diff --git a/rcl/Doxyfile b/rcl/Doxyfile
index 60f139b5a..486ffbfff 100644
--- a/rcl/Doxyfile
+++ b/rcl/Doxyfile
@@ -15,13 +15,10 @@ GENERATE_LATEX         = NO
 ENABLE_PREPROCESSING   = YES
 MACRO_EXPANSION        = YES
 EXPAND_ONLY_PREDEF     = YES
+PREDEFINED             += RCL_ALIGNAS(x)=
 PREDEFINED             += RCL_PUBLIC=
 PREDEFINED             += RCL_WARN_UNUSED=
 
-# Uncomment to generate internal documentation.
-ENABLED_SECTIONS       = INTERNAL
-INPUT                  += ./src/rcl/arguments.c
-
 # Tag files that do not exist will produce a warning and cross-project linking will not work.
 TAGFILES += "../../../../doxygen_tag_files/cppreference-doxygen-web.tag.xml=http://en.cppreference.com/w/"
 # Consider changing "latest" to the version you want to reference (e.g. beta1 or 1.0.0)
diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h
index 2dbfa993b..44c99f6a9 100644
--- a/rcl/include/rcl/arguments.h
+++ b/rcl/include/rcl/arguments.h
@@ -29,13 +29,13 @@ extern "C"
 {
 #endif
 
-struct rcl_arguments_impl_t;
+typedef struct rcl_arguments_impl_s rcl_arguments_impl_t;
 
 /// Hold output of parsing command line arguments.
-typedef struct rcl_arguments_t
+typedef struct rcl_arguments_s
 {
   /// Private implementation pointer.
-  struct rcl_arguments_impl_t * impl;
+  rcl_arguments_impl_t * impl;
 } rcl_arguments_t;
 
 /// The command-line flag that delineates the start of ROS arguments.
@@ -151,7 +151,7 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_parse_arguments(
   int argc,
-  const char * const argv[],
+  const char * const * argv,
   rcl_allocator_t allocator,
   rcl_arguments_t * args_output);
 
@@ -369,11 +369,11 @@ RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_remove_ros_arguments(
-  char const * const argv[],
+  const char * const * argv,
   const rcl_arguments_t * args,
   rcl_allocator_t allocator,
   int * nonros_argc,
-  const char ** nonros_argv[]);
+  const char *** nonros_argv);
 
 /// Return log levels parsed from the command line.
 /**
diff --git a/rcl/include/rcl/client.h b/rcl/include/rcl/client.h
index e4285a031..39715f181 100644
--- a/rcl/include/rcl/client.h
+++ b/rcl/include/rcl/client.h
@@ -29,17 +29,17 @@ extern "C"
 #include "rcl/visibility_control.h"
 
 /// Internal rcl client implementation struct.
-struct rcl_client_impl_t;
+typedef struct rcl_client_impl_s rcl_client_impl_t;
 
 /// Structure which encapsulates a ROS Client.
-typedef struct rcl_client_t
+typedef struct rcl_client_s
 {
   /// Pointer to the client implementation
-  struct rcl_client_impl_t * impl;
+  rcl_client_impl_t * impl;
 } rcl_client_t;
 
 /// Options available for a rcl_client_t.
-typedef struct rcl_client_options_t
+typedef struct rcl_client_options_s
 {
   /// Middleware quality of service settings for the client.
   rmw_qos_profile_t qos;
diff --git a/rcl/include/rcl/context.h b/rcl/include/rcl/context.h
index b5604ddcc..68500da81 100644
--- a/rcl/include/rcl/context.h
+++ b/rcl/include/rcl/context.h
@@ -43,7 +43,7 @@ extern "C"
 /// A unique ID per context instance.
 typedef uint64_t rcl_context_instance_id_t;
 
-struct rcl_context_impl_t;
+typedef struct rcl_context_impl_s rcl_context_impl_t;
 
 /// Encapsulates the non-global state of an init/shutdown cycle.
 /**
@@ -110,14 +110,14 @@ struct rcl_context_impl_t;
  * it directly (e.g. nodes and guard conditions) or indirectly (e.g.
  * subscriptions and topics).
  */
-typedef struct rcl_context_t
+typedef struct rcl_context_s
 {
   /// Global arguments for all nodes which share this context.
   /** Typically generated by the parsing of argc/argv in rcl_init(). */
   rcl_arguments_t global_arguments;
 
   /// Implementation specific pointer.
-  struct rcl_context_impl_t * impl;
+  rcl_context_impl_t * impl;
 
   // The assumption that this is big enough for an atomic_uint_least64_t is
   // ensured with a static_assert in the context.c file.
diff --git a/rcl/include/rcl/event.h b/rcl/include/rcl/event.h
index ecf9a212e..abf4e6386 100644
--- a/rcl/include/rcl/event.h
+++ b/rcl/include/rcl/event.h
@@ -32,7 +32,7 @@ extern "C"
 #include "rcl/visibility_control.h"
 
