diff --git a/rclrs/Cargo.toml b/rclrs/Cargo.toml
index ec761ef3e..69319f659 100644
--- a/rclrs/Cargo.toml
+++ b/rclrs/Cargo.toml
@@ -26,12 +26,11 @@ libloading = { version = "0.8", optional = true }
 # Needed for the Message trait, among others
 rosidl_runtime_rs = "0.4"
 
-[dependencies.builtin_interfaces]
-version = "*"
-
 [dev-dependencies]
 # Needed for e.g. writing yaml files in tests
 tempfile = "3.3.0"
+# Needed for publisher and subscriber tests
+test_msgs = {version = "*"}
 
 [build-dependencies]
 # Needed for FFI
diff --git a/rclrs/package.xml b/rclrs/package.xml
index 12acc5831..4c3754f48 100644
--- a/rclrs/package.xml
+++ b/rclrs/package.xml
@@ -19,6 +19,8 @@
   <depend>builtin_interfaces</depend>
   <depend>rcl_interfaces</depend>
   <depend>rosgraph_msgs</depend>
+  
+  <test_depend>test_msgs</test_depend>
 
   <export>
     <build_type>ament_cargo</build_type>
diff --git a/rclrs/src/client.rs b/rclrs/src/client.rs
index a8387604f..b7db3a9c4 100644
--- a/rclrs/src/client.rs
+++ b/rclrs/src/client.rs
@@ -289,3 +289,38 @@ where
         Ok(())
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::test_helpers::*;
+    use test_msgs::srv;
+
+    #[test]
+    fn traits() {
+        assert_send::<Client<srv::Arrays>>();
+        assert_sync::<Client<srv::Arrays>>();
+    }
+
+    #[test]
+    fn test_clients() -> Result<(), RclrsError> {
+        let namespace = "/test_clients_graph";
+        let graph = construct_test_graph(namespace)?;
+        let _node_2_empty_client = graph
+            .node2
+            .create_client::<srv::Empty>("graph_test_topic_4")?;
+
+        std::thread::sleep(std::time::Duration::from_millis(200));
+
+        let client_names_and_types = graph
+            .node2
+            .get_client_names_and_types_by_node(&graph.node2.name(), &graph.node2.namespace())?;
+        let types = client_names_and_types
+            .get("/test_clients_graph/graph_test_topic_4")
+            .unwrap();
+
+        assert!(types.contains(&"test_msgs/srv/Empty".to_string()));
+
+        Ok(())
+    }
+}
diff --git a/rclrs/src/clock.rs b/rclrs/src/clock.rs
index 018c6f5b7..c9253ffed 100644
--- a/rclrs/src/clock.rs
+++ b/rclrs/src/clock.rs
@@ -195,11 +195,10 @@ unsafe impl Send for rcl_clock_t {}
 mod tests {
     use super::*;
 
-    fn assert_send<T: Send>() {}
-    fn assert_sync<T: Sync>() {}
-
     #[test]
-    fn clock_is_send_and_sync() {
+    fn traits() {
+        use crate::test_helpers::*;
+
         assert_send::<Clock>();
         assert_sync::<Clock>();
     }
diff --git a/rclrs/src/context.rs b/rclrs/src/context.rs
index 83ef17c56..7c5d6a763 100644
--- a/rclrs/src/context.rs
+++ b/rclrs/src/context.rs
@@ -120,11 +120,10 @@ impl Context {
 mod tests {
     use super::*;
 
-    fn assert_send<T: Send>() {}
-    fn assert_sync<T: Sync>() {}
-
     #[test]
-    fn context_is_send_and_sync() {
+    fn traits() {
+        use crate::test_helpers::*;
+
         assert_send::<Context>();
         assert_sync::<Context>();
     }
diff --git a/rclrs/src/dynamic_message.rs b/rclrs/src/dynamic_message.rs
index 9bbcf7e75..b7b71a506 100644
--- a/rclrs/src/dynamic_message.rs
+++ b/rclrs/src/dynamic_message.rs
@@ -253,11 +253,10 @@ impl DynamicMessageMetadata {
 mod tests {
     use super::*;
 
-    fn assert_send<T: Send>() {}
-    fn assert_sync<T: Sync>() {}
-
     #[test]
-    fn all_types_are_sync_and_send() {
+    fn traits() {
+        use crate::test_helpers::*;
+
         assert_send::<DynamicMessageMetadata>();
         assert_sync::<DynamicMessageMetadata>();
     }
diff --git a/rclrs/src/lib.rs b/rclrs/src/lib.rs
index 325cd5b9a..d1ad1f530 100644
--- a/rclrs/src/lib.rs
+++ b/rclrs/src/lib.rs
@@ -22,6 +22,9 @@ mod time_source;
 mod vendor;
 mod wait;
 
+#[cfg(test)]
+mod test_helpers;
+
 mod rcl_bindings;
 
 #[cfg(feature = "dyn_msg")]
diff --git a/rclrs/src/node.rs b/rclrs/src/node.rs
index 87702ab0f..c89a1ef74 100644
--- a/rclrs/src/node.rs
+++ b/rclrs/src/node.rs
@@ -454,13 +454,56 @@ pub(crate) unsafe fn call_string_getter_with_handle(
 #[cfg(test)]
 mod tests {
     use super::*;
-
-    fn assert_send<T: Send>() {}
-    fn assert_sync<T: Sync>() {}
+    use crate::test_helpers::*;
 
     #[test]
-    fn node_is_send_and_sync() {
+    fn traits() {
         assert_send::<Node>();
         assert_sync::<Node>();
     }
+
+    #[test]
+    fn test_topic_names_and_types() -> Result<(), RclrsError> {
+        use crate::QOS_PROFILE_SYSTEM_DEFAULT;
+        use test_msgs::msg;
