diff --git a/rclcpp/include/rclcpp/client.hpp b/rclcpp/include/rclcpp/client.hpp
index fc6c846d2a..080c8f9c08 100644
--- a/rclcpp/include/rclcpp/client.hpp
+++ b/rclcpp/include/rclcpp/client.hpp
@@ -160,7 +160,7 @@ class ClientBase
   void
   set_events_executor_callback(
     const rclcpp::executors::EventsExecutor * executor,
-    EventsExecutorCallback executor_callback) const;
+    rmw_listener_cb_t executor_callback) const;
 
   RCLCPP_PUBLIC
   void
diff --git a/rclcpp/include/rclcpp/executors/events_executor.hpp b/rclcpp/include/rclcpp/executors/events_executor.hpp
index 339aae4bc6..1c78f79728 100644
--- a/rclcpp/include/rclcpp/executors/events_executor.hpp
+++ b/rclcpp/include/rclcpp/executors/events_executor.hpp
@@ -26,7 +26,7 @@
 #include "rclcpp/executors/timers_manager.hpp"
 #include "rclcpp/node.hpp"
 
-#include "rmw/executor_event_types.h"
+#include "rmw/listener_event_types.h"
 
 namespace rclcpp
 {
@@ -176,13 +176,13 @@ class EventsExecutor : public rclcpp::Executor
 
   // Event queue implementation is a deque only to
   // facilitate the removal of events from expired entities.
-  using EventQueue = std::deque<ExecutorEvent>;
+  using EventQueue = std::deque<rmw_listener_event_t>;
 
   // Executor callback: Push new events into the queue and trigger cv.
   // This function is called by the DDS entities when an event happened,
   // like a subscription receiving a message.
   static void
-  push_event(const void * executor_ptr, ExecutorEvent event)
+  push_event(const void * executor_ptr, rmw_listener_event_t event)
   {
     // Cast executor_ptr to this (need to remove constness)
     auto this_executor = const_cast<executors::EventsExecutor *>(
@@ -217,18 +217,18 @@ class EventsExecutor : public rclcpp::Executor
       event_queue_.erase(
         std::remove_if(
           event_queue_.begin(), event_queue_.end(),
-          [&entity](ExecutorEvent event) {return event.entity == entity;}), event_queue_.end());
+          [&entity](rmw_listener_event_t event) {return event.entity == entity;}), event_queue_.end());
     }
 
     // Remove events associated with this entity from the local event queue
     {
       std::unique_lock<std::mutex> lock(execution_mutex_);
-      local_event_queue_.erase(
+      execution_event_queue_.erase(
         std::remove_if(
-          local_event_queue_.begin(), local_event_queue_.end(),
-          [&entity](ExecutorEvent event) {
+          execution_event_queue_.begin(), execution_event_queue_.end(),
+          [&entity](rmw_listener_event_t event) {
             return event.entity == entity;
-          }), local_event_queue_.end());
+          }), execution_event_queue_.end());
     }
   }
 
@@ -240,11 +240,11 @@ class EventsExecutor : public rclcpp::Executor
   // Execute a single event
   RCLCPP_PUBLIC
   void
-  execute_event(const ExecutorEvent & event);
+  execute_event(const rmw_listener_event_t & event);
 
   // We use two instances of EventQueue to allow threads to push events while we execute them
   EventQueue event_queue_;
-  EventQueue local_event_queue_;
+  EventQueue execution_event_queue_;
 
