diff --git a/test_communication/test/test_publisher_subscriber.cpp b/test_communication/test/test_publisher_subscriber.cpp
index b66fdb5b..16bd6468 100644
--- a/test_communication/test/test_publisher_subscriber.cpp
+++ b/test_communication/test/test_publisher_subscriber.cpp
@@ -54,7 +54,7 @@ void publish(
 }
 
 template<typename T>
-rclcpp::subscription::SubscriptionBase::SharedPtr subscribe(
+rclcpp::SubscriptionBase::SharedPtr subscribe(
   rclcpp::Node::SharedPtr node,
   const std::string & message_type,
   std::vector<typename T::SharedPtr> & expected_messages,
@@ -115,7 +115,7 @@ int main(int argc, char ** argv)
   std::string message = argv[1];
   auto node = rclcpp::Node::make_shared(std::string("test_publisher_subscriber_") + message);
 
-  rclcpp::subscription::SubscriptionBase::SharedPtr subscriber;
+  rclcpp::SubscriptionBase::SharedPtr subscriber;
   std::vector<bool> received_messages;  // collect flags about received messages
 
   auto messages_empty = get_messages_empty();
diff --git a/test_communication/test/test_replier.cpp b/test_communication/test/test_replier.cpp
index 91b9599c..b2d55709 100644
--- a/test_communication/test/test_replier.cpp
+++ b/test_communication/test/test_replier.cpp
@@ -23,7 +23,7 @@
 #include "test_msgs/service_fixtures.hpp"
 
 template<typename T>
-typename rclcpp::service::Service<T>::SharedPtr reply(
+typename rclcpp::Service<T>::SharedPtr reply(
   rclcpp::Node::SharedPtr node,
   const std::string & service_type,
   const std::vector<
@@ -74,7 +74,7 @@ int main(int argc, char ** argv)
 
   auto services_empty = get_services_empty();
   auto services_primitives = get_services_primitives();
-  rclcpp::service::ServiceBase::SharedPtr server;
+  rclcpp::ServiceBase::SharedPtr server;
 
   if (service == "Empty") {
     server = reply<test_msgs::srv::Empty>(
diff --git a/test_communication/test/test_subscriber.cpp b/test_communication/test/test_subscriber.cpp
index f01248d4..4fe169de 100644
--- a/test_communication/test/test_subscriber.cpp
+++ b/test_communication/test/test_subscriber.cpp
@@ -23,7 +23,7 @@
 
 
 template<typename T>
-rclcpp::subscription::SubscriptionBase::SharedPtr subscribe(
+rclcpp::SubscriptionBase::SharedPtr subscribe(
   rclcpp::Node::SharedPtr node,
   const std::string & message_type,
   std::vector<typename T::SharedPtr> & expected_messages,
@@ -96,7 +96,7 @@ int main(int argc, char ** argv)
   auto messages_static_array_nested = get_messages_static_array_nested();
   auto messages_builtins = get_messages_builtins();
 
-  rclcpp::subscription::SubscriptionBase::SharedPtr subscriber;
+  rclcpp::SubscriptionBase::SharedPtr subscriber;
   std::vector<bool> received_messages;  // collect flags about received messages
   if (message == "Empty") {
     subscriber = subscribe<test_msgs::msg::Empty>(
diff --git a/test_rclcpp/include/test_rclcpp/utils.hpp b/test_rclcpp/include/test_rclcpp/utils.hpp
index 508c9a00..71b19941 100644
--- a/test_rclcpp/include/test_rclcpp/utils.hpp
+++ b/test_rclcpp/include/test_rclcpp/utils.hpp
@@ -53,7 +53,7 @@ void wait_for_subscriber(
       }
     };
   while (!predicate() && time_slept < duration_cast<microseconds>(timeout)) {
-    rclcpp::event::Event::SharedPtr graph_event = node->get_graph_event();
+    rclcpp::Event::SharedPtr graph_event = node->get_graph_event();
     node->wait_for_graph_change(graph_event, sleep_period);
     time_slept = duration_cast<std::chrono::microseconds>(steady_clock::now() - start);
   }
diff --git a/test_rclcpp/test/parameter_fixtures.hpp b/test_rclcpp/test/parameter_fixtures.hpp
index 40c09492..d37098c5 100644
--- a/test_rclcpp/test/parameter_fixtures.hpp
+++ b/test_rclcpp/test/parameter_fixtures.hpp
@@ -28,7 +28,7 @@
 const double test_epsilon = 1e-6;
 
