diff --git a/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp b/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp
index 8cb747d453a..618d318935c 100644
--- a/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp
+++ b/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp
@@ -88,7 +88,7 @@ LifecycleManagerClient::is_active(const std::chrono::nanoseconds timeout)
   auto future_result = is_active_client_->async_send_request(request);
 
   if (rclcpp::spin_until_future_complete(node_, future_result, timeout) !=
-    rclcpp::executor::FutureReturnCode::SUCCESS)
+    rclcpp::FutureReturnCode::SUCCESS)
   {
     return SystemStatus::TIMEOUT;
   }
diff --git a/nav2_recoveries/test/test_recoveries.cpp b/nav2_recoveries/test/test_recoveries.cpp
index a838803f87b..6f5c83912ed 100644
--- a/nav2_recoveries/test/test_recoveries.cpp
+++ b/nav2_recoveries/test/test_recoveries.cpp
@@ -157,7 +157,7 @@ class RecoveryTest : public ::testing::Test
     auto future_goal = client_->async_send_goal(goal);
 
     if (rclcpp::spin_until_future_complete(node_lifecycle_, future_goal) !=
-      rclcpp::executor::FutureReturnCode::SUCCESS)
+      rclcpp::FutureReturnCode::SUCCESS)
     {
       std::cout << "failed sending goal" << std::endl;
       // failed sending the goal
diff --git a/nav2_rviz_plugins/src/nav2_panel.cpp b/nav2_rviz_plugins/src/nav2_panel.cpp
index 9d1b3156834..5d2b5147fc8 100644
--- a/nav2_rviz_plugins/src/nav2_panel.cpp
+++ b/nav2_rviz_plugins/src/nav2_panel.cpp
@@ -410,7 +410,7 @@ Nav2Panel::onCancelButtonPressed()
       waypoint_follower_action_client_->async_cancel_goal(waypoint_follower_goal_handle_);
 
     if (rclcpp::spin_until_future_complete(client_node_, future_cancel) !=
-      rclcpp::executor::FutureReturnCode::SUCCESS)
+      rclcpp::FutureReturnCode::SUCCESS)
     {
       RCLCPP_ERROR(client_node_->get_logger(), "Failed to cancel waypoint follower");
       return;
@@ -419,7 +419,7 @@ Nav2Panel::onCancelButtonPressed()
     auto future_cancel = navigation_action_client_->async_cancel_goal(navigation_goal_handle_);
 
     if (rclcpp::spin_until_future_complete(client_node_, future_cancel) !=
-      rclcpp::executor::FutureReturnCode::SUCCESS)
+      rclcpp::FutureReturnCode::SUCCESS)
     {
       RCLCPP_ERROR(client_node_->get_logger(), "Failed to cancel goal");
       return;
@@ -523,7 +523,7 @@ Nav2Panel::startWaypointFollowing(std::vector<geometry_msgs::msg::PoseStamped> p
   auto future_goal_handle =
     waypoint_follower_action_client_->async_send_goal(waypoint_follower_goal_, send_goal_options);
   if (rclcpp::spin_until_future_complete(client_node_, future_goal_handle) !=
-    rclcpp::executor::FutureReturnCode::SUCCESS)
+    rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(client_node_->get_logger(), "Send goal call failed");
     return;
@@ -563,7 +563,7 @@ Nav2Panel::startNavigation(geometry_msgs::msg::PoseStamped pose)
   auto future_goal_handle =
     navigation_action_client_->async_send_goal(navigation_goal_, send_goal_options);
   if (rclcpp::spin_until_future_complete(client_node_, future_goal_handle) !=
-    rclcpp::executor::FutureReturnCode::SUCCESS)
+    rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(client_node_->get_logger(), "Send goal call failed");
     return;
diff --git a/nav2_system_tests/src/recoveries/backup/backup_recovery_tester.cpp b/nav2_system_tests/src/recoveries/backup/backup_recovery_tester.cpp
index 6d87fb1bd28..290deff0317 100644
--- a/nav2_system_tests/src/recoveries/backup/backup_recovery_tester.cpp
+++ b/nav2_system_tests/src/recoveries/backup/backup_recovery_tester.cpp
@@ -131,7 +131,7 @@ bool BackupRecoveryTester::defaultBackupRecoveryTest(
   auto goal_handle_future = client_ptr_->async_send_goal(goal_msg);
 
   if (rclcpp::spin_until_future_complete(node_, goal_handle_future) !=
-    rclcpp::executor::FutureReturnCode::SUCCESS)
+    rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node_->get_logger(), "send goal call failed :(");
     return false;
@@ -148,7 +148,7 @@ bool BackupRecoveryTester::defaultBackupRecoveryTest(
 
