diff --git a/rmw/Doxyfile b/rmw/Doxyfile
index 050e5025..9a22c8c8 100644
--- a/rmw/Doxyfile
+++ b/rmw/Doxyfile
@@ -17,7 +17,9 @@ ENABLE_PREPROCESSING   = YES
 MACRO_EXPANSION        = YES
 EXPAND_ONLY_PREDEF     = YES
 PREDEFINED             += RMW_PUBLIC=
+PREDEFINED             += RMW_PUBLIC_TYPE=
 PREDEFINED             += RMW_WARN_UNUSED=
+PREDEFINED             += RCUTILS_DEPRECATED_WITH_MSG(x)=
 
 # Tag files that do not exist will produce a warning and cross-project linking will not work.
 TAGFILES += "../../../../doxygen_tag_files/cppreference-doxygen-web.tag.xml=http://en.cppreference.com/w/"
diff --git a/rmw/include/rmw/event.h b/rmw/include/rmw/event.h
index fc76bde0..c74220a7 100644
--- a/rmw/include/rmw/event.h
+++ b/rmw/include/rmw/event.h
@@ -30,7 +30,7 @@ extern "C"
 #include "rmw/visibility_control.h"
 
 /// Define publisher/subscription events
-typedef enum rmw_event_type_t
+typedef enum rmw_event_type_e
 {
   // subscription events
   RMW_EVENT_LIVELINESS_CHANGED,
@@ -48,7 +48,7 @@ typedef enum rmw_event_type_t
 } rmw_event_type_t;
 
 /// Encapsulate the RMW event implementation, data, and type.
-typedef struct RMW_PUBLIC_TYPE rmw_event_t
+typedef struct RMW_PUBLIC_TYPE rmw_event_s
 {
   /// Implementation identifier, used to ensure two different implementations are not being mixed.
   const char * implementation_identifier;
diff --git a/rmw/include/rmw/events_statuses/incompatible_qos.h b/rmw/include/rmw/events_statuses/incompatible_qos.h
index 838d2d5c..018cd6a4 100644
--- a/rmw/include/rmw/events_statuses/incompatible_qos.h
+++ b/rmw/include/rmw/events_statuses/incompatible_qos.h
@@ -25,7 +25,7 @@ extern "C"
 {
 #endif
 
-struct RMW_PUBLIC_TYPE rmw_qos_incompatible_event_status_t
+typedef struct RMW_PUBLIC_TYPE rmw_qos_incompatible_event_status_s
 {
   /**
    * Total cumulative number of times the concerned subscription discovered a
@@ -42,13 +42,13 @@ struct RMW_PUBLIC_TYPE rmw_qos_incompatible_event_status_t
    * incompatible the last time an incompatibility was detected.
    */
   rmw_qos_policy_kind_t last_policy_kind;
-};
+} rmw_qos_incompatible_event_status_t;
 
 /// Event state for a subscription's 'RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE' events.
-typedef struct rmw_qos_incompatible_event_status_t rmw_requested_qos_incompatible_event_status_t;
+typedef rmw_qos_incompatible_event_status_t rmw_requested_qos_incompatible_event_status_t;
 
 /// Event state for a publisher's 'RMW_EVENT_OFFERED_QOS_INCOMPATIBLE' events.
-typedef struct rmw_qos_incompatible_event_status_t rmw_offered_qos_incompatible_event_status_t;
+typedef rmw_qos_incompatible_event_status_t rmw_offered_qos_incompatible_event_status_t;
 
 #ifdef __cplusplus
 }
diff --git a/rmw/include/rmw/events_statuses/liveliness_changed.h b/rmw/include/rmw/events_statuses/liveliness_changed.h
index 35adacfc..e7abf729 100644
--- a/rmw/include/rmw/events_statuses/liveliness_changed.h
+++ b/rmw/include/rmw/events_statuses/liveliness_changed.h
@@ -25,7 +25,7 @@ extern "C"
 #endif
 
 /// QoS Liveliness Changed information provided by a subscription.
-typedef struct RMW_PUBLIC_TYPE rmw_liveliness_changed_status_t
+typedef struct RMW_PUBLIC_TYPE rmw_liveliness_changed_status_s
 {
   /**
    * The total number of currently active Publishers which publish to the topic associated with
diff --git a/rmw/include/rmw/events_statuses/liveliness_lost.h b/rmw/include/rmw/events_statuses/liveliness_lost.h
index 14444b57..a91879a6 100644
--- a/rmw/include/rmw/events_statuses/liveliness_lost.h
+++ b/rmw/include/rmw/events_statuses/liveliness_lost.h
@@ -25,7 +25,7 @@ extern "C"
 #endif
 
 /// QoS Liveliness Lost information provided by a publisher.
-typedef struct RMW_PUBLIC_TYPE rmw_liveliness_lost_status_t
+typedef struct RMW_PUBLIC_TYPE rmw_liveliness_lost_status_s
 {
   /**
    * Lifetime cumulative number of times that a previously-alive Publisher became not alive due to
diff --git a/rmw/include/rmw/events_statuses/message_lost.h b/rmw/include/rmw/events_statuses/message_lost.h
index b402bb6a..b08fc8d5 100644
--- a/rmw/include/rmw/events_statuses/message_lost.h
+++ b/rmw/include/rmw/events_statuses/message_lost.h
@@ -24,7 +24,7 @@ extern "C"
 {
 #endif
 