   EventsExecutorEntitiesCollector::SharedPtr entities_collector_;
   EventsExecutorNotifyWaitable::SharedPtr executor_notifier_;
diff --git a/rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp b/rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp
index 5b2398c13d..ce67004ca5 100644
--- a/rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp
+++ b/rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp
@@ -64,10 +64,10 @@ class EventsExecutorNotifyWaitable final : public EventWaitable
   void
   set_events_executor_callback(
     const rclcpp::executors::EventsExecutor * executor,
-    EventsExecutorCallback executor_callback) const override
+    rmw_listener_cb_t executor_callback) const override
   {
     for (auto gc : notify_guard_conditions_) {
-      rcl_ret_t ret = rcl_guard_condition_set_events_executor_callback(
+      rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
         executor,
         executor_callback,
         this,
diff --git a/rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp b/rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp
index d8be34cc74..c5d2e33455 100644
--- a/rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp
+++ b/rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp
@@ -74,7 +74,7 @@ class SubscriptionIntraProcessBase : public rclcpp::Waitable
   void
   set_events_executor_callback(
     const rclcpp::executors::EventsExecutor * executor,
-    EventsExecutorCallback executor_callback) const override;
+    rmw_listener_cb_t executor_callback) const override;
 
 protected:
   std::recursive_mutex reentrant_mutex_;
diff --git a/rclcpp/include/rclcpp/qos_event.hpp b/rclcpp/include/rclcpp/qos_event.hpp
index b21d58ae2c..f43e0712cb 100644
--- a/rclcpp/include/rclcpp/qos_event.hpp
+++ b/rclcpp/include/rclcpp/qos_event.hpp
@@ -110,7 +110,7 @@ class QOSEventHandlerBase : public Waitable
   void
   set_events_executor_callback(
     const rclcpp::executors::EventsExecutor * executor,
-    EventsExecutorCallback executor_callback) const override;
+    rmw_listener_cb_t executor_callback) const override;
 
 protected:
   rcl_event_t event_handle_;
diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
index 5a3590cc43..9e33c05374 100644
--- a/rclcpp/include/rclcpp/service.hpp
+++ b/rclcpp/include/rclcpp/service.hpp
@@ -130,7 +130,7 @@ class ServiceBase
   void
   set_events_executor_callback(
     const rclcpp::executors::EventsExecutor * executor,
-    EventsExecutorCallback executor_callback) const;
+    rmw_listener_cb_t executor_callback) const;
 
   RCLCPP_PUBLIC
   void
diff --git a/rclcpp/include/rclcpp/subscription_base.hpp b/rclcpp/include/rclcpp/subscription_base.hpp
index ccdb57f77c..f9a591dbd1 100644
--- a/rclcpp/include/rclcpp/subscription_base.hpp
+++ b/rclcpp/include/rclcpp/subscription_base.hpp
@@ -273,7 +273,7 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
   void
   set_events_executor_callback(
     const rclcpp::executors::EventsExecutor * executor,
-    EventsExecutorCallback executor_callback) const;
+    rmw_listener_cb_t executor_callback) const;
 
   RCLCPP_PUBLIC
   void
diff --git a/rclcpp/include/rclcpp/waitable.hpp b/rclcpp/include/rclcpp/waitable.hpp
index d1e2eb622c..8e45533754 100644
--- a/rclcpp/include/rclcpp/waitable.hpp
+++ b/rclcpp/include/rclcpp/waitable.hpp
@@ -176,7 +176,7 @@ class Waitable
   void
   set_events_executor_callback(
     const rclcpp::executors::EventsExecutor * executor,
-    EventsExecutorCallback executor_callback) const;
+    rmw_listener_cb_t executor_callback) const;
 