 /// Enumeration of all of the publisher events that may fire.
-typedef enum rcl_publisher_event_type_t
+typedef enum rcl_publisher_event_type_e
 {
   RCL_PUBLISHER_OFFERED_DEADLINE_MISSED,
   RCL_PUBLISHER_LIVELINESS_LOST,
@@ -40,7 +40,7 @@ typedef enum rcl_publisher_event_type_t
 } rcl_publisher_event_type_t;
 
 /// Enumeration of all of the subscription events that may fire.
-typedef enum rcl_subscription_event_type_t
+typedef enum rcl_subscription_event_type_e
 {
   RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED,
   RCL_SUBSCRIPTION_LIVELINESS_CHANGED,
@@ -49,13 +49,13 @@ typedef enum rcl_subscription_event_type_t
 } rcl_subscription_event_type_t;
 
 /// Internal rcl implementation struct.
-struct rcl_event_impl_t;
+typedef struct rcl_event_impl_s rcl_event_impl_t;
 
 /// Structure which encapsulates a ROS QoS event handle.
-typedef struct rcl_event_t
+typedef struct rcl_event_s
 {
   /// Pointer to the event implementation
-  struct rcl_event_impl_t * impl;
+  rcl_event_impl_t * impl;
 } rcl_event_t;
 
 /// Return a rcl_event_t struct with members set to `NULL`.
diff --git a/rcl/include/rcl/guard_condition.h b/rcl/include/rcl/guard_condition.h
index a6727d3a2..368a9a6b4 100644
--- a/rcl/include/rcl/guard_condition.h
+++ b/rcl/include/rcl/guard_condition.h
@@ -29,20 +29,20 @@ extern "C"
 #include "rcl/visibility_control.h"
 
 /// Internal rcl guard condition implementation struct.
-struct rcl_guard_condition_impl_t;
+typedef struct rcl_guard_condition_impl_s rcl_guard_condition_impl_t;
 
 /// Handle for a rcl guard condition.
-typedef struct rcl_guard_condition_t
+typedef struct rcl_guard_condition_s
 {
   /// Context associated with this guard condition.
   rcl_context_t * context;
 
   /// Pointer to the guard condition implementation
-  struct rcl_guard_condition_impl_t * impl;
+  rcl_guard_condition_impl_t * impl;
 } rcl_guard_condition_t;
 
 /// Options available for a rcl guard condition.
-typedef struct rcl_guard_condition_options_t
+typedef struct rcl_guard_condition_options_s
 {
   /// Custom allocator for the guard condition, used for internal allocations.
   rcl_allocator_t allocator;
diff --git a/rcl/include/rcl/init_options.h b/rcl/include/rcl/init_options.h
index a72bf1333..f80dd7759 100644
--- a/rcl/include/rcl/init_options.h
+++ b/rcl/include/rcl/init_options.h
@@ -29,13 +29,13 @@ extern "C"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
 
-struct rcl_init_options_impl_t;
+typedef struct rcl_init_options_impl_s rcl_init_options_impl_t;
 
 /// Encapsulation of init options and implementation defined init options.
-typedef struct rcl_init_options_t
+typedef struct rcl_init_options_s
 {
   /// Implementation specific pointer.
-  struct rcl_init_options_impl_t * impl;
+  rcl_init_options_impl_t * impl;
 } rcl_init_options_t;
 
 /// Return a zero initialized rcl_init_options_t struct.
diff --git a/rcl/include/rcl/lexer.h b/rcl/include/rcl/lexer.h
index 7d652def5..7cf3dac10 100644
--- a/rcl/include/rcl/lexer.h
+++ b/rcl/include/rcl/lexer.h
@@ -30,7 +30,7 @@ extern "C"
 #endif
 
 /// Type of lexeme found by lexical analysis.
-typedef enum rcl_lexeme_t
+typedef enum rcl_lexeme_e
 {
   /// Indicates no valid lexeme was found (end of input not reached)
   RCL_LEXEME_NONE = 0,
diff --git a/rcl/include/rcl/lexer_lookahead.h b/rcl/include/rcl/lexer_lookahead.h
index 79fe9b958..2bf523ca7 100644
--- a/rcl/include/rcl/lexer_lookahead.h
+++ b/rcl/include/rcl/lexer_lookahead.h
@@ -31,13 +31,13 @@ extern "C"
 #endif
 
 // Forward declaration
-struct rcl_lexer_lookahead2_impl_t;
+typedef struct rcl_lexer_lookahead2_impl_s rcl_lexer_lookahead2_impl_t;
 