-typedef struct RMW_PUBLIC_TYPE rmw_message_lost_status_t
+typedef struct RMW_PUBLIC_TYPE rmw_message_lost_status_s
 {
   /// Total number of messages lost.
   size_t total_count;
diff --git a/rmw/include/rmw/events_statuses/offered_deadline_missed.h b/rmw/include/rmw/events_statuses/offered_deadline_missed.h
index 53aea5e4..84acb042 100644
--- a/rmw/include/rmw/events_statuses/offered_deadline_missed.h
+++ b/rmw/include/rmw/events_statuses/offered_deadline_missed.h
@@ -25,7 +25,7 @@ extern "C"
 #endif
 
 /// QoS Deadline Missed information provided by a publisher.
-typedef struct RMW_PUBLIC_TYPE rmw_offered_deadline_missed_status_t
+typedef struct RMW_PUBLIC_TYPE rmw_offered_deadline_missed_status_s
 {
   /**
    * Lifetime cumulative number of offered deadline periods elapsed during which a Publisher failed
diff --git a/rmw/include/rmw/events_statuses/requested_deadline_missed.h b/rmw/include/rmw/events_statuses/requested_deadline_missed.h
index a93b55df..b39cb5a3 100644
--- a/rmw/include/rmw/events_statuses/requested_deadline_missed.h
+++ b/rmw/include/rmw/events_statuses/requested_deadline_missed.h
@@ -25,7 +25,7 @@ extern "C"
 #endif
 
 /// QoS Requested Deadline Missed information provided by a subscription.
-typedef struct RMW_PUBLIC_TYPE rmw_requested_deadline_missed_status_t
+typedef struct RMW_PUBLIC_TYPE rmw_requested_deadline_missed_status_s
 {
   /**
    * Lifetime cumulative number of missed deadlines detected for any instance read by the
diff --git a/rmw/include/rmw/init.h b/rmw/include/rmw/init.h
index d66100bd..e4a6c550 100644
--- a/rmw/include/rmw/init.h
+++ b/rmw/include/rmw/init.h
@@ -31,10 +31,10 @@ extern "C"
 /**
  * This should be defined by the rmw implementation.
  */
-typedef struct rmw_context_impl_t rmw_context_impl_t;
+typedef struct rmw_context_impl_s rmw_context_impl_t;
 
 /// Initialization context structure which is used to store init specific information.
-typedef struct RMW_PUBLIC_TYPE rmw_context_t
+typedef struct RMW_PUBLIC_TYPE rmw_context_s
 {
   /// Locally (process local) unique ID that represents this init/shutdown cycle.
   uint64_t instance_id;
diff --git a/rmw/include/rmw/init_options.h b/rmw/include/rmw/init_options.h
index 1fe69ba7..b9ea5ebf 100644
--- a/rmw/include/rmw/init_options.h
+++ b/rmw/include/rmw/init_options.h
@@ -34,10 +34,10 @@ extern "C"
 /**
  * This should be defined by the rmw implementation.
  */
-typedef struct rmw_init_options_impl_t rmw_init_options_impl_t;
+typedef struct rmw_init_options_impl_s rmw_init_options_impl_t;
 
 /// Options structure used during rmw_init().
-typedef struct RMW_PUBLIC_TYPE rmw_init_options_t
+typedef struct RMW_PUBLIC_TYPE rmw_init_options_s
 {
   /// Locally (process local) unique ID that represents this init/shutdown cycle.
   /**
diff --git a/rmw/include/rmw/localhost.h b/rmw/include/rmw/localhost.h
index 187a6f32..6d867fde 100644
--- a/rmw/include/rmw/localhost.h
+++ b/rmw/include/rmw/localhost.h
@@ -23,7 +23,7 @@ extern "C"
 #endif
 
 /// Used to specify if the context can only communicate through localhost.
-typedef enum RMW_PUBLIC_TYPE rmw_localhost_only_t
+typedef enum RMW_PUBLIC_TYPE rmw_localhost_only_e
 {
   /// Uses ROS_LOCALHOST_ONLY environment variable.
   RMW_LOCALHOST_ONLY_DEFAULT = 0,
diff --git a/rmw/include/rmw/message_sequence.h b/rmw/include/rmw/message_sequence.h
index d8e2bad5..77dd0a30 100644
--- a/rmw/include/rmw/message_sequence.h
+++ b/rmw/include/rmw/message_sequence.h
@@ -27,7 +27,7 @@ extern "C"
 #endif
 
 /// Structure to hold a sequence of ROS messages.
-typedef struct RMW_PUBLIC_TYPE rmw_message_sequence_t
+typedef struct RMW_PUBLIC_TYPE rmw_message_sequence_s
 {
   /// Array of pointers to ROS messages.
   void ** data;
@@ -40,7 +40,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_message_sequence_t
 } rmw_message_sequence_t;
 
 /// Structure to hold a sequence of message infos.
-typedef struct RMW_PUBLIC_TYPE rmw_message_info_sequence_t
+typedef struct RMW_PUBLIC_TYPE rmw_message_info_sequence_s
 {
   /// Array of message info.
   rmw_message_info_t * data;
diff --git a/rmw/include/rmw/names_and_types.h b/rmw/include/rmw/names_and_types.h
index a8318660..08280995 100644
--- a/rmw/include/rmw/names_and_types.h
+++ b/rmw/include/rmw/names_and_types.h
@@ -29,7 +29,7 @@ extern "C"
 #include "rmw/visibility_control.h"
 
