diff --git a/test_communication/test/test_publisher_subscriber_serialized.cpp b/test_communication/test/test_publisher_subscriber_serialized.cpp
index 970453b0..1ed09315 100644
--- a/test_communication/test/test_publisher_subscriber_serialized.cpp
+++ b/test_communication/test/test_publisher_subscriber_serialized.cpp
@@ -70,12 +70,12 @@ TEST_F(CLASSNAME(TestMessageSerialization, RMW_IMPLEMENTATION), serialized_callb
   auto publisher = node->create_publisher<test_msgs::msg::BasicTypes>(
     "test_publisher_subscriber_serialized_topic");
 
-  auto msg = std::make_shared<test_msgs::msg::BasicTypes>();
+  test_msgs::msg::BasicTypes msg;
 
   rclcpp::Rate loop_rate(10);
   for (auto i = 0u; i < 10; ++i) {
-    msg->uint8_value = i;
-    publisher->publish(*msg);
+    msg.uint8_value = i;
+    publisher->publish(msg);
     rclcpp::spin_some(node);
     loop_rate.sleep();
   }
diff --git a/test_communication/test/test_subscription_valid_data.cpp b/test_communication/test/test_subscription_valid_data.cpp
index efe83434..929233ee 100644
--- a/test_communication/test/test_subscription_valid_data.cpp
+++ b/test_communication/test/test_subscription_valid_data.cpp
@@ -52,9 +52,9 @@ int main(int argc, char ** argv)
     // publish a few messages, all with data > 0
     while (rclcpp::ok() && index <= 5) {
       printf("publishing message #%u\n", index);
-      auto msg = std::make_shared<test_communication::msg::UInt32>();
+      auto msg = std::make_unique<test_communication::msg::UInt32>();
       msg->data = index;
-      publisher->publish(*msg);
+      publisher->publish(std::move(msg));
       ++index;
       message_rate.sleep();
       rclcpp::spin_some(node);
diff --git a/test_rclcpp/CMakeLists.txt b/test_rclcpp/CMakeLists.txt
index 67855bb4..1b7a240c 100644
--- a/test_rclcpp/CMakeLists.txt
+++ b/test_rclcpp/CMakeLists.txt
@@ -319,30 +319,22 @@ if(BUILD_TESTING)
   # Parameter tests single implementation
   custom_executable(test_parameters_server_cpp "test/test_parameters_server.cpp")
   custom_gtest_executable(test_remote_parameters_cpp "test/test_remote_parameters.cpp")
-  target_include_directories(test_remote_parameters_cpp
-    PUBLIC ${GTEST_INCLUDE_DIRS})
   target_link_libraries(test_remote_parameters_cpp
     ${GTEST_LIBRARIES})
 
   # Service tests single implementation
   custom_executable(test_services_server_cpp "test/test_services_server.cpp")
   custom_gtest_executable(test_services_client_cpp "test/test_services_client.cpp")
-  target_include_directories(test_services_client_cpp
-    PUBLIC ${GTEST_INCLUDE_DIRS})
   target_link_libraries(test_services_client_cpp
     ${GTEST_LIBRARIES})
 
   custom_executable(test_client_scope_server_cpp "test/test_client_scope_server.cpp")
   custom_gtest_executable(test_client_scope_client_cpp "test/test_client_scope_client.cpp")
-  target_include_directories(test_client_scope_client_cpp
-    PUBLIC ${GTEST_INCLUDE_DIRS})
   target_link_libraries(test_client_scope_client_cpp
     ${GTEST_LIBRARIES})
 
   custom_executable(test_client_scope_consistency_server_cpp "test/test_client_scope_consistency_server.cpp")
   custom_gtest_executable(test_client_scope_consistency_client_cpp "test/test_client_scope_consistency_client.cpp")
-  target_include_directories(test_client_scope_consistency_client_cpp
-    PUBLIC ${GTEST_INCLUDE_DIRS})
   target_link_libraries(test_client_scope_consistency_client_cpp
     ${GTEST_LIBRARIES})
 endif()  # BUILD_TESTING
diff --git a/test_rclcpp/test/pub_sub_fixtures.hpp b/test_rclcpp/test/pub_sub_fixtures.hpp
index f890c6c5..def65553 100644
--- a/test_rclcpp/test/pub_sub_fixtures.hpp
+++ b/test_rclcpp/test/pub_sub_fixtures.hpp
@@ -36,7 +36,7 @@ single_message_pub_sub_fixture(
     )
   > create_subscription_func,
   std::function<
-    void(typename rclcpp::Publisher<MessageT>::SharedPtr, typename MessageT::SharedPtr)
+    void(typename rclcpp::Publisher<MessageT>::SharedPtr, MessageT)
   > publish_func,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   std::function<void(rclcpp::executors::SingleThreadedExecutor &)> pre_subscription_hook = nullptr,
@@ -49,8 +49,8 @@ single_message_pub_sub_fixture(
   auto publisher = node->create_publisher<MessageT>(
     topic_name, custom_qos);
 