 /// Track lexical analysis and allow looking ahead 2 lexemes.
-typedef struct rcl_lexer_lookahead2_t
+typedef struct rcl_lexer_lookahead2_s
 {
   /// Pointer to the lexer look ahead2 implementation
-  struct rcl_lexer_lookahead2_impl_t * impl;
+  rcl_lexer_lookahead2_impl_t * impl;
 } rcl_lexer_lookahead2_t;
 
 /// Get a zero initialized rcl_lexer_lookahead2_t instance.
diff --git a/rcl/include/rcl/log_level.h b/rcl/include/rcl/log_level.h
index a907ad8ba..64942ec8a 100644
--- a/rcl/include/rcl/log_level.h
+++ b/rcl/include/rcl/log_level.h
@@ -31,7 +31,7 @@ extern "C"
 typedef enum RCUTILS_LOG_SEVERITY rcl_log_severity_t;
 
 /// A logger item to specify a name and a log level.
-typedef struct rcl_logger_setting_t
+typedef struct rcl_logger_setting_s
 {
   /// Name for the logger.
   const char * name;
@@ -40,12 +40,12 @@ typedef struct rcl_logger_setting_t
 } rcl_logger_setting_t;
 
 /// Hold default logger level and other logger setting.
-typedef struct rcl_log_levels_t
+typedef struct rcl_log_levels_s
 {
   /// Minimum default logger level severity.
   rcl_log_severity_t default_logger_level;
   /// Array of logger setting.
-  struct rcl_logger_setting_t * logger_settings;
+  rcl_logger_setting_t * logger_settings;
   /// Number of logger settings.
   size_t num_logger_settings;
   /// Capacity of logger settings.
diff --git a/rcl/include/rcl/node.h b/rcl/include/rcl/node.h
index c21378aa0..fafaa04df 100644
--- a/rcl/include/rcl/node.h
+++ b/rcl/include/rcl/node.h
@@ -27,22 +27,22 @@ extern "C"
 #include "rcl/allocator.h"
 #include "rcl/arguments.h"
 #include "rcl/context.h"
+#include "rcl/guard_condition.h"
 #include "rcl/macros.h"
 #include "rcl/node_options.h"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
 
-struct rcl_guard_condition_t;
-struct rcl_node_impl_t;
+typedef struct rcl_node_impl_s rcl_node_impl_t;
 
 /// Structure which encapsulates a ROS Node.
-typedef struct rcl_node_t
+typedef struct rcl_node_s
 {
   /// Context associated with this node.
   rcl_context_t * context;
 
   /// Private implementation pointer.
-  struct rcl_node_impl_t * impl;
+  rcl_node_impl_t * impl;
 } rcl_node_t;
 
 /// Return a rcl_node_t struct with members initialized to `NULL`.
@@ -462,7 +462,7 @@ rcl_node_get_rcl_instance_id(const rcl_node_t * node);
  */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-const struct rcl_guard_condition_t *
+const rcl_guard_condition_t *
 rcl_node_get_graph_guard_condition(const rcl_node_t * node);
 
 /// Return the logger name of the node.
diff --git a/rcl/include/rcl/node_options.h b/rcl/include/rcl/node_options.h
index 0da2b0641..551d79437 100644
--- a/rcl/include/rcl/node_options.h
+++ b/rcl/include/rcl/node_options.h
@@ -31,7 +31,7 @@ extern "C"
 #define RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID RCL_DEFAULT_DOMAIN_ID
 
 /// Structure which encapsulates the options for creating a rcl_node_t.
-typedef struct rcl_node_options_t
+typedef struct rcl_node_options_s
 {
   // bool anonymous_name;
 
diff --git a/rcl/include/rcl/publisher.h b/rcl/include/rcl/publisher.h
index 8a8a2ca9f..c39f5cfc5 100644
--- a/rcl/include/rcl/publisher.h
+++ b/rcl/include/rcl/publisher.h
@@ -30,17 +30,17 @@ extern "C"
 #include "rcl/time.h"
 
 /// Internal rcl publisher implementation struct.
-struct rcl_publisher_impl_t;
+typedef struct rcl_publisher_impl_s rcl_publisher_impl_t;
 
 /// Structure which encapsulates a ROS Publisher.
-typedef struct rcl_publisher_t
+typedef struct rcl_publisher_s
 {
   /// Pointer to the publisher implementation
-  struct rcl_publisher_impl_t * impl;
+  rcl_publisher_impl_t * impl;
 } rcl_publisher_t;
 
 /// Options available for a rcl publisher.
-typedef struct rcl_publisher_options_t
+typedef struct rcl_publisher_options_s
 {
   /// Middleware quality of service settings for the publisher.
   rmw_qos_profile_t qos;
diff --git a/rcl/include/rcl/remap.h b/rcl/include/rcl/remap.h
index fcf0baa53..5acf5e48e 100644
--- a/rcl/include/rcl/remap.h
+++ b/rcl/include/rcl/remap.h
@@ -28,13 +28,13 @@ extern "C"
 {
 #endif
 