 /// Associative array of topic or service names and types.
-typedef struct RMW_PUBLIC_TYPE rmw_names_and_types_t
+typedef struct RMW_PUBLIC_TYPE rmw_names_and_types_s
 {
   /// Array of names
   rcutils_string_array_t names;
diff --git a/rmw/include/rmw/network_flow_endpoint.h b/rmw/include/rmw/network_flow_endpoint.h
index 87745adb..331fedb1 100644
--- a/rmw/include/rmw/network_flow_endpoint.h
+++ b/rmw/include/rmw/network_flow_endpoint.h
@@ -24,7 +24,7 @@ extern "C"
 #include "rmw/visibility_control.h"
 
 /// Transport protocol types
-typedef enum rmw_transport_protocol_t
+typedef enum rmw_transport_protocol_e
 {
   RMW_TRANSPORT_PROTOCOL_UNKNOWN = 0,
   RMW_TRANSPORT_PROTOCOL_UDP,
@@ -33,7 +33,7 @@ typedef enum rmw_transport_protocol_t
 } rmw_transport_protocol_t;
 
 /// Internet protocol types
-typedef enum rmw_internet_protocol_t
+typedef enum rmw_internet_protocol_e
 {
   RMW_INTERNET_PROTOCOL_UNKNOWN = 0,
   RMW_INTERNET_PROTOCOL_IPV4,
@@ -46,7 +46,7 @@ typedef enum rmw_internet_protocol_t
 #define RMW_INET_ADDRSTRLEN 48
 
 /// Structure that describes network flow endpoint of a publisher or subscription
-typedef struct RMW_PUBLIC_TYPE rmw_network_flow_endpoint_t
+typedef struct RMW_PUBLIC_TYPE rmw_network_flow_endpoint_s
 {
   // Transport protocol
   rmw_transport_protocol_t transport_protocol;
diff --git a/rmw/include/rmw/network_flow_endpoint_array.h b/rmw/include/rmw/network_flow_endpoint_array.h
index 9a55f478..584b4911 100644
--- a/rmw/include/rmw/network_flow_endpoint_array.h
+++ b/rmw/include/rmw/network_flow_endpoint_array.h
@@ -27,7 +27,7 @@ extern "C"
 #include "rmw/visibility_control.h"
 
 /// Structure to hold an arrary of network_flow_endpoint_t
-typedef struct RMW_PUBLIC_TYPE rmw_network_flow_endpoint_array_t
+typedef struct RMW_PUBLIC_TYPE rmw_network_flow_endpoint_array_s
 {
   /// Size of the array
   size_t size;
diff --git a/rmw/include/rmw/qos_policy_kind.h b/rmw/include/rmw/qos_policy_kind.h
index c582c068..422e53e4 100644
--- a/rmw/include/rmw/qos_policy_kind.h
+++ b/rmw/include/rmw/qos_policy_kind.h
@@ -24,7 +24,7 @@ extern "C"
 #endif
 
 /// QoS Policy Kinds
-typedef enum RMW_PUBLIC_TYPE rmw_qos_policy_kind_t
+typedef enum RMW_PUBLIC_TYPE rmw_qos_policy_kind_e
 {
   RMW_QOS_POLICY_INVALID = 1 << 0,
   RMW_QOS_POLICY_DURABILITY = 1 << 1,
diff --git a/rmw/include/rmw/qos_profiles.h b/rmw/include/rmw/qos_profiles.h
index be5c26c8..89b30e97 100644
--- a/rmw/include/rmw/qos_profiles.h
+++ b/rmw/include/rmw/qos_profiles.h
@@ -113,7 +113,7 @@ static const rmw_qos_profile_t rmw_qos_profile_unknown =
   false
 };
 
-typedef enum RMW_PUBLIC_TYPE rmw_qos_compatibility_type_t
+typedef enum RMW_PUBLIC_TYPE rmw_qos_compatibility_type_e
 {
   /// QoS policies are compatible
   RMW_QOS_COMPATIBILITY_OK = 0,
diff --git a/rmw/include/rmw/qos_string_conversions.h b/rmw/include/rmw/qos_string_conversions.h
index c77ce499..52b320e1 100644
--- a/rmw/include/rmw/qos_string_conversions.h
+++ b/rmw/include/rmw/qos_string_conversions.h
@@ -73,7 +73,7 @@ rmw_qos_policy_kind_to_str(rmw_qos_policy_kind_t kind);
  */
 RMW_PUBLIC
 const char *
-rmw_qos_durability_policy_to_str(enum rmw_qos_durability_policy_t value);
+rmw_qos_durability_policy_to_str(rmw_qos_durability_policy_t value);
 
 /// Return a string representing the policy value.
 /**
@@ -81,7 +81,7 @@ rmw_qos_durability_policy_to_str(enum rmw_qos_durability_policy_t value);
  */
 RMW_PUBLIC
 const char *
-rmw_qos_history_policy_to_str(enum rmw_qos_history_policy_t value);
+rmw_qos_history_policy_to_str(rmw_qos_history_policy_t value);
 
