diff --git a/test_cli/test/initial_params.cpp b/test_cli/test/initial_params.cpp
index ea7ed0db..0470613c 100644
--- a/test_cli/test/initial_params.cpp
+++ b/test_cli/test/initial_params.cpp
@@ -14,7 +14,10 @@
 
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/utilities.hpp"
 
 int main(int argc, char ** argv)
 {
diff --git a/test_cli_remapping/test/name_maker.cpp b/test_cli_remapping/test/name_maker.cpp
index 02b1dcd7..b2608b74 100644
--- a/test_cli_remapping/test/name_maker.cpp
+++ b/test_cli_remapping/test/name_maker.cpp
@@ -12,10 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <chrono>
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_msgs/msg/empty.hpp"
 #include "test_msgs/srv/empty.hpp"
diff --git a/test_communication/test/subscribe_array_types.cpp b/test_communication/test/subscribe_array_types.cpp
index ae5f8b67..07d7b096 100644
--- a/test_communication/test/subscribe_array_types.cpp
+++ b/test_communication/test/subscribe_array_types.cpp
@@ -15,7 +15,8 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/subscription_base.hpp"
 #include "test_msgs/msg/arrays.hpp"
 #include "test_msgs/msg/unbounded_sequences.hpp"
 #include "test_msgs/msg/bounded_plain_sequences.hpp"
diff --git a/test_communication/test/subscribe_array_types.hpp b/test_communication/test/subscribe_array_types.hpp
index 79fdafb1..b0f8d79b 100644
--- a/test_communication/test/subscribe_array_types.hpp
+++ b/test_communication/test/subscribe_array_types.hpp
@@ -18,7 +18,8 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/subscription_base.hpp"
 #include "test_msgs/msg/arrays.hpp"
 #include "test_msgs/msg/unbounded_sequences.hpp"
 #include "test_msgs/msg/bounded_plain_sequences.hpp"
diff --git a/test_communication/test/subscribe_basic_types.cpp b/test_communication/test/subscribe_basic_types.cpp
index 6257875b..83700536 100644
--- a/test_communication/test/subscribe_basic_types.cpp
+++ b/test_communication/test/subscribe_basic_types.cpp
@@ -15,7 +15,8 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/subscription_base.hpp"
 #include "test_msgs/msg/empty.hpp"
 #include "test_msgs/msg/basic_types.hpp"
 #include "test_msgs/msg/builtins.hpp"
diff --git a/test_communication/test/subscribe_basic_types.hpp b/test_communication/test/subscribe_basic_types.hpp
index 59a40700..b55ede4d 100644
--- a/test_communication/test/subscribe_basic_types.hpp
+++ b/test_communication/test/subscribe_basic_types.hpp
@@ -18,7 +18,8 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/subscription_base.hpp"
 #include "test_msgs/msg/empty.hpp"
 #include "test_msgs/msg/basic_types.hpp"
 #include "test_msgs/msg/builtins.hpp"
diff --git a/test_communication/test/subscribe_helper.hpp b/test_communication/test/subscribe_helper.hpp
index 88984fa7..55db5467 100644
--- a/test_communication/test/subscribe_helper.hpp
+++ b/test_communication/test/subscribe_helper.hpp
@@ -20,7 +20,10 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/subscription_base.hpp"
+#include "rclcpp/utilities.hpp"
 
 template<typename T>
 rclcpp::SubscriptionBase::SharedPtr subscribe(
diff --git a/test_communication/test/subscribe_key_types.cpp b/test_communication/test/subscribe_key_types.cpp
index b3e5d6cb..9fcce514 100644
--- a/test_communication/test/subscribe_key_types.cpp
+++ b/test_communication/test/subscribe_key_types.cpp
@@ -15,7 +15,8 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/subscription_base.hpp"
 
 #include "subscribe_helper.hpp"
 #include "subscribe_key_types.hpp"
diff --git a/test_communication/test/subscribe_key_types.hpp b/test_communication/test/subscribe_key_types.hpp
index a8d9e930..ec815b72 100644
--- a/test_communication/test/subscribe_key_types.hpp
+++ b/test_communication/test/subscribe_key_types.hpp
@@ -18,7 +18,8 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/subscription_base.hpp"
 #include "test_msgs/msg/complex_nested_key.hpp"
 #include "test_msgs/msg/keyed_long.hpp"
 #include "test_msgs/msg/keyed_string.hpp"
diff --git a/test_communication/test/subscribe_string_types.cpp b/test_communication/test/subscribe_string_types.cpp
index a291b8d4..3f9b9c5f 100644
--- a/test_communication/test/subscribe_string_types.cpp
+++ b/test_communication/test/subscribe_string_types.cpp
@@ -15,7 +15,8 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/subscription_base.hpp"
 #include "test_msgs/msg/strings.hpp"
 #include "test_msgs/msg/w_strings.hpp"
 
diff --git a/test_communication/test/subscribe_string_types.hpp b/test_communication/test/subscribe_string_types.hpp
index b626625b..9c3b52d2 100644
--- a/test_communication/test/subscribe_string_types.hpp
+++ b/test_communication/test/subscribe_string_types.hpp
@@ -18,7 +18,8 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/subscription_base.hpp"
 #include "test_msgs/msg/strings.hpp"
 #include "test_msgs/msg/w_strings.hpp"
 
diff --git a/test_communication/test/test_action_client.cpp b/test_communication/test/test_action_client.cpp
index 043a2578..8b3fc739 100644
--- a/test_communication/test/test_action_client.cpp
+++ b/test_communication/test/test_action_client.cpp
@@ -19,7 +19,11 @@
 #include <vector>
 
