diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index 1d928ce57..1babe7c96 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -42,88 +42,190 @@ endif()
 # prevents finding it repeatedly in each local scope
 ament_find_gtest()
 
-macro(test_target)
-  find_package(${rmw_implementation} REQUIRED)
-  test_target_function()
-endmacro()
+ament_add_gtest_executable(test_client
+  rcl/test_client.cpp
+)
+target_link_libraries(test_client ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS})
+
+ament_add_gtest_executable(test_timer
+  rcl/test_timer.cpp
+)
+target_link_libraries(test_timer ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools)
+
+ament_add_gtest_executable(test_context
+  rcl/test_context.cpp
+)
+target_link_libraries(test_context ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools)
+
+ament_add_gtest_executable(test_get_node_names
+  rcl/test_get_node_names.cpp
+)
+target_link_libraries(test_get_node_names ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools)
+
+ament_add_gtest_executable(test_graph
+  rcl/test_graph.cpp
+)
+target_link_libraries(test_graph ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS})
 
-function(test_target_function)
+ament_add_gtest_executable(test_info_by_topic
+  rcl/test_info_by_topic.cpp
+)
+target_link_libraries(test_info_by_topic ${PROJECT_NAME} wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS})
+
+ament_add_gtest_executable(test_count_matched
+  rcl/test_count_matched.cpp
+)
+target_link_libraries(test_count_matched ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS})
+
+ament_add_gtest_executable(test_get_actual_qos
+  rcl/test_get_actual_qos.cpp
+)
+target_link_libraries(test_get_actual_qos ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS})
+
+
+ament_add_gtest_executable(test_init
+  rcl/test_init.cpp
+)
+target_link_libraries(test_init ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools)
+
+ament_add_gtest_executable(test_node
+    rcl/test_node.cpp
+)
+target_link_libraries(test_node ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools)
+
+ament_add_gtest_executable(test_remap
+  rcl/test_remap.cpp
+)
+target_include_directories(test_remap PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/)
+target_link_libraries(test_remap ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools)
+
+ament_add_gtest_executable(test_remap_integration
+  rcl/test_remap_integration.cpp
+)
+target_link_libraries(test_remap_integration ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS})
+
+ament_add_gtest_executable(test_guard_condition
+  rcl/test_guard_condition.cpp
+)
+target_link_libraries(test_guard_condition ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools)
+
+ament_add_gtest_executable(test_publisher
+  rcl/test_publisher.cpp
+)
+target_include_directories(test_publisher PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/)
+target_link_libraries(test_publisher ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS})
+
+ament_add_gtest_executable(test_publisher_wait_all_ack
+  rcl/test_publisher_wait_all_ack.cpp
+)
+target_link_libraries(test_publisher_wait_all_ack ${PROJECT_NAME} mimick wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools
+        rcutils::rcutils rosidl_runtime_c::rosidl_runtime_c ${test_msgs_TARGETS})
+
+ament_add_gtest_executable(test_events
+  rcl/test_events.cpp
+)
+target_include_directories(test_events PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/)
+target_link_libraries(test_events ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS})
+
+ament_add_gtest_executable(test_wait
+  rcl/test_wait.cpp
+)
+target_link_libraries(test_wait ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools)
+
+ament_add_gtest_executable(test_logging_rosout
+  rcl/test_logging_rosout.cpp
+)
+target_link_libraries(test_logging_rosout ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${rcl_interfaces_TARGETS})
+
+ament_add_gtest_executable(test_namespace
+  rcl/test_namespace.cpp
+)
+target_link_libraries(test_namespace ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS})
+
+ament_add_gtest_executable(test_rmw_impl_id_check_func
+  rcl/test_rmw_impl_id_check_func.cpp
+)
+target_link_libraries(test_rmw_impl_id_check_func ${PROJECT_NAME} mimick)
+
+ament_add_gtest_executable(test_network_flow_endpoints
+  rcl/test_network_flow_endpoints.cpp
+)
+target_link_libraries(test_network_flow_endpoints ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS})
+
+ament_add_gtest_executable(test_service_event_publisher
+  rcl/test_service_event_publisher.cpp
+)
+target_include_directories(test_service_event_publisher PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/)
+target_link_libraries(test_service_event_publisher
+  ${PROJECT_NAME} mimick wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS})
+
+ament_add_gtest_executable(test_type_description_conversions
+  rcl/test_type_description_conversions.cpp
+)
+target_link_libraries(test_type_description_conversions
+  ${PROJECT_NAME} rosidl_runtime_c::rosidl_runtime_c ${test_msgs_TARGETS})
+
+ament_add_gtest_executable(test_node_type_cache
+  rcl/test_node_type_cache.cpp
+)
+target_link_libraries(test_node_type_cache ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS})
+
+ament_add_gtest_executable(test_get_type_description_service
+  rcl/test_get_type_description_service.cpp
+)
+target_include_directories(test_get_type_description_service PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/)
+target_link_libraries(test_get_type_description_service
+  ${PROJECT_NAME} mimick wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${type_description_interfaces_TARGETS})
+
+function(test_target)
   message(STATUS "Creating tests for '${rmw_implementation}'")
   set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
 
