_reset_error();
+
+  // Cannot copy an options instance if implementation identifiers do not match.
+  EXPECT_EQ(
+    RMW_RET_INCORRECT_RMW_IMPLEMENTATION,
+    rmw_init_options_copy(
+      "another_identifier",
+      &initialized_options,
+      &not_initialized_options));
+  rcutils_reset_error();
+
+  // Cannot copy to an already initialized options instance.
+  EXPECT_EQ(
+    RMW_RET_INVALID_ARGUMENT, rmw_init_options_copy(
+      "some_identifier",
+      &initialized_options,
+      &initialized_options));
+  rcutils_reset_error();
+}
+
+
+TEST(RMWInitOptionsTest, copy) {
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  rmw_init_options_t preset_options = rmw_get_zero_initialized_init_options();
+
+  rcutils_reset_error();
+  ASSERT_EQ(RMW_RET_OK, rmw_init_options_init("some_identifier", &preset_options, allocator)) <<
+    rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcutils_reset_error();
+    EXPECT_EQ(RMW_RET_OK, rmw_init_options_fini("some_identifier", &preset_options)) <<
+      rcutils_get_error_string().str;
+    rcutils_reset_error();
+  });
+  preset_options.instance_id = 23lu;
+  preset_options.enclave = rcutils_strdup("/test", allocator);
+  ASSERT_TRUE(preset_options.enclave != nullptr);
+  preset_options.security_options.security_root_path = rcutils_strdup("/root", allocator);
+  ASSERT_TRUE(preset_options.security_options.security_root_path != nullptr);
+
+  rmw_init_options_t options = rmw_get_zero_initialized_init_options();
+  ASSERT_EQ(RMW_RET_OK, rmw_init_options_copy("some_identifier", &preset_options, &options)) <<
+    rcutils_get_error_string().str;
+
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcutils_reset_error();
+    EXPECT_EQ(RMW_RET_OK, rmw_init_options_fini("some_identifier", &options)) <<
+      rcutils_get_error_string().str;
+    rcutils_reset_error();
+  });
+  EXPECT_EQ(23lu, options.instance_id);
+  EXPECT_STREQ("/test", options.enclave);
+  EXPECT_STREQ("/root", options.security_options.security_root_path);
+}
+
+static void * failing_allocate(size_t size, void * state)
+{
+  (void)size;
+  (void)state;
+  return NULL;
+}
+
+TEST(RMWInitOptionsTest, bad_alloc_on_copy) {
+  rcutils_allocator_t failing_allocator = rcutils_get_default_allocator();
+  failing_allocator.allocate = failing_allocate;
+
+  rmw_init_options_t preset_options = rmw_get_zero_initialized_init_options();
+  ASSERT_EQ(
+    RMW_RET_OK,
+    rmw_init_options_init("some_identifier", &preset_options, failing_allocator)) <<
+    rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcutils_reset_error();
+    EXPECT_EQ(RMW_RET_OK, rmw_init_options_fini("some_identifier", &preset_options)) <<
+      rcutils_get_error_string().str;
+    rcutils_reset_error();
+  });
+  preset_options.enclave = rcutils_strdup("/test", rcutils_get_default_allocator());
+  ASSERT_TRUE(preset_options.enclave != nullptr);
+
+  rmw_init_options_t options = rmw_get_zero_initialized_init_options();
+  EXPECT_EQ(
+    RMW_RET_BAD_ALLOC,
+    rmw_init_options_copy("some_identifier", &preset_options, &options));
+}
+
+TEST(RMWInitOptionsTest, fini_w_invalid_args_fails) {
+  // Cannot finalize a null options instance.
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, rmw_init_options_fini("some_identifier", nullptr));
+  rcutils_reset_error();
+
+  rmw_init_options_t options = rmw_get_zero_initialized_init_options();
+  // Cannot finalize an options instance that has not been initialized.
+  EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, rmw_init_options_fini("some_identifier", &options));
+  rcutils_reset_error();
+
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  ASSERT_EQ(RMW_RET_OK, rmw_init_options_init("some_identifier", &options, allocator)) <<
+    rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcutils_reset_error();
+    EXPECT_EQ(RMW_RET_OK, rmw_init_options_fini("some_identifier", &options)) <<
+      rcutils_get_error_string().str;
+    rcutils_reset_error();
+  });
+
+  // Cannot finalize an options instance if implementation identifiers do not match.
+  EXPECT_EQ(
+    RMW_RET_INCORRECT_RMW_IMPLEMENTATION,
+    rmw_init_options_fini("another_identifier", &options));
+  rcutils_reset_error();
+}