 void set_test_parameters(
-  std::shared_ptr<rclcpp::parameter_client::SyncParametersClient> parameters_client)
+  std::shared_ptr<rclcpp::SyncParametersClient> parameters_client)
 {
   printf("Setting parameters\n");
   // Set several differnet types of parameters.
@@ -52,7 +52,7 @@ void set_test_parameters(
 
 void verify_set_parameters_async(
   std::shared_ptr<rclcpp::Node> node,
-  std::shared_ptr<rclcpp::parameter_client::AsyncParametersClient> parameters_client)
+  std::shared_ptr<rclcpp::AsyncParametersClient> parameters_client)
 {
   printf("Setting parameters\n");
   // Set several differnet types of parameters.
@@ -75,7 +75,7 @@ void verify_set_parameters_async(
 }
 
 void verify_test_parameters(
-  std::shared_ptr<rclcpp::parameter_client::SyncParametersClient> parameters_client)
+  std::shared_ptr<rclcpp::SyncParametersClient> parameters_client)
 {
   printf("Listing parameters with recursive depth\n");
   // Test recursive depth (=0)
@@ -180,7 +180,7 @@ void verify_test_parameters(
 
 void verify_get_parameters_async(
   std::shared_ptr<rclcpp::Node> node,
-  std::shared_ptr<rclcpp::parameter_client::AsyncParametersClient> parameters_client)
+  std::shared_ptr<rclcpp::AsyncParametersClient> parameters_client)
 {
   printf("Listing parameters with recursive depth\n");
   // Test recursive depth (=0)
diff --git a/test_rclcpp/test/test_client_scope_client.cpp b/test_rclcpp/test/test_client_scope_client.cpp
index 07c23714..99814832 100644
--- a/test_rclcpp/test/test_client_scope_client.cpp
+++ b/test_rclcpp/test/test_client_scope_client.cpp
@@ -31,7 +31,7 @@
 using namespace std::chrono_literals;
 
 TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_regression_test) {
-  auto node = rclcpp::node::Node::make_shared("client_scope_regression_test");
+  auto node = rclcpp::Node::make_shared("client_scope_regression_test");
 
   // Extra scope so the first client will be deleted afterwards
   {
diff --git a/test_rclcpp/test/test_client_scope_consistency_client.cpp b/test_rclcpp/test/test_client_scope_consistency_client.cpp
index 40a7477c..4eaa9b43 100644
--- a/test_rclcpp/test/test_client_scope_consistency_client.cpp
+++ b/test_rclcpp/test/test_client_scope_consistency_client.cpp
@@ -33,7 +33,7 @@ using namespace std::chrono_literals;
 // This test is concerned with the consistency of the two clients' behavior, not necessarily whether
 // or not they are successful.
 TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_consistency_regression_test) {
-  auto node = rclcpp::node::Node::make_shared("client_scope_consistency_regression_test");
+  auto node = rclcpp::Node::make_shared("client_scope_consistency_regression_test");
 
   // Replicate the settings that caused https://github.com/ros2/system_tests/issues/153
   rmw_qos_profile_t rmw_qos_profile =
diff --git a/test_rclcpp/test/test_client_scope_consistency_server.cpp b/test_rclcpp/test/test_client_scope_consistency_server.cpp
index 8e3b65d3..8458df0e 100644
--- a/test_rclcpp/test/test_client_scope_consistency_server.cpp
+++ b/test_rclcpp/test/test_client_scope_consistency_server.cpp
@@ -31,7 +31,7 @@ int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
 