   RCLCPP_PUBLIC
   void
diff --git a/rclcpp/src/rclcpp/client.cpp b/rclcpp/src/rclcpp/client.cpp
index 5484597689..55fdbca3b4 100644
--- a/rclcpp/src/rclcpp/client.cpp
+++ b/rclcpp/src/rclcpp/client.cpp
@@ -205,9 +205,9 @@ ClientBase::exchange_in_use_by_wait_set_state(bool in_use_state)
 void
 ClientBase::set_events_executor_callback(
   const rclcpp::executors::EventsExecutor * executor,
-  EventsExecutorCallback executor_callback) const
+  rmw_listener_cb_t executor_callback) const
 {
-  rcl_ret_t ret = rcl_client_set_events_executor_callback(
+  rcl_ret_t ret = rcl_client_set_listener_callback(
     executor,
     executor_callback,
     this,
diff --git a/rclcpp/src/rclcpp/executors/events_executor.cpp b/rclcpp/src/rclcpp/executors/events_executor.cpp
index fbe5fdc65f..0ac56f6e34 100644
--- a/rclcpp/src/rclcpp/executors/events_executor.cpp
+++ b/rclcpp/src/rclcpp/executors/events_executor.cpp
@@ -67,11 +67,11 @@ EventsExecutor::spin()
     event_queue_cv_.wait(push_lock, has_event_predicate);
     std::unique_lock<std::mutex> execution_lock(execution_mutex_);
     // We got an event! Swap queues while we hold both mutexes
-    std::swap(local_event_queue_, event_queue_);
+    std::swap(execution_event_queue_, event_queue_);
     // After swapping the queues, we don't need the push lock anymore
     push_lock.unlock();
     // Consume events while under the execution lock only
-    this->consume_all_events(local_event_queue_);
+    this->consume_all_events(execution_event_queue_);
   }
   timers_manager_->stop();
 }
@@ -108,9 +108,9 @@ EventsExecutor::spin_some(std::chrono::nanoseconds max_duration)
   std::unique_lock<std::mutex> push_lock(push_mutex_);
   event_queue_cv_.wait_for(push_lock, max_duration, has_event_predicate);
   std::unique_lock<std::mutex> execution_lock(execution_mutex_);
-  std::swap(local_event_queue_, event_queue_);
+  std::swap(execution_event_queue_, event_queue_);
   push_lock.unlock();
-  this->consume_all_events(local_event_queue_);
+  this->consume_all_events(execution_event_queue_);
   execution_lock.unlock();
 
   timers_manager_->execute_ready_timers();
@@ -154,18 +154,18 @@ EventsExecutor::spin_all(std::chrono::nanoseconds max_duration)
   while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
     std::unique_lock<std::mutex> push_lock(push_mutex_);
     std::unique_lock<std::mutex> execution_lock(execution_mutex_);
-    std::swap(local_event_queue_, event_queue_);
+    std::swap(execution_event_queue_, event_queue_);
     push_lock.unlock();
 
     bool ready_timer = timers_manager_->get_head_timeout() < 0ns;
-    bool has_events = !local_event_queue_.empty();
+    bool has_events = !execution_event_queue_.empty();
     if (!ready_timer && !has_events) {
       // Exit as there is no more work to do
       break;
     }
     // Execute all ready work
 
-    this->consume_all_events(local_event_queue_);
+    this->consume_all_events(execution_event_queue_);
     execution_lock.unlock();
 
     timers_manager_->execute_ready_timers();
@@ -189,7 +189,7 @@ EventsExecutor::spin_once_impl(std::chrono::nanoseconds timeout)
   // When condition variable is notified, check this predicate to proceed
   auto has_event_predicate = [this]() {return !event_queue_.empty();};
 
-  ExecutorEvent event;
+  rmw_listener_event_t event;
   bool has_event = false;
 
   {
@@ -255,7 +255,7 @@ void
 EventsExecutor::consume_all_events(EventQueue & event_queue)
 {
   while (!event_queue.empty()) {
-    ExecutorEvent event = event_queue.front();
+    rmw_listener_event_t event = event_queue.front();
     event_queue.pop_front();
 
     this->execute_event(event);
@@ -263,7 +263,7 @@ EventsExecutor::consume_all_events(EventQueue & event_queue)
 }
 