 #include "rclcpp/exceptions.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/future_return_code.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
 
 #include "rcpputils/scope_exit.hpp"
diff --git a/test_communication/test/test_action_server.cpp b/test_communication/test/test_action_server.cpp
index bcaf5471..07ca0dba 100644
--- a/test_communication/test/test_action_server.cpp
+++ b/test_communication/test/test_action_server.cpp
@@ -14,12 +14,15 @@
 
 #include <chrono>
 #include <memory>
-#include <stdexcept>
 #include <string>
-#include <utility>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/logger.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/rate.hpp"
+#include "rclcpp/utilities.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
 
 #include "rcpputils/scope_exit.hpp"
diff --git a/test_communication/test/test_messages_c.cpp b/test_communication/test/test_messages_c.cpp
index 0f4b9f12..ac6f31b7 100644
--- a/test_communication/test/test_messages_c.cpp
+++ b/test_communication/test/test_messages_c.cpp
@@ -49,7 +49,6 @@
 #define SCOPE_EXIT_HPP_
 
 #include <algorithm>
-#include <functional>
 #include <limits>
 #include <memory>
 
diff --git a/test_communication/test/test_nested_types.cpp b/test_communication/test/test_nested_types.cpp
index 753d52f7..85ac8ff7 100644
--- a/test_communication/test/test_nested_types.cpp
+++ b/test_communication/test/test_nested_types.cpp
@@ -18,7 +18,10 @@
 #include <limits>
 #include <thread>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/rate.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "rcpputils/scope_exit.hpp"
 
diff --git a/test_communication/test/test_publisher.cpp b/test_communication/test/test_publisher.cpp
index 250e08af..ca452820 100644
--- a/test_communication/test/test_publisher.cpp
+++ b/test_communication/test/test_publisher.cpp
@@ -16,7 +16,10 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/rate.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_msgs/message_fixtures.hpp"
 
diff --git a/test_communication/test/test_publisher_subscriber.cpp b/test_communication/test/test_publisher_subscriber.cpp
index 83ceb1b5..a2dd6cc8 100644
--- a/test_communication/test/test_publisher_subscriber.cpp
+++ b/test_communication/test/test_publisher_subscriber.cpp
@@ -17,7 +17,12 @@
 #include <thread>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/rate.hpp"
+#include "rclcpp/subscription_base.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "rcpputils/scope_exit.hpp"
 
diff --git a/test_communication/test/test_publisher_subscriber_serialized.cpp b/test_communication/test/test_publisher_subscriber_serialized.cpp
index 379938f2..1cefe7bc 100644
--- a/test_communication/test/test_publisher_subscriber_serialized.cpp
+++ b/test_communication/test/test_publisher_subscriber_serialized.cpp
@@ -16,8 +16,12 @@
 #include <memory>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/rate.hpp"
 #include "rclcpp/serialization.hpp"
+#include "rclcpp/serialized_message.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "rmw/types.h"
 
diff --git a/test_communication/test/test_replier.cpp b/test_communication/test/test_replier.cpp
index 878220b6..0eea759f 100644
--- a/test_communication/test/test_replier.cpp
+++ b/test_communication/test/test_replier.cpp
@@ -18,7 +18,10 @@
 #include <utility>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/service.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_msgs/service_fixtures.hpp"
 
diff --git a/test_communication/test/test_requester.cpp b/test_communication/test/test_requester.cpp
index c0f51923..650dd329 100644
--- a/test_communication/test/test_requester.cpp
+++ b/test_communication/test/test_requester.cpp
@@ -19,7 +19,10 @@
 #include <vector>
 
 #include "rclcpp/exceptions.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/rate.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_msgs/service_fixtures.hpp"
 
diff --git a/test_communication/test/test_subscriber.cpp b/test_communication/test/test_subscriber.cpp
index 02a1e038..b9f73fa6 100644
--- a/test_communication/test/test_subscriber.cpp
+++ b/test_communication/test/test_subscriber.cpp
@@ -13,11 +13,13 @@
 // limitations under the License.
 
