diff --git a/rmw_cyclonedds_cpp/CMakeLists.txt b/rmw_cyclonedds_cpp/CMakeLists.txt
index 480f1ac9..8e827481 100644
--- a/rmw_cyclonedds_cpp/CMakeLists.txt
+++ b/rmw_cyclonedds_cpp/CMakeLists.txt
@@ -63,11 +63,6 @@ add_library(rmw_cyclonedds_cpp
   src/Serialization.cpp
   src/TypeSupport2.cpp)
 
-target_include_directories(rmw_cyclonedds_cpp PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>
-)
-
 target_link_libraries(rmw_cyclonedds_cpp
   CycloneDDS::ddsc
 )
@@ -91,12 +86,6 @@ target_compile_definitions(${PROJECT_NAME}
     RMW_VERSION_PATCH=${rmw_VERSION_PATCH}
 )
 
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(${PROJECT_NAME}
-  PRIVATE "RMW_CYCLONEDDS_CPP_BUILDING_LIBRARY")
-
-ament_export_include_directories(include)
 ament_export_libraries(rmw_cyclonedds_cpp)
 
 register_rmw_implementation(
@@ -110,11 +99,6 @@ endif()
 
 ament_package()
 
-install(
-  DIRECTORY include/
-  DESTINATION include
-)
-
 install(
   TARGETS rmw_cyclonedds_cpp
   ARCHIVE DESTINATION lib
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/visibility_control.h b/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/visibility_control.h
deleted file mode 100644
index 11221c20..00000000
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/visibility_control.h
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright 2017 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/* This header must be included by all rclcpp headers which declare symbols
- * which are defined in the rclcpp library. When not building the rclcpp
- * library, i.e. when using the headers in other package's code, the contents
- * of this header change the visibility of certain symbols which the rclcpp
- * library cannot have, but the consuming code must have inorder to link.
- */
-
-#ifndef RMW_CYCLONEDDS_CPP__VISIBILITY_CONTROL_H_
-#define RMW_CYCLONEDDS_CPP__VISIBILITY_CONTROL_H_
-
-// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
-//     https://gcc.gnu.org/wiki/Visibility
-
-#if defined _WIN32 || defined __CYGWIN__
-  #ifdef __GNUC__
-    #define RMW_CYCLONEDDS_CPP_EXPORT __attribute__ ((dllexport))
-    #define RMW_CYCLONEDDS_CPP_IMPORT __attribute__ ((dllimport))
-  #else
-    #define RMW_CYCLONEDDS_CPP_EXPORT __declspec(dllexport)
-    #define RMW_CYCLONEDDS_CPP_IMPORT __declspec(dllimport)
-  #endif
-  #ifdef RMW_CYCLONEDDS_CPP_BUILDING_LIBRARY
-    #define RMW_CYCLONEDDS_CPP_PUBLIC RMW_CYCLONEDDS_CPP_EXPORT
-  #else
-    #define RMW_CYCLONEDDS_CPP_PUBLIC RMW_CYCLONEDDS_CPP_IMPORT
-  #endif
-  #define RMW_CYCLONEDDS_CPP_PUBLIC_TYPE RMW_CYCLONEDDS_CPP_PUBLIC
-  #define RMW_CYCLONEDDS_CPP_LOCAL
-#else
-  #define RMW_CYCLONEDDS_CPP_EXPORT __attribute__ ((visibility("default")))
-  #define RMW_CYCLONEDDS_CPP_IMPORT
-  #if __GNUC__ >= 4
-    #define RMW_CYCLONEDDS_CPP_PUBLIC __attribute__ ((visibility("default")))
-    #define RMW_CYCLONEDDS_CPP_LOCAL  __attribute__ ((visibility("hidden")))
-  #else
-    #define RMW_CYCLONEDDS_CPP_PUBLIC
-    #define RMW_CYCLONEDDS_CPP_LOCAL
-  #endif
-  #define RMW_CYCLONEDDS_CPP_PUBLIC_TYPE
-#endif
-
-#endif  // RMW_CYCLONEDDS_CPP__VISIBILITY_CONTROL_H_
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/MessageTypeSupport.hpp b/rmw_cyclonedds_cpp/src/MessageTypeSupport.hpp
similarity index 87%
rename from rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/MessageTypeSupport.hpp
rename to rmw_cyclonedds_cpp/src/MessageTypeSupport.hpp
index 884ae6fd..7c82c1d3 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/MessageTypeSupport.hpp
+++ b/rmw_cyclonedds_cpp/src/MessageTypeSupport.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW_CYCLONEDDS_CPP__MESSAGETYPESUPPORT_HPP_
-#define RMW_CYCLONEDDS_CPP__MESSAGETYPESUPPORT_HPP_
+#ifndef MESSAGETYPESUPPORT_HPP_
+#define MESSAGETYPESUPPORT_HPP_
 
