diff --git a/rclcpp/include/rclcpp/client.hpp b/rclcpp/include/rclcpp/client.hpp
index 3ea0a8f326..063b6d935b 100644
--- a/rclcpp/include/rclcpp/client.hpp
+++ b/rclcpp/include/rclcpp/client.hpp
@@ -12,6 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+// This file has been copied and modified by iRobot.
+// Copyright 2022 iRobot Corporation. All Rights Reserved.
+
 #ifndef RCLCPP__CLIENT_HPP_
 #define RCLCPP__CLIENT_HPP_
 
@@ -863,7 +866,7 @@ class Client : public ClientBase
         // the server might be available in another process or was configured to not use IPC.
         if (intra_process_server_available) {
           // Send intra-process request
-          ipm->send_intra_process_client_request<ServiceT>(
+          ipm->template send_intra_process_client_request<ServiceT>(
             intra_process_client_id_,
             std::make_pair(std::move(request), std::move(value)));
           return ipc_sequence_number_++;
diff --git a/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp b/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp
index 400f04a0b4..1890c949c3 100644
--- a/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp
+++ b/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp
@@ -12,6 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+// This file has been copied and modified by iRobot.
+// Copyright 2024 iRobot Corporation. All Rights Reserved.
+
 #ifndef RCLCPP__EXPERIMENTAL__INTRA_PROCESS_MANAGER_HPP_
 #define RCLCPP__EXPERIMENTAL__INTRA_PROCESS_MANAGER_HPP_
 
@@ -405,7 +408,7 @@ class IntraProcessManager
         "Intra-process service gone out of scope. "
         "Do inter-process requests.\n"
         "Client service name: " + std::string(cli->get_service_name());
-      RCLCPP_WARN(rclcpp::get_logger("rclcpp"), warning_msg.c_str());
+      RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "%s", warning_msg.c_str());
       return;
     }
     auto service_intra_process_base = service_it->second.lock();
@@ -762,7 +765,7 @@ class IntraProcessManager
   {
     add_owned_msg_to_buffers<MessageT, Alloc, Deleter, ROSMessageType>(
       std::move(message), {subscription_id}, allocator);
-  }  
+  }
 
   /// Return true if the given rmw_gid_t matches any stored Publishers.
   RCLCPP_PUBLIC
diff --git a/rclcpp_action/include/rclcpp_action/client.hpp b/rclcpp_action/include/rclcpp_action/client.hpp
index fabdc44168..01aa4afeaf 100644
--- a/rclcpp_action/include/rclcpp_action/client.hpp
+++ b/rclcpp_action/include/rclcpp_action/client.hpp
@@ -12,6 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+// This file has been copied and modified by iRobot.
+// Copyright 2024 iRobot Corporation. All Rights Reserved.
+
 #ifndef RCLCPP_ACTION__CLIENT_HPP_
 #define RCLCPP_ACTION__CLIENT_HPP_
 
@@ -516,7 +519,7 @@ class Client : public ClientBase
         ipc_action_client_->store_goal_response_callback(
           hashed_guuid, goal_response_callback);
 
-        intra_process_send_done = ipm->intra_process_action_send_goal_request<ActionT>(
+        intra_process_send_done = ipm->template intra_process_action_send_goal_request<ActionT>(
             ipc_action_client_id_,
             std::move(goal_request),
             hashed_guuid);
@@ -838,7 +841,7 @@ class Client : public ClientBase
           ipc_action_client_->store_result_response_callback(
             hashed_guuid, result_response_callback);
 
-          intra_process_send_done = ipm->intra_process_action_send_result_request<ActionT>(
+          intra_process_send_done = ipm->template intra_process_action_send_result_request<ActionT>(
               ipc_action_client_id_,
               std::move(goal_result_request));
         }
@@ -894,7 +897,7 @@ class Client : public ClientBase
         ipc_action_client_->store_cancel_goal_callback(
           hashed_guuid, cancel_goal_callback);
 
-        intra_process_send_done = ipm->intra_process_action_send_cancel_request<ActionT>(
+        intra_process_send_done = ipm->template intra_process_action_send_cancel_request<ActionT>(
             ipc_action_client_id_,
             std::move(cancel_request));
       }
diff --git a/rclcpp_action/include/rclcpp_action/server.hpp b/rclcpp_action/include/rclcpp_action/server.hpp
index a15b859a9c..f760ea8361 100644
--- a/rclcpp_action/include/rclcpp_action/server.hpp
+++ b/rclcpp_action/include/rclcpp_action/server.hpp
@@ -12,6 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+// This file has been copied and modified by iRobot.
+// Copyright 2024 iRobot Corporation. All Rights Reserved.
+
 #ifndef RCLCPP_ACTION__SERVER_HPP_
 #define RCLCPP_ACTION__SERVER_HPP_
 
@@ -512,7 +515,7 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
 
     auto ipm = lock_intra_process_manager();
 
-    ipm->intra_process_action_send_goal_response<ActionT>(
+    ipm->template intra_process_action_send_goal_response<ActionT>(
       intra_process_action_client_id,
       std::move(goal_response),
       std::hash<GoalUUID>()(uuid));
@@ -576,7 +579,7 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
 
     GoalUUID uuid = request->goal_info.goal_id.uuid;
 
-    ipm->intra_process_action_send_cancel_response<ActionT>(
+    ipm->template intra_process_action_send_cancel_response<ActionT>(
       intra_process_action_client_id,
       std::move(response),
       std::hash<GoalUUID>()(uuid));
@@ -615,7 +618,7 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
       // Send the result now
       auto ipm = lock_intra_process_manager();
 
-      ipm->intra_process_action_send_result_response<ActionT>(
+      ipm->template intra_process_action_send_result_response<ActionT>(
         intra_process_action_client_id,
         std::move(result_response),
         hashed_uuid);