diff --git a/rclcpp/src/rclcpp/publisher_base.cpp b/rclcpp/src/rclcpp/publisher_base.cpp
index c982a95d33..a10f2e17f7 100644
--- a/rclcpp/src/rclcpp/publisher_base.cpp
+++ b/rclcpp/src/rclcpp/publisher_base.cpp
@@ -35,6 +35,7 @@
 #include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
+#include "rclcpp/qos_event.hpp"
 
 using rclcpp::PublisherBase;
 
@@ -246,7 +247,8 @@ PublisherBase::setup_intra_process(
 }
 
 void
-PublisherBase::default_incompatible_qos_callback(QOSOfferedIncompatibleQoSInfo & event) const
+PublisherBase::default_incompatible_qos_callback(
+  rclcpp::QOSOfferedIncompatibleQoSInfo & event) const
 {
   std::string policy_name = qos_policy_name_from_kind(event.last_policy_kind);
   RCLCPP_WARN(
diff --git a/rclcpp/src/rclcpp/subscription_base.cpp b/rclcpp/src/rclcpp/subscription_base.cpp
index de1acfadb2..dc8c559ffa 100644
--- a/rclcpp/src/rclcpp/subscription_base.cpp
+++ b/rclcpp/src/rclcpp/subscription_base.cpp
@@ -24,6 +24,7 @@
 #include "rclcpp/experimental/intra_process_manager.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/qos_event.hpp"
 
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
@@ -238,7 +239,8 @@ SubscriptionBase::get_intra_process_waitable() const
 }
 
 void
-SubscriptionBase::default_incompatible_qos_callback(QOSRequestedIncompatibleQoSInfo & event) const
+SubscriptionBase::default_incompatible_qos_callback(
+  rclcpp::QOSRequestedIncompatibleQoSInfo & event) const
 {
   std::string policy_name = qos_policy_name_from_kind(event.last_policy_kind);
   RCLCPP_WARN(