+
+        let graph = construct_test_graph("test_topics_graph")?;
+
+        let _node_1_defaults_subscription = graph.node1.create_subscription::<msg::Defaults, _>(
+            "graph_test_topic_3",
+            QOS_PROFILE_SYSTEM_DEFAULT,
+            |_msg: msg::Defaults| {},
+        )?;
+        let _node_2_empty_subscription = graph.node2.create_subscription::<msg::Empty, _>(
+            "graph_test_topic_1",
+            QOS_PROFILE_SYSTEM_DEFAULT,
+            |_msg: msg::Empty| {},
+        )?;
+        let _node_2_basic_types_subscription =
+            graph.node2.create_subscription::<msg::BasicTypes, _>(
+                "graph_test_topic_2",
+                QOS_PROFILE_SYSTEM_DEFAULT,
+                |_msg: msg::BasicTypes| {},
+            )?;
+
+        std::thread::sleep(std::time::Duration::from_millis(100));
+
+        let topic_names_and_types = graph.node1.get_topic_names_and_types()?;
+
+        let types = topic_names_and_types
+            .get("/test_topics_graph/graph_test_topic_1")
+            .unwrap();
+        assert!(types.contains(&"test_msgs/msg/Empty".to_string()));
+        let types = topic_names_and_types
+            .get("/test_topics_graph/graph_test_topic_2")
+            .unwrap();
+        assert!(types.contains(&"test_msgs/msg/BasicTypes".to_string()));
+
+        let types = topic_names_and_types
+            .get("/test_topics_graph/graph_test_topic_3")
+            .unwrap();
+        assert!(types.contains(&"test_msgs/msg/Defaults".to_string()));
+
+        Ok(())
+    }
 }
diff --git a/rclrs/src/node/graph.rs b/rclrs/src/node/graph.rs
index cacf96837..968bb5c4b 100644
--- a/rclrs/src/node/graph.rs
+++ b/rclrs/src/node/graph.rs
@@ -457,7 +457,6 @@ fn convert_names_and_types(
 
 #[cfg(test)]
 mod tests {
-
     use super::*;
     use crate::Context;
 
diff --git a/rclrs/src/publisher.rs b/rclrs/src/publisher.rs
index a77a41aa4..0f512c5f6 100644
--- a/rclrs/src/publisher.rs
+++ b/rclrs/src/publisher.rs
@@ -230,3 +230,81 @@ impl<'a, T: Message> MessageCow<'a, T> for &'a T {
         Cow::Borrowed(self)
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::test_helpers::*;
+
+    #[test]
+    fn traits() {
+        assert_send::<Publisher<test_msgs::msg::BoundedSequences>>();
+        assert_sync::<Publisher<test_msgs::msg::BoundedSequences>>();
+    }
+
+    #[test]
+    fn test_publishers() -> Result<(), RclrsError> {
+        use crate::TopicEndpointInfo;
+        use crate::QOS_PROFILE_SYSTEM_DEFAULT;
+        use test_msgs::msg;
+
+        let namespace = "/test_publishers_graph";
+        let graph = construct_test_graph(namespace)?;
+
+        let node_1_empty_publisher = graph
+            .node1
+            .create_publisher::<msg::Empty>("graph_test_topic_1", QOS_PROFILE_SYSTEM_DEFAULT)?;
+        let topic1 = node_1_empty_publisher.topic_name();
+        let node_1_basic_types_publisher = graph.node1.create_publisher::<msg::BasicTypes>(
+            "graph_test_topic_2",
+            QOS_PROFILE_SYSTEM_DEFAULT,
+        )?;
+        let topic2 = node_1_basic_types_publisher.topic_name();
+        let node_2_default_publisher = graph
+            .node2
+            .create_publisher::<msg::Defaults>("graph_test_topic_3", QOS_PROFILE_SYSTEM_DEFAULT)?;
+        let topic3 = node_2_default_publisher.topic_name();
+
+        std::thread::sleep(std::time::Duration::from_millis(100));
+
+        // Test count_publishers()
+        assert_eq!(graph.node1.count_publishers(&topic1)?, 1);
+        assert_eq!(graph.node1.count_publishers(&topic2)?, 1);
+        assert_eq!(graph.node1.count_publishers(&topic3)?, 1);
+
+        // Test get_publisher_names_and_types_by_node()
+        let node_1_publisher_names_and_types = graph
+            .node1
+            .get_publisher_names_and_types_by_node(&graph.node1.name(), namespace)?;
+
+        let types = node_1_publisher_names_and_types.get(&topic1).unwrap();
+        assert!(types.contains(&"test_msgs/msg/Empty".to_string()));
+
+        let types = node_1_publisher_names_and_types.get(&topic2).unwrap();
+        assert!(types.contains(&"test_msgs/msg/BasicTypes".to_string()));
+
+        let node_2_publisher_names_and_types = graph
+            .node1
+            .get_publisher_names_and_types_by_node(&graph.node2.name(), namespace)?;
+
+        let types = node_2_publisher_names_and_types.get(&topic3).unwrap();
+        assert!(types.contains(&"test_msgs/msg/Defaults".to_string()));
+
