diff --git a/rcl/test/rcl/test_rmw_impl_id_check.py.in b/rcl/test/rcl/test_rmw_impl_id_check.py.in
index dc4649cad..fa5ebed67 100644
--- a/rcl/test/rcl/test_rmw_impl_id_check.py.in
+++ b/rcl/test/rcl/test_rmw_impl_id_check.py.in
@@ -2,8 +2,8 @@
 
 import os
 
-from launch import LaunchDescriptor
-from launch.launcher import DefaultLauncher
+from launch.legacy import LaunchDescriptor
+from launch.legacy.launcher import DefaultLauncher
 
 
 def launch_test(
diff --git a/rcl/test/rcl/test_two_executables.py.in b/rcl/test/rcl/test_two_executables.py.in
index f9197e01e..71748464b 100644
--- a/rcl/test/rcl/test_two_executables.py.in
+++ b/rcl/test/rcl/test_two_executables.py.in
@@ -1,9 +1,9 @@
 # generated from rcl/test/test_two_executables.py.in
 
-from launch import LaunchDescriptor
-from launch.exit_handler import ignore_signal_exit_handler
-from launch.exit_handler import primary_exit_handler
-from launch.launcher import DefaultLauncher
+from launch.legacy import LaunchDescriptor
+from launch.legacy.exit_handler import ignore_signal_exit_handler
+from launch.legacy.exit_handler import primary_exit_handler
+from launch.legacy.launcher import DefaultLauncher
 
 
 def @TEST_NAME@():