   # Gtests
-
-  rcl_add_custom_gtest(test_client${target_suffix}
-    SRCS rcl/test_client.cpp
+  ament_add_gtest_test(test_client
+    TEST_NAME test_client${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_timer${target_suffix}
-    SRCS rcl/test_timer.cpp
+  ament_add_gtest_test(test_timer
+    TEST_NAME test_timer${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_context${target_suffix}
-    SRCS rcl/test_context.cpp
+  ament_add_gtest_test(test_context
+    TEST_NAME test_context${target_suffix}
     ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_get_node_names${target_suffix}
-    SRCS rcl/test_get_node_names.cpp
+  ament_add_gtest_test(test_get_node_names
+    TEST_NAME test_get_node_names${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_graph${target_suffix}
-    SRCS rcl/test_graph.cpp
+  ament_add_gtest_test(test_graph
+    TEST_NAME test_graph${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
-    AMENT_DEPENDENCIES ${rmw_implementation}
     TIMEOUT 120
   )
 
-  rcl_add_custom_gtest(test_info_by_topic${target_suffix}
-    SRCS rcl/test_info_by_topic.cpp
+  ament_add_gtest_test(test_info_by_topic
+    TEST_NAME test_info_by_topic${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_count_matched${target_suffix}
-    SRCS rcl/test_count_matched.cpp
+  ament_add_gtest_test(test_count_matched
+    TEST_NAME test_count_matched${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_get_actual_qos${target_suffix}
-    SRCS rcl/test_get_actual_qos.cpp
+  ament_add_gtest_test(test_get_actual_qos
+    TEST_NAME test_get_actual_qos${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_init${target_suffix}
-    SRCS rcl/test_init.cpp
+  ament_add_gtest_test(test_init
+    TEST_NAME test_init${target_suffix}
     ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   # RHEL does not support mimick's inject_on_return functionality, which
@@ -136,56 +238,36 @@ function(test_target_function)
   else()
     set(gtest_filter_env_var "")
   endif()
-  rcl_add_custom_gtest(test_node${target_suffix}
-    SRCS rcl/test_node.cpp
+  ament_add_gtest_test(test_node
+    TEST_NAME test_node${target_suffix}
     ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var} ${gtest_filter_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools
-    AMENT_DEPENDENCIES ${rmw_implementation}
     TIMEOUT 240  # Large timeout to wait for fault injection tests
   )
 
-  rcl_add_custom_gtest(test_remap${target_suffix}
-    SRCS rcl/test_remap.cpp
+  ament_add_gtest_test(test_remap
+    TEST_NAME test_remap${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
   )
 
-  rcl_add_custom_gtest(test_remap_integration${target_suffix}
-    SRCS rcl/test_remap_integration.cpp
-    TIMEOUT 200
+  ament_add_gtest_test(test_remap_integration
+    TEST_NAME test_remap_integration${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
+    TIMEOUT 200
   )
 
-  rcl_add_custom_gtest(test_guard_condition${target_suffix}
-    SRCS rcl/test_guard_condition.cpp
+  ament_add_gtest_test(test_guard_condition
+    TEST_NAME test_guard_condition${target_suffix}
     ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_publisher${target_suffix}
-    SRCS rcl/test_publisher.cpp
+  ament_add_gtest_test(test_publisher
+    TEST_NAME test_publisher${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_publisher_wait_all_ack${target_suffix}
-    SRCS rcl/test_publisher_wait_all_ack.cpp
+  ament_add_gtest_test(test_publisher_wait_all_ack
+    TEST_NAME test_publisher_wait_all_ack${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools rcutils::rcutils
-      rosidl_runtime_c::rosidl_runtime_c ${test_msgs_TARGETS}
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_service${target_suffix}
@@ -193,7 +275,6 @@ function(test_target_function)
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_subscription${target_suffix}
@@ -202,7 +283,6 @@ function(test_target_function)
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools rosidl_runtime_cpp::rosidl_runtime_cpp
       ${test_msgs_TARGETS}
-    AMENT_DEPENDENCIES ${rmw_implementation}
     TIMEOUT 120
   )
   # TODO(asorbini) Enable message timestamp tests for rmw_connextdds on Windows
@@ -227,102 +307,58 @@ function(test_target_function)
     endif()
   endif()
 
