diff --git a/controller_interface/include/controller_interface/controller_interface.hpp b/controller_interface/include/controller_interface/controller_interface.hpp
index 93c342173f..0f115ecfe6 100644
--- a/controller_interface/include/controller_interface/controller_interface.hpp
+++ b/controller_interface/include/controller_interface/controller_interface.hpp
@@ -61,10 +61,10 @@ class ControllerInterface : public rclcpp_lifecycle::node_interfaces::LifecycleN
 protected:
   std::weak_ptr<hardware_interface::RobotHardware> robot_hardware_;
   std::shared_ptr<rclcpp_lifecycle::LifecycleNode> lifecycle_node_;
-  std::shared_ptr<rclcpp::parameter_client::AsyncParametersClient> parameters_client_;
+  std::shared_ptr<rclcpp::AsyncParametersClient> parameters_client_;
 
 private:
-  std::shared_ptr<rclcpp::node::Node> parameter_client_node_;
+  std::shared_ptr<rclcpp::Node> parameter_client_node_;
 };
 
 }  // namespace controller_interface
diff --git a/controller_interface/src/controller_interface.cpp b/controller_interface/src/controller_interface.cpp
index ab59c37bd6..99aed066db 100644
--- a/controller_interface/src/controller_interface.cpp
+++ b/controller_interface/src/controller_interface.cpp
@@ -47,7 +47,7 @@ ControllerInterface::init(
     std::bind(&ControllerInterface::on_error, this, std::placeholders::_1));
 
   std::string remote_controller_parameter_server = "controller_parameter_server";
-  parameters_client_ = std::make_shared<rclcpp::parameter_client::AsyncParametersClient>(
+  parameters_client_ = std::make_shared<rclcpp::AsyncParametersClient>(
     lifecycle_node_->get_node_base_interface(),
     lifecycle_node_->get_node_topics_interface(),
     lifecycle_node_->get_node_graph_interface(),
diff --git a/controller_manager/include/controller_manager/controller_manager.hpp b/controller_manager/include/controller_manager/controller_manager.hpp
index 420bfc6a94..247c6aca4d 100644
--- a/controller_manager/include/controller_manager/controller_manager.hpp
+++ b/controller_manager/include/controller_manager/controller_manager.hpp
@@ -37,7 +37,7 @@ class ClassLoader;
 namespace controller_manager
 {
 
-class ControllerManager : public rclcpp::node::Node
+class ControllerManager : public rclcpp::Node
 {
 public:
   CONTROLLER_MANAGER_PUBLIC
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index bf04d04df6..e01e274c49 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -130,7 +130,7 @@ ControllerManager::ControllerManager(
   std::shared_ptr<hardware_interface::RobotHardware> hw,
   std::shared_ptr<rclcpp::executor::Executor> executor,
   const std::string & manager_node_name)
-: rclcpp::node::Node(manager_node_name),
+: rclcpp::Node(manager_node_name),
   hw_(hw),
   executor_(executor)
 {}
diff --git a/controller_manager/test/test_controller_manager.cpp b/controller_manager/test/test_controller_manager.cpp
index b4bd0c0bf0..eda7ef05e2 100644
--- a/controller_manager/test/test_controller_manager.cpp
+++ b/controller_manager/test/test_controller_manager.cpp
@@ -31,7 +31,7 @@ class TestControllerManager : public ::testing::Test
 public:
   static void SetUpTestCase()
   {
-    rclcpp::utilities::init(0, nullptr);
+    rclcpp::init(0, nullptr);
   }
 
   void SetUp()
diff --git a/controller_manager/test/test_load_controller.cpp b/controller_manager/test/test_load_controller.cpp
index b57f0a657b..80e3ce0ee2 100644
--- a/controller_manager/test/test_load_controller.cpp
+++ b/controller_manager/test/test_load_controller.cpp
@@ -31,7 +31,7 @@ class TestControllerManager : public ::testing::Test
 public:
   static void SetUpTestCase()
   {
-    rclcpp::utilities::init(0, nullptr);
+    rclcpp::init(0, nullptr);
   }
 
   void SetUp()
diff --git a/controller_parameter_server/include/controller_parameter_server/parameter_server.hpp b/controller_parameter_server/include/controller_parameter_server/parameter_server.hpp
index da8395a06e..3d0a8527bf 100644
--- a/controller_parameter_server/include/controller_parameter_server/parameter_server.hpp
+++ b/controller_parameter_server/include/controller_parameter_server/parameter_server.hpp
@@ -25,7 +25,7 @@
 namespace controller_parameter_server
 {
 
-class ParameterServer : public rclcpp::node::Node
+class ParameterServer : public rclcpp::Node
 {
 public:
   CONTROLLER_PARAMETER_SERVER_PUBLIC
@@ -48,7 +48,7 @@ class ParameterServer : public rclcpp::node::Node
   load_parameters(const std::string & key, const std::string & value);
 
 private:
-  std::shared_ptr<rclcpp::parameter_service::ParameterService> parameter_service_;
+  std::shared_ptr<rclcpp::ParameterService> parameter_service_;
 };
 
 }  // namespace controller_parameter_server
diff --git a/controller_parameter_server/src/parameter_server.cpp b/controller_parameter_server/src/parameter_server.cpp
index 529717f61f..ecd23cd287 100644
--- a/controller_parameter_server/src/parameter_server.cpp
+++ b/controller_parameter_server/src/parameter_server.cpp
@@ -22,14 +22,14 @@ namespace controller_parameter_server
 {
 
 ParameterServer::ParameterServer()
-: rclcpp::node::Node("controller_parameter_server")
+: rclcpp::Node("controller_parameter_server")
 {}
 
 void
 ParameterServer::init()
 {
   parameter_service_ =
-    std::make_shared<rclcpp::parameter_service::ParameterService>(shared_from_this());
+    std::make_shared<rclcpp::ParameterService>(shared_from_this());
 }
 
 void
diff --git a/controller_parameter_server/test/test_parameter_server.cpp b/controller_parameter_server/test/test_parameter_server.cpp
index 7d89f531fa..6aeb9656f8 100644
--- a/controller_parameter_server/test/test_parameter_server.cpp
+++ b/controller_parameter_server/test/test_parameter_server.cpp
@@ -84,9 +84,9 @@ TEST_F(TestControllerParameterServer, load_config_file) {
   ps->init();
   ps->load_parameters(file_path);
 
-  auto client_node = std::make_shared<rclcpp::node::Node>("test_parameter_client_node");
+  auto client_node = std::make_shared<rclcpp::Node>("test_parameter_client_node");
   auto parameters_client =
-    std::make_shared<rclcpp::parameter_client::AsyncParametersClient>(client_node, ps->get_name());
+    std::make_shared<rclcpp::AsyncParametersClient>(client_node, ps->get_name());
 
   rclcpp::executors::MultiThreadedExecutor executor;
   executor.add_node(ps);