diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index f1c09456ee..76b494fff5 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -20,10 +20,8 @@
 #include <string>
 
 #include <rmw/rmw.h>
-#include <rmw/get_type_support_handle.h>
-
-#include <rosidl_generator_cpp/MessageTypeSupport.h>
-#include <rosidl_generator_cpp/ServiceTypeSupport.h>
+#include <rosidl_generator_cpp/message_type_support.hpp>
+#include <rosidl_generator_cpp/service_type_support.hpp>
 
 #include <rclcpp/contexts/default_context.hpp>
 
@@ -65,8 +63,8 @@ template<typename MessageT>
 publisher::Publisher::SharedPtr
 Node::create_publisher(std::string topic_name, size_t queue_size)
 {
-  using rmw::get_type_support_handle;
-  auto type_support_handle = get_type_support_handle<MessageT>();
+  using rosidl_generator_cpp::get_message_type_support_handle;
+  auto type_support_handle = get_message_type_support_handle<MessageT>();
   rmw_publisher_t * publisher_handle = rmw_create_publisher(
     node_handle_, type_support_handle, topic_name.c_str(), queue_size);
 
@@ -96,8 +94,8 @@ Node::create_subscription(
   std::function<void(const std::shared_ptr<MessageT> &)> callback,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
-  using rmw::get_type_support_handle;
-  auto type_support_handle = get_type_support_handle<MessageT>();
+  using rosidl_generator_cpp::get_message_type_support_handle;
+  auto type_support_handle = get_message_type_support_handle<MessageT>();
   rmw_subscription_t * subscriber_handle = rmw_create_subscription(
     node_handle_, type_support_handle, topic_name.c_str(), queue_size);