-struct rcl_remap_impl_t;
+typedef struct rcl_remap_impl_s rcl_remap_impl_t;
 
 /// Hold remapping rules.
-typedef struct rcl_remap_t
+typedef struct rcl_remap_s
 {
   /// Private implementation pointer.
-  struct rcl_remap_impl_t * impl;
+  rcl_remap_impl_t * impl;
 } rcl_remap_t;
 
 /// Return a rcl_remap_t struct with members initialized to `NULL`.
diff --git a/rcl/include/rcl/service.h b/rcl/include/rcl/service.h
index 87e182ad5..82c33c110 100644
--- a/rcl/include/rcl/service.h
+++ b/rcl/include/rcl/service.h
@@ -29,17 +29,17 @@ extern "C"
 #include "rcl/visibility_control.h"
 
 /// Internal rcl implementation struct.
-struct rcl_service_impl_t;
+typedef struct rcl_service_impl_s rcl_service_impl_t;
 
 /// Structure which encapsulates a ROS Service.
-typedef struct rcl_service_t
+typedef struct rcl_service_s
 {
   /// Pointer to the service implementation
-  struct rcl_service_impl_t * impl;
+  rcl_service_impl_t * impl;
 } rcl_service_t;
 
 /// Options available for a rcl service.
-typedef struct rcl_service_options_t
+typedef struct rcl_service_options_s
 {
   /// Middleware quality of service settings for the service.
   rmw_qos_profile_t qos;
diff --git a/rcl/include/rcl/subscription.h b/rcl/include/rcl/subscription.h
index d73e2c4c9..09d6e6bc4 100644
--- a/rcl/include/rcl/subscription.h
+++ b/rcl/include/rcl/subscription.h
@@ -31,17 +31,17 @@ extern "C"
 #include "rmw/message_sequence.h"
 
 /// Internal rcl implementation struct.
-struct rcl_subscription_impl_t;
+typedef struct rcl_subscription_impl_s rcl_subscription_impl_t;
 
 /// Structure which encapsulates a ROS Subscription.
-typedef struct rcl_subscription_t
+typedef struct rcl_subscription_s
 {
   /// Pointer to the subscription implementation
-  struct rcl_subscription_impl_t * impl;
+  rcl_subscription_impl_t * impl;
 } rcl_subscription_t;
 
 /// Options available for a rcl subscription.
-typedef struct rcl_subscription_options_t
+typedef struct rcl_subscription_options_s
 {
   /// Middleware quality of service settings for the subscription.
   rmw_qos_profile_t qos;
diff --git a/rcl/include/rcl/time.h b/rcl/include/rcl/time.h
index 94089b418..fb4445a78 100644
--- a/rcl/include/rcl/time.h
+++ b/rcl/include/rcl/time.h
@@ -58,7 +58,7 @@ typedef rcutils_duration_value_t rcl_duration_value_t;
  *
  * RCL_STEADY_TIME reports a value from a monotonically increasing clock.
  */
-typedef enum rcl_clock_type_t
+typedef enum rcl_clock_type_e
 {
   /// Clock uninitialized
   RCL_CLOCK_UNINITIALIZED = 0,
@@ -71,14 +71,14 @@ typedef enum rcl_clock_type_t
 } rcl_clock_type_t;
 
 /// A duration of time, measured in nanoseconds and its source.
-typedef struct rcl_duration_t
+typedef struct rcl_duration_s
 {
   /// Duration in nanoseconds and its source.
   rcl_duration_value_t nanoseconds;
 } rcl_duration_t;
 
 /// Enumeration to describe the type of time jump.
-typedef enum rcl_clock_change_t
+typedef enum rcl_clock_change_e
 {
   /// The source before and after the jump is ROS_TIME.
   RCL_ROS_TIME_NO_CHANGE = 1,
@@ -91,7 +91,7 @@ typedef enum rcl_clock_change_t
 } rcl_clock_change_t;
 
 /// Struct to describe a jump in time.
-typedef struct rcl_time_jump_t
+typedef struct rcl_time_jump_s
 {
   /// Indicate whether or not the source of time changed.
   rcl_clock_change_t clock_change;
@@ -105,12 +105,12 @@ typedef struct rcl_time_jump_t
 /// once after. This is true the first call and false the second.
 /// \param[in] user_data A pointer given at callback registration which is passed to the callback.
 typedef void (* rcl_jump_callback_t)(
-  const struct rcl_time_jump_t * time_jump,
+  const rcl_time_jump_t * time_jump,
   bool before_jump,
   void * user_data);
 
