diff --git a/plansys2_executor/test/unit/execution_tree_test.cpp b/plansys2_executor/test/unit/execution_tree_test.cpp
index 43cf3eaf..be3f62f6 100644
--- a/plansys2_executor/test/unit/execution_tree_test.cpp
+++ b/plansys2_executor/test/unit/execution_tree_test.cpp
@@ -51,7 +51,7 @@ TEST(executiotest_noden_tree, bt_builder_factory)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});
 
-  rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
   exe.add_node(problem_node->get_node_base_interface());
@@ -192,7 +192,7 @@ TEST(executiotest_noden_tree, bt_builder_factory_2)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});
 
-  rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
   exe.add_node(problem_node->get_node_base_interface());
@@ -332,7 +332,7 @@ TEST(executiotest_noden_tree, bt_builder_factory_3)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_charging.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/domain_charging.pddl"});
 
-  rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
   exe.add_node(problem_node->get_node_base_interface());
diff --git a/plansys2_lifecycle_manager/test/lf_manager_test.cpp b/plansys2_lifecycle_manager/test/lf_manager_test.cpp
index 598a2ff6..4e1aa5b2 100644
--- a/plansys2_lifecycle_manager/test/lf_manager_test.cpp
+++ b/plansys2_lifecycle_manager/test/lf_manager_test.cpp
@@ -33,7 +33,7 @@ TEST(lifecycle_manager, lf_client)
   auto test_node = rclcpp_lifecycle::LifecycleNode::make_shared("test");
   auto client_node = std::make_shared<plansys2::LifecycleServiceClient>("mng_client", "test");
 
-  auto exe = rclcpp::executors::SingleThreadedExecutor::make_shared();
+  auto exe = rclcpp::experimental::executors::EventsExecutor::make_shared();
   exe->add_node(test_node->get_node_base_interface());
   exe->add_node(client_node->get_node_base_interface());
 
@@ -97,7 +97,7 @@ TEST(lifecycle_manager, lf_startup)
   manager_nodes["executor"] = std::make_shared<plansys2::LifecycleServiceClient>(
     "domain_expert_lc_mngr", "executor");
 
-  rclcpp::executors::SingleThreadedExecutor exe;
+  rclcpp::experimental::executors::EventsExecutor exe;
   for (auto & manager_node : manager_nodes) {
     manager_node.second->init();
     exe.add_node(manager_node.second);
diff --git a/plansys2_problem_expert/test/unit/utils_test.cpp b/plansys2_problem_expert/test/unit/utils_test.cpp
index e9541476..150af56d 100644
--- a/plansys2_problem_expert/test/unit/utils_test.cpp
+++ b/plansys2_problem_expert/test/unit/utils_test.cpp
@@ -203,7 +203,7 @@ TEST(utils, evaluate_predicate_client)
   domain_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
   problem_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
 
-  rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
   exe.add_node(problem_node->get_node_base_interface());
@@ -541,7 +541,7 @@ TEST(utils, evaluate_expression_invalid_client)
   domain_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
   problem_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
 
-  rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
   exe.add_node(problem_node->get_node_base_interface());
@@ -696,7 +696,7 @@ TEST(utils, evaluate_function_mod_client)
   domain_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
   problem_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
 
-  rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
   exe.add_node(problem_node->get_node_base_interface());
@@ -787,7 +787,7 @@ TEST(utils, evaluate_function_mod_invalid_client)
   domain_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
   problem_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
 
-  rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
   exe.add_node(problem_node->get_node_base_interface());
@@ -905,7 +905,7 @@ TEST(utils, evaluate_exists_client)
   problem_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
   problem_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
 
-  rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(problem_node->get_node_base_interface());
 
@@ -990,7 +990,7 @@ TEST(utils, get_action_from_string)
   domain_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
   domain_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
 
-  rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());