-  auto node = rclcpp::node::Node::make_shared("client_scope_consistency_regression_test_server");
+  auto node = rclcpp::Node::make_shared("client_scope_consistency_regression_test_server");
 
   // Replicate the settings that caused https://github.com/ros2/system_tests/issues/153
   rmw_qos_profile_t rmw_qos_profile =
diff --git a/test_rclcpp/test/test_client_scope_server.cpp b/test_rclcpp/test/test_client_scope_server.cpp
index 0dce4bb9..47a57037 100644
--- a/test_rclcpp/test/test_client_scope_server.cpp
+++ b/test_rclcpp/test/test_client_scope_server.cpp
@@ -31,7 +31,7 @@ int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
 
-  auto node = rclcpp::node::Node::make_shared("client_scope_server");
+  auto node = rclcpp::Node::make_shared("client_scope_server");
 
   auto service = node->create_service<test_rclcpp::srv::AddTwoInts>(
     "client_scope", handle_add_two_ints);
diff --git a/test_rclcpp/test/test_client_wait_for_service_shutdown.cpp b/test_rclcpp/test/test_client_wait_for_service_shutdown.cpp
index d7314df0..3d1906f2 100644
--- a/test_rclcpp/test/test_client_wait_for_service_shutdown.cpp
+++ b/test_rclcpp/test/test_client_wait_for_service_shutdown.cpp
@@ -31,7 +31,7 @@ using namespace std::chrono_literals;
 // rclcpp::shutdown() should wake up wait_for_service, even without spin.
 TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), wait_for_service_shutdown) {
   rclcpp::init(0, nullptr);
-  auto node = rclcpp::node::Node::make_shared("wait_for_service_shutdown");
+  auto node = rclcpp::Node::make_shared("wait_for_service_shutdown");
 
   auto client = node->create_client<test_rclcpp::srv::AddTwoInts>("wait_for_service_shutdown");
 
diff --git a/test_rclcpp/test/test_local_parameters.cpp b/test_rclcpp/test/test_local_parameters.cpp
index c9196c8f..b56171a0 100644
--- a/test_rclcpp/test/test_local_parameters.cpp
+++ b/test_rclcpp/test/test_local_parameters.cpp
@@ -67,8 +67,8 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), to_string) {
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous) {
   auto node = rclcpp::Node::make_shared("test_parameters_local_synchronous");
   // TODO(esteve): Make the parameter service automatically start with the node.
-  auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
-  auto parameters_client = std::make_shared<rclcpp::parameter_client::SyncParametersClient>(node);
+  auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
+  auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
   }
@@ -79,8 +79,8 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous) {
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous_repeated) {
   auto node = rclcpp::Node::make_shared("test_parameters_local_synchronous_repeated");
   // TODO(esteve): Make the parameter service automatically start with the node.
-  auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
-  auto parameters_client = std::make_shared<rclcpp::parameter_client::SyncParametersClient>(node);
+  auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
+  auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
   }
@@ -94,8 +94,8 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_synchronous_rep
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_asynchronous) {
   auto node = rclcpp::Node::make_shared(std::string("test_parameters_local_asynchronous"));
   // TODO(esteve): Make the parameter service automatically start with the node.
-  auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
-  auto parameters_client = std::make_shared<rclcpp::parameter_client::AsyncParametersClient>(node);
+  auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
+  auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
   }
@@ -110,7 +110,7 @@ class ParametersAsyncNode : public rclcpp::Node
   : Node("test_local_parameters_async_with_callback")
   {
     parameters_client_ =
-      std::make_shared<rclcpp::parameter_client::AsyncParametersClient>(this);
+      std::make_shared<rclcpp::AsyncParametersClient>(this);
   }
 
