diff --git a/include/rcutils/error_handling.h b/include/rcutils/error_handling.h
index 940bf06b..6abe168d 100644
--- a/include/rcutils/error_handling.h
+++ b/include/rcutils/error_handling.h
@@ -223,6 +223,24 @@ rcutils_set_error_state(const char * error_string, const char * file, size_t lin
     } \
   } while (0)
 
+/// Indicate that the function intends to set an error message and return an error value.
+/**
+ * \def RCUTILS_CAN_SET_MSG_AND_RETURN_WITH_ERROR_OF
+ * Indicating macro similar to RCUTILS_CAN_RETURN_WITH_ERROR_OF, that also sets an error
+ * message.
+ *
+ * For now, this macro simply relies on `RCUTILS_CAN_FAIL_WITH` to set a generic error
+ * message and return the given `error_return_value` if fault injection is enabled.
+ *
+ * \param error_return_value the value returned as a result of a given error.
+ */
+#define RCUTILS_CAN_SET_MSG_AND_RETURN_WITH_ERROR_OF(error_return_value) \
+  RCUTILS_CAN_FAIL_WITH( \
+  { \
+    RCUTILS_SET_ERROR_MSG("Injecting " RCUTILS_STRINGIFY(error_return_value)); \
+    return error_return_value; \
+  })
+
 /// Return `true` if the error is set, otherwise `false`.
 RCUTILS_PUBLIC
 RCUTILS_WARN_UNUSED