 #include <chrono>
-#include <stdexcept>
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/subscription_base.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_msgs/message_fixtures.hpp"
 
diff --git a/test_communication/test/test_subscription_valid_data.cpp b/test_communication/test/test_subscription_valid_data.cpp
index 3578f072..f3eabc1f 100644
--- a/test_communication/test/test_subscription_valid_data.cpp
+++ b/test_communication/test/test_subscription_valid_data.cpp
@@ -14,10 +14,12 @@
 
 #include <chrono>
 #include <memory>
-#include <string>
 #include <utility>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/rate.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_communication/msg/u_int32.hpp"
 
diff --git a/test_quality_of_service/include/test_quality_of_service/qos_test_node.hpp b/test_quality_of_service/include/test_quality_of_service/qos_test_node.hpp
index 82c98ac0..62fc9419 100644
--- a/test_quality_of_service/include/test_quality_of_service/qos_test_node.hpp
+++ b/test_quality_of_service/include/test_quality_of_service/qos_test_node.hpp
@@ -19,7 +19,8 @@
 #include <mutex>
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/qos.hpp"
 #include "test_quality_of_service/visibility_control.hpp"
 
 /// Base class used for QoS system test nodes
diff --git a/test_quality_of_service/include/test_quality_of_service/qos_test_publisher.hpp b/test_quality_of_service/include/test_quality_of_service/qos_test_publisher.hpp
index 1f1e56a4..92d4cf44 100644
--- a/test_quality_of_service/include/test_quality_of_service/qos_test_publisher.hpp
+++ b/test_quality_of_service/include/test_quality_of_service/qos_test_publisher.hpp
@@ -19,7 +19,10 @@
 #include <memory>
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/publisher_options.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/timer.hpp"
 #include "std_msgs/msg/string.hpp"
 
 #include "test_quality_of_service/qos_test_node.hpp"
diff --git a/test_quality_of_service/include/test_quality_of_service/qos_test_subscriber.hpp b/test_quality_of_service/include/test_quality_of_service/qos_test_subscriber.hpp
index d4354375..8d23ac17 100644
--- a/test_quality_of_service/include/test_quality_of_service/qos_test_subscriber.hpp
+++ b/test_quality_of_service/include/test_quality_of_service/qos_test_subscriber.hpp
@@ -18,7 +18,9 @@
 #include <memory>
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/subscription_options.hpp"
 #include "std_msgs/msg/string.hpp"
 
 #include "test_quality_of_service/qos_test_node.hpp"
diff --git a/test_quality_of_service/include/test_quality_of_service/qos_utilities.hpp b/test_quality_of_service/include/test_quality_of_service/qos_utilities.hpp
index 3e8b19a3..4fbafe4a 100644
--- a/test_quality_of_service/include/test_quality_of_service/qos_utilities.hpp
+++ b/test_quality_of_service/include/test_quality_of_service/qos_utilities.hpp
@@ -25,7 +25,7 @@
 #include "gtest/gtest.h"
 
 #include "rcutils/macros.h"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
 
 #ifdef RMW_IMPLEMENTATION
 # define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
diff --git a/test_quality_of_service/test/qos_test_node.cpp b/test_quality_of_service/test/qos_test_node.cpp
index cad54630..292a1cb1 100644
--- a/test_quality_of_service/test/qos_test_node.cpp
+++ b/test_quality_of_service/test/qos_test_node.cpp
@@ -12,13 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <atomic>
 #include <mutex>
 #include <string>
 
 #include "test_quality_of_service/qos_test_node.hpp"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/qos.hpp"
 
 QosTestNode::QosTestNode(
   const std::string & name,
diff --git a/test_quality_of_service/test/qos_test_publisher.cpp b/test_quality_of_service/test/qos_test_publisher.cpp
index a2201c50..7f1883c7 100644
--- a/test_quality_of_service/test/qos_test_publisher.cpp
+++ b/test_quality_of_service/test/qos_test_publisher.cpp
@@ -16,7 +16,8 @@
 #include <sstream>
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/qos.hpp"
 #include "std_msgs/msg/string.hpp"
 
 #include "test_quality_of_service/qos_test_publisher.hpp"
diff --git a/test_quality_of_service/test/qos_test_subscriber.cpp b/test_quality_of_service/test/qos_test_subscriber.cpp
index ac6c755c..5f26116c 100644
--- a/test_quality_of_service/test/qos_test_subscriber.cpp
+++ b/test_quality_of_service/test/qos_test_subscriber.cpp
@@ -16,7 +16,8 @@
 #include <memory>
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/qos.hpp"
 #include "std_msgs/msg/string.hpp"
 
 #include "test_quality_of_service/qos_test_node.hpp"
diff --git a/test_quality_of_service/test/qos_utilities.cpp b/test_quality_of_service/test/qos_utilities.cpp
index 90697e3b..a5798bac 100644
--- a/test_quality_of_service/test/qos_utilities.cpp
+++ b/test_quality_of_service/test/qos_utilities.cpp
@@ -14,12 +14,10 @@
 
 #include <future>
 #include <memory>
-#include <sstream>
-#include <string>
 #include <tuple>
-#include <utility>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_quality_of_service/qos_test_publisher.hpp"
 #include "test_quality_of_service/qos_test_subscriber.hpp"
diff --git a/test_quality_of_service/test/test_best_available.cpp b/test_quality_of_service/test/test_best_available.cpp
index 7094f1cc..b928b8b5 100644
--- a/test_quality_of_service/test/test_best_available.cpp
+++ b/test_quality_of_service/test/test_best_available.cpp
@@ -13,7 +13,6 @@
 // limitations under the License.
 