   void queue_set_parameter_request(rclcpp::executors::SingleThreadedExecutor & executor)
@@ -146,7 +146,7 @@ class ParametersAsyncNode : public rclcpp::Node
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_async_with_callback) {
   auto node = std::make_shared<ParametersAsyncNode>();
   // TODO(esteve): Make the parameter service automatically start with the node.
-  auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
+  auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
   if (!node->parameters_client_->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
   }
@@ -160,8 +160,8 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), local_async_with_call
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), helpers) {
   auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
   // TODO(esteve): Make the parameter service automatically start with the node.
-  auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
-  auto parameters_client = std::make_shared<rclcpp::parameter_client::SyncParametersClient>(node);
+  auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
+  auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
   }
@@ -265,8 +265,8 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), helpers) {
 TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_primitive_type) {
   auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
   // TODO(esteve): Make the parameter service automatically start with the node.
-  auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
-  auto parameters_client = std::make_shared<rclcpp::parameter_client::SyncParametersClient>(node);
+  auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
+  auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
   }
@@ -332,8 +332,8 @@ TEST(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_variant
 
   auto node = rclcpp::Node::make_shared("test_parameters_local_helpers");
   // TODO(esteve): Make the parameter service automatically start with the node.
-  auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
-  auto parameters_client = std::make_shared<rclcpp::parameter_client::SyncParametersClient>(node);
+  auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
+  auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   if (!parameters_client->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
   }
diff --git a/test_rclcpp/test/test_multiple_service_calls.cpp b/test_rclcpp/test/test_multiple_service_calls.cpp
index 774fdf83..d48e7be1 100644
--- a/test_rclcpp/test/test_multiple_service_calls.cpp
+++ b/test_rclcpp/test/test_multiple_service_calls.cpp
@@ -103,7 +103,7 @@ TEST(CLASSNAME(test_two_service_calls, RMW_IMPLEMENTATION), recursive_service_ca
   request2->b = 0;
 
   bool second_result_received = false;
-  using AddTwoIntsSharedFuture = rclcpp::client::Client<test_rclcpp::srv::AddTwoInts>::SharedFuture;
+  using AddTwoIntsSharedFuture = rclcpp::Client<test_rclcpp::srv::AddTwoInts>::SharedFuture;
 
   auto first_response_received_callback =
     [&client, &request2, &second_result_received](AddTwoIntsSharedFuture first_future) {
@@ -140,9 +140,9 @@ TEST(CLASSNAME(test_multiple_service_calls, RMW_IMPLEMENTATION), multiple_client
     "test_multiple_clients", handle_add_two_ints);
 
   using ClientRequestPair = std::pair<
-      rclcpp::client::Client<test_rclcpp::srv::AddTwoInts>::SharedPtr,
+      rclcpp::Client<test_rclcpp::srv::AddTwoInts>::SharedPtr,
       test_rclcpp::srv::AddTwoInts::Request::SharedPtr>;
-  using SharedFuture = rclcpp::client::Client<test_rclcpp::srv::AddTwoInts>::SharedFuture;
+  using SharedFuture = rclcpp::Client<test_rclcpp::srv::AddTwoInts>::SharedFuture;
 
   std::vector<ClientRequestPair> client_request_pairs;
   for (uint32_t i = 0; i < n; ++i) {
diff --git a/test_rclcpp/test/test_multithreaded.cpp b/test_rclcpp/test/test_multithreaded.cpp
index d23ab100..8a7bd38a 100644
--- a/test_rclcpp/test/test_multithreaded.cpp
+++ b/test_rclcpp/test/test_multithreaded.cpp
@@ -96,7 +96,7 @@ static inline void multi_consumer_pub_sub_test(bool intra_process)
   // wait for delivery to occur.
   const std::chrono::milliseconds sleep_per_loop(10);
   while (subscriptions_size != counter.load()) {
-    rclcpp::utilities::sleep_for(sleep_per_loop);
+    rclcpp::sleep_for(sleep_per_loop);
     executor.spin_some();
   }
   EXPECT_EQ(subscriptions_size, counter.load());
@@ -115,7 +115,7 @@ static inline void multi_consumer_pub_sub_test(bool intra_process)
   std::mutex publish_mutex;
   auto publish_callback = [
     msg, &pub, &executor, &counter, &expected_count, &sleep_per_loop, &publish_mutex](
-    rclcpp::timer::TimerBase & timer) -> void
+    rclcpp::TimerBase & timer) -> void
     {
       std::lock_guard<std::mutex> lock(publish_mutex);
       ++msg->data;
@@ -168,9 +168,9 @@ TEST(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_consumer_clients)
     "multi_consumer_clients", callback, qos_profile, callback_group);
 