-  auto msg = std::make_shared<MessageT>();
-  msg->data = 0;
+  MessageT msg;
+  msg.data = 0;
   rclcpp::executors::SingleThreadedExecutor executor;
 
   // optionally call the pre subscription hook
@@ -78,9 +78,9 @@ single_message_pub_sub_fixture(
   // this is necessary because sometimes the first message does not go through
   // this is very common with Connext due to a race condition
   size_t retry = 0;
-  msg->data = 0;
+  msg.data = 0;
   while (retry < max_retries && counter == 0) {
-    msg->data++;
+    msg.data++;
     // call custom publish function
     publish_func(publisher, msg);
 
diff --git a/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp b/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp
index f2bae6a0..4d864829 100644
--- a/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp
+++ b/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp
@@ -65,9 +65,9 @@ TEST(
   auto publish_func =
     [](
     rclcpp::Publisher<test_rclcpp::msg::UInt32>::SharedPtr publisher,
-    test_rclcpp::msg::UInt32::SharedPtr msg)
+    test_rclcpp::msg::UInt32 msg)
     {
-      publisher->publish(*msg);
+      publisher->publish(msg);
     };
   // call the test template
   single_message_pub_sub_fixture<test_rclcpp::msg::UInt32>(
diff --git a/test_rclcpp/test/test_intra_process.cpp b/test_rclcpp/test/test_intra_process.cpp
index 422e3422..dd91e7bf 100644
--- a/test_rclcpp/test/test_intra_process.cpp
+++ b/test_rclcpp/test/test_intra_process.cpp
@@ -60,8 +60,8 @@ TEST(CLASSNAME(test_intra_process_within_one_node, RMW_IMPLEMENTATION), nominal_
       ASSERT_TRUE(message_info.from_intra_process);
     };
 
-  auto msg = std::make_shared<test_rclcpp::msg::UInt32>();
-  msg->data = 0;
+  test_rclcpp::msg::UInt32 msg;
+  msg.data = 0;
   rclcpp::executors::SingleThreadedExecutor executor;
 
   {
@@ -83,8 +83,8 @@ TEST(CLASSNAME(test_intra_process_within_one_node, RMW_IMPLEMENTATION), nominal_
     // TODO(gerkey): fix nondeterministic startup behavior
     std::this_thread::sleep_for(std::chrono::milliseconds(1));
 
-    msg->data = 1;
-    publisher->publish(*msg);
+    msg.data = 1;
+    publisher->publish(msg);
     ASSERT_EQ(0, counter);
 
     // wait for the first callback
@@ -107,14 +107,14 @@ TEST(CLASSNAME(test_intra_process_within_one_node, RMW_IMPLEMENTATION), nominal_
     executor.spin_node_some(node);
     ASSERT_EQ(1, counter);
 
-    msg->data = 2;
-    publisher->publish(*msg);
-    msg->data = 3;
-    publisher->publish(*msg);
-    msg->data = 4;
-    publisher->publish(*msg);
-    msg->data = 5;
-    publisher->publish(*msg);
+    msg.data = 2;
+    publisher->publish(msg);
+    msg.data = 3;
+    publisher->publish(msg);
+    msg.data = 4;
+    publisher->publish(msg);
+    msg.data = 5;
+    publisher->publish(msg);
     ASSERT_EQ(1, counter);
 
     // while four messages have been published one callback should be triggered here
@@ -157,8 +157,8 @@ TEST(CLASSNAME(test_intra_process_within_one_node, RMW_IMPLEMENTATION), nominal_
   }
   // the subscriber goes out of scope and should be not receive any callbacks anymore
 