 #include <chrono>
-#include <functional>
 #include <memory>
 #include <string>
 
@@ -21,7 +20,8 @@
 
 #include "rcl/graph.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/qos.hpp"
 
 #include "test_msgs/srv/empty.hpp"
 
diff --git a/test_quality_of_service/test/test_deadline.cpp b/test_quality_of_service/test/test_deadline.cpp
index bb8f33c1..99379327 100644
--- a/test_quality_of_service/test/test_deadline.cpp
+++ b/test_quality_of_service/test/test_deadline.cpp
@@ -15,11 +15,13 @@
 #include <chrono>
 #include <memory>
 #include <string>
-#include <tuple>
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/event_handler.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/timer.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
 
 #include "std_msgs/msg/string.hpp"
diff --git a/test_quality_of_service/test/test_lifespan.cpp b/test_quality_of_service/test/test_lifespan.cpp
index f6e69742..6e1723f2 100644
--- a/test_quality_of_service/test/test_lifespan.cpp
+++ b/test_quality_of_service/test/test_lifespan.cpp
@@ -15,11 +15,11 @@
 #include <chrono>
 #include <memory>
 #include <string>
-#include <tuple>
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/timer.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
 
 #include "std_msgs/msg/string.hpp"
diff --git a/test_quality_of_service/test/test_liveliness.cpp b/test_quality_of_service/test/test_liveliness.cpp
index 3931a6e3..e0fe7085 100644
--- a/test_quality_of_service/test/test_liveliness.cpp
+++ b/test_quality_of_service/test/test_liveliness.cpp
@@ -14,16 +14,15 @@
 
 
 #include <chrono>
-#include <exception>
-#include <iostream>
 #include <memory>
-#include <stack>
 #include <string>
-#include <tuple>
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/event_handler.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/timer.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
 
 #include "std_msgs/msg/string.hpp"
diff --git a/test_rclcpp/include/test_rclcpp/utils.hpp b/test_rclcpp/include/test_rclcpp/utils.hpp
index 94b72782..030fb421 100644
--- a/test_rclcpp/include/test_rclcpp/utils.hpp
+++ b/test_rclcpp/include/test_rclcpp/utils.hpp
@@ -15,14 +15,16 @@
 #ifndef TEST_RCLCPP__UTILS_HPP_
 #define TEST_RCLCPP__UTILS_HPP_
 
+#include <chrono>
 #include <cinttypes>
+#include <cstdio>
 #include <memory>
-#include <stdexcept>
 #include <string>
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/event.hpp"
+#include "rclcpp/node.hpp"
 
 namespace test_rclcpp
 {
diff --git a/test_rclcpp/test/node_check_names.cpp b/test_rclcpp/test/node_check_names.cpp
index 02a5a80f..07989f14 100644
--- a/test_rclcpp/test/node_check_names.cpp
+++ b/test_rclcpp/test/node_check_names.cpp
@@ -15,7 +15,9 @@
 #include <chrono>
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 
 int main(int argc, char ** argv)
 {
diff --git a/test_rclcpp/test/node_name_list.cpp b/test_rclcpp/test/node_name_list.cpp
index 62784c46..0364409a 100644
--- a/test_rclcpp/test/node_name_list.cpp
+++ b/test_rclcpp/test/node_name_list.cpp
@@ -18,7 +18,9 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 
 using namespace std::chrono_literals;
 
diff --git a/test_rclcpp/test/node_with_name.cpp b/test_rclcpp/test/node_with_name.cpp
index 3ff5932e..2bb62b47 100644
--- a/test_rclcpp/test/node_with_name.cpp
+++ b/test_rclcpp/test/node_with_name.cpp
@@ -16,7 +16,10 @@
 #include <iostream>
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 
 int main(int argc, char ** argv)
 {
diff --git a/test_rclcpp/test/parameter_fixtures.hpp b/test_rclcpp/test/parameter_fixtures.hpp
index 089d7459..48d98093 100644
--- a/test_rclcpp/test/parameter_fixtures.hpp
+++ b/test_rclcpp/test/parameter_fixtures.hpp
@@ -17,16 +17,18 @@
 
 #include <algorithm>
 #include <chrono>
+#include <cstdio>
 #include <cstring>
-#include <iostream>
 #include <memory>
-#include <stdexcept>
 #include <string>
 #include <vector>
 #include "gtest/gtest.h"
 