 /// Describe the prerequisites for calling a time jump callback.
-typedef struct rcl_jump_threshold_t
+typedef struct rcl_jump_threshold_s
 {
   /// True to call callback when the clock type changes.
   bool on_clock_change;
@@ -123,7 +123,7 @@ typedef struct rcl_jump_threshold_t
 } rcl_jump_threshold_t;
 
 /// Struct to describe an added callback.
-typedef struct rcl_jump_callback_info_t
+typedef struct rcl_jump_callback_info_s
 {
   /// Callback to fucntion.
   rcl_jump_callback_t callback;
@@ -134,10 +134,10 @@ typedef struct rcl_jump_callback_info_t
 } rcl_jump_callback_info_t;
 
 /// Encapsulation of a time source.
-typedef struct rcl_clock_t
+typedef struct rcl_clock_s
 {
   /// Clock type
-  enum rcl_clock_type_t type;
+  rcl_clock_type_t type;
   /// An array of added jump callbacks.
   rcl_jump_callback_info_t * jump_callbacks;
   /// Number of callbacks in jump_callbacks.
@@ -152,7 +152,7 @@ typedef struct rcl_clock_t
 } rcl_clock_t;
 
 /// A single point in time, measured in nanoseconds, the reference point is based on the source.
-typedef struct rcl_time_point_t
+typedef struct rcl_time_point_s
 {
   /// Nanoseconds of the point in time
   rcl_time_point_value_t nanoseconds;
@@ -218,7 +218,7 @@ RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_clock_init(
-  enum rcl_clock_type_t clock_type, rcl_clock_t * clock,
+  rcl_clock_type_t clock_type, rcl_clock_t * clock,
   rcl_allocator_t * allocator);
 
 /// Finalize a clock.
diff --git a/rcl/include/rcl/timer.h b/rcl/include/rcl/timer.h
index b1a213433..1bf9212d7 100644
--- a/rcl/include/rcl/timer.h
+++ b/rcl/include/rcl/timer.h
@@ -32,14 +32,13 @@ extern "C"
 #include "rcl/types.h"
 #include "rmw/rmw.h"
 
-struct rcl_clock_t;
-struct rcl_timer_impl_t;
+typedef struct rcl_timer_impl_s rcl_timer_impl_t;
 
 /// Structure which encapsulates a ROS Timer.
-typedef struct rcl_timer_t
+typedef struct rcl_timer_s
 {
   /// Private implementation pointer.
-  struct rcl_timer_impl_t * impl;
+  rcl_timer_impl_t * impl;
 } rcl_timer_t;
 
 /// User callback signature for timers.
diff --git a/rcl/include/rcl/wait.h b/rcl/include/rcl/wait.h
index 229c48f8e..60e21a291 100644
--- a/rcl/include/rcl/wait.h
+++ b/rcl/include/rcl/wait.h
@@ -35,10 +35,10 @@ extern "C"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
 
-struct rcl_wait_set_impl_t;
+typedef struct rcl_wait_set_impl_s rcl_wait_set_impl_t;
 
 /// Container for subscription's, guard condition's, etc to be waited on.
-typedef struct rcl_wait_set_t
+typedef struct rcl_wait_set_s
 {
   /// Storage for subscription pointers.
   const rcl_subscription_t ** subscriptions;
@@ -65,7 +65,7 @@ typedef struct rcl_wait_set_t
   /// Number of events
   size_t size_of_events;
   /// Implementation specific storage.
-  struct rcl_wait_set_impl_t * impl;
+  rcl_wait_set_impl_t * impl;
 } rcl_wait_set_t;
 
 /// Return a rcl_wait_set_t struct with members set to `NULL`.
diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 58a74f1e5..22306cc53 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -247,7 +247,7 @@ _rcl_allocate_initialized_arguments_impl(rcl_arguments_t * args, rcl_allocator_t
 rcl_ret_t
 rcl_parse_arguments(
   int argc,
-  const char * const argv[],
+  const char * const * argv,
   rcl_allocator_t allocator,
   rcl_arguments_t * args_output)
 {
@@ -759,11 +759,11 @@ rcl_get_zero_initialized_arguments(void)
 
 rcl_ret_t
 rcl_remove_ros_arguments(
-  char const * const argv[],
+  const char * const * argv,
   const rcl_arguments_t * args,
   rcl_allocator_t allocator,
   int * nonros_argc,
-  const char ** nonros_argv[])
+  const char *** nonros_argv)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(args, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
diff --git a/rcl/src/rcl/arguments_impl.h b/rcl/src/rcl/arguments_impl.h
index 18b8cd781..d3aedbb42 100644
--- a/rcl/src/rcl/arguments_impl.h
+++ b/rcl/src/rcl/arguments_impl.h
@@ -26,7 +26,7 @@ extern "C"
 #endif
 
