diff --git a/rcl_action/include/rcl_action/types.h b/rcl_action/include/rcl_action/types.h
index d87b067d1..783165b4c 100644
--- a/rcl_action/include/rcl_action/types.h
+++ b/rcl_action/include/rcl_action/types.h
@@ -97,10 +97,10 @@ typedef int8_t rcl_action_goal_state_t;
 typedef enum rcl_action_goal_event_t
 {
   GOAL_EVENT_EXECUTE = 0,
-  GOAL_EVENT_CANCEL,
-  GOAL_EVENT_SET_SUCCEEDED,
-  GOAL_EVENT_SET_ABORTED,
-  GOAL_EVENT_SET_CANCELED,
+  GOAL_EVENT_CANCEL_GOAL,
+  GOAL_EVENT_SUCCEED,
+  GOAL_EVENT_ABORT,
+  GOAL_EVENT_CANCELED,
   GOAL_EVENT_NUM_EVENTS
 } rcl_action_goal_event_t;
 
diff --git a/rcl_action/src/rcl_action/goal_handle.c b/rcl_action/src/rcl_action/goal_handle.c
index 5add061a7..e456042bf 100644
--- a/rcl_action/src/rcl_action/goal_handle.c
+++ b/rcl_action/src/rcl_action/goal_handle.c
@@ -147,9 +147,9 @@ rcl_action_goal_handle_is_cancelable(const rcl_action_goal_handle_t * goal_handl
   if (!rcl_action_goal_handle_is_valid(goal_handle)) {
     return false;  // error message is set
   }
-  // Check if the state machine reports a cancel event is valid
+  // Check if the state machine reports a cancel goal event is valid
   rcl_action_goal_state_t state = rcl_action_transition_goal_state(
-    goal_handle->impl->state, GOAL_EVENT_CANCEL);
+    goal_handle->impl->state, GOAL_EVENT_CANCEL_GOAL);
   return GOAL_STATE_CANCELING == state;
 }
 
diff --git a/rcl_action/src/rcl_action/goal_state_machine.c b/rcl_action/src/rcl_action/goal_state_machine.c
index cfb38fd71..9bbc3c6d1 100644
--- a/rcl_action/src/rcl_action/goal_state_machine.c
+++ b/rcl_action/src/rcl_action/goal_state_machine.c
@@ -33,10 +33,10 @@ _execute_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t ev
 }
 
 rcl_action_goal_state_t
-_cancel_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event)
+_cancel_goal_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event)
 {
   if ((GOAL_STATE_ACCEPTED != state && GOAL_STATE_EXECUTING != state) ||
-    GOAL_EVENT_CANCEL != event)
+    GOAL_EVENT_CANCEL_GOAL != event)
   {
     return GOAL_STATE_UNKNOWN;
   }
@@ -44,10 +44,10 @@ _cancel_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t eve
 }
 
 rcl_action_goal_state_t
-_set_succeeded_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event)
+_succeed_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event)
 {
   if ((GOAL_STATE_EXECUTING != state && GOAL_STATE_CANCELING != state) ||
-    GOAL_EVENT_SET_SUCCEEDED != event)
+    GOAL_EVENT_SUCCEED != event)
   {
     return GOAL_STATE_UNKNOWN;
   }
@@ -55,10 +55,10 @@ _set_succeeded_event_handler(rcl_action_goal_state_t state, rcl_action_goal_even
 }
 
 rcl_action_goal_state_t
-_set_aborted_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event)
+_abort_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event)
 {
   if ((GOAL_STATE_EXECUTING != state && GOAL_STATE_CANCELING != state) ||
-    GOAL_EVENT_SET_ABORTED != event)
+    GOAL_EVENT_ABORT != event)
   {
     return GOAL_STATE_UNKNOWN;
   }
@@ -66,9 +66,9 @@ _set_aborted_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_
 }
 