+        // Test get_publishers_info_by_topic()
+        let expected_publishers_info = vec![TopicEndpointInfo {
+            node_name: String::from("graph_test_node_1"),
+            node_namespace: String::from(namespace),
+            topic_type: String::from("test_msgs/msg/Empty"),
+        }];
+        assert_eq!(
+            graph.node1.get_publishers_info_by_topic(&topic1)?,
+            expected_publishers_info
+        );
+        assert_eq!(
+            graph.node2.get_publishers_info_by_topic(&topic1)?,
+            expected_publishers_info
+        );
+
+        Ok(())
+    }
+}
diff --git a/rclrs/src/publisher/loaned_message.rs b/rclrs/src/publisher/loaned_message.rs
index c9b06f1a2..350c1ad23 100644
--- a/rclrs/src/publisher/loaned_message.rs
+++ b/rclrs/src/publisher/loaned_message.rs
@@ -92,3 +92,16 @@ where
         Ok(())
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn traits() {
+        use crate::test_helpers::*;
+
+        assert_send::<LoanedMessage<test_msgs::msg::rmw::BoundedSequences>>();
+        assert_sync::<LoanedMessage<test_msgs::msg::rmw::BoundedSequences>>();
+    }
+}
diff --git a/rclrs/src/service.rs b/rclrs/src/service.rs
index 8cac799b1..6e55094d6 100644
--- a/rclrs/src/service.rs
+++ b/rclrs/src/service.rs
@@ -199,3 +199,54 @@ where
         .ok()
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::test_helpers::*;
+
+    #[test]
+    fn traits() {
+        assert_send::<Service<test_msgs::srv::Arrays>>();
+        assert_sync::<Service<test_msgs::srv::Arrays>>();
+    }
+
+    #[test]
+    fn test_services() -> Result<(), RclrsError> {
+        use crate::TopicNamesAndTypes;
+        use test_msgs::srv;
+
+        let namespace = "/test_services_graph";
+        let graph = construct_test_graph(namespace)?;
+        let check_names_and_types = |names_and_types: TopicNamesAndTypes| {
+            let types = names_and_types
+                .get("/test_services_graph/graph_test_topic_4")
+                .unwrap();
+            assert!(types.contains(&"test_msgs/srv/Empty".to_string()));
+        };
+
+        let _node_1_empty_service =
+            graph
+                .node1
+                .create_service::<srv::Empty, _>("graph_test_topic_4", |_, _| {
+                    srv::Empty_Response {
+                        structure_needs_at_least_one_member: 0,
+                    }
+                })?;
+        let _node_2_empty_client = graph
+            .node2
+            .create_client::<srv::Empty>("graph_test_topic_4")?;
+
+        std::thread::sleep(std::time::Duration::from_millis(100));
+
+        let service_names_and_types = graph.node1.get_service_names_and_types()?;
+        check_names_and_types(service_names_and_types);
+
+        let service_names_and_types = graph
+            .node1
+            .get_service_names_and_types_by_node(&graph.node1.name(), namespace)?;
+        check_names_and_types(service_names_and_types);
+
+        Ok(())
+    }
+}
diff --git a/rclrs/src/subscription.rs b/rclrs/src/subscription.rs
index e684866c2..7e3439df1 100644
--- a/rclrs/src/subscription.rs
+++ b/rclrs/src/subscription.rs
@@ -300,3 +300,85 @@ where
         }
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::test_helpers::*;
+    use test_msgs::msg;
+
+    #[test]
+    fn traits() {
+        assert_send::<Subscription<msg::BoundedSequences>>();
+        assert_sync::<Subscription<msg::BoundedSequences>>();
+    }
+
+    #[test]
+    fn test_subscriptions() -> Result<(), RclrsError> {
+        use crate::TopicEndpointInfo;
+        use crate::QOS_PROFILE_SYSTEM_DEFAULT;
+
+        let namespace = "/test_subscriptions_graph";
+        let graph = construct_test_graph(namespace)?;
+
+        let node_2_empty_subscription = graph.node2.create_subscription::<msg::Empty, _>(
+            "graph_test_topic_1",
+            QOS_PROFILE_SYSTEM_DEFAULT,
+            |_msg: msg::Empty| {},
+        )?;
+        let topic1 = node_2_empty_subscription.topic_name();
+        let node_2_basic_types_subscription =
+            graph.node2.create_subscription::<msg::BasicTypes, _>(
+                "graph_test_topic_2",
+                QOS_PROFILE_SYSTEM_DEFAULT,
+                |_msg: msg::BasicTypes| {},
+            )?;
+        let topic2 = node_2_basic_types_subscription.topic_name();
+        let node_1_defaults_subscription = graph.node1.create_subscription::<msg::Defaults, _>(
+            "graph_test_topic_3",
+            QOS_PROFILE_SYSTEM_DEFAULT,
