diff --git a/rcl/include/rcl/client.h b/rcl/include/rcl/client.h
index 6e3bc478a..7ca81d2a8 100644
--- a/rcl/include/rcl/client.h
+++ b/rcl/include/rcl/client.h
@@ -26,7 +26,7 @@ extern "C"
 #include "rcl/node.h"
 #include "rcl/visibility_control.h"
 
-#include "rmw/listener_event_types.h"
+#include "rmw/listener_callback_type.h"
 
 /// Internal rcl client implementation struct.
 struct rcl_client_impl_t;
diff --git a/rcl/include/rcl/guard_condition.h b/rcl/include/rcl/guard_condition.h
index e69beb331..007874516 100644
--- a/rcl/include/rcl/guard_condition.h
+++ b/rcl/include/rcl/guard_condition.h
@@ -26,7 +26,7 @@ extern "C"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
 
-#include "rmw/listener_event_types.h"
+#include "rmw/listener_callback_type.h"
 
 /// Internal rcl guard condition implementation struct.
 struct rcl_guard_condition_impl_t;
diff --git a/rcl/include/rcl/service.h b/rcl/include/rcl/service.h
index 2ba693e32..787d29a71 100644
--- a/rcl/include/rcl/service.h
+++ b/rcl/include/rcl/service.h
@@ -26,7 +26,7 @@ extern "C"
 #include "rcl/node.h"
 #include "rcl/visibility_control.h"
 
-#include "rmw/listener_event_types.h"
+#include "rmw/listener_callback_type.h"
 
 /// Internal rcl implementation struct.
 struct rcl_service_impl_t;
diff --git a/rcl/include/rcl/subscription.h b/rcl/include/rcl/subscription.h
index 60664aec2..18a950f6d 100644
--- a/rcl/include/rcl/subscription.h
+++ b/rcl/include/rcl/subscription.h
@@ -26,7 +26,7 @@ extern "C"
 #include "rcl/node.h"
 #include "rcl/visibility_control.h"
 
-#include "rmw/listener_event_types.h"
+#include "rmw/listener_callback_type.h"
 #include "rmw/message_sequence.h"
 
 /// Internal rcl implementation struct.