diff --git a/demo_nodes_cpp/src/events/matched_event_detect.cpp b/demo_nodes_cpp/src/events/matched_event_detect.cpp
index 92927d102..192af595d 100644
--- a/demo_nodes_cpp/src/events/matched_event_detect.cpp
+++ b/demo_nodes_cpp/src/events/matched_event_detect.cpp
@@ -213,46 +213,46 @@ int main(int argc, char ** argv)
   // MatchedEventDetectNode will output:
   // First subscription is connected.
   auto sub1 = multi_sub_node->create_one_sub();
-  executor.spin_until_future_complete(matched_event_detect_node->get_future(), maximum_wait_time);
+  executor.spin_until_complete(matched_event_detect_node->get_future(), maximum_wait_time);
 
   // MatchedEventDetectNode will output:
   // The changed number of connected subscription is 1 and current number of connected subscription
   // is 2.
   auto sub2 = multi_sub_node->create_one_sub();
-  executor.spin_until_future_complete(matched_event_detect_node->get_future(), maximum_wait_time);
+  executor.spin_until_complete(matched_event_detect_node->get_future(), maximum_wait_time);
 
   // MatchedEventDetectNode will output:
   // The changed number of connected subscription is -1 and current number of connected subscription
   // is 1.
   multi_sub_node->destroy_one_sub(sub1);
-  executor.spin_until_future_complete(matched_event_detect_node->get_future(), maximum_wait_time);
+  executor.spin_until_complete(matched_event_detect_node->get_future(), maximum_wait_time);
 
   // MatchedEventDetectNode will output:
   // Last subscription is disconnected.
   multi_sub_node->destroy_one_sub(sub2);
-  executor.spin_until_future_complete(matched_event_detect_node->get_future(), maximum_wait_time);
+  executor.spin_until_complete(matched_event_detect_node->get_future(), maximum_wait_time);
 
   // MatchedEventDetectNode will output:
   // First publisher is connected.
   auto pub1 = multi_pub_node->create_one_pub();
-  executor.spin_until_future_complete(matched_event_detect_node->get_future(), maximum_wait_time);
+  executor.spin_until_complete(matched_event_detect_node->get_future(), maximum_wait_time);
 
   // MatchedEventDetectNode will output:
   // The changed number of connected publisher is 1 and current number of connected publisher
   // is 2.
   auto pub2 = multi_pub_node->create_one_pub();
-  executor.spin_until_future_complete(matched_event_detect_node->get_future(), maximum_wait_time);
+  executor.spin_until_complete(matched_event_detect_node->get_future(), maximum_wait_time);
 
   // MatchedEventDetectNode will output:
   // The changed number of connected publisher is -1 and current number of connected publisher
   // is 1.
   multi_pub_node->destroy_one_pub(pub1);
-  executor.spin_until_future_complete(matched_event_detect_node->get_future(), maximum_wait_time);
+  executor.spin_until_complete(matched_event_detect_node->get_future(), maximum_wait_time);
 
   // MatchedEventDetectNode will output:
   // Last publisher is disconnected.
   multi_pub_node->destroy_one_pub(pub2);
-  executor.spin_until_future_complete(matched_event_detect_node->get_future(), maximum_wait_time);
+  executor.spin_until_complete(matched_event_detect_node->get_future(), maximum_wait_time);
 
   rclcpp::shutdown();
   return 0;
diff --git a/demo_nodes_cpp/src/logging/use_logger_service.cpp b/demo_nodes_cpp/src/logging/use_logger_service.cpp
index bdec815e0..9d81d2218 100644
--- a/demo_nodes_cpp/src/logging/use_logger_service.cpp
+++ b/demo_nodes_cpp/src/logging/use_logger_service.cpp
@@ -84,7 +84,7 @@ class TestNode : public rclcpp::Node
 
     auto result = logger_set_client_->async_send_request(request);
 