 #include <cassert>
 #include <memory>
@@ -36,4 +36,4 @@ class MessageTypeSupport : public TypeSupport<MembersType>
 
 #include "MessageTypeSupport_impl.hpp"
 
-#endif  // RMW_CYCLONEDDS_CPP__MESSAGETYPESUPPORT_HPP_
+#endif  // MESSAGETYPESUPPORT_HPP_
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/MessageTypeSupport_impl.hpp b/rmw_cyclonedds_cpp/src/MessageTypeSupport_impl.hpp
similarity index 86%
rename from rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/MessageTypeSupport_impl.hpp
rename to rmw_cyclonedds_cpp/src/MessageTypeSupport_impl.hpp
index ef312dd2..7cbcac11 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/MessageTypeSupport_impl.hpp
+++ b/rmw_cyclonedds_cpp/src/MessageTypeSupport_impl.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW_CYCLONEDDS_CPP__MESSAGETYPESUPPORT_IMPL_HPP_
-#define RMW_CYCLONEDDS_CPP__MESSAGETYPESUPPORT_IMPL_HPP_
+#ifndef MESSAGETYPESUPPORT_IMPL_HPP_
+#define MESSAGETYPESUPPORT_IMPL_HPP_
 
 #include <cassert>
 #include <memory>
@@ -21,7 +21,7 @@
 #include <sstream>
 #include <string>
 
-#include "rmw_cyclonedds_cpp/MessageTypeSupport.hpp"
+#include "MessageTypeSupport.hpp"
 #include "rosidl_typesupport_introspection_cpp/field_types.hpp"
 
 namespace rmw_cyclonedds_cpp
@@ -47,4 +47,4 @@ MessageTypeSupport<MembersType>::MessageTypeSupport(const MembersType * members)
 
 }  // namespace rmw_cyclonedds_cpp
 
-#endif  // RMW_CYCLONEDDS_CPP__MESSAGETYPESUPPORT_IMPL_HPP_
+#endif  // MESSAGETYPESUPPORT_IMPL_HPP_
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/ServiceTypeSupport.hpp b/rmw_cyclonedds_cpp/src/ServiceTypeSupport.hpp
similarity index 90%
rename from rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/ServiceTypeSupport.hpp
rename to rmw_cyclonedds_cpp/src/ServiceTypeSupport.hpp
index 3916cf8f..9c65f82f 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/ServiceTypeSupport.hpp
+++ b/rmw_cyclonedds_cpp/src/ServiceTypeSupport.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW_CYCLONEDDS_CPP__SERVICETYPESUPPORT_HPP_
-#define RMW_CYCLONEDDS_CPP__SERVICETYPESUPPORT_HPP_
+#ifndef SERVICETYPESUPPORT_HPP_
+#define SERVICETYPESUPPORT_HPP_
 
 #include <cassert>
 
@@ -50,4 +50,4 @@ class ResponseTypeSupport : public ServiceTypeSupport<MessageMembersType>
 
 #include "ServiceTypeSupport_impl.hpp"
 
