diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/state.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/state.hpp
index f09e390395..a0ac997ff3 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/state.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/state.hpp
@@ -17,13 +17,11 @@
 
 #include <string>
 
+#include "rcl_lifecycle/data_types.h"
 #include "rclcpp_lifecycle/visibility_control.h"
 
 #include "rcutils/allocator.h"
 
-// forward declare rcl_state_t
-typedef struct rcl_lifecycle_state_t rcl_lifecycle_state_t;
-
 namespace rclcpp_lifecycle
 {
 
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/transition.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/transition.hpp
index e15ccce7e2..874be69aa6 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/transition.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/transition.hpp
@@ -17,14 +17,12 @@
 
 #include <string>
 
+#include "rcl_lifecycle/data_types.h"
 #include "rclcpp_lifecycle/state.hpp"
 #include "rclcpp_lifecycle/visibility_control.h"
 
 #include "rcutils/allocator.h"
 
-// forward declare rcl_transition_t
-typedef struct rcl_lifecycle_transition_t rcl_lifecycle_transition_t;
-
 namespace rclcpp_lifecycle
 {