-  rcl_add_custom_gtest(test_events${target_suffix}
-    SRCS rcl/test_events.cpp
+  ament_add_gtest_test(test_events
+    TEST_NAME test_events${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_wait${target_suffix}
-    SRCS rcl/test_wait.cpp
+  ament_add_gtest_test(test_wait
+    TEST_NAME test_wait${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_logging_rosout${target_suffix}
-    SRCS rcl/test_logging_rosout.cpp
+  ament_add_gtest_test(test_logging_rosout
+    TEST_NAME test_logging_rosout${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${rcl_interfaces_TARGETS}
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_namespace${target_suffix}
-    SRCS rcl/test_namespace.cpp
+  ament_add_gtest_test(test_namespace
+    TEST_NAME test_namespace${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_rmw_impl_id_check_func${target_suffix}
-    SRCS rcl/test_rmw_impl_id_check_func.cpp
+  ament_add_gtest_test(test_rmw_impl_id_check_func
+    TEST_NAME test_rmw_impl_id_check_func${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} mimick
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_network_flow_endpoints${target_suffix}
-    SRCS rcl/test_network_flow_endpoints.cpp
+  ament_add_gtest_test(test_network_flow_endpoints
+    TEST_NAME test_network_flow_endpoints${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_service_event_publisher${target_suffix}
-    SRCS rcl/test_service_event_publisher.cpp
+  ament_add_gtest_test(test_service_event_publisher
+    TEST_NAME test_service_event_publisher${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_type_description_conversions${target_suffix}
-    SRCS rcl/test_type_description_conversions.cpp
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME} ${test_msgs_TARGETS}
+  ament_add_gtest_test(test_type_description_conversions
+    TEST_NAME test_type_description_conversions${target_suffix}
+    ENV ${rmw_implementation_env_var}
   )
 
-  rcl_add_custom_gtest(test_node_type_cache${target_suffix}
-    SRCS rcl/test_node_type_cache.cpp
+  ament_add_gtest_test(test_node_type_cache
+    TEST_NAME test_node_type_cache${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME} mimick osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
-  rcl_add_custom_gtest(test_get_type_description_service${target_suffix}
-    SRCS rcl/test_get_type_description_service.cpp
+  ament_add_gtest_test(test_get_type_description_service
+    TEST_NAME test_get_type_description_service${target_suffix}
     ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${type_description_interfaces_TARGETS}
-    AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   # Launch tests
 
-  rcl_add_custom_executable(service_fixture${target_suffix}
-    SRCS rcl/service_fixture.cpp
-    LIBRARIES ${PROJECT_NAME} wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS} rcutils::rcutils
-  )
-
-  rcl_add_custom_executable(client_fixture${target_suffix}
-    SRCS rcl/client_fixture.cpp
-    LIBRARIES ${PROJECT_NAME} wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
-  )
-
   rcl_add_custom_launch_test(test_services
     service_fixture
     client_fixture
@@ -369,12 +405,23 @@ target_link_libraries(test_rmw_impl_id_check_exe ${PROJECT_NAME})
 
 # This file is used by many tests, so build it just once
 add_library(wait_for_entity_helpers STATIC rcl/wait_for_entity_helpers.cpp)
-target_include_directories(wait_for_entity_helpers PRIVATE
-  ${osrf_testing_tools_cpp_INCLUDE_DIRS})
 target_link_libraries(wait_for_entity_helpers PUBLIC ${PROJECT_NAME})
 target_link_libraries(wait_for_entity_helpers PRIVATE
+  osrf_testing_tools_cpp::memory_tools
   rcutils::rcutils)
 