-#endif  // RMW_CYCLONEDDS_CPP__SERVICETYPESUPPORT_HPP_
+#endif  // SERVICETYPESUPPORT_HPP_
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/ServiceTypeSupport_impl.hpp b/rmw_cyclonedds_cpp/src/ServiceTypeSupport_impl.hpp
similarity index 91%
rename from rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/ServiceTypeSupport_impl.hpp
rename to rmw_cyclonedds_cpp/src/ServiceTypeSupport_impl.hpp
index 3da1ca7e..0ea7ce3c 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/ServiceTypeSupport_impl.hpp
+++ b/rmw_cyclonedds_cpp/src/ServiceTypeSupport_impl.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW_CYCLONEDDS_CPP__SERVICETYPESUPPORT_IMPL_HPP_
-#define RMW_CYCLONEDDS_CPP__SERVICETYPESUPPORT_IMPL_HPP_
+#ifndef SERVICETYPESUPPORT_IMPL_HPP_
+#define SERVICETYPESUPPORT_IMPL_HPP_
 
 #include <cassert>
 #include <regex>
 #include <sstream>
 #include <string>
 
-#include "rmw_cyclonedds_cpp/ServiceTypeSupport.hpp"
+#include "ServiceTypeSupport.hpp"
 #include "rosidl_typesupport_introspection_cpp/field_types.hpp"
 
 namespace rmw_cyclonedds_cpp
@@ -72,4 +72,4 @@ ResponseTypeSupport<ServiceMembersType, MessageMembersType>::ResponseTypeSupport
 
 }  // namespace rmw_cyclonedds_cpp
 
-#endif  // RMW_CYCLONEDDS_CPP__SERVICETYPESUPPORT_IMPL_HPP_
+#endif  // SERVICETYPESUPPORT_IMPL_HPP_
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport.hpp b/rmw_cyclonedds_cpp/src/TypeSupport.hpp
similarity index 93%
rename from rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport.hpp
rename to rmw_cyclonedds_cpp/src/TypeSupport.hpp
index 5135abfe..76f9f0a3 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport.hpp
+++ b/rmw_cyclonedds_cpp/src/TypeSupport.hpp
@@ -13,8 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW_CYCLONEDDS_CPP__TYPESUPPORT_HPP_
-#define RMW_CYCLONEDDS_CPP__TYPESUPPORT_HPP_
+#ifndef TYPESUPPORT_HPP_
+#define TYPESUPPORT_HPP_
 
 #include <cassert>
 #include <string>
@@ -30,13 +30,11 @@
 #include "rosidl_typesupport_introspection_cpp/identifier.hpp"
 #include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
 #include "rosidl_typesupport_introspection_cpp/service_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
 
 #include "rosidl_typesupport_introspection_c/field_types.h"
 #include "rosidl_typesupport_introspection_c/identifier.h"
 #include "rosidl_typesupport_introspection_c/message_introspection.h"
 #include "rosidl_typesupport_introspection_c/service_introspection.h"
-#include "rosidl_typesupport_introspection_c/visibility_control.h"
 
 #include "serdes.hpp"
 
@@ -137,4 +135,4 @@ class TypeSupport
 
 #include "TypeSupport_impl.hpp"
 
-#endif  // RMW_CYCLONEDDS_CPP__TYPESUPPORT_HPP_
+#endif  // TYPESUPPORT_HPP_
diff --git a/rmw_cyclonedds_cpp/src/TypeSupport2.hpp b/rmw_cyclonedds_cpp/src/TypeSupport2.hpp
index 13ea0314..b4b890df 100644
--- a/rmw_cyclonedds_cpp/src/TypeSupport2.hpp
+++ b/rmw_cyclonedds_cpp/src/TypeSupport2.hpp
@@ -23,7 +23,7 @@
 #include <vector>
 