 rcl_action_goal_state_t
-_set_canceled_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event)
+_canceled_event_handler(rcl_action_goal_state_t state, rcl_action_goal_event_t event)
 {
-  if (GOAL_STATE_CANCELING != state || GOAL_EVENT_SET_CANCELED != event) {
+  if (GOAL_STATE_CANCELING != state || GOAL_EVENT_CANCELED != event) {
     return GOAL_STATE_UNKNOWN;
   }
   return GOAL_STATE_CANCELED;
@@ -79,17 +79,17 @@ static rcl_action_goal_event_handler
   _goal_state_transition_map[GOAL_STATE_NUM_STATES][GOAL_EVENT_NUM_EVENTS] = {
   [GOAL_STATE_ACCEPTED] = {
     [GOAL_EVENT_EXECUTE] = _execute_event_handler,
-    [GOAL_EVENT_CANCEL] = _cancel_event_handler,
+    [GOAL_EVENT_CANCEL_GOAL] = _cancel_goal_event_handler,
   },
   [GOAL_STATE_EXECUTING] = {
-    [GOAL_EVENT_CANCEL] = _cancel_event_handler,
-    [GOAL_EVENT_SET_SUCCEEDED] = _set_succeeded_event_handler,
-    [GOAL_EVENT_SET_ABORTED] = _set_aborted_event_handler,
+    [GOAL_EVENT_CANCEL_GOAL] = _cancel_goal_event_handler,
+    [GOAL_EVENT_SUCCEED] = _succeed_event_handler,
+    [GOAL_EVENT_ABORT] = _abort_event_handler,
   },
   [GOAL_STATE_CANCELING] = {
-    [GOAL_EVENT_SET_SUCCEEDED] = _set_succeeded_event_handler,
-    [GOAL_EVENT_SET_ABORTED] = _set_aborted_event_handler,
-    [GOAL_EVENT_SET_CANCELED] = _set_canceled_event_handler,
+    [GOAL_EVENT_SUCCEED] = _succeed_event_handler,
+    [GOAL_EVENT_ABORT] = _abort_event_handler,
+    [GOAL_EVENT_CANCELED] = _canceled_event_handler,
   },
 };
 
diff --git a/rcl_action/test/rcl_action/test_action_server.cpp b/rcl_action/test/rcl_action/test_action_server.cpp
index f92c6feeb..0bd6c5487 100644
--- a/rcl_action/test/rcl_action/test_action_server.cpp
+++ b/rcl_action/test/rcl_action/test_action_server.cpp
@@ -329,7 +329,7 @@ TEST_F(TestActionServer, test_action_clear_expired_goals)
   handles.push_back(*goal_handle);
   // Transition executing to aborted
   ASSERT_EQ(RCL_RET_OK, rcl_action_update_goal_state(goal_handle, GOAL_EVENT_EXECUTE));
-  ASSERT_EQ(RCL_RET_OK, rcl_action_update_goal_state(goal_handle, GOAL_EVENT_SET_ABORTED));
+  ASSERT_EQ(RCL_RET_OK, rcl_action_update_goal_state(goal_handle, GOAL_EVENT_ABORT));
   // Set time to something far in the future
   ASSERT_EQ(RCL_RET_OK, rcl_set_ros_time_override(&this->clock, RCUTILS_S_TO_NS(99999)));
   // Clear with valid arguments
diff --git a/rcl_action/test/rcl_action/test_goal_handle.cpp b/rcl_action/test/rcl_action/test_goal_handle.cpp
index d0d265502..d28ee4fc6 100644
--- a/rcl_action/test/rcl_action/test_goal_handle.cpp
+++ b/rcl_action/test/rcl_action/test_goal_handle.cpp
@@ -161,7 +161,7 @@ using EventStateActiveCancelableTuple =
   std::tuple<rcl_action_goal_event_t, rcl_action_goal_state_t, bool, bool>;
 using StateTransitionSequence = std::vector<EventStateActiveCancelableTuple>;
 const std::vector<std::string> event_strs = {
-  "EXECUTE", "CANCEL", "SET_SUCCEEDED", "SET_ABORTED", "SET_CANCELED"};
+  "EXECUTE", "CANCEL_GOAL", "SUCCEED", "ABORT", "CANCELED"};
 