-    if (rclcpp::spin_until_future_complete(this->shared_from_this(), result) !=
+    if (rclcpp::spin_until_complete(this->shared_from_this(), result) !=
       rclcpp::FutureReturnCode::SUCCESS)
     {
       return false;
@@ -109,7 +109,7 @@ class TestNode : public rclcpp::Node
     auto request = std::make_shared<rcl_interfaces::srv::GetLoggerLevels::Request>();
     request->names.emplace_back(remote_node_name_);
     auto result = logger_get_client_->async_send_request(request);
-    if (rclcpp::spin_until_future_complete(shared_from_this(), result) !=
+    if (rclcpp::spin_until_complete(shared_from_this(), result) !=
       rclcpp::FutureReturnCode::SUCCESS)
     {
       return false;
diff --git a/demo_nodes_cpp/src/parameters/list_parameters_async.cpp b/demo_nodes_cpp/src/parameters/list_parameters_async.cpp
index 2d7c0f32c..f9b08fce4 100644
--- a/demo_nodes_cpp/src/parameters/list_parameters_async.cpp
+++ b/demo_nodes_cpp/src/parameters/list_parameters_async.cpp
@@ -59,13 +59,13 @@ int main(int argc, char ** argv)
     rclcpp::Parameter("foobar", true),
   });
   // Wait for the result.
-  rclcpp::spin_until_future_complete(node, results);
+  rclcpp::spin_until_complete(node, results);
 
   RCLCPP_INFO(node->get_logger(), "Listing parameters...");
   // List the details of a few parameters up to a namespace depth of 10.
   auto parameter_list_future = parameters_client->list_parameters({"foo", "bar"}, 10);
 
-  if (rclcpp::spin_until_future_complete(node, parameter_list_future) !=
+  if (rclcpp::spin_until_complete(node, parameter_list_future) !=
     rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node->get_logger(), "service call failed, exiting tutorial.");
diff --git a/demo_nodes_cpp/src/parameters/parameter_events.cpp b/demo_nodes_cpp/src/parameters/parameter_events.cpp
index 0265908c1..1abad8b97 100644
--- a/demo_nodes_cpp/src/parameters/parameter_events.cpp
+++ b/demo_nodes_cpp/src/parameters/parameter_events.cpp
@@ -123,7 +123,7 @@ int main(int argc, char ** argv)
 
   // TODO(wjwwood): Create and use delete_parameter
 
-  rclcpp::spin_until_future_complete(node, events_received_future.share());
+  rclcpp::spin_until_complete(node, events_received_future.share());
   rclcpp::shutdown();
 
   return 0;
diff --git a/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp b/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
index e10d9877c..ac99af745 100644
--- a/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
+++ b/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
@@ -58,7 +58,7 @@ int main(int argc, char ** argv)
     rclcpp::Parameter("toto", std::vector<uint8_t>({0xff, 0x7f})),
   });
   // Wait for the results.
-  if (rclcpp::spin_until_future_complete(node, results) !=
+  if (rclcpp::spin_until_complete(node, results) !=
     rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node->get_logger(), "set_parameters service call failed. Exiting tutorial.");
@@ -73,7 +73,7 @@ int main(int argc, char ** argv)
 
   // Get a few of the parameters just set.
   auto parameters = parameters_client->get_parameters({"foo", "baz", "foobarbaz", "toto"});
-  if (rclcpp::spin_until_future_complete(node, parameters) !=
+  if (rclcpp::spin_until_complete(node, parameters) !=
     rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node->get_logger(), "get_parameters service call failed. Exiting tutorial.");
diff --git a/demo_nodes_cpp/src/services/add_two_ints_client.cpp b/demo_nodes_cpp/src/services/add_two_ints_client.cpp
index 8442801b5..9331224de 100644
--- a/demo_nodes_cpp/src/services/add_two_ints_client.cpp
+++ b/demo_nodes_cpp/src/services/add_two_ints_client.cpp
@@ -29,7 +29,7 @@ example_interfaces::srv::AddTwoInts::Response::SharedPtr send_request(
 {
   auto result = client->async_send_request(request);
   // Wait for the result.
-  if (rclcpp::spin_until_future_complete(node, result) ==
+  if (rclcpp::spin_until_complete(node, result) ==
     rclcpp::FutureReturnCode::SUCCESS)
   {
     return result.get();
diff --git a/demo_nodes_py/demo_nodes_py/events/matched_event_detect.py b/demo_nodes_py/demo_nodes_py/events/matched_event_detect.py
index 39171976c..5a3172f3e 100644
--- a/demo_nodes_py/demo_nodes_py/events/matched_event_detect.py
+++ b/demo_nodes_py/demo_nodes_py/events/matched_event_detect.py
@@ -154,46 +154,46 @@ def main(args=None):
     # MatchedEventDetectNode will output:
     # First subscription is connected.
     sub1 = multi_subs_node.create_one_sub()
-    executor.spin_until_future_complete(matched_event_detect_node.get_future(), maximum_wait_time)
+    executor.spin_until_complete(matched_event_detect_node.get_future(), maximum_wait_time)
 