+            |_msg: msg::Defaults| {},
+        )?;
+        let topic3 = node_1_defaults_subscription.topic_name();
+
+        std::thread::sleep(std::time::Duration::from_millis(100));
+
+        // Test count_subscriptions()
+        assert_eq!(graph.node2.count_subscriptions(&topic1)?, 1);
+        assert_eq!(graph.node2.count_subscriptions(&topic2)?, 1);
+
+        // Test get_subscription_names_and_types_by_node()
+        let node_1_subscription_names_and_types = graph
+            .node1
+            .get_subscription_names_and_types_by_node(&graph.node1.name(), namespace)?;
+
+        let types = node_1_subscription_names_and_types.get(&topic3).unwrap();
+        assert!(types.contains(&"test_msgs/msg/Defaults".to_string()));
+
+        let node_2_subscription_names_and_types = graph
+            .node2
+            .get_subscription_names_and_types_by_node(&graph.node2.name(), namespace)?;
+
+        let types = node_2_subscription_names_and_types.get(&topic1).unwrap();
+        assert!(types.contains(&"test_msgs/msg/Empty".to_string()));
+
+        let types = node_2_subscription_names_and_types.get(&topic2).unwrap();
+        assert!(types.contains(&"test_msgs/msg/BasicTypes".to_string()));
+
+        // Test get_subscriptions_info_by_topic()
+        let expected_subscriptions_info = vec![TopicEndpointInfo {
+            node_name: String::from("graph_test_node_2"),
+            node_namespace: String::from(namespace),
+            topic_type: String::from("test_msgs/msg/Empty"),
+        }];
+        assert_eq!(
+            graph.node1.get_subscriptions_info_by_topic(&topic1)?,
+            expected_subscriptions_info
+        );
+        assert_eq!(
+            graph.node2.get_subscriptions_info_by_topic(&topic1)?,
+            expected_subscriptions_info
+        );
+        Ok(())
+    }
+}
diff --git a/rclrs/src/subscription/callback.rs b/rclrs/src/subscription/callback.rs
index 9c2931470..d5e9fba8e 100644
--- a/rclrs/src/subscription/callback.rs
+++ b/rclrs/src/subscription/callback.rs
@@ -132,3 +132,43 @@ where
         AnySubscriptionCallback::LoanedWithMessageInfo(Box::new(func))
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn callback_conversion() {
+        type Message = test_msgs::msg::BoundedSequences;
+        let cb = |_msg: Message| {};
+        assert!(matches!(
+            cb.into_callback(),
+            AnySubscriptionCallback::<Message>::Regular(_)
+        ));
+        let cb = |_msg: Message, _info: MessageInfo| {};
+        assert!(matches!(
+            cb.into_callback(),
+            AnySubscriptionCallback::<Message>::RegularWithMessageInfo(_)
+        ));
+        let cb = |_msg: Box<Message>| {};
+        assert!(matches!(
+            cb.into_callback(),
+            AnySubscriptionCallback::<Message>::Boxed(_)
+        ));
+        let cb = |_msg: Box<Message>, _info: MessageInfo| {};
+        assert!(matches!(
+            cb.into_callback(),
+            AnySubscriptionCallback::<Message>::BoxedWithMessageInfo(_)
+        ));
+        let cb = |_msg: ReadOnlyLoanedMessage<'_, Message>| {};
+        assert!(matches!(
+            cb.into_callback(),
+            AnySubscriptionCallback::<Message>::Loaned(_)
+        ));
+        let cb = |_msg: ReadOnlyLoanedMessage<'_, Message>, _info: MessageInfo| {};
+        assert!(matches!(
+            cb.into_callback(),
+            AnySubscriptionCallback::<Message>::LoanedWithMessageInfo(_)
+        ));
+    }
+}
diff --git a/rclrs/src/subscription/message_info.rs b/rclrs/src/subscription/message_info.rs
index 1c2ba9936..010bf28ec 100644
--- a/rclrs/src/subscription/message_info.rs
+++ b/rclrs/src/subscription/message_info.rs
@@ -152,11 +152,10 @@ mod tests {
         );
     }
 
-    fn assert_send<T: Send>() {}
-    fn assert_sync<T: Sync>() {}
-
     #[test]
-    fn wait_set_is_send_and_sync() {
+    fn traits() {
+        use crate::test_helpers::*;
+
         assert_send::<MessageInfo>();
         assert_sync::<MessageInfo>();
     }
diff --git a/rclrs/src/subscription/readonly_loaned_message.rs b/rclrs/src/subscription/readonly_loaned_message.rs
index 7a3e6b550..0e4b55e6f 100644
--- a/rclrs/src/subscription/readonly_loaned_message.rs
+++ b/rclrs/src/subscription/readonly_loaned_message.rs
@@ -54,3 +54,16 @@ where
 unsafe impl<'a, T> Send for ReadOnlyLoanedMessage<'a, T> where T: Message {}
 // SAFETY: This type has no interior mutability, in fact it has no mutability at all.