   using ClientRequestPair = std::pair<
-      rclcpp::client::Client<test_rclcpp::srv::AddTwoInts>::SharedPtr,
+      rclcpp::Client<test_rclcpp::srv::AddTwoInts>::SharedPtr,
       test_rclcpp::srv::AddTwoInts::Request::SharedPtr>;
-  using SharedFuture = rclcpp::client::Client<test_rclcpp::srv::AddTwoInts>::SharedFuture;
+  using SharedFuture = rclcpp::Client<test_rclcpp::srv::AddTwoInts>::SharedFuture;
 
 
   std::vector<ClientRequestPair> client_request_pairs;
@@ -186,7 +186,7 @@ TEST(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_consumer_clients)
   int client_request_pairs_size = static_cast<int>(client_request_pairs.size());
 
   executor.add_node(node);
-  rclcpp::utilities::sleep_for(5ms);
+  rclcpp::sleep_for(5ms);
 
   executor.spin_some();
   // No callbacks should have fired
@@ -251,7 +251,7 @@ TEST(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_consumer_clients)
 static inline void multi_access_publisher(bool intra_process)
 {
   // Try to access the same publisher simultaneously
-  auto context = std::make_shared<rclcpp::context::Context>();
+  auto context = std::make_shared<rclcpp::Context>();
   std::string node_topic_name = "multi_access_publisher";
   if (intra_process) {
     node_topic_name += "_intra_process";
@@ -289,13 +289,13 @@ static inline void multi_access_publisher(bool intra_process)
 
   auto timer_callback =
     [&executor, &pub, &msg, &timer_counter, &subscription_counter, &num_messages](
-    rclcpp::timer::TimerBase & timer)
+    rclcpp::TimerBase & timer)
     {
       if (timer_counter.load() >= num_messages) {
         timer.cancel();
         // Wait for pending subscription callbacks to trigger.
         while (subscription_counter < timer_counter) {
-          rclcpp::utilities::sleep_for(1ms);
+          rclcpp::sleep_for(1ms);
         }
         executor.cancel();
         return;
@@ -304,7 +304,7 @@ static inline void multi_access_publisher(bool intra_process)
       printf("Publishing message %u\n", timer_counter.load());
       pub->publish(msg);
     };
-  std::vector<rclcpp::timer::TimerBase::SharedPtr> timers;
+  std::vector<rclcpp::TimerBase::SharedPtr> timers;
   // timers will fire simultaneously in each thread
   for (uint32_t i = 0; i < std::min<size_t>(executor.get_number_of_threads(), 16); ++i) {
     timers.push_back(node->create_wall_timer(std::chrono::milliseconds(1), timer_callback));
diff --git a/test_rclcpp/test/test_parameters_server.cpp b/test_rclcpp/test/test_parameters_server.cpp
index 66ce169a..8ec20ec6 100644
--- a/test_rclcpp/test/test_parameters_server.cpp
+++ b/test_rclcpp/test/test_parameters_server.cpp
@@ -28,7 +28,7 @@ int main(int argc, char ** argv)
   auto node = rclcpp::Node::make_shared(std::string("test_parameters_server"));
 
   // TODO(esteve): Make the parameter service automatically start with the node.
-  auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
+  auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
 
   rclcpp::spin(node);
 
diff --git a/test_rclcpp/test/test_remote_parameters.cpp b/test_rclcpp/test/test_remote_parameters.cpp
index 61fe7956..e03d2228 100644
--- a/test_rclcpp/test/test_remote_parameters.cpp
+++ b/test_rclcpp/test/test_remote_parameters.cpp
@@ -40,7 +40,7 @@ TEST(CLASSNAME(parameters, rmw_implementation), test_remote_parameters_async) {
 
   auto node = rclcpp::Node::make_shared(std::string("test_remote_parameters_async"));
 