     # MatchedEventDetectNode will output:
     # The changed number of connected subscription is 1 and current number of connected
     # subscription is 2.
     sub2 = multi_subs_node.create_one_sub()
-    executor.spin_until_future_complete(matched_event_detect_node.get_future(), maximum_wait_time)
+    executor.spin_until_complete(matched_event_detect_node.get_future(), maximum_wait_time)
 
     # MatchedEventDetectNode will output:
     # The changed number of connected subscription is -1 and current number of connected
     # subscription is 1.
     multi_subs_node.destroy_one_sub(sub1)
-    executor.spin_until_future_complete(matched_event_detect_node.get_future(), maximum_wait_time)
+    executor.spin_until_complete(matched_event_detect_node.get_future(), maximum_wait_time)
 
     # MatchedEventDetectNode will output:
     # Last subscription is disconnected.
     multi_subs_node.destroy_one_sub(sub2)
-    executor.spin_until_future_complete(matched_event_detect_node.get_future(), maximum_wait_time)
+    executor.spin_until_complete(matched_event_detect_node.get_future(), maximum_wait_time)
 
     # MatchedEventDetectNode will output:
     # First publisher is connected.
     pub1 = multi_pubs_node.create_one_pub()
-    executor.spin_until_future_complete(matched_event_detect_node.get_future(), maximum_wait_time)
+    executor.spin_until_complete(matched_event_detect_node.get_future(), maximum_wait_time)
 
     # MatchedEventDetectNode will output:
     # The changed number of connected publisher is 1 and current number of connected publisher
     # is 2.
     pub2 = multi_pubs_node.create_one_pub()
-    executor.spin_until_future_complete(matched_event_detect_node.get_future(), maximum_wait_time)
+    executor.spin_until_complete(matched_event_detect_node.get_future(), maximum_wait_time)
 
     # MatchedEventDetectNode will output:
     # The changed number of connected publisher is -1 and current number of connected publisher
     # is 1.
     multi_pubs_node.destroy_one_pub(pub1)
-    executor.spin_until_future_complete(matched_event_detect_node.get_future(), maximum_wait_time)
+    executor.spin_until_complete(matched_event_detect_node.get_future(), maximum_wait_time)
 
     # MatchedEventDetectNode will output:
     # Last publisher is disconnected.
     multi_pubs_node.destroy_one_pub(pub2)
-    executor.spin_until_future_complete(matched_event_detect_node.get_future(), maximum_wait_time)
+    executor.spin_until_complete(matched_event_detect_node.get_future(), maximum_wait_time)
 
     multi_pubs_node.destroy_node()
     multi_subs_node.destroy_node()
diff --git a/demo_nodes_py/demo_nodes_py/logging/use_logger_service.py b/demo_nodes_py/demo_nodes_py/logging/use_logger_service.py
index df979e903..551b3d76f 100644
--- a/demo_nodes_py/demo_nodes_py/logging/use_logger_service.py
+++ b/demo_nodes_py/demo_nodes_py/logging/use_logger_service.py
@@ -67,7 +67,7 @@ def set_logger_level_on_remote_node(self, logger_level) -> bool:
         request.levels.append(set_logger_level)
 
         future = self._logger_set_client.call_async(request)
-        rclpy.spin_until_future_complete(self, future)
+        rclpy.spin_until_complete(self, future)
 
         ret_results = future.result()
         if not ret_results:
@@ -88,7 +88,7 @@ def get_logger_level_on_remote_node(self):
         request.names.append(self._remote_node_name)
 