 unsafe impl<'a, T> Sync for ReadOnlyLoanedMessage<'a, T> where T: Message {}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn traits() {
+        use crate::test_helpers::*;
+
+        assert_send::<ReadOnlyLoanedMessage<test_msgs::msg::rmw::BoundedSequences>>();
+        assert_sync::<ReadOnlyLoanedMessage<test_msgs::msg::rmw::BoundedSequences>>();
+    }
+}
diff --git a/rclrs/src/test_helpers/graph_helpers.rs b/rclrs/src/test_helpers/graph_helpers.rs
new file mode 100644
index 000000000..1e9b581ae
--- /dev/null
+++ b/rclrs/src/test_helpers/graph_helpers.rs
@@ -0,0 +1,19 @@
+use crate::{Context, Node, NodeBuilder, RclrsError};
+use std::sync::Arc;
+
+pub(crate) struct TestGraph {
+    pub node1: Arc<Node>,
+    pub node2: Arc<Node>,
+}
+
+pub(crate) fn construct_test_graph(namespace: &str) -> Result<TestGraph, RclrsError> {
+    let context = Context::new([])?;
+    Ok(TestGraph {
+        node1: NodeBuilder::new(&context, "graph_test_node_1")
+            .namespace(namespace)
+            .build()?,
+        node2: NodeBuilder::new(&context, "graph_test_node_2")
+            .namespace(namespace)
+            .build()?,
+    })
+}
diff --git a/rclrs/src/test_helpers/mod.rs b/rclrs/src/test_helpers/mod.rs
new file mode 100644
index 000000000..cd805e6ec
--- /dev/null
+++ b/rclrs/src/test_helpers/mod.rs
@@ -0,0 +1,7 @@
+// #[cfg(test)]
+
+pub(crate) mod graph_helpers;
+pub(crate) use self::graph_helpers::*;
+
+pub(crate) fn assert_send<T: Send>() {}
+pub(crate) fn assert_sync<T: Sync>() {}
diff --git a/rclrs/src/time.rs b/rclrs/src/time.rs
index 53eb45efd..845dd1505 100644
--- a/rclrs/src/time.rs
+++ b/rclrs/src/time.rs
@@ -1,4 +1,5 @@
 use crate::rcl_bindings::*;
+use crate::vendor::builtin_interfaces;
 use std::num::TryFromIntError;
 use std::ops::{Add, Sub};
 use std::sync::{Mutex, Weak};
@@ -70,7 +71,7 @@ mod tests {
     fn compare_times_from_same_clock() {
         let clock = Clock::system();
         let t1 = clock.now();
-        std::thread::sleep(std::time::Duration::from_micros(1));
+        std::thread::sleep(Duration::from_micros(1));
         let t2 = clock.now();
         assert_eq!(t1.compare_with(&t2, |t1, t2| t1 > t2), Some(false));
         assert_eq!(t1.compare_with(&t2, |t1, t2| t2 > t1), Some(true));
diff --git a/rclrs/src/wait.rs b/rclrs/src/wait.rs
index d8c0e3cb1..94811c75a 100644
--- a/rclrs/src/wait.rs
+++ b/rclrs/src/wait.rs
@@ -404,11 +404,10 @@ impl WaitSet {
 mod tests {
     use super::*;
 
-    fn assert_send<T: Send>() {}
-    fn assert_sync<T: Sync>() {}
-
     #[test]
-    fn wait_set_is_send_and_sync() {
+    fn traits() {
+        use crate::test_helpers::*;
+
         assert_send::<WaitSet>();
         assert_sync::<WaitSet>();
     }
diff --git a/rclrs/src/wait/guard_condition.rs b/rclrs/src/wait/guard_condition.rs
index 2bc9ebf64..f4d9f651d 100644
--- a/rclrs/src/wait/guard_condition.rs
+++ b/rclrs/src/wait/guard_condition.rs
@@ -179,11 +179,10 @@ mod tests {
         Ok(())
     }
 
-    fn assert_send<T: Send>() {}
-    fn assert_sync<T: Sync>() {}
-
     #[test]
-    fn test_guard_condition_is_send_and_sync() {
+    fn traits() {
+        use crate::test_helpers::*;
+
         assert_send::<GuardCondition>();
         assert_sync::<GuardCondition>();
     }
diff --git a/rclrs_tests/Cargo.toml b/rclrs_tests/Cargo.toml
deleted file mode 100644
index 2f484a352..000000000
--- a/rclrs_tests/Cargo.toml
+++ /dev/null
@@ -1,18 +0,0 @@
-[package]
-name = "rclrs_tests"
-version = "0.4.1"
-authors = ["Chris Reid <christopherjreid@outlook.com>"]
-edition = "2021"
-
-[lib]
-path = "src/lib.rs"
-
-[dependencies]
-anyhow = {version = "1", features = ["backtrace"]}
-test_msgs = {version = "*"}
-
-[dependencies.rclrs]
-version = "*"
-
-[dependencies.rosidl_runtime_rs]
-version = "*"
diff --git a/rclrs_tests/package.xml b/rclrs_tests/package.xml
deleted file mode 100644
index e18023270..000000000
--- a/rclrs_tests/package.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="2.0"?>
-<?xml-model
-   href="http://download.ros.org/schema/package_format3.xsd"
-   schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>rclrs_tests</name>
-  <version>0.4.1</version>
-  <description>Package containing tests for rclrs that make use of msgs and other dependencies</description>