+# Launch test executables
+
+rcl_add_custom_executable(service_fixture
+  SRCS rcl/service_fixture.cpp
+  LIBRARIES ${PROJECT_NAME} wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS} rcutils::rcutils
+)
+
+rcl_add_custom_executable(client_fixture
+  SRCS rcl/client_fixture.cpp
+  LIBRARIES ${PROJECT_NAME} wait_for_entity_helpers osrf_testing_tools_cpp::memory_tools ${test_msgs_TARGETS}
+)
+
 call_for_each_rmw_implementation(test_target)
 
 rcl_add_custom_gtest(test_arguments
diff --git a/rcl/test/cmake/rcl_add_custom_launch_test.cmake b/rcl/test/cmake/rcl_add_custom_launch_test.cmake
index d4d2e224d..8be69800e 100644
--- a/rcl/test/cmake/rcl_add_custom_launch_test.cmake
+++ b/rcl/test/cmake/rcl_add_custom_launch_test.cmake
@@ -21,9 +21,9 @@ set(rcl_add_custom_launch_test_INCLUDED TRUE)
 
 macro(rcl_add_custom_launch_test test_name executable1 executable2)
   set(TEST_NAME "${test_name}")
-  set(TEST_EXECUTABLE1 "$<TARGET_FILE:${executable1}${target_suffix}>")
+  set(TEST_EXECUTABLE1 "$<TARGET_FILE:${executable1}>")
   set(TEST_EXECUTABLE1_NAME "${executable1}")
-  set(TEST_EXECUTABLE2 "$<TARGET_FILE:${executable2}${target_suffix}>")
+  set(TEST_EXECUTABLE2 "$<TARGET_FILE:${executable2}>")
   set(TEST_EXECUTABLE2_NAME "${executable2}")
   configure_file(
     rcl/test_two_executables.py.in
@@ -40,6 +40,6 @@ macro(rcl_add_custom_launch_test test_name executable1 executable2)
     ${ARGN}
   )
   if(TEST ${test_name}${target_suffix})
-    set_tests_properties(${test_name}${target_suffix} PROPERTIES DEPENDS "${executable1}${target_suffix} ${executable2}${target_suffix}")
+    set_tests_properties(${test_name}${target_suffix} PROPERTIES DEPENDS "${executable1} ${executable2}")
   endif()
 endmacro()
diff --git a/rcl/test/rcl/test_context.cpp b/rcl/test/rcl/test_context.cpp
index 31e4100b3..55aa485dc 100644
--- a/rcl/test/rcl/test_context.cpp
+++ b/rcl/test/rcl/test_context.cpp
@@ -24,18 +24,9 @@
 
 #include "../mocking_utils/patch.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
-class CLASSNAME (TestContextFixture, RMW_IMPLEMENTATION) : public ::testing::Test {};
-
 // Test the rcl_context_t's normal function.
 // Note: that init/fini are tested in test_init.cpp.
-TEST_F(CLASSNAME(TestContextFixture, RMW_IMPLEMENTATION), nominal) {
+TEST(TestContext, nominal) {
   osrf_testing_tools_cpp::memory_tools::ScopedQuickstartGtest scoped_quickstart_gtest;
 
   // This prevents memory allocations when setting error states in the future.
@@ -151,7 +142,7 @@ TEST_F(CLASSNAME(TestContextFixture, RMW_IMPLEMENTATION), nominal) {
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
-TEST_F(CLASSNAME(TestContextFixture, RMW_IMPLEMENTATION), bad_fini) {
+TEST(TestContext, bad_fini) {
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_context_fini(nullptr));
   rcl_reset_error();
 
diff --git a/rcl/test/rcl/test_count_matched.cpp b/rcl/test/rcl/test_count_matched.cpp
index b0baaa8ba..296741900 100644
--- a/rcl/test/rcl/test_count_matched.cpp
+++ b/rcl/test/rcl/test_count_matched.cpp
@@ -28,13 +28,6 @@
 
 #include "rcl/error_handling.h"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 void check_state(
   rcl_wait_set_t * wait_set_ptr,
   rcl_publisher_t * publisher,
@@ -96,7 +89,7 @@ void check_state(
   EXPECT_EQ(expected_subscriber_count, subscriber_count);
 }
 
-class CLASSNAME (TestCountFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestCountFixture : public ::testing::Test
 {
 public:
   rcl_node_t * node_ptr;
@@ -150,7 +143,7 @@ class CLASSNAME (TestCountFixture, RMW_IMPLEMENTATION) : public ::testing::Test
   }
 };
 
-TEST_F(CLASSNAME(TestCountFixture, RMW_IMPLEMENTATION), test_count_matched_functions) {
+TEST_F(TestCountFixture, test_count_matched_functions) {
   std::string topic_name("/test_count_matched_functions__");
   rcl_ret_t ret;
 
@@ -199,9 +192,7 @@ TEST_F(CLASSNAME(TestCountFixture, RMW_IMPLEMENTATION), test_count_matched_funct
   rcl_reset_error();
 }
 