 void
-EventsExecutor::execute_event(const ExecutorEvent & event)
+EventsExecutor::execute_event(const rmw_listener_event_t & event)
 {
   switch (event.type) {
     case SUBSCRIPTION_EVENT:
diff --git a/rclcpp/src/rclcpp/executors/events_executor_entities_collector.cpp b/rclcpp/src/rclcpp/executors/events_executor_entities_collector.cpp
index d7bef87097..1b214b27d8 100644
--- a/rclcpp/src/rclcpp/executors/events_executor_entities_collector.cpp
+++ b/rclcpp/src/rclcpp/executors/events_executor_entities_collector.cpp
@@ -484,7 +484,7 @@ void
 EventsExecutorEntitiesCollector::set_guard_condition_callback(
   const rcl_guard_condition_t * guard_condition)
 {
-  rcl_ret_t ret = rcl_guard_condition_set_events_executor_callback(
+  rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
     associated_executor_,
     &EventsExecutor::push_event,
     this,
@@ -500,7 +500,7 @@ void
 EventsExecutorEntitiesCollector::unset_guard_condition_callback(
   const rcl_guard_condition_t * guard_condition)
 {
-  rcl_ret_t ret = rcl_guard_condition_set_events_executor_callback(
+  rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
     nullptr,
     nullptr,
     nullptr,
diff --git a/rclcpp/src/rclcpp/qos_event.cpp b/rclcpp/src/rclcpp/qos_event.cpp
index 910c6cb7ff..4e14f1bc13 100644
--- a/rclcpp/src/rclcpp/qos_event.cpp
+++ b/rclcpp/src/rclcpp/qos_event.cpp
@@ -75,9 +75,9 @@ QOSEventHandlerBase::is_ready(rcl_wait_set_t * wait_set)
 void
 QOSEventHandlerBase::set_events_executor_callback(
   const rclcpp::executors::EventsExecutor * executor,
-  EventsExecutorCallback executor_callback) const
+  rmw_listener_cb_t executor_callback) const
 {
-  rcl_ret_t ret = rcl_event_set_events_executor_callback(
+  rcl_ret_t ret = rcl_event_set_listener_callback(
     executor,
     executor_callback,
     this,
diff --git a/rclcpp/src/rclcpp/service.cpp b/rclcpp/src/rclcpp/service.cpp
index ca1e2e4db3..f4e4092962 100644
--- a/rclcpp/src/rclcpp/service.cpp
+++ b/rclcpp/src/rclcpp/service.cpp
@@ -92,9 +92,9 @@ ServiceBase::exchange_in_use_by_wait_set_state(bool in_use_state)
 void
 ServiceBase::set_events_executor_callback(
   const rclcpp::executors::EventsExecutor * executor,
-  EventsExecutorCallback executor_callback) const
+  rmw_listener_cb_t executor_callback) const
 {
-  rcl_ret_t ret = rcl_service_set_events_executor_callback(
+  rcl_ret_t ret = rcl_service_set_listener_callback(
     executor,
     executor_callback,
     this,
diff --git a/rclcpp/src/rclcpp/subscription_base.cpp b/rclcpp/src/rclcpp/subscription_base.cpp
index 099f376618..81b6c91646 100644
--- a/rclcpp/src/rclcpp/subscription_base.cpp
+++ b/rclcpp/src/rclcpp/subscription_base.cpp
@@ -296,9 +296,9 @@ SubscriptionBase::exchange_in_use_by_wait_set_state(
 void
 SubscriptionBase::set_events_executor_callback(
   const rclcpp::executors::EventsExecutor * executor,
-  EventsExecutorCallback executor_callback) const
+  rmw_listener_cb_t executor_callback) const
 {
-  rcl_ret_t ret = rcl_subscription_set_events_executor_callback(
+  rcl_ret_t ret = rcl_subscription_set_listener_callback(
     executor,
     executor_callback,
     this,
diff --git a/rclcpp/src/rclcpp/subscription_intra_process_base.cpp b/rclcpp/src/rclcpp/subscription_intra_process_base.cpp
index a3053b8e6d..4a2a4ccc3d 100644
--- a/rclcpp/src/rclcpp/subscription_intra_process_base.cpp
+++ b/rclcpp/src/rclcpp/subscription_intra_process_base.cpp
@@ -47,9 +47,9 @@ SubscriptionIntraProcessBase::get_actual_qos() const
 void
 SubscriptionIntraProcessBase::set_events_executor_callback(
   const rclcpp::executors::EventsExecutor * executor,
-  EventsExecutorCallback executor_callback) const
+  rmw_listener_cb_t executor_callback) const
 {
-  rcl_ret_t ret = rcl_guard_condition_set_events_executor_callback(
+  rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
     executor,
     executor_callback,
     this,
diff --git a/rclcpp/src/rclcpp/waitable.cpp b/rclcpp/src/rclcpp/waitable.cpp
index 6f730f13c6..1df8e2090f 100644
--- a/rclcpp/src/rclcpp/waitable.cpp
+++ b/rclcpp/src/rclcpp/waitable.cpp
@@ -63,7 +63,7 @@ Waitable::exchange_in_use_by_wait_set_state(bool in_use_state)
 void
 Waitable::set_events_executor_callback(
   const rclcpp::executors::EventsExecutor * executor,
-  EventsExecutorCallback executor_callback) const
+  rmw_listener_cb_t executor_callback) const
 {
   (void)executor;
   (void)executor_callback;
diff --git a/rclcpp/test/rclcpp/executors/test_events_executor.cpp b/rclcpp/test/rclcpp/executors/test_events_executor.cpp
index 93258e3d83..8fad5b40b0 100644
--- a/rclcpp/test/rclcpp/executors/test_events_executor.cpp
+++ b/rclcpp/test/rclcpp/executors/test_events_executor.cpp
@@ -54,7 +54,7 @@ TEST_F(TestEventsExecutor, notify_waitable)
 