 /// Return a string representing the policy value.
 /**
@@ -89,7 +89,7 @@ rmw_qos_history_policy_to_str(enum rmw_qos_history_policy_t value);
  */
 RMW_PUBLIC
 const char *
-rmw_qos_liveliness_policy_to_str(enum rmw_qos_liveliness_policy_t value);
+rmw_qos_liveliness_policy_to_str(rmw_qos_liveliness_policy_t value);
 
 /// Return a string representing the policy value.
 /**
@@ -97,7 +97,7 @@ rmw_qos_liveliness_policy_to_str(enum rmw_qos_liveliness_policy_t value);
  */
 RMW_PUBLIC
 const char *
-rmw_qos_reliability_policy_to_str(enum rmw_qos_reliability_policy_t value);
+rmw_qos_reliability_policy_to_str(rmw_qos_reliability_policy_t value);
 
 /// Return a policy kind based on the provided string.
 /**
@@ -142,7 +142,7 @@ rmw_qos_policy_kind_from_str(const char * str);
  * \return `RMW_QOS_POLICY_*_UNKNOWN` if the string doesn't represent any value.
  */
 RMW_PUBLIC
-enum rmw_qos_durability_policy_t
+rmw_qos_durability_policy_t
 rmw_qos_durability_policy_from_str(const char * str);
 
 /// Return a enum value based on the provided string.
@@ -150,7 +150,7 @@ rmw_qos_durability_policy_from_str(const char * str);
  * See \ref rmw_qos_durability_policy_from_str() for more details.
  */
 RMW_PUBLIC
-enum rmw_qos_history_policy_t
+rmw_qos_history_policy_t
 rmw_qos_history_policy_from_str(const char * str);
 
 /// Return a enum value based on the provided string.
@@ -158,7 +158,7 @@ rmw_qos_history_policy_from_str(const char * str);
  * See \ref rmw_qos_durability_policy_from_str() for more details.
  */
 RMW_PUBLIC
-enum rmw_qos_liveliness_policy_t
+rmw_qos_liveliness_policy_t
 rmw_qos_liveliness_policy_from_str(const char * str);
 
 
@@ -167,7 +167,7 @@ rmw_qos_liveliness_policy_from_str(const char * str);
  * See \ref rmw_qos_durability_policy_from_str() for more details.
  */
 RMW_PUBLIC
-enum rmw_qos_reliability_policy_t
+rmw_qos_reliability_policy_t
 rmw_qos_reliability_policy_from_str(const char * str);
 
 #ifdef __cplusplus
diff --git a/rmw/include/rmw/rmw.h b/rmw/include/rmw/rmw.h
index 407dd492..dfd2215a 100644
--- a/rmw/include/rmw/rmw.h
+++ b/rmw/include/rmw/rmw.h
@@ -100,6 +100,7 @@ extern "C"
 
 #include "rmw/init.h"
 #include "rmw/macros.h"
+#include "rmw/publisher_options.h"
 #include "rmw/qos_profiles.h"
 #include "rmw/subscription_options.h"
 #include "rmw/message_sequence.h"
@@ -194,6 +195,10 @@ RMW_WARN_UNUSED
 rmw_ret_t
 rmw_destroy_node(rmw_node_t * node);
 
+/**
+ * \deprecated `rmw_node_assert_liveliness` implementation was removed.
+ *   If manual liveliness assertion is needed, use MANUAL_BY_TOPIC.
+ */
 RMW_PUBLIC
 RCUTILS_DEPRECATED_WITH_MSG(
   "rmw_node_assert_liveliness implementation was removed."
@@ -297,12 +302,6 @@ rmw_ret_t
 rmw_fini_publisher_allocation(
   rmw_publisher_allocation_t * allocation);
 
-/// Return a rmw_publisher_options_t initialized with default values.
-RMW_PUBLIC
-RMW_WARN_UNUSED
-rmw_publisher_options_t
-rmw_get_default_publisher_options(void);
-
 /// Create a publisher and return a handle to that publisher.
 /**
  * This function can fail, and therefore return `NULL`, if:
diff --git a/rmw/include/rmw/security_options.h b/rmw/include/rmw/security_options.h
index 835e9b23..5735b47c 100644
--- a/rmw/include/rmw/security_options.h
+++ b/rmw/include/rmw/security_options.h
@@ -27,15 +27,15 @@ extern "C"
 #include "rmw/ret_types.h"
 #include "rmw/visibility_control.h"
 
-typedef enum RMW_PUBLIC_TYPE rmw_security_enforcement_policy_t
+typedef enum RMW_PUBLIC_TYPE rmw_security_enforcement_policy_e
 {
   RMW_SECURITY_ENFORCEMENT_PERMISSIVE,
   RMW_SECURITY_ENFORCEMENT_ENFORCE,
 } rmw_security_enforcement_policy_t;
 
-typedef struct RMW_PUBLIC_TYPE rmw_security_options_t
+typedef struct RMW_PUBLIC_TYPE rmw_security_options_s
 {
-  enum rmw_security_enforcement_policy_t enforce_security;
+  rmw_security_enforcement_policy_t enforce_security;
   char * security_root_path;
 } rmw_security_options_t;
 
diff --git a/rmw/include/rmw/serialized_message.h b/rmw/include/rmw/serialized_message.h
index da551cff..59f7605e 100644
--- a/rmw/include/rmw/serialized_message.h
+++ b/rmw/include/rmw/serialized_message.h
@@ -23,8 +23,6 @@ extern "C"
 #include "rcutils/types/uint8_array.h"
 