-TEST_F(
-  CLASSNAME(TestCountFixture, RMW_IMPLEMENTATION),
-  test_count_matched_functions_mismatched_qos) {
+TEST_F(TestCountFixture, test_count_matched_functions_mismatched_qos) {
   std::string topic_name("/test_count_matched_functions_mismatched_qos__");
   rcl_ret_t ret;
 
diff --git a/rcl/test/rcl/test_events.cpp b/rcl/test/rcl/test_events.cpp
index 34f1a0a11..33ccc914e 100644
--- a/rcl/test/rcl/test_events.cpp
+++ b/rcl/test/rcl/test_events.cpp
@@ -43,13 +43,6 @@ constexpr seconds LIVELINESS_LEASE_DURATION_IN_S = 1s;
 constexpr seconds DEADLINE_PERIOD_IN_S = 2s;
 constexpr seconds MAX_WAIT_PER_TESTCASE = 10s;
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 #define EXPECT_OK(varname) EXPECT_EQ(varname, RCL_RET_OK) << rcl_get_error_string().str
 
 struct TestIncompatibleQosEventParams
@@ -61,8 +54,7 @@ struct TestIncompatibleQosEventParams
   std::string error_msg;
 };
 
-class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION)
-  : public ::testing::TestWithParam<TestIncompatibleQosEventParams>
+class TestEventFixture : public ::testing::TestWithParam<TestIncompatibleQosEventParams>
 {
 public:
   void SetUp()
@@ -240,8 +232,6 @@ class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION)
   const rosidl_message_type_support_t * ts;
 };
 
-using TestEventFixture = CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION);
-
 const rmw_qos_profile_t TestEventFixture::default_qos_profile = {
   RMW_QOS_POLICY_HISTORY_KEEP_LAST,             // history
   0,                                            // depth
diff --git a/rcl/test/rcl/test_get_actual_qos.cpp b/rcl/test/rcl/test_get_actual_qos.cpp
index f590867d4..2f4555d36 100644
--- a/rcl/test/rcl/test_get_actual_qos.cpp
+++ b/rcl/test/rcl/test_get_actual_qos.cpp
@@ -28,28 +28,6 @@
 #include "test_msgs/msg/basic_types.h"
 #include "test_msgs/srv/basic_types.h"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-# define RMW_IMPLEMENTATION_STR RCUTILS_STRINGIFY(RMW_IMPLEMENTATION)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
-#define EXPAND(x) x
-#define TEST_FIXTURE_P_RMW(test_fixture_name) CLASSNAME( \
-    test_fixture_name, RMW_IMPLEMENTATION)
-#define APPLY(macro, ...) EXPAND(macro(__VA_ARGS__))
-#define TEST_P_RMW(test_case_name, test_name) \
-  APPLY( \
-    TEST_P, \
-    CLASSNAME(test_case_name, RMW_IMPLEMENTATION), test_name)
-#define INSTANTIATE_TEST_SUITE_P_RMW(instance_name, test_case_name, ...) \
-  EXPAND( \
-    APPLY( \
-      INSTANTIATE_TEST_SUITE_P, instance_name, \
-      CLASSNAME(test_case_name, RMW_IMPLEMENTATION), __VA_ARGS__))
-
 /**
  * Parameterized test.
  * The first param are the NodeOptions used to create the nodes.
@@ -98,8 +76,7 @@ std::ostream & operator<<(
   return out;
 }
 
-class TEST_FIXTURE_P_RMW (TestGetActualQoS)
-  : public ::testing::TestWithParam<TestParameters>
+class TestGetActualQoS : public ::testing::TestWithParam<TestParameters>
 {
 public:
   void SetUp() override
@@ -147,10 +124,9 @@ class TEST_FIXTURE_P_RMW (TestGetActualQoS)
 };
 
 
-class TEST_FIXTURE_P_RMW (TestPublisherGetActualQoS)
-  : public TEST_FIXTURE_P_RMW(TestGetActualQoS) {};
+class TestPublisherGetActualQoS : public TestGetActualQoS {};
 
-TEST_P_RMW(TestPublisherGetActualQoS, test_publisher_get_qos_settings)
+TEST_P(TestPublisherGetActualQoS, test_publisher_get_qos_settings)
 {
   TestParameters parameters = GetParam();
   std::string topic_name("/test_publisher_get_actual_qos__");
@@ -202,10 +178,9 @@ TEST_P_RMW(TestPublisherGetActualQoS, test_publisher_get_qos_settings)
 }
 
