diff --git a/rcl_lifecycle/include/rcl_lifecycle/data_types.h b/rcl_lifecycle/include/rcl_lifecycle/data_types.h
index 62516ac3e..d4b5498c7 100644
--- a/rcl_lifecycle/include/rcl_lifecycle/data_types.h
+++ b/rcl_lifecycle/include/rcl_lifecycle/data_types.h
@@ -24,10 +24,7 @@ extern "C"
 {
 #endif
 
-typedef int rcl_lifecycle_ret_t;
-#define RCL_LIFECYCLE_RET_OK -1
-#define RCL_LIFECYCLE_RET_FAILURE -2
-#define RCL_LIFECYCLE_RET_ERROR -3
+typedef uint8_t rcl_lifecycle_transition_key_t;
 
 typedef struct rcl_lifecycle_transition_t rcl_lifecycle_transition_t;
 
@@ -45,8 +42,7 @@ typedef struct rcl_lifecycle_state_t
   // is "unconfigured_shutdown". However, the user only specifies
   // "shutdown". So we register the "unconfigured_shutdown"
   // transition with the impuls "shutdown".
-  // TODO(karsten1987): Introduce new type for valid_transition_keys
-  rcl_lifecycle_ret_t * valid_transition_keys;
+  rcl_lifecycle_transition_key_t * valid_transition_keys;
   rcl_lifecycle_transition_t * valid_transitions;
   unsigned int valid_transition_size;
 } rcl_lifecycle_state_t;
@@ -59,8 +55,6 @@ typedef struct rcl_lifecycle_transition_t
   const rcl_lifecycle_state_t * goal;
 } rcl_lifecycle_transition_t;
 
-// TODO(karsten1987): Rename map as it is no
-// associated array any longer
 typedef struct rcl_lifecycle_transition_map_t
 {
   rcl_lifecycle_state_t * states;
diff --git a/rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h b/rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h
index 92167a9ba..34f6fcbd4 100644
--- a/rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h
+++ b/rcl_lifecycle/include/rcl_lifecycle/rcl_lifecycle.h
@@ -62,7 +62,7 @@ RCL_WARN_UNUSED
 const rcl_lifecycle_transition_t *
 rcl_lifecycle_is_valid_callback_transition(
   rcl_lifecycle_state_machine_t * state_machine,
-  rcl_lifecycle_ret_t key);
+  rcl_lifecycle_transition_key_t key);
 
 /// Execute a transition
 /*
@@ -80,7 +80,7 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_lifecycle_trigger_transition(
   rcl_lifecycle_state_machine_t * state_machine,
-  rcl_lifecycle_ret_t key, bool publish_notification);
+  rcl_lifecycle_transition_key_t key, bool publish_notification);
 
 RCL_LIFECYCLE_PUBLIC
 void
diff --git a/rcl_lifecycle/include/rcl_lifecycle/transition_map.h b/rcl_lifecycle/include/rcl_lifecycle/transition_map.h
index 17203cdd7..c7528c298 100644
--- a/rcl_lifecycle/include/rcl_lifecycle/transition_map.h
+++ b/rcl_lifecycle/include/rcl_lifecycle/transition_map.h
@@ -57,7 +57,7 @@ rcl_ret_t
 rcl_lifecycle_register_transition(
   rcl_lifecycle_transition_map_t * transition_map,
   rcl_lifecycle_transition_t transition,
-  rcl_lifecycle_ret_t key,
+  rcl_lifecycle_transition_key_t key,
   const rcl_allocator_t * allocator);
 
 RCL_LIFECYCLE_PUBLIC
diff --git a/rcl_lifecycle/src/default_state_machine.c b/rcl_lifecycle/src/default_state_machine.c
index 95421f3c8..711bb9db2 100644
--- a/rcl_lifecycle/src/default_state_machine.c
+++ b/rcl_lifecycle/src/default_state_machine.c
@@ -32,6 +32,10 @@ extern "C"
 {
 #endif
 
