diff --git a/include/rcutils/executor_event_types.h b/include/rcutils/executor_event_types.h
new file mode 100644
index 00000000..b68deb13
--- /dev/null
+++ b/include/rcutils/executor_event_types.h
@@ -0,0 +1,46 @@
+// Copyright 2020 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.
+
+#ifndef RCUTILS__EVENT_TYPES_H_
+#define RCUTILS__EVENT_TYPES_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+enum ExecutorEventType {
+    SUBSCRIPTION_EVENT,
+    SERVICE_EVENT,
+    CLIENT_EVENT,
+    WAITABLE_EVENT
+};
+
+typedef enum ExecutorEventType ExecutorEventType;
+
+struct ExecutorEvent {
+  const void * entity;
+  ExecutorEventType type;
+};
+
+typedef struct ExecutorEvent ExecutorEvent;
+
+typedef void (*EventsExecutorCallback)(const void * context, ExecutorEvent event);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCUTILS__EVENT_TYPES_H_