 #include "rcl_interfaces/srv/list_parameters.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/parameter_client.hpp"
 
 const double test_epsilon = 1e-6;
 
diff --git a/test_rclcpp/test/pub_sub_fixtures.hpp b/test_rclcpp/test/pub_sub_fixtures.hpp
index 9bd4f774..1f9509b3 100644
--- a/test_rclcpp/test/pub_sub_fixtures.hpp
+++ b/test_rclcpp/test/pub_sub_fixtures.hpp
@@ -12,11 +12,20 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <chrono>
+#include <cstdio>
 #include <functional>
 #include <memory>
 #include <string>
+#include <thread>
 
-#include "rclcpp/rclcpp.hpp"
+#include "gtest/gtest.h"
+
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/subscription.hpp"
 
 #include "test_rclcpp/msg/u_int32.hpp"
 #include "test_rclcpp/utils.hpp"
diff --git a/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp b/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp
index 18fae5f5..e813529a 100644
--- a/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp
+++ b/test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp
@@ -12,13 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <chrono>
-#include <iostream>
 #include <string>
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/message_info.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_rclcpp/msg/u_int32.hpp"
 #include "test_rclcpp/utils.hpp"
diff --git a/test_rclcpp/test/test_client_scope_client.cpp b/test_rclcpp/test/test_client_scope_client.cpp
index 388f4f1e..9c54f12a 100644
--- a/test_rclcpp/test/test_client_scope_client.cpp
+++ b/test_rclcpp/test/test_client_scope_client.cpp
@@ -18,7 +18,10 @@
 
 #include "gtest/gtest.h"
 #include "rclcpp/exceptions.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/future_return_code.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 #include "test_rclcpp/srv/add_two_ints.hpp"
 
 using namespace std::chrono_literals;
diff --git a/test_rclcpp/test/test_client_scope_consistency_client.cpp b/test_rclcpp/test/test_client_scope_consistency_client.cpp
index b73e13dc..3f6c5b50 100644
--- a/test_rclcpp/test/test_client_scope_consistency_client.cpp
+++ b/test_rclcpp/test/test_client_scope_consistency_client.cpp
@@ -19,7 +19,11 @@
 
 #include "gtest/gtest.h"
 #include "rclcpp/exceptions.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/future_return_code.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/utilities.hpp"
 #include "test_rclcpp/srv/add_two_ints.hpp"
 
 using namespace std::chrono_literals;
diff --git a/test_rclcpp/test/test_client_scope_consistency_server.cpp b/test_rclcpp/test/test_client_scope_consistency_server.cpp
index ac716c92..f05dd7ad 100644
--- a/test_rclcpp/test/test_client_scope_consistency_server.cpp
+++ b/test_rclcpp/test/test_client_scope_consistency_server.cpp
@@ -15,7 +15,13 @@
 #include <iostream>
 #include <memory>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/rate.hpp"
+#include "rclcpp/utilities.hpp"
 #include "test_rclcpp/srv/add_two_ints.hpp"
 
 void handle_add_two_ints(
diff --git a/test_rclcpp/test/test_client_scope_server.cpp b/test_rclcpp/test/test_client_scope_server.cpp
index 70f80fc5..ac76cf72 100644
--- a/test_rclcpp/test/test_client_scope_server.cpp
+++ b/test_rclcpp/test/test_client_scope_server.cpp
@@ -15,7 +15,12 @@
 #include <iostream>
 #include <memory>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/rate.hpp"
+#include "rclcpp/utilities.hpp"
 #include "test_rclcpp/srv/add_two_ints.hpp"
 
 void handle_add_two_ints(
diff --git a/test_rclcpp/test/test_client_wait_for_service_shutdown.cpp b/test_rclcpp/test/test_client_wait_for_service_shutdown.cpp
index 89450edf..31616ae8 100644
--- a/test_rclcpp/test/test_client_wait_for_service_shutdown.cpp
+++ b/test_rclcpp/test/test_client_wait_for_service_shutdown.cpp
@@ -16,7 +16,8 @@
 #include <thread>
 
 #include "gtest/gtest.h"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 #include "rcpputils/scope_exit.hpp"
 #include "test_rclcpp/srv/add_two_ints.hpp"
 
diff --git a/test_rclcpp/test/test_executor.cpp b/test_rclcpp/test/test_executor.cpp
index e23f1b5b..80c4fd3c 100644
--- a/test_rclcpp/test/test_executor.cpp
+++ b/test_rclcpp/test/test_executor.cpp
@@ -18,13 +18,15 @@
 #include <future>
 #include <memory>
 #include <stdexcept>
-#include <string>
 #include <vector>
 
 #include "gtest/gtest.h"
 
 #include "rclcpp/exceptions.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/timer.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_rclcpp/utils.hpp"
 
diff --git a/test_rclcpp/test/test_intra_process.cpp b/test_rclcpp/test/test_intra_process.cpp
index 3559852e..b96e9f5e 100644
--- a/test_rclcpp/test/test_intra_process.cpp
+++ b/test_rclcpp/test/test_intra_process.cpp
@@ -13,12 +13,15 @@
 // limitations under the License.
 