+rcl_lifecycle_transition_key_t * empty_transition_key = NULL;
+rcl_lifecycle_transition_t * empty_transition = NULL;
+unsigned int empty_transition_size = 0;
+
 // Primary States
 const rcl_lifecycle_state_t rcl_state_unknown =
 {"unknown", lifecycle_msgs__msg__State__PRIMARY_STATE_UNKNOWN,
@@ -235,7 +239,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_configure_success,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -243,7 +247,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_configure_failure,
-    RCL_LIFECYCLE_RET_FAILURE,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -251,7 +255,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_configure_error,
-    RCL_LIFECYCLE_RET_ERROR,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -269,7 +273,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_cleanup_success,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -277,7 +281,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_cleanup_failure,
-    RCL_LIFECYCLE_RET_FAILURE,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -285,7 +289,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_cleanup_error,
-    RCL_LIFECYCLE_RET_ERROR,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -303,7 +307,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_activate_success,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -311,7 +315,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_activate_failure,
-    RCL_LIFECYCLE_RET_FAILURE,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -319,7 +323,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_activate_error,
-    RCL_LIFECYCLE_RET_ERROR,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -337,7 +341,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_deactivate_success,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -345,7 +349,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_deactivate_failure,
-    RCL_LIFECYCLE_RET_FAILURE,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -353,7 +357,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_deactivate_error,
-    RCL_LIFECYCLE_RET_ERROR,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -387,7 +391,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_shutdown_success,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -395,7 +399,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_shutdown_failure,
-    RCL_LIFECYCLE_RET_FAILURE,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -403,7 +407,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_shutdown_error,
-    RCL_LIFECYCLE_RET_ERROR,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -413,7 +417,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_error_success,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -421,7 +425,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_error_failure,
-    RCL_LIFECYCLE_RET_FAILURE,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
@@ -429,7 +433,7 @@ rcl_lifecycle_init_default_state_machine(
   ret = rcl_lifecycle_register_transition(
     &state_machine->transition_map,
     rcl_transition_error_error,
-    RCL_LIFECYCLE_RET_ERROR,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
     allocator);
   if (ret != RCL_RET_OK) {
     goto fail;
diff --git a/rcl_lifecycle/src/rcl_lifecycle.c b/rcl_lifecycle/src/rcl_lifecycle.c
index 97545e611..a54c2a6e1 100644
--- a/rcl_lifecycle/src/rcl_lifecycle.c
+++ b/rcl_lifecycle/src/rcl_lifecycle.c
@@ -139,7 +139,7 @@ rcl_lifecycle_state_machine_is_initialized(const rcl_lifecycle_state_machine_t *
 const rcl_lifecycle_transition_t *
 rcl_lifecycle_is_valid_transition(
   rcl_lifecycle_state_machine_t * state_machine,
-  rcl_lifecycle_ret_t key)
+  rcl_lifecycle_transition_key_t key)
 {
   unsigned int current_id = state_machine->current_state->id;
   const rcl_lifecycle_state_t * current_state = rcl_lifecycle_get_state(
@@ -158,7 +158,7 @@ rcl_lifecycle_is_valid_transition(
 rcl_ret_t
 rcl_lifecycle_trigger_transition(
   rcl_lifecycle_state_machine_t * state_machine,
-  rcl_lifecycle_ret_t key, bool publish_notification)
+  rcl_lifecycle_transition_key_t key, bool publish_notification)
 {
   const rcl_lifecycle_transition_t * transition =
     rcl_lifecycle_is_valid_transition(state_machine, key);
diff --git a/rcl_lifecycle/src/transition_map.c b/rcl_lifecycle/src/transition_map.c
index 2a05e0248..20cb8b597 100644
--- a/rcl_lifecycle/src/transition_map.c
+++ b/rcl_lifecycle/src/transition_map.c
@@ -107,7 +107,7 @@ rcl_ret_t
 rcl_lifecycle_register_transition(
   rcl_lifecycle_transition_map_t * transition_map,
   rcl_lifecycle_transition_t transition,
-  rcl_lifecycle_ret_t key,
+  rcl_lifecycle_transition_key_t key,
   const rcutils_allocator_t * allocator)
 {
   RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
@@ -154,9 +154,9 @@ rcl_lifecycle_register_transition(
   }
   state->valid_transitions = new_valid_transitions;
 