 /// \internal
-typedef struct rcl_arguments_impl_t
+struct rcl_arguments_impl_s
 {
   /// Array of indices to unknown ROS specific arguments.
   int * unparsed_ros_args;
@@ -67,7 +67,7 @@ typedef struct rcl_arguments_impl_t
 
   /// Allocator used to allocate objects in this struct
   rcl_allocator_t allocator;
-} rcl_arguments_impl_t;
+};
 
 #ifdef __cplusplus
 }
diff --git a/rcl/src/rcl/client.c b/rcl/src/rcl/client.c
index 53dc77ca1..433ed3f04 100644
--- a/rcl/src/rcl/client.c
+++ b/rcl/src/rcl/client.c
@@ -33,12 +33,12 @@ extern "C"
 
 #include "./common.h"
 
-typedef struct rcl_client_impl_t
+struct rcl_client_impl_s
 {
   rcl_client_options_t options;
   rmw_client_t * rmw_handle;
   atomic_int_least64_t sequence_number;
-} rcl_client_impl_t;
+};
 
 rcl_client_t
 rcl_get_zero_initialized_client()
diff --git a/rcl/src/rcl/context_impl.h b/rcl/src/rcl/context_impl.h
index 08403c08f..10c9e82cc 100644
--- a/rcl/src/rcl/context_impl.h
+++ b/rcl/src/rcl/context_impl.h
@@ -26,7 +26,7 @@ extern "C"
 #endif
 
 /// \internal
-typedef struct rcl_context_impl_t
+struct rcl_context_impl_s
 {
   /// Allocator used during init and shutdown.
   rcl_allocator_t allocator;
@@ -38,7 +38,7 @@ typedef struct rcl_context_impl_t
   char ** argv;
   /// rmw context.
   rmw_context_t rmw_context;
-} rcl_context_impl_t;
+};
 
 RCL_LOCAL
 rcl_ret_t
diff --git a/rcl/src/rcl/event_impl.h b/rcl/src/rcl/event_impl.h
index 1c6b8422b..09456ddcd 100644
--- a/rcl/src/rcl/event_impl.h
+++ b/rcl/src/rcl/event_impl.h
@@ -19,10 +19,10 @@
 
 #include "rcl/event.h"
 
-typedef struct rcl_event_impl_t
+struct rcl_event_impl_s
 {
   rmw_event_t rmw_handle;
   rcl_allocator_t allocator;
-} rcl_event_impl_t;
+};
 
 #endif  // RCL__EVENT_IMPL_H_
diff --git a/rcl/src/rcl/guard_condition.c b/rcl/src/rcl/guard_condition.c
index d7e17afda..62974347d 100644
--- a/rcl/src/rcl/guard_condition.c
+++ b/rcl/src/rcl/guard_condition.c
@@ -26,12 +26,12 @@ extern "C"
 
 #include "./context_impl.h"
 
-typedef struct rcl_guard_condition_impl_t
+struct rcl_guard_condition_impl_s
 {
   rmw_guard_condition_t * rmw_handle;
   bool allocated_rmw_guard_condition;
   rcl_guard_condition_options_t options;
-} rcl_guard_condition_impl_t;
+};
 
 rcl_guard_condition_t
 rcl_get_zero_initialized_guard_condition()
diff --git a/rcl/src/rcl/init_options_impl.h b/rcl/src/rcl/init_options_impl.h
index b1d4401e2..f477f8cb1 100644
--- a/rcl/src/rcl/init_options_impl.h
+++ b/rcl/src/rcl/init_options_impl.h
@@ -25,11 +25,11 @@ extern "C"
 #endif
 
 /// \internal
-typedef struct rcl_init_options_impl_t
+struct rcl_init_options_impl_s
 {
   rcl_allocator_t allocator;
   rmw_init_options_t rmw_init_options;
-} rcl_init_options_impl_t;
+};
 
 #ifdef __cplusplus
 }
diff --git a/rcl/src/rcl/lexer.c b/rcl/src/rcl/lexer.c
index 6307d52ac..b537548eb 100644
--- a/rcl/src/rcl/lexer.c
+++ b/rcl/src/rcl/lexer.c
@@ -140,7 +140,7 @@ digraph remapping_lexer {
 
 /// Represents a transition from one state to another
 /// \internal
-typedef struct rcl_lexer_transition_t
+typedef struct rcl_lexer_transition_s
 {
   /// Index of a state to transition to
   const unsigned char to_state;
@@ -152,7 +152,7 @@ typedef struct rcl_lexer_transition_t
 