   {
     auto mock = mocking_utils::patch_and_return(
-      "lib:rclcpp", rcl_guard_condition_set_events_executor_callback, RCL_RET_ERROR);
+      "lib:rclcpp", rcl_guard_condition_set_listener_callback, RCL_RET_ERROR);
     EXPECT_THROW(std::make_shared<EventsExecutor>(), std::runtime_error);
   }
 }
diff --git a/rclcpp/test/rclcpp/executors/test_events_executor_entities_collector.cpp b/rclcpp/test/rclcpp/executors/test_events_executor_entities_collector.cpp
index 47f0cc017d..1860ffd2c1 100644
--- a/rclcpp/test/rclcpp/executors/test_events_executor_entities_collector.cpp
+++ b/rclcpp/test/rclcpp/executors/test_events_executor_entities_collector.cpp
@@ -165,7 +165,7 @@ TEST_F(TestEventsExecutorEntitiesCollector, test_fancy_name)
 
   {
     auto mock = mocking_utils::patch_and_return(
-      "lib:rclcpp", rcl_guard_condition_set_events_executor_callback, RCL_RET_ERROR);
+      "lib:rclcpp", rcl_guard_condition_set_listener_callback, RCL_RET_ERROR);
 
     EXPECT_THROW(
       entities_collector_->add_node(node2->get_node_base_interface()),
diff --git a/rclcpp/test/rclcpp/executors/test_executors.cpp b/rclcpp/test/rclcpp/executors/test_executors.cpp
index 355e8f60f7..f6a66768c7 100644
--- a/rclcpp/test/rclcpp/executors/test_executors.cpp
+++ b/rclcpp/test/rclcpp/executors/test_executors.cpp
@@ -467,9 +467,9 @@ class TestWaitable : public rclcpp::Waitable
   void
   set_events_executor_callback(
     const rclcpp::executors::EventsExecutor * executor,
-    EventsExecutorCallback executor_callback) const override
+    rmw_listener_cb_t executor_callback) const override
   {
-    rcl_ret_t ret = rcl_guard_condition_set_events_executor_callback(
+    rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
       executor,
       executor_callback,
       this,