-  msg->data = 6;
-  publisher->publish(*msg);
+  msg.data = 6;
+  publisher->publish(msg);
 
   std::this_thread::sleep_for(std::chrono::milliseconds(25));
 
diff --git a/test_rclcpp/test/test_multithreaded.cpp b/test_rclcpp/test/test_multithreaded.cpp
index 8eb645b7..c1b0cc60 100644
--- a/test_rclcpp/test/test_multithreaded.cpp
+++ b/test_rclcpp/test/test_multithreaded.cpp
@@ -79,8 +79,8 @@ static inline void multi_consumer_pub_sub_test(bool intra_process)
   int subscriptions_size = static_cast<int>(subscriptions.size());
 
   executor.add_node(node);
-  auto msg = std::make_shared<test_rclcpp::msg::UInt32>();
-  msg->data = 0;
+  test_rclcpp::msg::UInt32 msg;
+  msg.data = 0;
 
   // wait a moment for everything to initialize
   test_rclcpp::wait_for_subscriber(node, node_topic_name);
@@ -88,8 +88,8 @@ static inline void multi_consumer_pub_sub_test(bool intra_process)
   // sanity check that no callbacks have fired
   EXPECT_EQ(0, counter.load());
 
-  ++msg->data;
-  pub->publish(*msg);
+  ++msg.data;
+  pub->publish(msg);
 
   // test spin_some
   // Expectation: The message was published and all subscriptions fired the callback.
@@ -110,19 +110,19 @@ static inline void multi_consumer_pub_sub_test(bool intra_process)
 
   // reset counter
   counter.store(0);
-  msg->data = 0;
+  msg.data = 0;
 
   ASSERT_TRUE(std::numeric_limits<int>::max() > (5 * subscriptions.size()));
   const int expected_count = static_cast<int>(5 * subscriptions.size());
 
   std::mutex publish_mutex;
   auto publish_callback = [
-    msg, &pub, &executor, &counter, &expected_count, &sleep_per_loop, &publish_mutex](
+    &msg, &pub, &executor, &counter, &expected_count, &sleep_per_loop, &publish_mutex](
     rclcpp::TimerBase & timer) -> void
     {
       std::lock_guard<std::mutex> lock(publish_mutex);
-      ++msg->data;
-      if (msg->data > 5) {
+      ++msg.data;
+      if (msg.data > 5) {
         timer.cancel();
         // wait for the last callback to fire before cancelling
         while (counter.load() != expected_count) {
@@ -131,7 +131,7 @@ static inline void multi_consumer_pub_sub_test(bool intra_process)
         executor.cancel();
         return;
       }
-      pub->publish(*msg);
+      pub->publish(msg);
     };
   auto timer = node->create_wall_timer(std::chrono::milliseconds(1), publish_callback);
 
@@ -278,7 +278,6 @@ static inline void multi_access_publisher(bool intra_process)
   const size_t num_messages = 5 * std::min<size_t>(executor.get_number_of_threads(), 16);
   auto pub = node->create_publisher<test_rclcpp::msg::UInt32>(node_topic_name, num_messages);
   // callback groups?
-  auto msg = std::make_shared<test_rclcpp::msg::UInt32>();
 
   std::atomic_uint subscription_counter(0);
   auto sub_callback = [&subscription_counter](const test_rclcpp::msg::UInt32::SharedPtr msg)
@@ -302,9 +301,10 @@ static inline void multi_access_publisher(bool intra_process)
   std::atomic_uint timer_counter(0);
 
   auto timer_callback =
-    [&executor, &pub, &msg, &timer_counter, &subscription_counter, &num_messages](
+    [&executor, &pub, &timer_counter, &subscription_counter, &num_messages](
     rclcpp::TimerBase & timer)
     {
+      auto msg = std::make_unique<test_rclcpp::msg::UInt32>();
       if (timer_counter.load() >= num_messages) {
         timer.cancel();
         // Wait for pending subscription callbacks to trigger.
@@ -316,7 +316,7 @@ static inline void multi_access_publisher(bool intra_process)
       }
       msg->data = ++timer_counter;
       printf("Publishing message %u\n", timer_counter.load());
-      pub->publish(*msg);
+      pub->publish(std::move(msg));
     };
   std::vector<rclcpp::TimerBase::SharedPtr> timers;
   // timers will fire simultaneously in each thread
diff --git a/test_rclcpp/test/test_publisher.cpp b/test_rclcpp/test/test_publisher.cpp
index fec8991c..f85fcac6 100644
--- a/test_rclcpp/test/test_publisher.cpp
+++ b/test_rclcpp/test/test_publisher.cpp
@@ -60,9 +60,9 @@ TEST(CLASSNAME(test_publisher, RMW_IMPLEMENTATION), publish_with_const_reference
   auto publish_func =
     [](
     rclcpp::Publisher<test_rclcpp::msg::UInt32>::SharedPtr publisher,
-    test_rclcpp::msg::UInt32::SharedPtr msg)
+    test_rclcpp::msg::UInt32 msg)
     {
-      publisher->publish(*msg);
+      publisher->publish(msg);
     };
   // call the test template
   single_message_pub_sub_fixture<test_rclcpp::msg::UInt32>(
diff --git a/test_rclcpp/test/test_repeated_publisher_subscriber.cpp b/test_rclcpp/test/test_repeated_publisher_subscriber.cpp
index 615c8fd6..817260e7 100644
--- a/test_rclcpp/test/test_repeated_publisher_subscriber.cpp
+++ b/test_rclcpp/test/test_repeated_publisher_subscriber.cpp
@@ -39,8 +39,8 @@ TEST(CLASSNAME(test_repeated_publisher_subscriber, RMW_IMPLEMENTATION), subscrip
     {
     };
 