 /// Represents a non-terminal state
 /// \internal
-typedef struct rcl_lexer_state_t
+typedef struct rcl_lexer_state_s
 {
   /// Transition to this state if no other transition matches
   const unsigned char else_state;
diff --git a/rcl/src/rcl/lexer_lookahead.c b/rcl/src/rcl/lexer_lookahead.c
index a5b258957..c0fb0af59 100644
--- a/rcl/src/rcl/lexer_lookahead.c
+++ b/rcl/src/rcl/lexer_lookahead.c
@@ -15,7 +15,7 @@
 #include "rcl/error_handling.h"
 #include "rcl/lexer_lookahead.h"
 
-struct rcl_lexer_lookahead2_impl_t
+struct rcl_lexer_lookahead2_impl_s
 {
   // Text that is being analyzed for lexemes
   const char * text;
@@ -59,7 +59,7 @@ rcl_lexer_lookahead2_init(
     return RCL_RET_INVALID_ARGUMENT;
   }
 
-  buffer->impl = allocator.allocate(sizeof(struct rcl_lexer_lookahead2_impl_t), allocator.state);
+  buffer->impl = allocator.allocate(sizeof(rcl_lexer_lookahead2_impl_t), allocator.state);
   RCL_CHECK_FOR_NULL_WITH_MSG(
     buffer->impl, "Failed to allocate lookahead impl", return RCL_RET_BAD_ALLOC);
 
diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
index 98761ce0c..a0aa51d4f 100644
--- a/rcl/src/rcl/node.c
+++ b/rcl/src/rcl/node.c
@@ -52,14 +52,14 @@ extern "C"
 
 #include "./context_impl.h"
 
-typedef struct rcl_node_impl_t
+struct rcl_node_impl_s
 {
   rcl_node_options_t options;
   rmw_node_t * rmw_node_handle;
   rcl_guard_condition_t * graph_guard_condition;
   const char * logger_name;
   const char * fq_name;
-} rcl_node_impl_t;
+};
 
 
 /// Return the logger name associated with a node given the validated node name and namespace.
@@ -496,7 +496,7 @@ rcl_node_get_rcl_instance_id(const rcl_node_t * node)
   return rcl_context_get_instance_id(node->context);
 }
 
-const struct rcl_guard_condition_t *
+const rcl_guard_condition_t *
 rcl_node_get_graph_guard_condition(const rcl_node_t * node)
 {
   if (!rcl_node_is_valid_except_context(node)) {
diff --git a/rcl/src/rcl/publisher_impl.h b/rcl/src/rcl/publisher_impl.h
index 485a7c5ec..cd5ff2324 100644
--- a/rcl/src/rcl/publisher_impl.h
+++ b/rcl/src/rcl/publisher_impl.h
@@ -19,12 +19,12 @@
 
 #include "rcl/publisher.h"
 
-typedef struct rcl_publisher_impl_t
+struct rcl_publisher_impl_s
 {
   rcl_publisher_options_t options;
   rmw_qos_profile_t actual_qos;
   rcl_context_t * context;
   rmw_publisher_t * rmw_handle;
-} rcl_publisher_impl_t;
+};
 
 #endif  // RCL__PUBLISHER_IMPL_H_
diff --git a/rcl/src/rcl/remap_impl.h b/rcl/src/rcl/remap_impl.h
index 770672592..3948847d6 100644
--- a/rcl/src/rcl/remap_impl.h
+++ b/rcl/src/rcl/remap_impl.h
@@ -36,7 +36,7 @@ typedef enum rcl_remap_type_t
   RCL_NAMESPACE_REMAP = 1u << 3
 } rcl_remap_type_t;
 
-typedef struct rcl_remap_impl_t
+struct rcl_remap_impl_s
 {
   /// Bitmask indicating what type of rule this is.
   rcl_remap_type_t type;
@@ -49,7 +49,7 @@ typedef struct rcl_remap_impl_t
 
   /// Allocator used to allocate objects in this struct
   rcl_allocator_t allocator;
-} rcl_remap_impl_t;
+};
 
 RCL_LOCAL
 rcl_ret_t
diff --git a/rcl/src/rcl/service.c b/rcl/src/rcl/service.c
index 251ab66b1..f97110659 100644
--- a/rcl/src/rcl/service.c
+++ b/rcl/src/rcl/service.c
@@ -30,11 +30,11 @@ extern "C"
 #include "rmw/rmw.h"
 #include "tracetools/tracetools.h"
 
-typedef struct rcl_service_impl_t
+struct rcl_service_impl_s
 {
   rcl_service_options_t options;
   rmw_service_t * rmw_handle;
-} rcl_service_impl_t;
+};
 
 rcl_service_t
 rcl_get_zero_initialized_service()
diff --git a/rcl/src/rcl/subscription_impl.h b/rcl/src/rcl/subscription_impl.h
index 00756f271..0fe962ab4 100644
--- a/rcl/src/rcl/subscription_impl.h
+++ b/rcl/src/rcl/subscription_impl.h
@@ -19,11 +19,11 @@
 