 #include "bytewise.hpp"
-#include "rmw_cyclonedds_cpp/exception.hpp"
+#include "exception.hpp"
 #include "rosidl_runtime_c/string_functions.h"
 #include "rosidl_runtime_c/u16string_functions.h"
 #include "rosidl_typesupport_introspection_c/identifier.h"
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp b/rmw_cyclonedds_cpp/src/TypeSupport_impl.hpp
similarity index 98%
rename from rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp
rename to rmw_cyclonedds_cpp/src/TypeSupport_impl.hpp
index d9d83b7b..06e60aab 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp
+++ b/rmw_cyclonedds_cpp/src/TypeSupport_impl.hpp
@@ -13,16 +13,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW_CYCLONEDDS_CPP__TYPESUPPORT_IMPL_HPP_
-#define RMW_CYCLONEDDS_CPP__TYPESUPPORT_IMPL_HPP_
+#ifndef TYPESUPPORT_IMPL_HPP_
+#define TYPESUPPORT_IMPL_HPP_
 
 #include <cassert>
 #include <functional>
 #include <string>
 #include <vector>
 
-#include "rmw_cyclonedds_cpp/TypeSupport.hpp"
-#include "rmw_cyclonedds_cpp/macros.hpp"
+#include "TypeSupport.hpp"
+#include "macros.hpp"
 #include "rosidl_typesupport_introspection_cpp/field_types.hpp"
 #include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
 #include "rosidl_typesupport_introspection_cpp/service_introspection.hpp"
@@ -558,4 +558,4 @@ std::string TypeSupport<MembersType>::getName()
 
 }  // namespace rmw_cyclonedds_cpp
 
-#endif  // RMW_CYCLONEDDS_CPP__TYPESUPPORT_IMPL_HPP_
+#endif  // TYPESUPPORT_IMPL_HPP_
diff --git a/rmw_cyclonedds_cpp/src/deserialization_exception.cpp b/rmw_cyclonedds_cpp/src/deserialization_exception.cpp
index ab1fa4be..5b74f8c4 100644
--- a/rmw_cyclonedds_cpp/src/deserialization_exception.cpp
+++ b/rmw_cyclonedds_cpp/src/deserialization_exception.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rmw_cyclonedds_cpp/deserialization_exception.hpp"
+#include "deserialization_exception.hpp"
 
 using rmw_cyclonedds_cpp::DeserializationException;
 
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/deserialization_exception.hpp b/rmw_cyclonedds_cpp/src/deserialization_exception.hpp
similarity index 82%
rename from rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/deserialization_exception.hpp
rename to rmw_cyclonedds_cpp/src/deserialization_exception.hpp
index 71500294..af494409 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/deserialization_exception.hpp
+++ b/rmw_cyclonedds_cpp/src/deserialization_exception.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW_CYCLONEDDS_CPP__DESERIALIZATION_EXCEPTION_HPP_
-#define RMW_CYCLONEDDS_CPP__DESERIALIZATION_EXCEPTION_HPP_
+#ifndef DESERIALIZATION_EXCEPTION_HPP_
+#define DESERIALIZATION_EXCEPTION_HPP_
 
-#include "rmw_cyclonedds_cpp/exception.hpp"
+#include "exception.hpp"
 
 namespace rmw_cyclonedds_cpp
 {
@@ -34,4 +34,4 @@ class DeserializationException : public Exception
 
 }  // namespace rmw_cyclonedds_cpp
 
-#endif  // RMW_CYCLONEDDS_CPP__DESERIALIZATION_EXCEPTION_HPP_
+#endif  // DESERIALIZATION_EXCEPTION_HPP_
diff --git a/rmw_cyclonedds_cpp/src/exception.cpp b/rmw_cyclonedds_cpp/src/exception.cpp
index 5d0a58f7..01ff8a8b 100644
--- a/rmw_cyclonedds_cpp/src/exception.cpp
+++ b/rmw_cyclonedds_cpp/src/exception.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rmw_cyclonedds_cpp/exception.hpp"
+#include "exception.hpp"
 
 using rmw_cyclonedds_cpp::Exception;
 