-  rcl_lifecycle_ret_t * new_valid_transition_keys = allocator->reallocate(
+  rcl_lifecycle_transition_key_t * new_valid_transition_keys = allocator->reallocate(
     state->valid_transition_keys,
-    state->valid_transition_size * sizeof(rcl_lifecycle_ret_t),
+    state->valid_transition_size * sizeof(rcl_lifecycle_transition_key_t),
     allocator->state);
   if (!new_valid_transitions) {
     RCL_SET_ERROR_MSG(
diff --git a/rcl_lifecycle/test/test_default_state_machine.cpp b/rcl_lifecycle/test/test_default_state_machine.cpp
index e00a7327c..28d4ed54b 100644
--- a/rcl_lifecycle/test/test_default_state_machine.cpp
+++ b/rcl_lifecycle/test/test_default_state_machine.cpp
@@ -62,16 +62,16 @@ class TestDefaultStateMachine : public ::testing::Test
   }
 };
 
-std::vector<rcl_lifecycle_ret_t> keys =
+std::vector<rcl_lifecycle_transition_key_t> keys =
 {
   lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
   lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
   lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
   lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
   lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN,
-  RCL_LIFECYCLE_RET_OK,
-  RCL_LIFECYCLE_RET_FAILURE,
-  RCL_LIFECYCLE_RET_ERROR
+  lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
+  lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
+  lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR
 };
 
 void
@@ -120,7 +120,7 @@ TEST_F(TestDefaultStateMachine, default_sequence) {
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
 
@@ -132,7 +132,7 @@ TEST_F(TestDefaultStateMachine, default_sequence) {
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
 
@@ -144,7 +144,7 @@ TEST_F(TestDefaultStateMachine, default_sequence) {
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
 
@@ -156,7 +156,7 @@ TEST_F(TestDefaultStateMachine, default_sequence) {
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
     lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
 
@@ -168,7 +168,7 @@ TEST_F(TestDefaultStateMachine, default_sequence) {
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
     lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
 
@@ -205,9 +205,9 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
       lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
 
     for (auto it = keys.begin(); it != keys.end(); ++it) {
-      if (*it == RCL_LIFECYCLE_RET_OK ||
-        *it == RCL_LIFECYCLE_RET_FAILURE ||
-        *it == RCL_LIFECYCLE_RET_ERROR) {continue;}
+      if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS ||
+        *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE ||
+        *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR) {continue;}
 
       EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
       rcl_reset_error();
@@ -219,7 +219,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
   { // supposed to stay inactive for all invalid
     test_trigger_transition(
       &state_machine,
-      RCL_LIFECYCLE_RET_OK,
+      lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
       lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
       lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
 
@@ -245,9 +245,9 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
       lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
 
     for (auto it = keys.begin(); it != keys.end(); ++it) {
-      if (*it == RCL_LIFECYCLE_RET_OK ||
-        *it == RCL_LIFECYCLE_RET_FAILURE ||
-        *it == RCL_LIFECYCLE_RET_ERROR) {continue;}
+      if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS ||
+        *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE ||
+        *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR) {continue;}
 
       EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
       rcl_reset_error();
@@ -259,7 +259,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
   { // supposed to stay active for all invalid
     test_trigger_transition(
       &state_machine,
-      RCL_LIFECYCLE_RET_OK,
+      lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
       lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
       lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
 
@@ -283,9 +283,9 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
       lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
 
     for (auto it = keys.begin(); it != keys.end(); ++it) {
-      if (*it == RCL_LIFECYCLE_RET_OK ||
-        *it == RCL_LIFECYCLE_RET_FAILURE ||
-        *it == RCL_LIFECYCLE_RET_ERROR) {continue;}
+      if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS ||
+        *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE ||
+        *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR) {continue;}
 
       EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
       rcl_reset_error();
@@ -298,7 +298,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
     // skip inactive, we tested that already
     test_trigger_transition(
       &state_machine,
-      RCL_LIFECYCLE_RET_OK,
+      lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
       lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
       lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
     test_trigger_transition(
@@ -308,9 +308,9 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
       lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
 
     for (auto it = keys.begin(); it != keys.end(); ++it) {
-      if (*it == RCL_LIFECYCLE_RET_OK ||
-        *it == RCL_LIFECYCLE_RET_FAILURE ||
-        *it == RCL_LIFECYCLE_RET_ERROR) {continue;}
+      if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS ||
+        *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE ||
+        *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR) {continue;}
 
       EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
       rcl_reset_error();
@@ -322,7 +322,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
   { // supposed to stay shutting down for all invalid
     test_trigger_transition(
       &state_machine,
-      RCL_LIFECYCLE_RET_OK,
+      lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
       lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
       lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
     // shutdown directly, since we tested already unconfigured
@@ -333,9 +333,9 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
       lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
 
     for (auto it = keys.begin(); it != keys.end(); ++it) {
-      if (*it == RCL_LIFECYCLE_RET_OK ||
-        *it == RCL_LIFECYCLE_RET_FAILURE ||
-        *it == RCL_LIFECYCLE_RET_ERROR) {continue;}
+      if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS ||
+        *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE ||
+        *it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR) {continue;}
 
       EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
       rcl_reset_error();
@@ -347,7 +347,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
   { // supposed to stay finalized for all invalid
     test_trigger_transition(
       &state_machine,
-      RCL_LIFECYCLE_RET_OK,
+      lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
       lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
       lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
 
@@ -379,7 +379,7 @@ TEST_F(TestDefaultStateMachine, default_in_a_loop) {
 
     test_trigger_transition(
       &state_machine,
-      RCL_LIFECYCLE_RET_OK,
+      lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
       lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
       lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
 
@@ -391,7 +391,7 @@ TEST_F(TestDefaultStateMachine, default_in_a_loop) {
 
     test_trigger_transition(
       &state_machine,
-      RCL_LIFECYCLE_RET_OK,
+      lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
       lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
       lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
 
@@ -403,7 +403,7 @@ TEST_F(TestDefaultStateMachine, default_in_a_loop) {
 
     test_trigger_transition(
       &state_machine,
-      RCL_LIFECYCLE_RET_OK,
+      lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
       lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
       lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
 
@@ -415,7 +415,7 @@ TEST_F(TestDefaultStateMachine, default_in_a_loop) {
 
     test_trigger_transition(
       &state_machine,
-      RCL_LIFECYCLE_RET_OK,
+      lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
       lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
       lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
   }
@@ -428,7 +428,7 @@ TEST_F(TestDefaultStateMachine, default_in_a_loop) {
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
     lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
 
@@ -451,7 +451,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_FAILURE,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
     lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
 
@@ -464,7 +464,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
 
@@ -476,7 +476,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_FAILURE,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
     lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
 
@@ -489,7 +489,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
   test_trigger_transition(
@@ -500,7 +500,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_FAILURE,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
     lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
 
@@ -512,7 +512,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
     lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
   test_trigger_transition(
@@ -522,7 +522,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
     lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_FAILURE,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
     lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
     lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
 
@@ -534,7 +534,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
     lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
     lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
   test_trigger_transition(
@@ -544,7 +544,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
     lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_FAILURE,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
     lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
     lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
 
@@ -567,13 +567,13 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_ERROR,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
     lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
     lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
 
@@ -586,7 +586,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
 
@@ -598,13 +598,13 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_ERROR,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
     lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
     lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
 
@@ -617,7 +617,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
 
@@ -629,7 +629,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
 
@@ -640,13 +640,13 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
     lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_ERROR,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
     lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
     lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
 
@@ -658,7 +658,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
     lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
   test_trigger_transition(
@@ -668,13 +668,13 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
     lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_ERROR,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
     lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
     lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
 
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
 
@@ -686,12 +686,12 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
     lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_ERROR,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
     lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
     lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
   test_trigger_transition(
     &state_machine,
-    RCL_LIFECYCLE_RET_OK,
+    lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
     lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
     lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
 
@@ -716,13 +716,13 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
 
     test_trigger_transition(
       &state_machine,
-      RCL_LIFECYCLE_RET_ERROR,
+      lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
       lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
       lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
 
     test_trigger_transition(
       &state_machine,
-      RCL_LIFECYCLE_RET_FAILURE,
+      lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
       lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
       lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
 
@@ -744,7 +744,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
 
     test_trigger_transition(
       &state_machine,
-      RCL_LIFECYCLE_RET_OK,
+      lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
       lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
       lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
 
@@ -756,13 +756,13 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
 
     test_trigger_transition(
       &state_machine,
-      RCL_LIFECYCLE_RET_ERROR,
+      lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
       lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
       lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
 
     test_trigger_transition(
       &state_machine,
-      RCL_LIFECYCLE_RET_ERROR,
+      lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
       lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
       lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
   }