diff --git a/rosidl_runtime_c/CMakeLists.txt b/rosidl_runtime_c/CMakeLists.txt
index 89d4f9f11..695120bac 100644
--- a/rosidl_runtime_c/CMakeLists.txt
+++ b/rosidl_runtime_c/CMakeLists.txt
@@ -12,6 +12,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake_ros REQUIRED)
+find_package(rcutils REQUIRED)
 find_package(rosidl_typesupport_interface REQUIRED)
 
 add_library(${PROJECT_NAME}
@@ -26,6 +27,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
 ament_target_dependencies(${PROJECT_NAME}
+  "rcutils"
   "rosidl_typesupport_interface")
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   set_target_properties(${PROJECT_NAME} PROPERTIES
@@ -36,7 +38,11 @@ if(WIN32)
     PRIVATE "ROSIDL_GENERATOR_C_BUILDING_DLL")
 endif()
 
-ament_export_dependencies(rosidl_typesupport_interface)
+if(BUILD_TESTING AND NOT RCUTILS_DISABLE_FAULT_INJECTION)
+  target_compile_definitions(${PROJECT_NAME} PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
+endif()
+
+ament_export_dependencies(rcutils rosidl_typesupport_interface)
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
 ament_export_targets(${PROJECT_NAME})
@@ -86,12 +92,14 @@ if(BUILD_TESTING)
   if(TARGET test_string_functions)
     target_include_directories(test_string_functions PUBLIC include)
     target_link_libraries(test_string_functions ${PROJECT_NAME})
+    target_compile_definitions(test_string_functions PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
   endif()
 
   ament_add_gtest(test_u16string_functions test/test_u16string_functions.cpp)
   if(TARGET test_u16string_functions)
     target_include_directories(test_u16string_functions PUBLIC include)
     target_link_libraries(test_u16string_functions ${PROJECT_NAME})
+    target_compile_definitions(test_u16string_functions PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
   endif()
 endif()
 
diff --git a/rosidl_runtime_c/package.xml b/rosidl_runtime_c/package.xml
index d750126d6..2ebf9bb6b 100644
--- a/rosidl_runtime_c/package.xml
+++ b/rosidl_runtime_c/package.xml
@@ -13,6 +13,7 @@
 
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
 
+  <build_export_depend>rcutils</build_export_depend>
   <build_export_depend>rosidl_typesupport_interface</build_export_depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/rosidl_runtime_c/src/string_functions.c b/rosidl_runtime_c/src/string_functions.c
index dc63be2d0..2e4ef3464 100644
--- a/rosidl_runtime_c/src/string_functions.c
+++ b/rosidl_runtime_c/src/string_functions.c
@@ -19,9 +19,13 @@
 #include <string.h>
 #include <stdio.h>
 
+#include "rcutils/macros.h"
+
 bool
 rosidl_runtime_c__String__init(rosidl_runtime_c__String * str)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(false);
+
   if (!str) {
     return false;
   }
@@ -113,6 +117,8 @@ bool
 rosidl_runtime_c__String__Sequence__init(
   rosidl_runtime_c__String__Sequence * sequence, size_t size)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(false);
+
   if (!sequence) {
     return false;
   }
diff --git a/rosidl_runtime_c/src/u16string_functions.c b/rosidl_runtime_c/src/u16string_functions.c
index 7e316ecab..9ae5e4faf 100644
--- a/rosidl_runtime_c/src/u16string_functions.c
+++ b/rosidl_runtime_c/src/u16string_functions.c
@@ -19,9 +19,13 @@
 #include <string.h>
 #include <stdio.h>
 
+#include "rcutils/macros.h"
+
 bool
 rosidl_runtime_c__U16String__init(rosidl_runtime_c__U16String * str)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(false);
+
   if (!str) {
     return false;
   }
@@ -156,6 +160,8 @@ bool
 rosidl_runtime_c__U16String__Sequence__init(
   rosidl_runtime_c__U16String__Sequence * sequence, size_t size)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(false);
+
   if (!sequence) {
     return false;
   }
diff --git a/rosidl_runtime_c/test/test_string_functions.cpp b/rosidl_runtime_c/test/test_string_functions.cpp
index f57b7d6e1..0030dc4ce 100644
--- a/rosidl_runtime_c/test/test_string_functions.cpp
+++ b/rosidl_runtime_c/test/test_string_functions.cpp
@@ -16,6 +16,8 @@
 #include "rosidl_runtime_c/string.h"
 #include "rosidl_runtime_c/string_functions.h"
 
+#include "rcutils/testing/fault_injection.h"
+
 TEST(string_functions, init_fini_empty_string) {
   rosidl_runtime_c__String empty_string;
   EXPECT_TRUE(rosidl_runtime_c__String__init(&empty_string));
@@ -152,3 +154,17 @@ TEST(string_functions, create_destroy_sequence) {
   EXPECT_EQ(sequence->capacity, seq_size);
   rosidl_runtime_c__String__Sequence__destroy(sequence);
 }
+
+TEST(string_functions, create_destroy_sequence_maybe_fail) {
+  rosidl_runtime_c__String__Sequence * sequence = nullptr;
+  constexpr size_t seq_size = 10u;
+
+  RCUTILS_FAULT_INJECTION_TEST(
+  {
+    sequence = rosidl_runtime_c__String__Sequence__create(seq_size);
+    if (nullptr != sequence) {
+      rosidl_runtime_c__String__Sequence__destroy(sequence);
+      sequence = nullptr;
+    }
+  });
+}
diff --git a/rosidl_runtime_c/test/test_u16string_functions.cpp b/rosidl_runtime_c/test/test_u16string_functions.cpp
index c6f0aaf11..b42e718ca 100644
--- a/rosidl_runtime_c/test/test_u16string_functions.cpp
+++ b/rosidl_runtime_c/test/test_u16string_functions.cpp
@@ -16,6 +16,8 @@
 #include "rosidl_runtime_c/u16string.h"
 #include "rosidl_runtime_c/u16string_functions.h"
 
+#include "rcutils/testing/fault_injection.h"
+
 TEST(u16string_functions, init_fini_empty_string) {
   rosidl_runtime_c__U16String empty_string;
   EXPECT_TRUE(rosidl_runtime_c__U16String__init(&empty_string));
@@ -182,3 +184,16 @@ TEST(u16string_functions, create_destroy_sequence) {
   EXPECT_EQ(sequence->capacity, seq_size);
   rosidl_runtime_c__U16String__Sequence__destroy(sequence);
 }
+
+TEST(string_functions, create_destroy_sequence_maybe_fail) {
+  rosidl_runtime_c__U16String__Sequence * sequence = nullptr;
+  constexpr size_t seq_size = 10u;
+  RCUTILS_FAULT_INJECTION_TEST(
+  {
+    sequence = rosidl_runtime_c__U16String__Sequence__create(seq_size);
+    if (nullptr != sequence) {
+      rosidl_runtime_c__U16String__Sequence__destroy(sequence);
+      sequence = nullptr;
+    }
+  });
+}