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/exception.hpp b/rmw_cyclonedds_cpp/src/exception.hpp
similarity index 91%
rename from rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/exception.hpp
rename to rmw_cyclonedds_cpp/src/exception.hpp
index d03cd585..dadd7434 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/exception.hpp
+++ b/rmw_cyclonedds_cpp/src/exception.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW_CYCLONEDDS_CPP__EXCEPTION_HPP_
-#define RMW_CYCLONEDDS_CPP__EXCEPTION_HPP_
+#ifndef EXCEPTION_HPP_
+#define EXCEPTION_HPP_
 
 #include <stdexcept>
 #include <string>
@@ -51,4 +51,4 @@ class Exception : public std::exception
 }
 }  // namespace rmw_cyclonedds_cpp
 
-#endif  // RMW_CYCLONEDDS_CPP__EXCEPTION_HPP_
+#endif  // EXCEPTION_HPP_
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/macros.hpp b/rmw_cyclonedds_cpp/src/macros.hpp
similarity index 89%
rename from rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/macros.hpp
rename to rmw_cyclonedds_cpp/src/macros.hpp
index 9be8efe5..1a81fb07 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/macros.hpp
+++ b/rmw_cyclonedds_cpp/src/macros.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW_CYCLONEDDS_CPP__MACROS_HPP_
-#define RMW_CYCLONEDDS_CPP__MACROS_HPP_
+#ifndef MACROS_HPP_
+#define MACROS_HPP_
 
 #include <limits>
 #include <string>
@@ -33,4 +33,4 @@
     } \
   };
 
-#endif  // RMW_CYCLONEDDS_CPP__MACROS_HPP_
+#endif  // MACROS_HPP_
diff --git a/rmw_cyclonedds_cpp/src/rmw_node.cpp b/rmw_cyclonedds_cpp/src/rmw_node.cpp
index 1d18e7e8..515d36bd 100644
--- a/rmw_cyclonedds_cpp/src/rmw_node.cpp
+++ b/rmw_cyclonedds_cpp/src/rmw_node.cpp
@@ -60,9 +60,9 @@
 
 #include "TypeSupport2.hpp"
 
-#include "rmw_cyclonedds_cpp/rmw_version_test.hpp"
-#include "rmw_cyclonedds_cpp/MessageTypeSupport.hpp"
-#include "rmw_cyclonedds_cpp/ServiceTypeSupport.hpp"
+#include "rmw_version_test.hpp"
+#include "MessageTypeSupport.hpp"
+#include "ServiceTypeSupport.hpp"
 
 #include "rmw/get_topic_endpoint_info.h"
 #include "rmw/incompatible_qos_events_statuses.h"
@@ -78,7 +78,7 @@
 
 #include "dds/dds.h"
 #include "dds/ddsi/ddsi_sertopic.h"
-#include "rmw_cyclonedds_cpp/serdes.hpp"
+#include "serdes.hpp"
 #include "serdata.hpp"
 #include "demangle.hpp"
 
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/rmw_version_test.hpp b/rmw_cyclonedds_cpp/src/rmw_version_test.hpp
similarity index 85%
rename from rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/rmw_version_test.hpp
rename to rmw_cyclonedds_cpp/src/rmw_version_test.hpp
index 4ec9bc6e..d8521139 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/rmw_version_test.hpp
+++ b/rmw_cyclonedds_cpp/src/rmw_version_test.hpp
@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef RMW_CYCLONEDDS_CPP__RMW_VERSION_TEST_HPP_
-#define RMW_CYCLONEDDS_CPP__RMW_VERSION_TEST_HPP_
+#ifndef RMW_VERSION_TEST_HPP_
+#define RMW_VERSION_TEST_HPP_
 
 /* True if the version of RMW is at least major.minor.patch */
 #define RMW_VERSION_GTE(major, minor, patch) ( \
@@ -21,4 +21,4 @@
         minor < RMW_VERSION_MINOR || ( \
           minor == RMW_VERSION_MINOR && patch <= RMW_VERSION_PATCH))))
 