-  auto msg = std::make_shared<test_rclcpp::msg::UInt32>();
-  msg->data = 0;
+  test_rclcpp::msg::UInt32 msg;
+  msg.data = 0;
   rclcpp::executors::SingleThreadedExecutor executor;
 
   {
@@ -56,8 +56,8 @@ TEST(CLASSNAME(test_repeated_publisher_subscriber, RMW_IMPLEMENTATION), subscrip
     fflush(stdout);
     executor.spin_node_some(node);
 
-    msg->data = 1;
-    publisher->publish(*msg);
+    msg.data = 1;
+    publisher->publish(msg);
 
     std::this_thread::sleep_for(std::chrono::milliseconds(50));
     printf("spin_node_some()\n");
@@ -83,8 +83,8 @@ TEST(CLASSNAME(test_repeated_publisher_subscriber, RMW_IMPLEMENTATION), subscrip
     fflush(stdout);
     executor.spin_node_some(node);
 
-    msg->data = 2;
-    publisher->publish(*msg);
+    msg.data = 2;
+    publisher->publish(msg);
 
     std::this_thread::sleep_for(std::chrono::milliseconds(50));
     printf("spin_node_some()\n");
diff --git a/test_rclcpp/test/test_spin.cpp b/test_rclcpp/test/test_spin.cpp
index 2aa877f5..57a1049a 100644
--- a/test_rclcpp/test/test_spin.cpp
+++ b/test_rclcpp/test/test_spin.cpp
@@ -199,7 +199,6 @@ TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), cancel) {
   auto node = rclcpp::Node::make_shared("cancel");
   rclcpp::executors::SingleThreadedExecutor executor;
   auto pub = node->create_publisher<test_rclcpp::msg::UInt32>("cancel", 10);
-  auto msg = std::make_shared<test_rclcpp::msg::UInt32>();
 
   auto subscription_callback = [](test_rclcpp::msg::UInt32::ConstSharedPtr)
     {
@@ -209,11 +208,11 @@ TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), cancel) {
   auto subscription = node->create_subscription<test_rclcpp::msg::UInt32>(
     "cancel", subscription_callback, 10);
 
-  auto cancel_callback = [&executor, &pub, &msg]()
+  auto cancel_callback = [&executor, &pub]()
     {
       executor.cancel();
       // Try to publish after canceling. The callback should never trigger.
-      pub->publish(*msg);
+      pub->publish(test_rclcpp::msg::UInt32());
     };
   auto timer = node->create_wall_timer(std::chrono::milliseconds(5), cancel_callback);
   executor.add_node(node);
diff --git a/test_rclcpp/test/test_subscription.cpp b/test_rclcpp/test/test_subscription.cpp
index 4fb9626d..ef28c1e4 100644
--- a/test_rclcpp/test/test_subscription.cpp
+++ b/test_rclcpp/test/test_subscription.cpp
@@ -80,8 +80,8 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_and_spinning
       sub_called.set_value();
     };
 
-  auto msg = std::make_shared<test_rclcpp::msg::UInt32>();
-  msg->data = 0;
+  test_rclcpp::msg::UInt32 msg;
+  msg.data = 0;
   rclcpp::executors::SingleThreadedExecutor executor;
   executor.add_node(node);
 
@@ -103,8 +103,8 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_and_spinning
     executor.spin_some();
     ASSERT_EQ(0, counter);
 