   RCLCPP_INFO(node_->get_logger(), "Waiting for result");
   if (rclcpp::spin_until_future_complete(node_, result_future) !=
-    rclcpp::executor::FutureReturnCode::SUCCESS)
+    rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node_->get_logger(), "get result call failed :(");
     return false;
diff --git a/nav2_system_tests/src/recoveries/spin/spin_recovery_tester.cpp b/nav2_system_tests/src/recoveries/spin/spin_recovery_tester.cpp
index 521c6759559..ee9f6b63bc2 100644
--- a/nav2_system_tests/src/recoveries/spin/spin_recovery_tester.cpp
+++ b/nav2_system_tests/src/recoveries/spin/spin_recovery_tester.cpp
@@ -129,7 +129,7 @@ bool SpinRecoveryTester::defaultSpinRecoveryTest(
   auto goal_handle_future = client_ptr_->async_send_goal(goal_msg);
 
   if (rclcpp::spin_until_future_complete(node_, goal_handle_future) !=
-    rclcpp::executor::FutureReturnCode::SUCCESS)
+    rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node_->get_logger(), "send goal call failed :(");
     return false;
@@ -146,7 +146,7 @@ bool SpinRecoveryTester::defaultSpinRecoveryTest(
 
   RCLCPP_INFO(node_->get_logger(), "Waiting for result");
   if (rclcpp::spin_until_future_complete(node_, result_future) !=
-    rclcpp::executor::FutureReturnCode::SUCCESS)
+    rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node_->get_logger(), "get result call failed :(");
     return false;
diff --git a/nav2_system_tests/src/recoveries/wait/wait_recovery_tester.cpp b/nav2_system_tests/src/recoveries/wait/wait_recovery_tester.cpp
index b6bdd62148a..eb980e9a9d1 100644
--- a/nav2_system_tests/src/recoveries/wait/wait_recovery_tester.cpp
+++ b/nav2_system_tests/src/recoveries/wait/wait_recovery_tester.cpp
@@ -123,7 +123,7 @@ bool WaitRecoveryTester::recoveryTest(
   auto goal_handle_future = client_ptr_->async_send_goal(goal_msg);
 
   if (rclcpp::spin_until_future_complete(node_, goal_handle_future) !=
-    rclcpp::executor::FutureReturnCode::SUCCESS)
+    rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node_->get_logger(), "send goal call failed :(");
     return false;
@@ -140,7 +140,7 @@ bool WaitRecoveryTester::recoveryTest(
 
   RCLCPP_INFO(node_->get_logger(), "Waiting for result");
   if (rclcpp::spin_until_future_complete(node_, result_future) !=
-    rclcpp::executor::FutureReturnCode::SUCCESS)
+    rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node_->get_logger(), "get result call failed :(");
     return false;
diff --git a/nav2_util/include/nav2_util/service_client.hpp b/nav2_util/include/nav2_util/service_client.hpp
index 26f0eedf03d..e1eb6983817 100644
--- a/nav2_util/include/nav2_util/service_client.hpp
+++ b/nav2_util/include/nav2_util/service_client.hpp
@@ -70,7 +70,7 @@ class ServiceClient
     auto future_result = client_->async_send_request(request);
 
     if (rclcpp::spin_until_future_complete(node_, future_result, timeout) !=
-      rclcpp::executor::FutureReturnCode::SUCCESS)
+      rclcpp::FutureReturnCode::SUCCESS)
     {
       throw std::runtime_error(service_name_ + " service client: async_send_request failed");
     }
@@ -98,7 +98,7 @@ class ServiceClient
     auto future_result = client_->async_send_request(request);
 
     if (rclcpp::spin_until_future_complete(node_, future_result) !=
-      rclcpp::executor::FutureReturnCode::SUCCESS)
+      rclcpp::FutureReturnCode::SUCCESS)
     {
       return false;
     }
diff --git a/nav2_util/test/test_actions.cpp b/nav2_util/test/test_actions.cpp
index 11d5c54f118..5619d115ebd 100644
--- a/nav2_util/test/test_actions.cpp
+++ b/nav2_util/test/test_actions.cpp
@@ -245,7 +245,7 @@ TEST_F(ActionTest, test_simple_action)
   EXPECT_EQ(
     rclcpp::spin_until_future_complete(
       node_,
-      future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
+      future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);
 
   auto goal_handle = future_goal_handle.get();
 
@@ -253,7 +253,7 @@ TEST_F(ActionTest, test_simple_action)
   auto future_result = node_->action_client_->async_get_result(goal_handle);
   EXPECT_EQ(
     rclcpp::spin_until_future_complete(node_, future_result),
-    rclcpp::executor::FutureReturnCode::SUCCESS);
+    rclcpp::FutureReturnCode::SUCCESS);
 
   // The final result
   rclcpp_action::ClientGoalHandle<Fibonacci>::WrappedResult result = future_result.get();
@@ -293,7 +293,7 @@ TEST_F(ActionTest, test_simple_action_with_feedback)
   EXPECT_EQ(
     rclcpp::spin_until_future_complete(
       node_,
-      future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
+      future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);
 
   auto goal_handle = future_goal_handle.get();
 