 
-class TEST_FIXTURE_P_RMW (TestSubscriptionGetActualQoS)
-  : public TEST_FIXTURE_P_RMW(TestGetActualQoS) {};
+class TestSubscriptionGetActualQoS : public TestGetActualQoS {};
 
-TEST_P_RMW(TestSubscriptionGetActualQoS, test_subscription_get_qos_settings)
+TEST_P(TestSubscriptionGetActualQoS, test_subscription_get_qos_settings)
 {
   TestParameters parameters = GetParam();
   std::string topic_name("/test_subscription_get_qos_settings");
@@ -396,8 +371,7 @@ get_parameters(bool for_publisher)
     "default_qos"
   });
 
-#ifdef RMW_IMPLEMENTATION_STR
-  std::string rmw_implementation_str = RMW_IMPLEMENTATION_STR;
+  std::string rmw_implementation_str = std::string(rmw_get_implementation_identifier());
   if (rmw_implementation_str == "rmw_fastrtps_cpp" ||
     rmw_implementation_str == "rmw_fastrtps_dynamic_cpp")
   {
@@ -464,18 +438,17 @@ get_parameters(bool for_publisher)
       }
     }
   }
-#endif
 
   return parameters;
 }
 
-INSTANTIATE_TEST_SUITE_P_RMW(
+INSTANTIATE_TEST_SUITE_P(
   TestPublisherWithDifferentQoSSettings,
   TestPublisherGetActualQoS,
   ::testing::ValuesIn(get_parameters(true)),
   ::testing::PrintToStringParamName());
 
-INSTANTIATE_TEST_SUITE_P_RMW(
+INSTANTIATE_TEST_SUITE_P(
   TestSubscriptionWithDifferentQoSSettings,
   TestSubscriptionGetActualQoS,
   ::testing::ValuesIn(get_parameters(false)),
diff --git a/rcl/test/rcl/test_get_node_names.cpp b/rcl/test/rcl/test_get_node_names.cpp
index 80a0da47c..3dc7bf4aa 100644
--- a/rcl/test/rcl/test_get_node_names.cpp
+++ b/rcl/test/rcl/test_get_node_names.cpp
@@ -32,16 +32,9 @@
 
 #include "rcl/error_handling.h"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 using namespace std::chrono_literals;
 
-class CLASSNAME (TestGetNodeNames, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestGetNodeNames : public ::testing::Test
 {
 public:
   void SetUp()
@@ -51,7 +44,7 @@ class CLASSNAME (TestGetNodeNames, RMW_IMPLEMENTATION) : public ::testing::Test
   {}
 };
 
-TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names) {
+TEST_F(TestGetNodeNames, test_rcl_get_node_names) {
   rcl_ret_t ret;
   rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
   ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
@@ -164,8 +157,7 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
-TEST_F(
-  CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names_with_enclave)
+TEST_F(TestGetNodeNames, test_rcl_get_node_names_with_enclave)
 {
   rcl_ret_t ret;
   rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
diff --git a/rcl/test/rcl/test_get_type_description_service.cpp b/rcl/test/rcl/test_get_type_description_service.cpp
index 235e7937a..1055b1cf6 100644
--- a/rcl/test/rcl/test_get_type_description_service.cpp
+++ b/rcl/test/rcl/test_get_type_description_service.cpp
@@ -31,13 +31,6 @@
 #include "node_impl.h"  // NOLINT
 #include "wait_for_entity_helpers.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 constexpr char GET_TYPE_DESCRIPTION_SRV_TYPE_NAME[] =
   "type_description_interfaces/srv/GetTypeDescription";
 
@@ -140,7 +133,7 @@ static bool service_not_exists(
   return false;
 }
 
-class CLASSNAME (TestGetTypeDescSrvFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestGetTypeDescSrvFixture : public ::testing::Test
 {
 public:
   void SetUp()
@@ -190,9 +183,7 @@ class CLASSNAME (TestGetTypeDescSrvFixture, RMW_IMPLEMENTATION) : public ::testi
 
 
 /* Test init and fini functions. */
-TEST_F(
-  CLASSNAME(TestGetTypeDescSrvFixture, RMW_IMPLEMENTATION),
-  test_service_init_and_fini_functions) {
+TEST_F(TestGetTypeDescSrvFixture, test_service_init_and_fini_functions) {
   rcl_service_t service = rcl_get_zero_initialized_service();
 