 #include <chrono>
-#include <iostream>
 #include <memory>
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/message_info.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_rclcpp/msg/u_int32.hpp"
 
diff --git a/test_rclcpp/test/test_local_parameters.cpp b/test_rclcpp/test/test_local_parameters.cpp
index d9f0ecac..84283070 100644
--- a/test_rclcpp/test/test_local_parameters.cpp
+++ b/test_rclcpp/test/test_local_parameters.cpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 #include <chrono>
-#include <iostream>
+#include <cstdio>
 #include <memory>
 #include <stdexcept>
 #include <string>
@@ -21,7 +21,12 @@
 #include <vector>
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/parameter_client.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "parameter_fixtures.hpp"
 
diff --git a/test_rclcpp/test/test_multiple_service_calls.cpp b/test_rclcpp/test/test_multiple_service_calls.cpp
index cfb2428c..2acc185d 100644
--- a/test_rclcpp/test/test_multiple_service_calls.cpp
+++ b/test_rclcpp/test/test_multiple_service_calls.cpp
@@ -15,7 +15,6 @@
 #include <inttypes.h>
 
 #include <chrono>
-#include <iostream>
 #include <memory>
 #include <utility>
 #include <vector>
@@ -23,7 +22,10 @@
 #include "gtest/gtest.h"
 
 #include "rclcpp/exceptions.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/client.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_rclcpp/srv/add_two_ints.hpp"
 
diff --git a/test_rclcpp/test/test_multithreaded.cpp b/test_rclcpp/test/test_multithreaded.cpp
index a47073fb..2d658dc0 100644
--- a/test_rclcpp/test/test_multithreaded.cpp
+++ b/test_rclcpp/test/test_multithreaded.cpp
@@ -24,8 +24,19 @@
 #include "gtest/gtest.h"
 
 #include "rclcpp/exceptions.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/client.hpp"
+#include "rclcpp/context.hpp"
 #include "rclcpp/executors.hpp"
+#include "rclcpp/future_return_code.hpp"
+#include "rclcpp/message_info.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/timer.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_rclcpp/utils.hpp"
 #include "test_rclcpp/msg/u_int32.hpp"
diff --git a/test_rclcpp/test/test_parameters_server.cpp b/test_rclcpp/test/test_parameters_server.cpp
index 3488c81b..8b8047da 100644
--- a/test_rclcpp/test/test_parameters_server.cpp
+++ b/test_rclcpp/test/test_parameters_server.cpp
@@ -12,7 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/utilities.hpp"
 
 int main(int argc, char ** argv)
 {
diff --git a/test_rclcpp/test/test_publisher.cpp b/test_rclcpp/test/test_publisher.cpp
index 401315b6..42854de3 100644
--- a/test_rclcpp/test/test_publisher.cpp
+++ b/test_rclcpp/test/test_publisher.cpp
@@ -12,13 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <chrono>
-#include <iostream>
 #include <string>
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/message_info.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_rclcpp/msg/u_int32.hpp"
 #include "test_rclcpp/utils.hpp"
diff --git a/test_rclcpp/test/test_remote_parameters.cpp b/test_rclcpp/test/test_remote_parameters.cpp
index 261f5294..a2bb18c9 100644
--- a/test_rclcpp/test/test_remote_parameters.cpp
+++ b/test_rclcpp/test/test_remote_parameters.cpp
@@ -13,12 +13,12 @@
 // limitations under the License.
 
 #include <chrono>
-#include <iostream>
 #include <memory>
-#include <stdexcept>
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/parameter_client.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "parameter_fixtures.hpp"
 
diff --git a/test_rclcpp/test/test_repeated_publisher_subscriber.cpp b/test_rclcpp/test/test_repeated_publisher_subscriber.cpp
index af0879ca..4cb482d5 100644
--- a/test_rclcpp/test/test_repeated_publisher_subscriber.cpp
+++ b/test_rclcpp/test/test_repeated_publisher_subscriber.cpp
@@ -13,12 +13,13 @@
 // limitations under the License.
 
 #include <chrono>
-#include <iostream>
 #include <memory>
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_rclcpp/msg/u_int32.hpp"
 
diff --git a/test_rclcpp/test/test_services_client.cpp b/test_rclcpp/test/test_services_client.cpp
index 09bc988f..e808232f 100644
--- a/test_rclcpp/test/test_services_client.cpp
+++ b/test_rclcpp/test/test_services_client.cpp
@@ -18,7 +18,11 @@
 #include "gtest/gtest.h"
 