 class TestGoalHandleStateTransitionSequence
   : public ::testing::TestWithParam<StateTransitionSequence>
@@ -242,39 +242,39 @@ TEST_P(TestGoalHandleStateTransitionSequence, test_goal_handle_state_transitions
 const StateTransitionSequence valid_state_transition_sequences[] = {
   {
     std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
-    std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
-    std::make_tuple(GOAL_EVENT_SET_CANCELED, GOAL_STATE_CANCELED, false, false),
+    std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_CANCELING, true, false),
+    std::make_tuple(GOAL_EVENT_CANCELED, GOAL_STATE_CANCELED, false, false),
   },
   {
     std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
-    std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
-    std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED, false, false),
+    std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_CANCELING, true, false),
+    std::make_tuple(GOAL_EVENT_SUCCEED, GOAL_STATE_SUCCEEDED, false, false),
   },
   {
     std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
-    std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
-    std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED, false, false),
+    std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_CANCELING, true, false),
+    std::make_tuple(GOAL_EVENT_ABORT, GOAL_STATE_ABORTED, false, false),
   },
   {
     std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
-    std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED, false, false),
+    std::make_tuple(GOAL_EVENT_SUCCEED, GOAL_STATE_SUCCEEDED, false, false),
   },
   {
     std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
-    std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED, false, false),
+    std::make_tuple(GOAL_EVENT_ABORT, GOAL_STATE_ABORTED, false, false),
   },
   {
-    std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
-    std::make_tuple(GOAL_EVENT_SET_CANCELED, GOAL_STATE_CANCELED, false, false),
+    std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_CANCELING, true, false),
+    std::make_tuple(GOAL_EVENT_CANCELED, GOAL_STATE_CANCELED, false, false),
   },
   {
-    std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
-    std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED, false, false),
+    std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_CANCELING, true, false),
+    std::make_tuple(GOAL_EVENT_ABORT, GOAL_STATE_ABORTED, false, false),
   },
   // This is an odd case, but valid nonetheless
   {
-    std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
-    std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED, false, false),
+    std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_CANCELING, true, false),
+    std::make_tuple(GOAL_EVENT_SUCCEED, GOAL_STATE_SUCCEEDED, false, false),
   },
 };
 
@@ -287,26 +287,26 @@ INSTANTIATE_TEST_CASE_P(
 const StateTransitionSequence invalid_state_transition_sequences[] = {
   {
     std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
-    std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
+    std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_CANCELING, true, false),
     std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_UNKNOWN, false, false),
   },
   {
     std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
-    std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
-    std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_UNKNOWN, false, false),
+    std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_CANCELING, true, false),
+    std::make_tuple(GOAL_EVENT_CANCEL_GOAL, GOAL_STATE_UNKNOWN, false, false),
   },
   {
     std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
     std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_UNKNOWN, false, false),
   },
   {
-    std::make_tuple(GOAL_EVENT_SET_CANCELED, GOAL_STATE_UNKNOWN, false, false),
+    std::make_tuple(GOAL_EVENT_CANCELED, GOAL_STATE_UNKNOWN, false, false),
   },
   {
-    std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_UNKNOWN, false, false),
+    std::make_tuple(GOAL_EVENT_SUCCEED, GOAL_STATE_UNKNOWN, false, false),
   },
   {
-    std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_UNKNOWN, false, false),
+    std::make_tuple(GOAL_EVENT_ABORT, GOAL_STATE_UNKNOWN, false, false),
   },
 };
 