-  auto parameters_client = std::make_shared<rclcpp::parameter_client::AsyncParametersClient>(node,
+  auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(node,
       test_server_name);
   if (!parameters_client->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
@@ -56,7 +56,7 @@ TEST(CLASSNAME(parameters, rmw_implementation), test_remote_parameters_sync) {
 
   auto node = rclcpp::Node::make_shared(std::string("test_remote_parameters_sync"));
 
-  auto parameters_client = std::make_shared<rclcpp::parameter_client::SyncParametersClient>(node,
+  auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node,
       test_server_name);
   if (!parameters_client->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "service not available after waiting";
diff --git a/test_rclcpp/test/test_services_client.cpp b/test_rclcpp/test/test_services_client.cpp
index 40be7729..bfd9830f 100644
--- a/test_rclcpp/test/test_services_client.cpp
+++ b/test_rclcpp/test/test_services_client.cpp
@@ -86,7 +86,7 @@ TEST(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_return_request) {
 
   auto result = client->async_send_request(
     request,
-    [](rclcpp::client::Client<test_rclcpp::srv::AddTwoInts>::SharedFutureWithRequest future) {
+    [](rclcpp::Client<test_rclcpp::srv::AddTwoInts>::SharedFutureWithRequest future) {
       EXPECT_EQ(4, future.get().first->a);
       EXPECT_EQ(5, future.get().first->b);
       EXPECT_EQ(9, future.get().second->sum);
diff --git a/test_rclcpp/test/test_services_in_constructor.cpp b/test_rclcpp/test/test_services_in_constructor.cpp
index 0527687d..dcb98dfc 100644
--- a/test_rclcpp/test/test_services_in_constructor.cpp
+++ b/test_rclcpp/test/test_services_in_constructor.cpp
@@ -33,11 +33,11 @@
  * possible at some point, but should be now.
  */
 
-class MyNodeWithService : public rclcpp::node::Node
+class MyNodeWithService : public rclcpp::Node
 {
 public:
   MyNodeWithService()
-  : rclcpp::node::Node("node_with_service")
+  : rclcpp::Node("node_with_service")
   {
     service_ = this->create_service<test_rclcpp::srv::AddTwoInts>(
       "test",
@@ -50,24 +50,24 @@ class MyNodeWithService : public rclcpp::node::Node
   }
 
 private:
-  rclcpp::service::ServiceBase::SharedPtr service_;
+  rclcpp::ServiceBase::SharedPtr service_;
 };
 
 TEST(CLASSNAME(test_services_in_constructor, RMW_IMPLEMENTATION), service_in_constructor) {
   auto n = std::make_shared<MyNodeWithService>();
 }
 
-class MyNodeWithClient : public rclcpp::node::Node
+class MyNodeWithClient : public rclcpp::Node
 {
 public:
   MyNodeWithClient()
-  : rclcpp::node::Node("node_with_client")
+  : rclcpp::Node("node_with_client")
   {
     client_ = this->create_client<test_rclcpp::srv::AddTwoInts>("test");
   }
 
 private:
-  rclcpp::client::ClientBase::SharedPtr client_;
+  rclcpp::ClientBase::SharedPtr client_;
 };
 
 TEST(CLASSNAME(test_services_in_constructor, RMW_IMPLEMENTATION), client_in_constructor) {
diff --git a/test_rclcpp/test/test_spin.cpp b/test_rclcpp/test/test_spin.cpp
index 832b61a5..cd329f16 100644
--- a/test_rclcpp/test/test_spin.cpp
+++ b/test_rclcpp/test/test_spin.cpp
@@ -131,7 +131,7 @@ TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete) {
   std::shared_future<bool> future(promise.get_future());
 