 /**
- * \struct rmw_serialized_message_t
- *
  * \brief Serialized message as a string of bytes.
  *
  * It includes (but it is not limited to) the following members:
@@ -32,7 +30,6 @@ extern "C"
  *   \e \c buffer_length the size of stored contents, as an unsigned integer
  *   \e \c buffer_capacity the capacity of internal storage, as an unsigned integer
  */
-
 /* For now this is a simple aliasing from a serialized message to a uint8 array.
  * However, in future developments this serialized message can become something
  * more complex and is therefore aliased.
diff --git a/rmw/include/rmw/time.h b/rmw/include/rmw/time.h
index 14053336..f5ee3efb 100644
--- a/rmw/include/rmw/time.h
+++ b/rmw/include/rmw/time.h
@@ -28,7 +28,7 @@ extern "C"
 #include "rmw/visibility_control.h"
 
 /// A struct representing a duration or relative time in RMW - does not encode an origin.
-typedef struct RMW_PUBLIC_TYPE rmw_time_t
+typedef struct RMW_PUBLIC_TYPE rmw_time_s
 {
   /// Seconds component
   uint64_t sec;
diff --git a/rmw/include/rmw/topic_endpoint_info.h b/rmw/include/rmw/topic_endpoint_info.h
index dee89178..28dd695d 100644
--- a/rmw/include/rmw/topic_endpoint_info.h
+++ b/rmw/include/rmw/topic_endpoint_info.h
@@ -27,7 +27,7 @@ extern "C"
 /// A data structure that encapsulates the node name, node namespace,
 /// topic_type, gid, and qos_profile of publishers and subscriptions
 /// for a topic.
-typedef struct RMW_PUBLIC_TYPE rmw_topic_endpoint_info_t
+typedef struct RMW_PUBLIC_TYPE rmw_topic_endpoint_info_s
 {
   /// Name of the node
   const char * node_name;
@@ -288,7 +288,7 @@ RMW_WARN_UNUSED
 rmw_ret_t
 rmw_topic_endpoint_info_set_gid(
   rmw_topic_endpoint_info_t * topic_endpoint_info,
-  const uint8_t gid[],
+  const uint8_t * gid,
   size_t size);
 
 /// Set the endpoint QoS profile in the given topic endpoint info data structure.
diff --git a/rmw/include/rmw/topic_endpoint_info_array.h b/rmw/include/rmw/topic_endpoint_info_array.h
index a8cf0986..f052f81a 100644
--- a/rmw/include/rmw/topic_endpoint_info_array.h
+++ b/rmw/include/rmw/topic_endpoint_info_array.h
@@ -25,7 +25,7 @@ extern "C"
 #include "rmw/visibility_control.h"
 
 /// Array of topic endpoint information
-typedef struct RMW_PUBLIC_TYPE rmw_topic_endpoint_info_array_t
+typedef struct RMW_PUBLIC_TYPE rmw_topic_endpoint_info_array_s
 {
   /// Size of the array.
   size_t size;
diff --git a/rmw/include/rmw/types.h b/rmw/include/rmw/types.h
index 6ccafbad..0ba286f7 100644
--- a/rmw/include/rmw/types.h
+++ b/rmw/include/rmw/types.h
@@ -41,7 +41,7 @@ extern "C"
 #define RMW_GID_STORAGE_SIZE 24u
 
 /// Structure which encapsulates an rmw node
-typedef struct RMW_PUBLIC_TYPE rmw_node_t
+typedef struct RMW_PUBLIC_TYPE rmw_node_s
 {
   /// Name of the rmw implementation
   const char * implementation_identifier;
@@ -60,7 +60,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_node_t
 } rmw_node_t;
 
 /// Endpoint enumeration type
-typedef enum RMW_PUBLIC_TYPE rmw_endpoint_type_t
+typedef enum RMW_PUBLIC_TYPE rmw_endpoint_type_e
 {
   /// Endpoint type has not yet been set
   RMW_ENDPOINT_INVALID = 0,
@@ -73,7 +73,7 @@ typedef enum RMW_PUBLIC_TYPE rmw_endpoint_type_t
 } rmw_endpoint_type_t;
 
 /// Unique network flow endpoints requirement enumeration
-typedef enum RMW_PUBLIC_TYPE rmw_unique_network_flow_endpoints_requirement_t
+typedef enum RMW_PUBLIC_TYPE rmw_unique_network_flow_endpoints_requirement_e
 {
   /// Unique network flow endpoints not required
   RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_NOT_REQUIRED = 0,
@@ -91,7 +91,7 @@ typedef enum RMW_PUBLIC_TYPE rmw_unique_network_flow_endpoints_requirement_t
 } rmw_unique_network_flow_endpoints_requirement_t;
 
 /// Options that can be used to configure the creation of a publisher in rmw.
-typedef struct RMW_PUBLIC_TYPE rmw_publisher_options_t
+typedef struct RMW_PUBLIC_TYPE rmw_publisher_options_s
 {
   /// Used to pass rmw implementation specific resources during publisher creation.
   /**
@@ -116,7 +116,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_publisher_options_t
 } rmw_publisher_options_t;
 
