diff --git a/rcl/test/rcl/test_events.cpp b/rcl/test/rcl/test_events.cpp
index 60d0ef015..d99bac84c 100644
--- a/rcl/test/rcl/test_events.cpp
+++ b/rcl/test/rcl/test_events.cpp
@@ -878,7 +878,7 @@ get_test_pubsub_incompatible_qos_inputs()
   return inputs;
 }
 
-INSTANTIATE_TEST_CASE_P(
+INSTANTIATE_TEST_SUITE_P(
   TestPubSubIncompatibilityWithDifferentQosSettings,
   TestEventFixture,
   ::testing::ValuesIn(get_test_pubsub_incompatible_qos_inputs()),
diff --git a/rcl/test/rcl/test_get_actual_qos.cpp b/rcl/test/rcl/test_get_actual_qos.cpp
index 9d3bb5bc1..15db5fe19 100644
--- a/rcl/test/rcl/test_get_actual_qos.cpp
+++ b/rcl/test/rcl/test_get_actual_qos.cpp
@@ -44,10 +44,10 @@
   APPLY( \
     TEST_P, \
     CLASSNAME(test_case_name, RMW_IMPLEMENTATION), test_name)
-#define INSTANTIATE_TEST_CASE_P_RMW(instance_name, test_case_name, ...) \
+#define INSTANTIATE_TEST_SUITE_P_RMW(instance_name, test_case_name, ...) \
   EXPAND( \
     APPLY( \
-      INSTANTIATE_TEST_CASE_P, instance_name, \
+      INSTANTIATE_TEST_SUITE_P, instance_name, \
       CLASSNAME(test_case_name, RMW_IMPLEMENTATION), __VA_ARGS__))
 
 /**
@@ -469,13 +469,13 @@ get_parameters(bool for_publisher)
   return parameters;
 }
 
-INSTANTIATE_TEST_CASE_P_RMW(
+INSTANTIATE_TEST_SUITE_P_RMW(
   TestPublisherWithDifferentQoSSettings,
   TestPublisherGetActualQoS,
   ::testing::ValuesIn(get_parameters(true)),
   ::testing::PrintToStringParamName());
 
-INSTANTIATE_TEST_CASE_P_RMW(
+INSTANTIATE_TEST_SUITE_P_RMW(
   TestSubscriptionWithDifferentQoSSettings,
   TestSubscriptionGetActualQoS,
   ::testing::ValuesIn(get_parameters(false)),
diff --git a/rcl/test/rcl/test_logging_rosout.cpp b/rcl/test/rcl/test_logging_rosout.cpp
index e8a6d5fd0..3c02b6cd8 100644
--- a/rcl/test/rcl/test_logging_rosout.cpp
+++ b/rcl/test/rcl/test_logging_rosout.cpp
@@ -41,10 +41,10 @@
 #define TEST_P_RMW(test_case_name, test_name) \
   APPLY( \
     TEST_P, CLASSNAME(test_case_name, RMW_IMPLEMENTATION), test_name)
-#define INSTANTIATE_TEST_CASE_P_RMW(instance_name, test_case_name, ...) \
+#define INSTANTIATE_TEST_SUITE_P_RMW(instance_name, test_case_name, ...) \
   EXPAND( \
     APPLY( \
-      INSTANTIATE_TEST_CASE_P, instance_name, \
+      INSTANTIATE_TEST_SUITE_P, instance_name, \
       CLASSNAME(test_case_name, RMW_IMPLEMENTATION), __VA_ARGS__))
 
 struct TestParameters
@@ -271,7 +271,7 @@ get_parameters()
   return parameters;
 }
 
-INSTANTIATE_TEST_CASE_P_RMW(
+INSTANTIATE_TEST_SUITE_P_RMW(
   TestLoggingRosoutWithDifferentSettings,
   TestLoggingRosoutFixture,
   ::testing::ValuesIn(get_parameters()),
diff --git a/rcl_action/test/rcl_action/test_goal_handle.cpp b/rcl_action/test/rcl_action/test_goal_handle.cpp
index e7659aa0a..9dfa2bc65 100644
--- a/rcl_action/test/rcl_action/test_goal_handle.cpp
+++ b/rcl_action/test/rcl_action/test_goal_handle.cpp
@@ -315,7 +315,7 @@ const StateTransitionSequence valid_state_transition_sequences[] = {
   },
 };
 
-INSTANTIATE_TEST_CASE_P(
+INSTANTIATE_TEST_SUITE_P(
   TestValidGoalHandleStateTransitions,
   TestGoalHandleStateTransitionSequence,
   ::testing::ValuesIn(valid_state_transition_sequences),
@@ -347,7 +347,7 @@ const StateTransitionSequence invalid_state_transition_sequences[] = {
   },
 };
 
-INSTANTIATE_TEST_CASE_P(
+INSTANTIATE_TEST_SUITE_P(
   TestInvalidGoalHandleStateTransitions,
   TestGoalHandleStateTransitionSequence,
   ::testing::ValuesIn(invalid_state_transition_sequences),
diff --git a/rcl_action/test/rcl_action/test_names.cpp b/rcl_action/test/rcl_action/test_names.cpp
index 9620a8367..2bc407281 100644
--- a/rcl_action/test/rcl_action/test_names.cpp
+++ b/rcl_action/test/rcl_action/test_names.cpp
@@ -154,7 +154,7 @@ const ActionDerivedNameTestSubject action_service_and_topic_subjects[] = {
   }
 };
 
-INSTANTIATE_TEST_CASE_P(
+INSTANTIATE_TEST_SUITE_P(
   TestActionServiceAndTopicNames, TestActionDerivedName,
   ::testing::ValuesIn(action_service_and_topic_subjects),
   ::testing::PrintToStringParamName());