-#endif  // RMW_CYCLONEDDS_CPP__RMW_VERSION_TEST_HPP_
+#endif  // RMW_VERSION_TEST_HPP_
diff --git a/rmw_cyclonedds_cpp/src/serdata.cpp b/rmw_cyclonedds_cpp/src/serdata.cpp
index 73ee966b..afa5c5ea 100644
--- a/rmw_cyclonedds_cpp/src/serdata.cpp
+++ b/rmw_cyclonedds_cpp/src/serdata.cpp
@@ -26,9 +26,9 @@
 #include "bytewise.hpp"
 #include "dds/ddsi/q_radmin.h"
 #include "rmw/error_handling.h"
-#include "rmw_cyclonedds_cpp/MessageTypeSupport.hpp"
-#include "rmw_cyclonedds_cpp/ServiceTypeSupport.hpp"
-#include "rmw_cyclonedds_cpp/serdes.hpp"
+#include "MessageTypeSupport.hpp"
+#include "ServiceTypeSupport.hpp"
+#include "serdes.hpp"
 
 /* Cyclone's nn_keyhash got renamed to ddsi_keyhash and shuffled around in the header
    files to avoid pulling in tons of things just for a definition of a keyhash.  This
diff --git a/rmw_cyclonedds_cpp/src/serdes.cpp b/rmw_cyclonedds_cpp/src/serdes.cpp
index 25e468b6..cf99b1fc 100644
--- a/rmw_cyclonedds_cpp/src/serdes.cpp
+++ b/rmw_cyclonedds_cpp/src/serdes.cpp
@@ -14,7 +14,7 @@
 #include <exception>
 
 #include "dds/ddsrt/endian.h"
-#include "rmw_cyclonedds_cpp/serdes.hpp"
+#include "serdes.hpp"
 
 cycdeserbase::cycdeserbase(const char * data_, size_t size_)
 : data(data_),
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/serdes.hpp b/rmw_cyclonedds_cpp/src/serdes.hpp
similarity index 98%
rename from rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/serdes.hpp
rename to rmw_cyclonedds_cpp/src/serdes.hpp
index 50224685..61177e2a 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/serdes.hpp
+++ b/rmw_cyclonedds_cpp/src/serdes.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW_CYCLONEDDS_CPP__SERDES_HPP_
-#define RMW_CYCLONEDDS_CPP__SERDES_HPP_
+#ifndef SERDES_HPP_
+#define SERDES_HPP_
 
 #include <string.h>
 #include <inttypes.h>
@@ -25,7 +25,7 @@
 #include <vector>
 #include <type_traits>
 
-#include "rmw_cyclonedds_cpp/deserialization_exception.hpp"
+#include "deserialization_exception.hpp"
 
 using rmw_cyclonedds_cpp::DeserializationException;
 
@@ -398,4 +398,4 @@ class cycprint : cycdeserbase
   size_t bufsize;
 };
 
-#endif  // RMW_CYCLONEDDS_CPP__SERDES_HPP_
+#endif  // SERDES_HPP_
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/u16string.hpp b/rmw_cyclonedds_cpp/src/u16string.hpp
similarity index 89%
rename from rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/u16string.hpp
rename to rmw_cyclonedds_cpp/src/u16string.hpp
index 2c298964..4019aa84 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/u16string.hpp
+++ b/rmw_cyclonedds_cpp/src/u16string.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW_CYCLONEDDS_CPP__U16STRING_HPP_
-#define RMW_CYCLONEDDS_CPP__U16STRING_HPP_
+#ifndef U16STRING_HPP_
+#define U16STRING_HPP_
 
 #include <string>
 #include "rosidl_runtime_c/u16string_functions.h"
@@ -33,4 +33,4 @@ bool wstring_to_u16string(const std::wstring & wstr, std::u16string & u16str);
 
 }  // namespace rmw_cyclonedds_cpp
 
-#endif  // RMW_CYCLONEDDS_CPP__U16STRING_HPP_
+#endif  // U16STRING_HPP_