 /// Structure which encapsulates an rmw publisher
-typedef struct RMW_PUBLIC_TYPE rmw_publisher_t
+typedef struct RMW_PUBLIC_TYPE rmw_publisher_s
 {
   /// Name of the rmw implementation
   const char * implementation_identifier;
@@ -143,7 +143,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_publisher_t
 } rmw_publisher_t;
 
 /// Options that can be used to configure the creation of a subscription in rmw.
-typedef struct RMW_PUBLIC_TYPE rmw_subscription_options_t
+typedef struct RMW_PUBLIC_TYPE rmw_subscription_options_s
 {
   /// Used to pass rmw implementation specific resources during subscription creation.
   /**
@@ -179,7 +179,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_subscription_options_t
   rmw_unique_network_flow_endpoints_requirement_t require_unique_network_flow_endpoints;
 } rmw_subscription_options_t;
 
-typedef struct RMW_PUBLIC_TYPE rmw_subscription_t
+typedef struct RMW_PUBLIC_TYPE rmw_subscription_s
 {
   /// Name of the rmw implementation
   const char * implementation_identifier;
@@ -206,7 +206,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_subscription_t
 } rmw_subscription_t;
 
 /// A handle to an rmw service
-typedef struct RMW_PUBLIC_TYPE rmw_service_t
+typedef struct RMW_PUBLIC_TYPE rmw_service_s
 {
   /// The name of the rmw implementation
   const char * implementation_identifier;
@@ -219,7 +219,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_service_t
 } rmw_service_t;
 
 /// A handle to an rmw service client
-typedef struct RMW_PUBLIC_TYPE rmw_client_t
+typedef struct RMW_PUBLIC_TYPE rmw_client_s
 {
   /// The name of the rmw implementation
   const char * implementation_identifier;
@@ -232,7 +232,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_client_t
 } rmw_client_t;
 
 /// Handle for an rmw guard condition
-typedef struct RMW_PUBLIC_TYPE rmw_guard_condition_t
+typedef struct RMW_PUBLIC_TYPE rmw_guard_condition_s
 {
   /// The name of the rmw implementation
   const char * implementation_identifier;
@@ -245,7 +245,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_guard_condition_t
 } rmw_guard_condition_t;
 
 /// Allocation of memory for an rmw publisher
-typedef struct RMW_PUBLIC_TYPE rmw_publisher_allocation_t
+typedef struct RMW_PUBLIC_TYPE rmw_publisher_allocation_s
 {
   /// The name of the rmw implementation
   const char * implementation_identifier;
@@ -255,7 +255,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_publisher_allocation_t
 } rmw_publisher_allocation_t;
 
 /// Allocation of memory for an rmw subscription
-typedef struct RMW_PUBLIC_TYPE rmw_subscription_allocation_t
+typedef struct RMW_PUBLIC_TYPE rmw_subscription_allocation_s
 {
   /// The name of the rmw implementation
   const char * implementation_identifier;
@@ -271,7 +271,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_subscription_allocation_t
  * The number of subscriptions represented may be smaller than the allocated size of the array.
  * The creator of this struct is responsible for allocating and deallocating the array.
  */
-typedef struct RMW_PUBLIC_TYPE rmw_subscriptions_t
+typedef struct RMW_PUBLIC_TYPE rmw_subscriptions_s
 {
   /// The number of subscribers represented by the array.
   size_t subscriber_count;
@@ -286,7 +286,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_subscriptions_t
  * The number of services represented may be smaller than the allocated size of the array.
  * The creator of this struct is responsible for allocating and deallocating the array.
  */
-typedef struct RMW_PUBLIC_TYPE rmw_services_t
+typedef struct RMW_PUBLIC_TYPE rmw_services_s
 {
   /// The number of services represented by the array.
   size_t service_count;
@@ -301,7 +301,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_services_t
  * The number of clients represented may be smaller than the allocated size of the array.
  * The creator of this struct is responsible for allocating and deallocating the array.
  */
-typedef struct RMW_PUBLIC_TYPE rmw_clients_t
+typedef struct RMW_PUBLIC_TYPE rmw_clients_s
 {
   /// The number of clients represented by the array.
   size_t client_count;
@@ -309,7 +309,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_clients_t
   void ** clients;
 } rmw_clients_t;
 
-typedef struct RMW_PUBLIC_TYPE rmw_events_t
+typedef struct RMW_PUBLIC_TYPE rmw_events_s
 {
   /// The number of events represented by the array.
   size_t event_count;
@@ -324,7 +324,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_events_t
  * The number of guard conditions represented may be smaller than the allocated size of the array.
  * The creator of this struct is responsible for allocating and deallocating the array.
  */
-typedef struct RMW_PUBLIC_TYPE rmw_guard_conditions_t
+typedef struct RMW_PUBLIC_TYPE rmw_guard_conditions_s
 {
   /// The number of guard conditions represented by the array.
   size_t guard_condition_count;
@@ -333,7 +333,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_guard_conditions_t
 } rmw_guard_conditions_t;
 
 /// Container for guard conditions to be waited on
-typedef struct RMW_PUBLIC_TYPE rmw_wait_set_t
+typedef struct RMW_PUBLIC_TYPE rmw_wait_set_s
 {
   /// The name of the rmw implementation
   const char * implementation_identifier;
@@ -346,7 +346,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_wait_set_t
 } rmw_wait_set_t;
 