@@ -302,7 +302,7 @@ TEST_F(ActionTest, test_simple_action_with_feedback)
   EXPECT_EQ(
     rclcpp::spin_until_future_complete(
       node_,
-      future_result), rclcpp::executor::FutureReturnCode::SUCCESS);
+      future_result), rclcpp::FutureReturnCode::SUCCESS);
 
   // The final result
   rclcpp_action::ClientGoalHandle<Fibonacci>::WrappedResult result = future_result.get();
@@ -334,7 +334,7 @@ TEST_F(ActionTest, test_simple_action_activation_cycling)
   EXPECT_EQ(
     rclcpp::spin_until_future_complete(
       node_,
-      future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
+      future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);
 
   // Deactivate while running
   node_->deactivate_server();
@@ -345,7 +345,7 @@ TEST_F(ActionTest, test_simple_action_activation_cycling)
   auto future_result = node_->action_client_->async_get_result(goal_handle);
   EXPECT_EQ(
     rclcpp::spin_until_future_complete(node_, future_result),
-    rclcpp::executor::FutureReturnCode::SUCCESS);
+    rclcpp::FutureReturnCode::SUCCESS);
 
   // The action should be reported as aborted.
   EXPECT_EQ(future_result.get().code, rclcpp_action::ResultCode::ABORTED);
@@ -361,7 +361,7 @@ TEST_F(ActionTest, test_simple_action_activation_cycling)
   EXPECT_EQ(
     rclcpp::spin_until_future_complete(
       node_,
-      future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
+      future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);
 
   goal_handle = future_goal_handle.get();
 
@@ -370,7 +370,7 @@ TEST_F(ActionTest, test_simple_action_activation_cycling)
   std::cout << "Getting result, spinning til complete..." << std::endl;
   EXPECT_EQ(
     rclcpp::spin_until_future_complete(node_, future_result),
-    rclcpp::executor::FutureReturnCode::SUCCESS);
+    rclcpp::FutureReturnCode::SUCCESS);
 
   // Now the action should have been successfully executed.
   EXPECT_EQ(future_result.get().code, rclcpp_action::ResultCode::SUCCEEDED);
@@ -391,7 +391,7 @@ TEST_F(ActionTest, test_simple_action_preemption)
   EXPECT_EQ(
     rclcpp::spin_until_future_complete(
       node_,
-      future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
+      future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);
 
   // Preempt the goal
   auto preemption_goal = Fibonacci::Goal();
@@ -403,7 +403,7 @@ TEST_F(ActionTest, test_simple_action_preemption)
   EXPECT_EQ(
     rclcpp::spin_until_future_complete(
       node_,
-      future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
+      future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);
 
   auto goal_handle = future_goal_handle.get();
 
@@ -412,7 +412,7 @@ TEST_F(ActionTest, test_simple_action_preemption)
   std::cout << "Getting result, spinning til complete..." << std::endl;
   EXPECT_EQ(
     rclcpp::spin_until_future_complete(node_, future_result),
-    rclcpp::executor::FutureReturnCode::SUCCESS);
+    rclcpp::FutureReturnCode::SUCCESS);
 
   // The final result
   rclcpp_action::ClientGoalHandle<Fibonacci>::WrappedResult result = future_result.get();
@@ -442,7 +442,7 @@ TEST_F(ActionTest, test_simple_action_preemption_after_succeeded)
   EXPECT_EQ(
     rclcpp::spin_until_future_complete(
       node_,
-      future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
+      future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);
 
   node_->omit_server_preemptions();
 
@@ -450,7 +450,7 @@ TEST_F(ActionTest, test_simple_action_preemption_after_succeeded)
   EXPECT_EQ(
     rclcpp::spin_until_future_complete(
       node_,
-      future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
+      future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);
 
   // Get the results
   auto goal_handle = future_goal_handle.get();
@@ -459,7 +459,7 @@ TEST_F(ActionTest, test_simple_action_preemption_after_succeeded)
   auto future_result = node_->action_client_->async_get_result(goal_handle);
   EXPECT_EQ(
     rclcpp::spin_until_future_complete(node_, future_result),
-    rclcpp::executor::FutureReturnCode::SUCCESS);
+    rclcpp::FutureReturnCode::SUCCESS);
 
   // The final result
   rclcpp_action::ClientGoalHandle<Fibonacci>::WrappedResult result = future_result.get();
@@ -480,7 +480,7 @@ TEST_F(ActionTest, test_simple_action_preemption_after_succeeded)
   future_result = node_->action_client_->async_get_result(goal_handle);
   ASSERT_EQ(
     rclcpp::spin_until_future_complete(node_, future_result),
-    rclcpp::executor::FutureReturnCode::SUCCESS);
+    rclcpp::FutureReturnCode::SUCCESS);
 
   // The final result
   result = future_result.get();
@@ -507,7 +507,7 @@ TEST_F(ActionTest, test_handle_goal_deactivated)
   EXPECT_EQ(
     rclcpp::spin_until_future_complete(
       node_,
-      future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
+      future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);
 
   node_->activate_server();