diff --git a/rcl_action/test/rcl_action/test_goal_state_machine.cpp b/rcl_action/test/rcl_action/test_goal_state_machine.cpp
index 32d710204..ecfc20f54 100644
--- a/rcl_action/test/rcl_action/test_goal_state_machine.cpp
+++ b/rcl_action/test/rcl_action/test_goal_state_machine.cpp
@@ -24,27 +24,27 @@ TEST(TestGoalStateMachine, test_valid_transitions)
   EXPECT_EQ(GOAL_STATE_EXECUTING, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_ACCEPTED,
-    GOAL_EVENT_CANCEL);
+    GOAL_EVENT_CANCEL_GOAL);
   EXPECT_EQ(GOAL_STATE_CANCELING, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_EXECUTING,
-    GOAL_EVENT_CANCEL);
+    GOAL_EVENT_CANCEL_GOAL);
   EXPECT_EQ(GOAL_STATE_CANCELING, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_EXECUTING,
-    GOAL_EVENT_SET_SUCCEEDED);
+    GOAL_EVENT_SUCCEED);
   EXPECT_EQ(GOAL_STATE_SUCCEEDED, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_EXECUTING,
-    GOAL_EVENT_SET_ABORTED);
+    GOAL_EVENT_ABORT);
   EXPECT_EQ(GOAL_STATE_ABORTED, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_CANCELING,
-    GOAL_EVENT_SET_CANCELED);
+    GOAL_EVENT_CANCELED);
   EXPECT_EQ(GOAL_STATE_CANCELED, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_CANCELING,
-    GOAL_EVENT_SET_ABORTED);
+    GOAL_EVENT_ABORT);
   EXPECT_EQ(GOAL_STATE_ABORTED, state);
 }
 
@@ -53,15 +53,15 @@ TEST(TestGoalStateMachine, test_invalid_transitions)
   // Invalid from ACCEPTED
   rcl_action_goal_state_t state = rcl_action_transition_goal_state(
     GOAL_STATE_ACCEPTED,
-    GOAL_EVENT_SET_SUCCEEDED);
+    GOAL_EVENT_SUCCEED);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_ACCEPTED,
-    GOAL_EVENT_SET_ABORTED);
+    GOAL_EVENT_ABORT);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_ACCEPTED,
-    GOAL_EVENT_SET_CANCELED);
+    GOAL_EVENT_CANCELED);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
 
   // Invalid from EXECUTING
@@ -71,7 +71,7 @@ TEST(TestGoalStateMachine, test_invalid_transitions)
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_EXECUTING,
-    GOAL_EVENT_SET_CANCELED);
+    GOAL_EVENT_CANCELED);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
 
   // Invalid from CANCELING
@@ -81,7 +81,7 @@ TEST(TestGoalStateMachine, test_invalid_transitions)
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_CANCELING,
-    GOAL_EVENT_CANCEL);
+    GOAL_EVENT_CANCEL_GOAL);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
 
   // Invalid from SUCCEEDED
@@ -91,19 +91,19 @@ TEST(TestGoalStateMachine, test_invalid_transitions)
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_SUCCEEDED,
-    GOAL_EVENT_CANCEL);
+    GOAL_EVENT_CANCEL_GOAL);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_SUCCEEDED,
-    GOAL_EVENT_SET_SUCCEEDED);
+    GOAL_EVENT_SUCCEED);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_SUCCEEDED,
-    GOAL_EVENT_SET_ABORTED);
+    GOAL_EVENT_ABORT);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_SUCCEEDED,
-    GOAL_EVENT_SET_CANCELED);
+    GOAL_EVENT_CANCELED);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
 
   // Invalid from ABORTED
@@ -113,19 +113,19 @@ TEST(TestGoalStateMachine, test_invalid_transitions)
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_ABORTED,
-    GOAL_EVENT_CANCEL);
+    GOAL_EVENT_CANCEL_GOAL);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_ABORTED,
-    GOAL_EVENT_SET_SUCCEEDED);
+    GOAL_EVENT_SUCCEED);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_ABORTED,
-    GOAL_EVENT_SET_ABORTED);
+    GOAL_EVENT_ABORT);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_ABORTED,
-    GOAL_EVENT_SET_CANCELED);
+    GOAL_EVENT_CANCELED);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
 
   // Invalid from CANCELED
@@ -135,18 +135,18 @@ TEST(TestGoalStateMachine, test_invalid_transitions)
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_CANCELED,
-    GOAL_EVENT_CANCEL);
+    GOAL_EVENT_CANCEL_GOAL);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_CANCELED,
-    GOAL_EVENT_SET_SUCCEEDED);
+    GOAL_EVENT_SUCCEED);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_CANCELED,
-    GOAL_EVENT_SET_ABORTED);
+    GOAL_EVENT_ABORT);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
   state = rcl_action_transition_goal_state(
     GOAL_STATE_CANCELED,
-    GOAL_EVENT_SET_CANCELED);
+    GOAL_EVENT_CANCELED);
   EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
 }