 /// An rmw service request identifier
-typedef struct RMW_PUBLIC_TYPE rmw_request_id_t
+typedef struct RMW_PUBLIC_TYPE rmw_request_id_s
 {
   /// The guid of the writer associated with this request
   int8_t writer_guid[16];
@@ -356,14 +356,14 @@ typedef struct RMW_PUBLIC_TYPE rmw_request_id_t
 } rmw_request_id_t;
 
 /// Meta-data for a service-related take.
-typedef struct RMW_PUBLIC_TYPE rmw_service_info_t
+typedef struct RMW_PUBLIC_TYPE rmw_service_info_s
 {
   rmw_time_point_value_t source_timestamp;
   rmw_time_point_value_t received_timestamp;
   rmw_request_id_t request_id;
 } rmw_service_info_t;
 
-enum RMW_PUBLIC_TYPE rmw_qos_reliability_policy_t
+typedef enum RMW_PUBLIC_TYPE rmw_qos_reliability_policy_e
 {
   /// Implementation specific default
   RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT,
@@ -376,10 +376,10 @@ enum RMW_PUBLIC_TYPE rmw_qos_reliability_policy_t
 
   /// Reliability policy has not yet been set
   RMW_QOS_POLICY_RELIABILITY_UNKNOWN
-};
+} rmw_qos_reliability_policy_t;
 
 /// QoS history enumerations describing how samples endure
-enum RMW_PUBLIC_TYPE rmw_qos_history_policy_t
+typedef enum RMW_PUBLIC_TYPE rmw_qos_history_policy_e
 {
   /// Implementation default for history policy
   RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT,
@@ -392,10 +392,10 @@ enum RMW_PUBLIC_TYPE rmw_qos_history_policy_t
 
   /// History policy has not yet been set
   RMW_QOS_POLICY_HISTORY_UNKNOWN
-};
+} rmw_qos_history_policy_t;
 
 /// QoS durability enumerations describing how samples persist
-enum RMW_PUBLIC_TYPE rmw_qos_durability_policy_t
+typedef enum RMW_PUBLIC_TYPE rmw_qos_durability_policy_e
 {
   /// Impplementation specific default
   RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT,
@@ -408,7 +408,7 @@ enum RMW_PUBLIC_TYPE rmw_qos_durability_policy_t
 
   /// Durability policy has not yet been set
   RMW_QOS_POLICY_DURABILITY_UNKNOWN
-};
+} rmw_qos_durability_policy_t;
 
 #define RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE_DEPRECATED_MSG \
   "RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE is deprecated. " \
@@ -424,7 +424,7 @@ enum RMW_PUBLIC_TYPE rmw_qos_durability_policy_t
 /// For a subscriber, these are its requirements for its topic's publishers.
 // Suppress syntax errors, as cppcheck does not seem to handle enumerator attributes.
 // cppcheck-suppress syntaxError
-enum RMW_PUBLIC_TYPE rmw_qos_liveliness_policy_t
+typedef enum RMW_PUBLIC_TYPE rmw_qos_liveliness_policy_e
 {
   /// Implementation specific default
   RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT = 0,
@@ -447,7 +447,7 @@ enum RMW_PUBLIC_TYPE rmw_qos_liveliness_policy_t
 
   /// Liveliness policy has not yet been set
   RMW_QOS_POLICY_LIVELINESS_UNKNOWN = 4
-};
+} rmw_qos_liveliness_policy_t;
 
 /// QoS Deadline default.
 #define RMW_QOS_DEADLINE_DEFAULT RMW_DURATION_UNSPECIFIED
@@ -459,38 +459,38 @@ enum RMW_PUBLIC_TYPE rmw_qos_liveliness_policy_t
 #define RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT RMW_DURATION_UNSPECIFIED
 
 /// ROS MiddleWare quality of service profile.
-typedef struct RMW_PUBLIC_TYPE rmw_qos_profile_t
+typedef struct RMW_PUBLIC_TYPE rmw_qos_profile_s
 {
-  enum rmw_qos_history_policy_t history;
+  enum rmw_qos_history_policy_e history;
   /// Size of the message queue.
   size_t depth;
   /// Reliabiilty QoS policy setting
-  enum rmw_qos_reliability_policy_t reliability;
+  enum rmw_qos_reliability_policy_e reliability;
   /// Durability QoS policy setting
-  enum rmw_qos_durability_policy_t durability;
+  enum rmw_qos_durability_policy_e durability;
   /// The period at which messages are expected to be sent/received
   /**
     * RMW_DURATION_UNSPEFICIED will use the RMW implementation's default value,
     *   which may or may not be infinite.
     * RMW_DURATION_INFINITE explicitly states that messages never miss a deadline expectation.
     */
-  struct rmw_time_t deadline;
+  struct rmw_time_s deadline;
   /// The age at which messages are considered expired and no longer valid
   /**
     * RMW_DURATION_UNSPEFICIED will use the RMW implementation's default value,
     *   which may or may not be infinite.
     * RMW_DURATION_INFINITE explicitly states that messages do not expire.
     */
-  struct rmw_time_t lifespan;
+  struct rmw_time_s lifespan;
   /// Liveliness QoS policy setting
-  enum rmw_qos_liveliness_policy_t liveliness;
+  enum rmw_qos_liveliness_policy_e liveliness;
   /// The time within which the RMW node or publisher must show that it is alive
   /**
     * RMW_DURATION_UNSPEFICIED will use the RMW implementation's default value,
     *   which may or may not be infinite.
     * RMW_DURATION_INFINITE explicitly states that liveliness is not enforced.
     */
-  struct rmw_time_t liveliness_lease_duration;
+  struct rmw_time_s liveliness_lease_duration;
 