 #include "rcl/subscription.h"
 
-typedef struct rcl_subscription_impl_t
+struct rcl_subscription_impl_s
 {
   rcl_subscription_options_t options;
   rmw_qos_profile_t actual_qos;
   rmw_subscription_t * rmw_handle;
-} rcl_subscription_impl_t;
+};
 
 #endif  // RCL__SUBSCRIPTION_IMPL_H_
diff --git a/rcl/src/rcl/time.c b/rcl/src/rcl/time.c
index 22426f085..12dc87924 100644
--- a/rcl/src/rcl/time.c
+++ b/rcl/src/rcl/time.c
@@ -25,7 +25,7 @@
 #include "rcutils/time.h"
 
 // Internal storage for RCL_ROS_TIME implementation
-typedef struct rcl_ros_clock_storage_t
+typedef struct rcl_ros_clock_storage_s
 {
   atomic_uint_least64_t current_time;
   bool active;
@@ -86,7 +86,7 @@ rcl_clock_valid(rcl_clock_t * clock)
 
 rcl_ret_t
 rcl_clock_init(
-  enum rcl_clock_type_t clock_type, rcl_clock_t * clock,
+  rcl_clock_type_t clock_type, rcl_clock_t * clock,
   rcl_allocator_t * allocator)
 {
   RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
diff --git a/rcl/src/rcl/timer.c b/rcl/src/rcl/timer.c
index 52423ea41..b672e5156 100644
--- a/rcl/src/rcl/timer.c
+++ b/rcl/src/rcl/timer.c
@@ -27,7 +27,7 @@ extern "C"
 #include "rcutils/time.h"
 #include "tracetools/tracetools.h"
 
-typedef struct rcl_timer_impl_t
+struct rcl_timer_impl_s
 {
   // The clock providing time.
   rcl_clock_t * clock;
@@ -50,7 +50,7 @@ typedef struct rcl_timer_impl_t
   atomic_bool canceled;
   // The user supplied allocator.
   rcl_allocator_t allocator;
-} rcl_timer_impl_t;
+};
 
 rcl_timer_t
 rcl_get_zero_initialized_timer()
@@ -60,7 +60,7 @@ rcl_get_zero_initialized_timer()
 }
 
 void _rcl_timer_time_jump(
-  const struct rcl_time_jump_t * time_jump,
+  const rcl_time_jump_t * time_jump,
   bool before_jump,
   void * user_data)
 {
diff --git a/rcl/src/rcl/wait.c b/rcl/src/rcl/wait.c
index 6c973685b..8d97c141d 100644
--- a/rcl/src/rcl/wait.c
+++ b/rcl/src/rcl/wait.c
@@ -33,7 +33,7 @@ extern "C"
 
 #include "./context_impl.h"
 
-typedef struct rcl_wait_set_impl_t
+struct rcl_wait_set_impl_s
 {
   // number of subscriptions that have been added to the wait set
   size_t subscription_index;
@@ -58,7 +58,7 @@ typedef struct rcl_wait_set_impl_t
   rcl_context_t * context;
   // allocator used in the wait set
   rcl_allocator_t allocator;
-} rcl_wait_set_impl_t;
+};
 
 rcl_wait_set_t
 rcl_get_zero_initialized_wait_set()
diff --git a/rcl/test/rcl/test_lexer_lookahead.cpp b/rcl/test/rcl/test_lexer_lookahead.cpp
index 0fe8ff05e..d6dd1816c 100644
--- a/rcl/test/rcl/test_lexer_lookahead.cpp
+++ b/rcl/test/rcl/test_lexer_lookahead.cpp
@@ -70,7 +70,7 @@ TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_init_not_z
 {
   rcl_lexer_lookahead2_t buffer;
   int not_zero = 1;
-  buffer.impl = reinterpret_cast<rcl_lexer_lookahead2_impl_t *>(&not_zero);
+  buffer.impl = reinterpret_cast<struct rcl_lexer_lookahead2_impl_s *>(&not_zero);
   rcl_ret_t ret = rcl_lexer_lookahead2_init(&buffer, "foobar", rcl_get_default_allocator());
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
   rcl_reset_error();
diff --git a/rcl/test/rcl/test_time.cpp b/rcl/test/rcl/test_time.cpp
index ab944c193..3bba9428a 100644
--- a/rcl/test/rcl/test_time.cpp
+++ b/rcl/test/rcl/test_time.cpp
@@ -391,7 +391,7 @@ static bool pre_callback_called = false;
 static bool post_callback_called = false;
 
 void clock_callback(
-  const struct rcl_time_jump_t * time_jump,
+  const rcl_time_jump_t * time_jump,
   bool before_jump,
   void * user_data)
 {