-  <maintainer email="christopherjreid@outlook.com">Chris Reid</maintainer>
-  <license>Apache License 2.0</license>
-
-  <depend>test_msgs</depend>
-  <depend>rclrs</depend>
-  <depend>rosidl_runtime_rs</depend>
-
-  <export>
-    <build_type>ament_cargo</build_type>
-  </export>
-</package>
diff --git a/rclrs_tests/src/client_service_tests.rs b/rclrs_tests/src/client_service_tests.rs
deleted file mode 100644
index a6efa091c..000000000
--- a/rclrs_tests/src/client_service_tests.rs
+++ /dev/null
@@ -1,16 +0,0 @@
-use rclrs::{Client, Service};
-
-fn assert_send<T: Send>() {}
-fn assert_sync<T: Sync>() {}
-
-#[test]
-fn client_is_send_and_sync() {
-    assert_send::<Client<test_msgs::srv::Arrays>>();
-    assert_sync::<Client<test_msgs::srv::Arrays>>();
-}
-
-#[test]
-fn service_is_send_and_sync() {
-    assert_send::<Service<test_msgs::srv::Arrays>>();
-    assert_sync::<Service<test_msgs::srv::Arrays>>();
-}
diff --git a/rclrs_tests/src/graph_tests.rs b/rclrs_tests/src/graph_tests.rs
deleted file mode 100644
index 11072e09c..000000000
--- a/rclrs_tests/src/graph_tests.rs
+++ /dev/null
@@ -1,246 +0,0 @@
-use rclrs::{
-    Context, Node, NodeBuilder, RclrsError, TopicEndpointInfo, TopicNamesAndTypes,
-    QOS_PROFILE_SYSTEM_DEFAULT,
-};
-use std::sync::Arc;
-use test_msgs::{msg, srv};
-
-struct TestGraph {
-    node1: Arc<Node>,
-    node2: Arc<Node>,
-}
-
-fn construct_test_graph(namespace: &str) -> Result<TestGraph, RclrsError> {
-    let context = Context::new([])?;
-    Ok(TestGraph {
-        node1: NodeBuilder::new(&context, "graph_test_node_1")
-            .namespace(namespace)
-            .build()?,
-        node2: NodeBuilder::new(&context, "graph_test_node_2")
-            .namespace(namespace)
-            .build()?,
-    })
-}
-
-#[test]
-fn test_publishers() -> Result<(), RclrsError> {
-    let namespace = "/test_publishers_graph";
-    let graph = construct_test_graph(namespace)?;
-
-    let node_1_empty_publisher = graph
-        .node1
-        .create_publisher::<msg::Empty>("graph_test_topic_1", QOS_PROFILE_SYSTEM_DEFAULT)?;
-    let topic1 = node_1_empty_publisher.topic_name();
-    let node_1_basic_types_publisher = graph
-        .node1
-        .create_publisher::<msg::BasicTypes>("graph_test_topic_2", QOS_PROFILE_SYSTEM_DEFAULT)?;
-    let topic2 = node_1_basic_types_publisher.topic_name();
-    let node_2_default_publisher = graph
-        .node2
-        .create_publisher::<msg::Defaults>("graph_test_topic_3", QOS_PROFILE_SYSTEM_DEFAULT)?;
-    let topic3 = node_2_default_publisher.topic_name();
-
-    std::thread::sleep(std::time::Duration::from_millis(100));
-
-    // Test count_publishers()
-    assert_eq!(graph.node1.count_publishers(&topic1)?, 1);
-    assert_eq!(graph.node1.count_publishers(&topic2)?, 1);
-    assert_eq!(graph.node1.count_publishers(&topic3)?, 1);
-
-    // Test get_publisher_names_and_types_by_node()
-    let node_1_publisher_names_and_types = graph
-        .node1
-        .get_publisher_names_and_types_by_node(&graph.node1.name(), namespace)?;
-
-    let types = node_1_publisher_names_and_types.get(&topic1).unwrap();
-    assert!(types.contains(&"test_msgs/msg/Empty".to_string()));
-
-    let types = node_1_publisher_names_and_types.get(&topic2).unwrap();
-    assert!(types.contains(&"test_msgs/msg/BasicTypes".to_string()));
-
-    let node_2_publisher_names_and_types = graph
-        .node1
-        .get_publisher_names_and_types_by_node(&graph.node2.name(), namespace)?;
-
-    let types = node_2_publisher_names_and_types.get(&topic3).unwrap();
-    assert!(types.contains(&"test_msgs/msg/Defaults".to_string()));
-
-    // Test get_publishers_info_by_topic()
-    let expected_publishers_info = vec![TopicEndpointInfo {
-        node_name: String::from("graph_test_node_1"),
-        node_namespace: String::from(namespace),
-        topic_type: String::from("test_msgs/msg/Empty"),
-    }];
-    assert_eq!(
-        graph.node1.get_publishers_info_by_topic(&topic1)?,
-        expected_publishers_info
-    );
-    assert_eq!(
-        graph.node2.get_publishers_info_by_topic(&topic1)?,
-        expected_publishers_info
-    );
-
-    Ok(())
-}
-
-#[test]
-fn test_subscriptions() -> Result<(), RclrsError> {