   /// If true, any ROS specific namespacing conventions will be circumvented.
   /**
@@ -506,7 +506,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_qos_profile_t
 } rmw_qos_profile_t;
 
 /// ROS graph ID of the topic
-typedef struct RMW_PUBLIC_TYPE rmw_gid_t
+typedef struct RMW_PUBLIC_TYPE rmw_gid_s
 {
   /// Name of the rmw implementation
   const char * implementation_identifier;
@@ -516,7 +516,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_gid_t
 } rmw_gid_t;
 
 /// Information describing an rmw message
-typedef struct RMW_PUBLIC_TYPE rmw_message_info_t
+typedef struct RMW_PUBLIC_TYPE rmw_message_info_s
 {
   rmw_time_point_value_t source_timestamp;
   rmw_time_point_value_t received_timestamp;
diff --git a/rmw/src/qos_string_conversions.c b/rmw/src/qos_string_conversions.c
index 279b0977..98265786 100644
--- a/rmw/src/qos_string_conversions.c
+++ b/rmw/src/qos_string_conversions.c
@@ -44,7 +44,7 @@ rmw_qos_policy_kind_to_str(rmw_qos_policy_kind_t kind)
 }
 
 const char *
-rmw_qos_durability_policy_to_str(enum rmw_qos_durability_policy_t value)
+rmw_qos_durability_policy_to_str(enum rmw_qos_durability_policy_e value)
 {
   switch (value) {
     case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
@@ -60,7 +60,7 @@ rmw_qos_durability_policy_to_str(enum rmw_qos_durability_policy_t value)
 }
 
 const char *
-rmw_qos_history_policy_to_str(enum rmw_qos_history_policy_t value)
+rmw_qos_history_policy_to_str(enum rmw_qos_history_policy_e value)
 {
   switch (value) {
     case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
@@ -76,7 +76,7 @@ rmw_qos_history_policy_to_str(enum rmw_qos_history_policy_t value)
 }
 
 const char *
-rmw_qos_liveliness_policy_to_str(enum rmw_qos_liveliness_policy_t value)
+rmw_qos_liveliness_policy_to_str(enum rmw_qos_liveliness_policy_e value)
 {
   switch (value) {
     case RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT:
@@ -92,7 +92,7 @@ rmw_qos_liveliness_policy_to_str(enum rmw_qos_liveliness_policy_t value)
 }
 
 const char *
-rmw_qos_reliability_policy_to_str(enum rmw_qos_reliability_policy_t value)
+rmw_qos_reliability_policy_to_str(enum rmw_qos_reliability_policy_e value)
 {
   switch (value) {
     case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
@@ -144,7 +144,7 @@ rmw_qos_policy_kind_from_str(const char * str)
   return RMW_QOS_POLICY_INVALID;
 }
 
-enum rmw_qos_durability_policy_t
+enum rmw_qos_durability_policy_e
 rmw_qos_durability_policy_from_str(const char * str)
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(str, RMW_QOS_POLICY_DURABILITY_UNKNOWN);
@@ -160,7 +160,7 @@ rmw_qos_durability_policy_from_str(const char * str)
   return RMW_QOS_POLICY_DURABILITY_UNKNOWN;
 }
 
-enum rmw_qos_history_policy_t
+enum rmw_qos_history_policy_e
 rmw_qos_history_policy_from_str(const char * str)
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(str, RMW_QOS_POLICY_HISTORY_UNKNOWN);
@@ -176,7 +176,7 @@ rmw_qos_history_policy_from_str(const char * str)
   return RMW_QOS_POLICY_HISTORY_UNKNOWN;
 }
 
-enum rmw_qos_liveliness_policy_t
+enum rmw_qos_liveliness_policy_e
 rmw_qos_liveliness_policy_from_str(const char * str)
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(str, RMW_QOS_POLICY_LIVELINESS_UNKNOWN);
@@ -192,7 +192,7 @@ rmw_qos_liveliness_policy_from_str(const char * str)
   return RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
 }
 
-enum rmw_qos_reliability_policy_t
+enum rmw_qos_reliability_policy_e
 rmw_qos_reliability_policy_from_str(const char * str)
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(str, RMW_QOS_POLICY_RELIABILITY_UNKNOWN);
diff --git a/rmw/src/topic_endpoint_info.c b/rmw/src/topic_endpoint_info.c
index 5f6719ca..26861a88 100644
--- a/rmw/src/topic_endpoint_info.c
+++ b/rmw/src/topic_endpoint_info.c
@@ -202,7 +202,7 @@ rmw_topic_endpoint_info_set_endpoint_type(
 rmw_ret_t
 rmw_topic_endpoint_info_set_gid(
   rmw_topic_endpoint_info_t * topic_endpoint_info,
-  const uint8_t gid[],
+  const uint8_t * gid,
   size_t size)
 {
   RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_INVALID_ARGUMENT);