-    msg->data = 1;
-    publisher->publish(*msg);
+    msg.data = 1;
+    publisher->publish(msg);
     ASSERT_EQ(0, counter);
 
     // spin until the subscription is called or a timeout occurs
@@ -120,14 +120,14 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_and_spinning
     executor.spin_some();
     ASSERT_EQ(1, counter);
 
-    msg->data = 2;
-    publisher->publish(*msg);
-    msg->data = 3;
-    publisher->publish(*msg);
-    msg->data = 4;
-    publisher->publish(*msg);
-    msg->data = 5;
-    publisher->publish(*msg);
+    msg.data = 2;
+    publisher->publish(msg);
+    msg.data = 3;
+    publisher->publish(msg);
+    msg.data = 4;
+    publisher->publish(msg);
+    msg.data = 5;
+    publisher->publish(msg);
     ASSERT_EQ(1, counter);
 
     // while four messages have been published one callback should be triggered here
@@ -160,8 +160,8 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_and_spinning
   }
   // the subscriber goes out of scope and should be not receive any callbacks anymore
 
-  msg->data = 6;
-  publisher->publish(*msg);
+  msg.data = 6;
+  publisher->publish(msg);
 
   // check that no further callbacks have been invoked
   printf("spin_until_future_complete(short timeout) - no callbacks expected\n");
@@ -198,11 +198,9 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_shared_ptr_c
   auto publish_func =
     [](
     rclcpp::Publisher<test_rclcpp::msg::UInt32>::SharedPtr publisher,
-    test_rclcpp::msg::UInt32::SharedPtr msg)
+    test_rclcpp::msg::UInt32 msg)
     {
-      // Create a ConstSharedPtr message to publish
-      test_rclcpp::msg::UInt32::ConstSharedPtr const_msg(msg);
-      publisher->publish(*const_msg);
+      publisher->publish(msg);
     };
   // call the test template
   single_message_pub_sub_fixture<test_rclcpp::msg::UInt32>(
@@ -246,11 +244,9 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION),
   auto publish_func =
     [](
     rclcpp::Publisher<test_rclcpp::msg::UInt32>::SharedPtr publisher,
-    test_rclcpp::msg::UInt32::SharedPtr msg)
+    test_rclcpp::msg::UInt32 msg)
     {
-      // Create a ConstSharedPtr message to publish
-      test_rclcpp::msg::UInt32::ConstSharedPtr const_msg(msg);
-      publisher->publish(*const_msg);
+      publisher->publish(msg);
     };
   // call the test template
   single_message_pub_sub_fixture<test_rclcpp::msg::UInt32>(
@@ -280,11 +276,9 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION),
   auto publish_func =
     [](
     rclcpp::Publisher<test_rclcpp::msg::UInt32>::SharedPtr publisher,
-    test_rclcpp::msg::UInt32::SharedPtr msg)
+    test_rclcpp::msg::UInt32 msg)
     {
-      // Create a ConstSharedPtr message to publish
-      test_rclcpp::msg::UInt32::ConstSharedPtr const_msg(msg);
-      publisher->publish(*const_msg);
+      publisher->publish(msg);
     };
   // call the test template
   single_message_pub_sub_fixture<test_rclcpp::msg::UInt32>(
@@ -318,9 +312,9 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_shared_ptr_c
   auto publish_func =
     [](
     rclcpp::Publisher<test_rclcpp::msg::UInt32>::SharedPtr publisher,
-    test_rclcpp::msg::UInt32::SharedPtr msg)
+    test_rclcpp::msg::UInt32 msg)
     {
-      publisher->publish(*msg);
+      publisher->publish(msg);
     };
   // call the test template
   single_message_pub_sub_fixture<test_rclcpp::msg::UInt32>(
@@ -352,11 +346,9 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), spin_before_subscription)
   auto publish_func =
     [](
     rclcpp::Publisher<test_rclcpp::msg::UInt32>::SharedPtr publisher,
-    test_rclcpp::msg::UInt32::SharedPtr msg)
+    test_rclcpp::msg::UInt32 msg)
     {
-      // Create a ConstSharedPtr message to publish
-      test_rclcpp::msg::UInt32::ConstSharedPtr const_msg(msg);
-      publisher->publish(*const_msg);
+      publisher->publish(msg);
     };
   // code for custom "pre subscription" hook
   auto pre_subscription_hook =