   // Service does not initially exist
@@ -220,7 +211,7 @@ TEST_F(
 }
 
 /* Basic nominal test of the ~/get_type_description service. */
-TEST_F(CLASSNAME(TestGetTypeDescSrvFixture, RMW_IMPLEMENTATION), test_service_nominal) {
+TEST_F(TestGetTypeDescSrvFixture, test_service_nominal) {
   rcl_ret_t ret;
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
     type_description_interfaces, srv, GetTypeDescription);
@@ -317,10 +308,7 @@ TEST_F(CLASSNAME(TestGetTypeDescSrvFixture, RMW_IMPLEMENTATION), test_service_no
 }
 
 /* Test calling ~/get_type_description service with invalid hash. */
-TEST_F(
-  CLASSNAME(
-    TestGetTypeDescSrvFixture,
-    RMW_IMPLEMENTATION), test_service_invalid_hash) {
+TEST_F(TestGetTypeDescSrvFixture, test_service_invalid_hash) {
   rcl_ret_t ret;
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
     type_description_interfaces, srv, GetTypeDescription);
diff --git a/rcl/test/rcl/test_graph.cpp b/rcl/test/rcl/test_graph.cpp
index 1d42c7acc..2eb0d7612 100644
--- a/rcl/test/rcl/test_graph.cpp
+++ b/rcl/test/rcl/test_graph.cpp
@@ -42,17 +42,10 @@
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 bool is_connext =
   std::string(rmw_get_implementation_identifier()).find("rmw_connext") == 0;
 
-class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestGraphFixture : public ::testing::Test
 {
 public:
   rcl_context_t * old_context_ptr;
@@ -148,10 +141,7 @@ class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
  *
  * This does not test content of the rcl_names_and_types_t structure.
  */
-TEST_F(
-  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_and_destroy_topic_names_and_types
-) {
+TEST_F(TestGraphFixture, test_rcl_get_and_destroy_topic_names_and_types) {
   rcl_ret_t ret;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
@@ -199,10 +189,7 @@ TEST_F(
  *
  * This does not test content of the rcl_names_and_types_t structure.
  */
-TEST_F(
-  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_service_names_and_types
-) {
+TEST_F(TestGraphFixture, test_rcl_get_service_names_and_types) {
   rcl_ret_t ret;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
@@ -248,10 +235,7 @@ TEST_F(
 
 /* Test the rcl_names_and_types_init function.
  */
-TEST_F(
-  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
-  test_rcl_names_and_types_init
-) {
+TEST_F(TestGraphFixture, test_rcl_names_and_types_init) {
   rcl_ret_t ret;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
@@ -290,10 +274,7 @@ TEST_F(
  *
  * This does not test content of the response.
  */
-TEST_F(
-  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_publisher_names_and_types_by_node
-) {
+TEST_F(TestGraphFixture, test_rcl_get_publisher_names_and_types_by_node) {
   rcl_ret_t ret;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
@@ -381,10 +362,7 @@ TEST_F(
  *
  * This does not test content of the response.
  */
-TEST_F(
-  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_subscriber_names_and_types_by_node
-) {
+TEST_F(TestGraphFixture, test_rcl_get_subscriber_names_and_types_by_node) {
   rcl_ret_t ret;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
@@ -469,10 +447,7 @@ TEST_F(
  *
  * This does not test content of the response.
  */
-TEST_F(
-  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_service_names_and_types_by_node
-) {
+TEST_F(TestGraphFixture, test_rcl_get_service_names_and_types_by_node) {
   rcl_ret_t ret;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
@@ -557,10 +532,7 @@ TEST_F(
  *
  * This does not test content of the response.
  */
-TEST_F(
-  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_client_names_and_types_by_node
-) {
+TEST_F(TestGraphFixture, test_rcl_get_client_names_and_types_by_node) {
   rcl_ret_t ret;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
@@ -646,10 +618,7 @@ TEST_F(
  *
  * This does not test content of the response.
  */
-TEST_F(
-  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
-  test_rcl_count_publishers
-) {
+TEST_F(TestGraphFixture, test_rcl_count_publishers) {
   rcl_ret_t ret;
   rcl_node_t zero_node = rcl_get_zero_initialized_node();
   const char * topic_name = "/topic_test_rcl_count_publishers";
@@ -683,10 +652,7 @@ TEST_F(
  *
  * This does not test content of the response.
  */
-TEST_F(
-  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
-  test_rcl_count_subscribers
-) {
+TEST_F(TestGraphFixture, test_rcl_count_subscribers) {
   rcl_ret_t ret;
   rcl_node_t zero_node = rcl_get_zero_initialized_node();
   const char * topic_name = "/topic_test_rcl_count_subscribers";
@@ -720,10 +686,7 @@ TEST_F(
  *
  * This does not test content of the response.
  */
-TEST_F(
-  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
-  test_rcl_count_clients
-) {
+TEST_F(TestGraphFixture, test_rcl_count_clients) {
   rcl_ret_t ret;
   rcl_node_t zero_node = rcl_get_zero_initialized_node();
   const char * service_name = "/topic_test_rcl_count_clients";
@@ -757,10 +720,7 @@ TEST_F(
  *
  * This does not test content of the response.
  */
-TEST_F(
-  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
-  test_rcl_count_services
-) {
+TEST_F(TestGraphFixture, test_rcl_count_services) {
   rcl_ret_t ret;
   rcl_node_t zero_node = rcl_get_zero_initialized_node();
   const char * service_name = "/topic_test_rcl_count_services";
@@ -792,10 +752,7 @@ TEST_F(
 