 #include "rclcpp/exceptions.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/client.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/future_return_code.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_rclcpp/srv/add_two_ints.hpp"
 
diff --git a/test_rclcpp/test/test_services_in_constructor.cpp b/test_rclcpp/test/test_services_in_constructor.cpp
index 0b62c615..2446cabb 100644
--- a/test_rclcpp/test/test_services_in_constructor.cpp
+++ b/test_rclcpp/test/test_services_in_constructor.cpp
@@ -16,7 +16,10 @@
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/client.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/service.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_rclcpp/srv/add_two_ints.hpp"
 
diff --git a/test_rclcpp/test/test_services_server.cpp b/test_rclcpp/test/test_services_server.cpp
index 8f661232..1e31b349 100644
--- a/test_rclcpp/test/test_services_server.cpp
+++ b/test_rclcpp/test/test_services_server.cpp
@@ -17,7 +17,11 @@
 #include <thread>
 #include <utility>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/service.hpp"
+#include "rclcpp/timer.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_rclcpp/srv/add_two_ints.hpp"
 
diff --git a/test_rclcpp/test/test_sigint_handler.cpp b/test_rclcpp/test/test_sigint_handler.cpp
index dae77ee4..31081866 100644
--- a/test_rclcpp/test/test_sigint_handler.cpp
+++ b/test_rclcpp/test/test_sigint_handler.cpp
@@ -13,9 +13,12 @@
 // limitations under the License.
 
 #include <chrono>
+#include <csignal>
 #include <thread>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/logger.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/utilities.hpp"
 
 using namespace std::chrono_literals;
 
diff --git a/test_rclcpp/test/test_sigterm_handler.cpp b/test_rclcpp/test/test_sigterm_handler.cpp
index e15c5b3d..68aadc24 100644
--- a/test_rclcpp/test/test_sigterm_handler.cpp
+++ b/test_rclcpp/test/test_sigterm_handler.cpp
@@ -13,9 +13,12 @@
 // limitations under the License.
 
 #include <chrono>
+#include <csignal>
 #include <thread>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/logger.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/utilities.hpp"
 
 using namespace std::chrono_literals;
 
diff --git a/test_rclcpp/test/test_spin.cpp b/test_rclcpp/test/test_spin.cpp
index dbeb710b..c451e8ed 100644
--- a/test_rclcpp/test/test_spin.cpp
+++ b/test_rclcpp/test/test_spin.cpp
@@ -14,13 +14,16 @@
 
 #include <chrono>
 #include <future>
-#include <iostream>
 #include <memory>
 #include <thread>
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/future_return_code.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/timer.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_rclcpp/msg/u_int32.hpp"
 
diff --git a/test_rclcpp/test/test_subscription.cpp b/test_rclcpp/test/test_subscription.cpp
index 1b7695c2..830aa12e 100644
--- a/test_rclcpp/test/test_subscription.cpp
+++ b/test_rclcpp/test/test_subscription.cpp
@@ -14,13 +14,19 @@
 
 #include <chrono>
 #include <future>
-#include <iostream>
 #include <memory>
 #include <string>
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executor.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/future_return_code.hpp"
+#include "rclcpp/message_info.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_rclcpp/utils.hpp"
 
diff --git a/test_rclcpp/test/test_timeout_subscriber.cpp b/test_rclcpp/test/test_timeout_subscriber.cpp
index d5b2e6ba..e16714f3 100644
--- a/test_rclcpp/test/test_timeout_subscriber.cpp
+++ b/test_rclcpp/test/test_timeout_subscriber.cpp
@@ -14,11 +14,14 @@
 
 #include <chrono>
 #include <stdexcept>
-#include <string>
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/utilities.hpp"
 #include "test_rclcpp/msg/u_int32.hpp"
 
 void callback(const test_rclcpp::msg::UInt32::ConstSharedPtr /*msg*/)
diff --git a/test_rclcpp/test/test_timer.cpp b/test_rclcpp/test/test_timer.cpp
index c04ebdd4..2e1500f6 100644
--- a/test_rclcpp/test/test_timer.cpp
+++ b/test_rclcpp/test/test_timer.cpp
@@ -13,11 +13,13 @@
 // limitations under the License.
 
 #include <chrono>
-#include <iostream>
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/timer.hpp"
+#include "rclcpp/utilities.hpp"
 
 class test_time : public ::testing::Test
 {
diff --git a/test_rosidl_buffer/include/test_rosidl_buffer/test_buffer_backend.hpp b/test_rosidl_buffer/include/test_rosidl_buffer/test_buffer_backend.hpp
index af8e75f8..d78b567d 100644
--- a/test_rosidl_buffer/include/test_rosidl_buffer/test_buffer_backend.hpp
+++ b/test_rosidl_buffer/include/test_rosidl_buffer/test_buffer_backend.hpp
@@ -15,8 +15,9 @@
 #ifndef TEST_ROSIDL_BUFFER__TEST_BUFFER_BACKEND_HPP_
 #define TEST_ROSIDL_BUFFER__TEST_BUFFER_BACKEND_HPP_
 