   // Make a timer to complete the promise in the future
-  auto callback = [&promise](rclcpp::timer::TimerBase & timer) {
+  auto callback = [&promise](rclcpp::TimerBase & timer) {
       promise.set_value(true);
       timer.cancel();
     };
@@ -182,7 +182,7 @@ TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete_interr
 
   // Create a timer that will shut down rclcpp before
   auto shutdown_callback = []() {
-      rclcpp::utilities::shutdown();
+      rclcpp::shutdown();
     };
   auto shutdown_timer = node->create_wall_timer(std::chrono::milliseconds(25), shutdown_callback);
 
diff --git a/test_rclcpp/test/test_timer.cpp b/test_rclcpp/test/test_timer.cpp
index f9f1be71..b32b24c7 100644
--- a/test_rclcpp/test/test_timer.cpp
+++ b/test_rclcpp/test/test_timer.cpp
@@ -137,7 +137,7 @@ TEST(CLASSNAME(test_time, RMW_IMPLEMENTATION), finite_timer) {
 
   int counter = 0;
   auto callback =
-    [&counter](rclcpp::timer::TimerBase & timer) -> void
+    [&counter](rclcpp::TimerBase & timer) -> void
     {
       ++counter;
       printf("  callback() %d\n", counter);
diff --git a/test_security/test/test_secure_publisher.cpp b/test_security/test/test_secure_publisher.cpp
index 69fdafd3..f1375d5e 100644
--- a/test_security/test/test_secure_publisher.cpp
+++ b/test_security/test/test_secure_publisher.cpp
@@ -74,7 +74,7 @@ int main(int argc, char ** argv)
   std::string namespace_ = argv[2];
   std::string node_name = "publisher";
   std::string topic_name = "chatter";
-  std::shared_ptr<rclcpp::node::Node> node = nullptr;
+  std::shared_ptr<rclcpp::Node> node = nullptr;
   try {
     node = rclcpp::Node::make_shared(node_name, namespace_);
   } catch (std::runtime_error & exc) {
diff --git a/test_security/test/test_secure_subscriber.cpp b/test_security/test/test_secure_subscriber.cpp
index 1ca551ee..fbba68c6 100644
--- a/test_security/test/test_secure_subscriber.cpp
+++ b/test_security/test/test_secure_subscriber.cpp
@@ -25,7 +25,7 @@
 using namespace std::chrono_literals;
 
 template<typename T>
-rclcpp::subscription::SubscriptionBase::SharedPtr attempt_subscribe(
+rclcpp::SubscriptionBase::SharedPtr attempt_subscribe(
   rclcpp::Node::SharedPtr node,
   const std::string & topic_name,
   std::vector<typename T::SharedPtr> & expected_messages,
@@ -74,7 +74,7 @@ rclcpp::subscription::SubscriptionBase::SharedPtr attempt_subscribe(
 }
 
 template<typename T>
-rclcpp::subscription::SubscriptionBase::SharedPtr attempt_subscribe(
+rclcpp::SubscriptionBase::SharedPtr attempt_subscribe(
   rclcpp::Node::SharedPtr node,
   const std::string & topic_name,
   bool & sub_callback_called,
@@ -128,7 +128,7 @@ int main(int argc, char ** argv)
     ((0 == strcmp(argv[2], "false")) || (0 == strcmp(argv[2], "0"))) ? false : true;
 
   rclcpp::init(argc, argv);
-  std::shared_ptr<rclcpp::node::Node> node = nullptr;
+  std::shared_ptr<rclcpp::Node> node = nullptr;
   try {
     node = rclcpp::Node::make_shared(node_name, namespace_);
   } catch (std::runtime_error & exc) {
@@ -136,7 +136,7 @@ int main(int argc, char ** argv)
     rclcpp::shutdown();
     return 1;
   }
-  rclcpp::subscription::SubscriptionBase::SharedPtr subscriber;
+  rclcpp::SubscriptionBase::SharedPtr subscriber;
 
   if (!should_timeout) {
     std::vector<bool> received_messages;  // collect flags about received messages