diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_context_impl.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_context_impl.hpp
index c9e206ec2..3d8fad7e2 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_context_impl.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_context_impl.hpp
@@ -17,7 +17,8 @@
 
 #include <mutex>
 
-struct rmw_context_impl_t
+// Definition of struct rmw_context_impl_s as declared in rmw/init.h
+struct rmw_context_impl_s
 {
   /// Pointer to `rmw_dds_common::Context`.
   void * common;