-#include <array>
+#include <cstddef>
 #include <cstdint>
+#include <functional>
 #include <memory>
 #include <mutex>
 #include <set>
diff --git a/test_rosidl_buffer/src/test_backend_nested_msgs_publisher.cpp b/test_rosidl_buffer/src/test_backend_nested_msgs_publisher.cpp
index a780c523..d27ed121 100644
--- a/test_rosidl_buffer/src/test_backend_nested_msgs_publisher.cpp
+++ b/test_rosidl_buffer/src/test_backend_nested_msgs_publisher.cpp
@@ -20,7 +20,12 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/timer.hpp"
+#include "rclcpp/utilities.hpp"
 #include "std_msgs/msg/u_int32.hpp"
 
 #include "rosidl_buffer/buffer.hpp"
diff --git a/test_rosidl_buffer/src/test_backend_nested_msgs_subscriber.cpp b/test_rosidl_buffer/src/test_backend_nested_msgs_subscriber.cpp
index d406a404..ce3af4a7 100644
--- a/test_rosidl_buffer/src/test_backend_nested_msgs_subscriber.cpp
+++ b/test_rosidl_buffer/src/test_backend_nested_msgs_subscriber.cpp
@@ -19,7 +19,13 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/utilities.hpp"
 #include "std_msgs/msg/bool.hpp"
 #include "std_msgs/msg/string.hpp"
 #include "std_msgs/msg/u_int32.hpp"
diff --git a/test_rosidl_buffer/src/test_backend_publisher.cpp b/test_rosidl_buffer/src/test_backend_publisher.cpp
index 015289d6..e667baff 100644
--- a/test_rosidl_buffer/src/test_backend_publisher.cpp
+++ b/test_rosidl_buffer/src/test_backend_publisher.cpp
@@ -33,7 +33,12 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/timer.hpp"
+#include "rclcpp/utilities.hpp"
 #include "std_msgs/msg/u_int32.hpp"
 
 #include "rosidl_buffer/buffer.hpp"
diff --git a/test_rosidl_buffer/src/test_backend_subscriber.cpp b/test_rosidl_buffer/src/test_backend_subscriber.cpp
index d7524872..a6b42583 100644
--- a/test_rosidl_buffer/src/test_backend_subscriber.cpp
+++ b/test_rosidl_buffer/src/test_backend_subscriber.cpp
@@ -31,7 +31,13 @@
 #include <memory>
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/utilities.hpp"
 #include "std_msgs/msg/bool.hpp"
 #include "std_msgs/msg/string.hpp"
 #include "std_msgs/msg/u_int32.hpp"
diff --git a/test_rosidl_buffer/src/test_buffer_backend_plugin.cpp b/test_rosidl_buffer/src/test_buffer_backend_plugin.cpp
index 6845aaa9..77927b2b 100644
--- a/test_rosidl_buffer/src/test_buffer_backend_plugin.cpp
+++ b/test_rosidl_buffer/src/test_buffer_backend_plugin.cpp
@@ -14,7 +14,6 @@
 
 #include "test_rosidl_buffer/test_buffer_backend.hpp"
 
-#include <cstring>
 #include <memory>
 #include <set>
 #include <string>
diff --git a/test_rosidl_buffer/test/test_buffer_backend_unit.cpp b/test_rosidl_buffer/test/test_buffer_backend_unit.cpp
index 19b77bb6..0f67adb3 100644
--- a/test_rosidl_buffer/test/test_buffer_backend_unit.cpp
+++ b/test_rosidl_buffer/test/test_buffer_backend_unit.cpp
@@ -17,7 +17,6 @@
 #include <cstdint>
 #include <cstring>
 #include <memory>
-#include <set>
 #include <string>
 #include <unordered_map>
 #include <vector>
diff --git a/test_security/test/test_invalid_secure_node_creation_c.cpp b/test_security/test/test_invalid_secure_node_creation_c.cpp
index 78271af8..ea2dd65d 100644
--- a/test_security/test/test_invalid_secure_node_creation_c.cpp
+++ b/test_security/test/test_invalid_secure_node_creation_c.cpp
@@ -17,10 +17,7 @@
 
 #include <gtest/gtest.h>
 
-#include <functional>
-#include <limits>
-#include <memory>
-#include <string>
+#include <ostream>
 #include <vector>
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
diff --git a/test_security/test/test_secure_publisher.cpp b/test_security/test/test_secure_publisher.cpp
index f7084620..63029069 100644
--- a/test_security/test/test_secure_publisher.cpp
+++ b/test_security/test/test_secure_publisher.cpp
@@ -17,7 +17,9 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/rate.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_msgs/message_fixtures.hpp"
 
diff --git a/test_security/test/test_secure_subscriber.cpp b/test_security/test/test_secure_subscriber.cpp
index 77e8294c..c8a565e8 100644
--- a/test_security/test/test_secure_subscriber.cpp
+++ b/test_security/test/test_secure_subscriber.cpp
@@ -18,7 +18,11 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/subscription_base.hpp"
+#include "rclcpp/timer.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_msgs/message_fixtures.hpp"