diff --git a/rcl/include/rcl/client.h b/rcl/include/rcl/client.h
index 803cc072d..6e3bc478a 100644
--- a/rcl/include/rcl/client.h
+++ b/rcl/include/rcl/client.h
@@ -415,8 +415,7 @@ rcl_ret_t
 rcl_client_set_listener_callback(
   const rcl_client_t * client,
   rmw_listener_callback_t listener_callback,
-  void * user_data,
-  const void * client_handle);
+  const void * user_data);
 
 #ifdef __cplusplus
 }
diff --git a/rcl/include/rcl/event.h b/rcl/include/rcl/event.h
index a999a460d..d5974483a 100644
--- a/rcl/include/rcl/event.h
+++ b/rcl/include/rcl/event.h
@@ -199,8 +199,7 @@ rcl_ret_t
 rcl_event_set_listener_callback(
   const rcl_event_t * event,
   rmw_listener_callback_t listener_callback,
-  void * user_data,
-  const void * event_handle,
+  const void * user_data,
   bool use_previous_events);
 
 #ifdef __cplusplus
diff --git a/rcl/include/rcl/guard_condition.h b/rcl/include/rcl/guard_condition.h
index 7913eeff8..e69beb331 100644
--- a/rcl/include/rcl/guard_condition.h
+++ b/rcl/include/rcl/guard_condition.h
@@ -266,8 +266,7 @@ rcl_ret_t
 rcl_guard_condition_set_listener_callback(
   const rcl_guard_condition_t * guard_condition,
   rmw_listener_callback_t listener_callback,
-  void * user_data,
-  const void * guard_condition_handle,
+  const void * user_data,
   bool use_previous_events);
 
 #ifdef __cplusplus
diff --git a/rcl/include/rcl/service.h b/rcl/include/rcl/service.h
index ad56cee0a..2ba693e32 100644
--- a/rcl/include/rcl/service.h
+++ b/rcl/include/rcl/service.h
@@ -429,8 +429,7 @@ rcl_ret_t
 rcl_service_set_listener_callback(
   const rcl_service_t * service,
   rmw_listener_callback_t listener_callback,
-  void * user_data,
-  const void * service_handle);
+  const void * user_data);
 
 #ifdef __cplusplus
 }
diff --git a/rcl/include/rcl/subscription.h b/rcl/include/rcl/subscription.h
index ec6099f28..60664aec2 100644
--- a/rcl/include/rcl/subscription.h
+++ b/rcl/include/rcl/subscription.h
@@ -611,8 +611,7 @@ rcl_ret_t
 rcl_subscription_set_listener_callback(
   const rcl_subscription_t * subscription,
   rmw_listener_callback_t listener_callback,
-  void * user_data,
-  const void * subscription_handle);
+  const void * user_data);
 
 #ifdef __cplusplus
 }
diff --git a/rcl/src/rcl/client.c b/rcl/src/rcl/client.c
index a630a2313..1c35e9456 100644
--- a/rcl/src/rcl/client.c
+++ b/rcl/src/rcl/client.c
@@ -285,14 +285,12 @@ rcl_ret_t
 rcl_client_set_listener_callback(
   const rcl_client_t * client,
   rmw_listener_callback_t listener_callback,
-  void * user_data,
-  const void * client_handle)
+  const void * user_data)
 {
   return rmw_client_set_listener_callback(
-            client->impl->rmw_handle,
-            listener_callback,
-            user_data,
-            client_handle);
+    client->impl->rmw_handle,
+    listener_callback,
+    user_data);
 }
 
 #ifdef __cplusplus
diff --git a/rcl/src/rcl/event.c b/rcl/src/rcl/event.c
index c55c94c10..b4cf09b69 100644
--- a/rcl/src/rcl/event.c
+++ b/rcl/src/rcl/event.c
@@ -222,16 +222,14 @@ rcl_ret_t
 rcl_event_set_listener_callback(
   const rcl_event_t * event,
   rmw_listener_callback_t listener_callback,
-  void * user_data,
-  const void * event_handle,
+  const void * user_data,
   bool use_previous_events)
 {
   return rmw_event_set_listener_callback(
-            &event->impl->rmw_handle,
-            listener_callback,
-            user_data,
-            event_handle,
-            use_previous_events);
+    &event->impl->rmw_handle,
+    listener_callback,
+    user_data,
+    use_previous_events);
 }
 
 #ifdef __cplusplus
diff --git a/rcl/src/rcl/guard_condition.c b/rcl/src/rcl/guard_condition.c
index 1d5e0a060..cac4bfc42 100644
--- a/rcl/src/rcl/guard_condition.c
+++ b/rcl/src/rcl/guard_condition.c
@@ -190,16 +190,14 @@ rcl_ret_t
 rcl_guard_condition_set_listener_callback(
   const rcl_guard_condition_t * guard_condition,
   rmw_listener_callback_t listener_callback,
-  void * user_data,
-  const void * guard_condition_handle,
+  const void * user_data,
   bool use_previous_events)
 {
   return rmw_guard_condition_set_listener_callback(
-            guard_condition->impl->rmw_handle,
-            listener_callback,
-            user_data,
-            guard_condition_handle,
-            use_previous_events);
+    guard_condition->impl->rmw_handle,
+    listener_callback,
+    user_data,
+    use_previous_events);
 }
 
 #ifdef __cplusplus
diff --git a/rcl/src/rcl/service.c b/rcl/src/rcl/service.c
index 992019cc5..dd39176a8 100644
--- a/rcl/src/rcl/service.c
+++ b/rcl/src/rcl/service.c
@@ -305,14 +305,12 @@ rcl_ret_t
 rcl_service_set_listener_callback(
   const rcl_service_t * service,
   rmw_listener_callback_t listener_callback,
-  void * user_data,
-  const void * service_handle)
+  const void * user_data)
 {
   return rmw_service_set_listener_callback(
-            service->impl->rmw_handle,
-            listener_callback,
-            user_data,
-            service_handle);
+    service->impl->rmw_handle,
+    listener_callback,
+    user_data);
 }
 
 
diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
index dda9cede0..57fc2dc46 100644
--- a/rcl/src/rcl/subscription.c
+++ b/rcl/src/rcl/subscription.c
@@ -441,14 +441,12 @@ rcl_ret_t
 rcl_subscription_set_listener_callback(
   const rcl_subscription_t * subscription,
   rmw_listener_callback_t listener_callback,
-  void * user_data,
-  const void * subscription_handle)
+  const void * user_data)
 {
   return rmw_subscription_set_listener_callback(
-            subscription->impl->rmw_handle,
-            listener_callback,
-            user_data,
-            subscription_handle);
+    subscription->impl->rmw_handle,
+    listener_callback,
+    user_data);
 }
 
 #ifdef __cplusplus