         future = self.logger_get_client.call_async(request)
-        rclpy.spin_until_future_complete(self, future)
+        rclpy.spin_until_complete(self, future)
 
         ret_results = future.result()
         if not ret_results:
diff --git a/demo_nodes_py/demo_nodes_py/parameters/async_param_client.py b/demo_nodes_py/demo_nodes_py/parameters/async_param_client.py
index 1893d29e1..c29edb078 100644
--- a/demo_nodes_py/demo_nodes_py/parameters/async_param_client.py
+++ b/demo_nodes_py/demo_nodes_py/parameters/async_param_client.py
@@ -37,7 +37,7 @@ def main(args=None):
         Parameter('int_parameter', Parameter.Type.INTEGER, 10),
         Parameter('bool_parameter', Parameter.Type.BOOL, False),
         Parameter('string_parameter', Parameter.Type.STRING, 'Fee Fi Fo Fum'), ])
-    rclpy.spin_until_future_complete(node, future)
+    rclpy.spin_until_complete(node, future)
     set_parameters_result = future.result()
     if set_parameters_result is not None:
         for i, v in enumerate(set_parameters_result.results):
@@ -48,7 +48,7 @@ def main(args=None):
 
     node.get_logger().info('Listing Parameters:')
     future = client.list_parameters(param_list, 10)
-    rclpy.spin_until_future_complete(node, future)
+    rclpy.spin_until_complete(node, future)
     list_parameters_result = future.result()
     if list_parameters_result is not None:
         for param_name in list_parameters_result.result.names:
@@ -58,7 +58,7 @@ def main(args=None):
 
     node.get_logger().info('Getting parameters:')
     future = client.get_parameters(param_list)
-    rclpy.spin_until_future_complete(node, future)
+    rclpy.spin_until_complete(node, future)
     get_parameters_result = future.result()
     if get_parameters_result is not None:
         for i, v in enumerate(get_parameters_result.values):
@@ -70,7 +70,7 @@ def main(args=None):
     param_dir = get_package_share_directory('demo_nodes_py')
     param_file_path = os.path.join(param_dir, 'params.yaml')
     future = client.load_parameter_file(param_file_path)
-    rclpy.spin_until_future_complete(node, future)
+    rclpy.spin_until_complete(node, future)
     load_parameter_results = future.result()
     if load_parameter_results is not None:
         param_file_dict = parameter_dict_from_yaml_file(param_file_path)
@@ -86,7 +86,7 @@ def main(args=None):
     node.get_logger().info('Deleting parameters: ')
     params_to_delete = ['other_int_parameter', 'other_string_parameter', 'string_parameter']
     future = client.delete_parameters(params_to_delete)
-    rclpy.spin_until_future_complete(node, future)
+    rclpy.spin_until_complete(node, future)
     delete_parameters_result = future.result()
     if delete_parameters_result is not None:
         for i, v in enumerate(delete_parameters_result.results):
diff --git a/demo_nodes_py/demo_nodes_py/services/add_two_ints_client.py b/demo_nodes_py/demo_nodes_py/services/add_two_ints_client.py
index 5c6eab9d1..5cfc719c6 100644
--- a/demo_nodes_py/demo_nodes_py/services/add_two_ints_client.py
+++ b/demo_nodes_py/demo_nodes_py/services/add_two_ints_client.py
@@ -29,7 +29,7 @@ def main(args=None):
     req.a = 2
     req.b = 3
     future = cli.call_async(req)
-    rclpy.spin_until_future_complete(node, future)
+    rclpy.spin_until_complete(node, future)
     if future.result() is not None:
         node.get_logger().info('Result of add_two_ints: %d' % future.result().sum)
     else:
diff --git a/lifecycle/src/lifecycle_service_client.cpp b/lifecycle/src/lifecycle_service_client.cpp
index 3c4b2caa8..574aab66d 100644
--- a/lifecycle/src/lifecycle_service_client.cpp
+++ b/lifecycle/src/lifecycle_service_client.cpp
@@ -340,7 +340,7 @@ int main(int argc, char ** argv)
     std::ref(exe)
   );
 
-  exe.spin_until_future_complete(script);
+  exe.spin_until_complete(script);
 
   rclcpp::shutdown();