-    let namespace = "/test_subscriptions_graph";
-    let graph = construct_test_graph(namespace)?;
-
-    let node_2_empty_subscription = graph.node2.create_subscription::<msg::Empty, _>(
-        "graph_test_topic_1",
-        QOS_PROFILE_SYSTEM_DEFAULT,
-        |_msg: msg::Empty| {},
-    )?;
-    let topic1 = node_2_empty_subscription.topic_name();
-    let node_2_basic_types_subscription = graph.node2.create_subscription::<msg::BasicTypes, _>(
-        "graph_test_topic_2",
-        QOS_PROFILE_SYSTEM_DEFAULT,
-        |_msg: msg::BasicTypes| {},
-    )?;
-    let topic2 = node_2_basic_types_subscription.topic_name();
-    let node_1_defaults_subscription = graph.node1.create_subscription::<msg::Defaults, _>(
-        "graph_test_topic_3",
-        QOS_PROFILE_SYSTEM_DEFAULT,
-        |_msg: msg::Defaults| {},
-    )?;
-    let topic3 = node_1_defaults_subscription.topic_name();
-
-    std::thread::sleep(std::time::Duration::from_millis(100));
-
-    // Test count_subscriptions()
-    assert_eq!(graph.node2.count_subscriptions(&topic1)?, 1);
-    assert_eq!(graph.node2.count_subscriptions(&topic2)?, 1);
-
-    // Test get_subscription_names_and_types_by_node()
-    let node_1_subscription_names_and_types = graph
-        .node1
-        .get_subscription_names_and_types_by_node(&graph.node1.name(), namespace)?;
-
-    let types = node_1_subscription_names_and_types.get(&topic3).unwrap();
-    assert!(types.contains(&"test_msgs/msg/Defaults".to_string()));
-
-    let node_2_subscription_names_and_types = graph
-        .node2
-        .get_subscription_names_and_types_by_node(&graph.node2.name(), namespace)?;
-
-    let types = node_2_subscription_names_and_types.get(&topic1).unwrap();
-    assert!(types.contains(&"test_msgs/msg/Empty".to_string()));
-
-    let types = node_2_subscription_names_and_types.get(&topic2).unwrap();
-    assert!(types.contains(&"test_msgs/msg/BasicTypes".to_string()));
-
-    // Test get_subscriptions_info_by_topic()
-    let expected_subscriptions_info = vec![TopicEndpointInfo {
-        node_name: String::from("graph_test_node_2"),
-        node_namespace: String::from(namespace),
-        topic_type: String::from("test_msgs/msg/Empty"),
-    }];
-    assert_eq!(
-        graph.node1.get_subscriptions_info_by_topic(&topic1)?,
-        expected_subscriptions_info
-    );
-    assert_eq!(
-        graph.node2.get_subscriptions_info_by_topic(&topic1)?,
-        expected_subscriptions_info
-    );
-    Ok(())
-}
-
-#[test]
-fn test_topic_names_and_types() -> Result<(), RclrsError> {
-    let graph = construct_test_graph("test_topics_graph")?;
-
-    let _node_1_defaults_subscription = graph.node1.create_subscription::<msg::Defaults, _>(
-        "graph_test_topic_3",
-        QOS_PROFILE_SYSTEM_DEFAULT,
-        |_msg: msg::Defaults| {},
-    )?;
-    let _node_2_empty_subscription = graph.node2.create_subscription::<msg::Empty, _>(
-        "graph_test_topic_1",
-        QOS_PROFILE_SYSTEM_DEFAULT,
-        |_msg: msg::Empty| {},
-    )?;
-    let _node_2_basic_types_subscription = graph.node2.create_subscription::<msg::BasicTypes, _>(
-        "graph_test_topic_2",
-        QOS_PROFILE_SYSTEM_DEFAULT,
-        |_msg: msg::BasicTypes| {},
-    )?;
-
-    std::thread::sleep(std::time::Duration::from_millis(100));
-
-    let topic_names_and_types = graph.node1.get_topic_names_and_types()?;
-
-    let types = topic_names_and_types
-        .get("/test_topics_graph/graph_test_topic_1")
-        .unwrap();
-    assert!(types.contains(&"test_msgs/msg/Empty".to_string()));
-    let types = topic_names_and_types
-        .get("/test_topics_graph/graph_test_topic_2")
-        .unwrap();
-    assert!(types.contains(&"test_msgs/msg/BasicTypes".to_string()));
-
-    let types = topic_names_and_types
-        .get("/test_topics_graph/graph_test_topic_3")
-        .unwrap();
-    assert!(types.contains(&"test_msgs/msg/Defaults".to_string()));
-
-    Ok(())
-}
-
-#[test]
-fn test_services() -> Result<(), RclrsError> {
-    let namespace = "/test_services_graph";
-    let graph = construct_test_graph(namespace)?;
-    let check_names_and_types = |names_and_types: TopicNamesAndTypes| {
-        let types = names_and_types
-            .get("/test_services_graph/graph_test_topic_4")
-            .unwrap();
-        assert!(types.contains(&"test_msgs/srv/Empty".to_string()));
-    };
-
-    let _node_1_empty_service =
-        graph
-            .node1
-            .create_service::<srv::Empty, _>("graph_test_topic_4", |_, _| srv::Empty_Response {
-                structure_needs_at_least_one_member: 0,
-            })?;
-    let _node_2_empty_client = graph
-        .node2
-        .create_client::<srv::Empty>("graph_test_topic_4")?;
-
-    std::thread::sleep(std::time::Duration::from_millis(100));
-
-    let service_names_and_types = graph.node1.get_service_names_and_types()?;
-    check_names_and_types(service_names_and_types);
-
-    let service_names_and_types = graph
-        .node1
-        .get_service_names_and_types_by_node(&graph.node1.name(), namespace)?;
-    check_names_and_types(service_names_and_types);
-
-    Ok(())
-}
-
-#[test]
-fn test_clients() -> Result<(), RclrsError> {
-    let namespace = "/test_clients_graph";
-    let graph = construct_test_graph(namespace)?;
-    let _node_2_empty_client = graph
-        .node2
-        .create_client::<srv::Empty>("graph_test_topic_4")?;
-
-    std::thread::sleep(std::time::Duration::from_millis(200));
-
-    let client_names_and_types = graph
-        .node2
-        .get_client_names_and_types_by_node(&graph.node2.name(), &graph.node2.namespace())?;
-    let types = client_names_and_types
-        .get("/test_clients_graph/graph_test_topic_4")
-        .unwrap();
-
-    assert!(types.contains(&"test_msgs/srv/Empty".to_string()));
-
-    Ok(())
-}
diff --git a/rclrs_tests/src/lib.rs b/rclrs_tests/src/lib.rs
deleted file mode 100644
index 7cabab86c..000000000
--- a/rclrs_tests/src/lib.rs
+++ /dev/null
@@ -1,5 +0,0 @@
-#![cfg(test)]
-
-mod client_service_tests;
-mod graph_tests;
-mod pub_sub_tests;
diff --git a/rclrs_tests/src/pub_sub_tests.rs b/rclrs_tests/src/pub_sub_tests.rs
deleted file mode 100644
index 039c53350..000000000
--- a/rclrs_tests/src/pub_sub_tests.rs
+++ /dev/null
@@ -1,66 +0,0 @@
-use rclrs::{
-    AnySubscriptionCallback, LoanedMessage, MessageInfo, Publisher, ReadOnlyLoanedMessage,
-    Subscription, SubscriptionCallback,
-};
-
-fn assert_send<T: Send>() {}
-fn assert_sync<T: Sync>() {}
-
-#[test]
-fn publisher_is_send_and_sync() {
-    assert_send::<Publisher<test_msgs::msg::BoundedSequences>>();
-    assert_sync::<Publisher<test_msgs::msg::BoundedSequences>>();
-}
-
-#[test]
-fn subscription_is_send_and_sync() {
-    assert_send::<Subscription<test_msgs::msg::BoundedSequences>>();
-    assert_sync::<Subscription<test_msgs::msg::BoundedSequences>>();
-}
-
-#[test]
-fn loaned_message_is_send_and_sync() {
-    assert_send::<LoanedMessage<test_msgs::msg::rmw::BoundedSequences>>();
-    assert_sync::<LoanedMessage<test_msgs::msg::rmw::BoundedSequences>>();
-}
-
-#[test]
-fn readonly_loaned_message_is_send_and_sync() {
-    assert_send::<ReadOnlyLoanedMessage<test_msgs::msg::rmw::BoundedSequences>>();
-    assert_sync::<ReadOnlyLoanedMessage<test_msgs::msg::rmw::BoundedSequences>>();
-}
-
-#[test]
-fn callback_conversion() {
-    type Message = test_msgs::msg::BoundedSequences;
-    let cb = |_msg: Message| {};
-    assert!(matches!(
-        cb.into_callback(),
-        AnySubscriptionCallback::<Message>::Regular(_)
-    ));
-    let cb = |_msg: Message, _info: MessageInfo| {};
-    assert!(matches!(
-        cb.into_callback(),
-        AnySubscriptionCallback::<Message>::RegularWithMessageInfo(_)
-    ));
-    let cb = |_msg: Box<Message>| {};
-    assert!(matches!(
-        cb.into_callback(),
-        AnySubscriptionCallback::<Message>::Boxed(_)
-    ));
-    let cb = |_msg: Box<Message>, _info: MessageInfo| {};
-    assert!(matches!(
-        cb.into_callback(),
-        AnySubscriptionCallback::<Message>::BoxedWithMessageInfo(_)
-    ));
-    let cb = |_msg: ReadOnlyLoanedMessage<'_, Message>| {};
-    assert!(matches!(
-        cb.into_callback(),
-        AnySubscriptionCallback::<Message>::Loaned(_)
-    ));
-    let cb = |_msg: ReadOnlyLoanedMessage<'_, Message>, _info: MessageInfo| {};
-    assert!(matches!(
-        cb.into_callback(),
-        AnySubscriptionCallback::<Message>::LoanedWithMessageInfo(_)
-    ));
-}