 /* Test the rcl_wait_for_publishers function.
  */
-TEST_F(
-  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
-  test_rcl_wait_for_publishers
-) {
+TEST_F(TestGraphFixture, test_rcl_wait_for_publishers) {
   rcl_ret_t ret;
   rcl_node_t zero_node = rcl_get_zero_initialized_node();
   rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
@@ -837,10 +794,7 @@ TEST_F(
 
 /* Test the rcl_wait_for_subscribers function.
  */
-TEST_F(
-  CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
-  test_rcl_wait_for_subscribers
-) {
+TEST_F(TestGraphFixture, test_rcl_wait_for_subscribers) {
   rcl_ret_t ret;
   rcl_node_t zero_node = rcl_get_zero_initialized_node();
   rcl_allocator_t zero_allocator = static_cast<rcl_allocator_t>(
@@ -996,7 +950,7 @@ struct expected_node_state
 /**
  * Extend the TestGraphFixture with a multi node fixture for node discovery and node-graph perspective.
  */
-class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION)
+class NodeGraphMultiNodeFixture : public TestGraphFixture
 {
 public:
   const char * remote_node_name = "remote_graph_node";
@@ -1008,7 +962,7 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME
 
   void SetUp() override
   {
-    CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION) ::SetUp();
+    TestGraphFixture::SetUp();
     rcl_ret_t ret;
 
     rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
@@ -1074,7 +1028,7 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME
   void TearDown() override
   {
     rcl_ret_t ret;
-    CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION) ::TearDown();
+    TestGraphFixture::TearDown();
     const rcl_node_options_t * node_ops = rcl_node_get_options(this->remote_node_ptr);
     if (rcl_logging_rosout_enabled() && node_ops->enable_rosout) {
       ret = rcl_logging_rosout_fini_publisher_for_node(this->remote_node_ptr);
@@ -1290,7 +1244,7 @@ TEST_F(NodeGraphMultiNodeFixture, test_node_info_clients)
 /*
  * Test graph queries with a hand crafted graph.
  */
-TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functions)
+TEST_F(TestGraphFixture, test_graph_query_functions)
 {
   std::string topic_name("/test_graph_query_functions__");
   std::chrono::nanoseconds now = std::chrono::system_clock::now().time_since_epoch();
@@ -1367,7 +1321,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
  *
  * Note: this test could be impacted by other communications on the same ROS Domain.
  */
-TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_condition_trigger_check) {
+TEST_F(TestGraphFixture, test_graph_guard_condition_trigger_check) {
 #define CHECK_GUARD_CONDITION_CHANGE(EXPECTED_RESULT, TIMEOUT)   do { \
     ret = rcl_wait_set_clear(&wait_set); \
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; \
@@ -1534,7 +1488,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
 
 /* Test the rcl_service_server_is_available function.
  */
-TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_is_available) {
+TEST_F(TestGraphFixture, test_rcl_service_server_is_available) {
   rcl_ret_t ret;
   // First create a client which will be used to call the function.
   rcl_client_t client = rcl_get_zero_initialized_client();
@@ -1628,7 +1582,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
 
 /* Test passing invalid params to server_is_available
  */
-TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_bad_server_available) {
+TEST_F(TestGraphFixture, test_bad_server_available) {
   // Create a client which will be used to call the function.
   rcl_client_t client = rcl_get_zero_initialized_client();
   auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
@@ -1658,7 +1612,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_bad_server_availabl
 
 /* Test passing invalid params to get_node_names functions
  */
-TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_bad_get_node_names) {
+TEST_F(TestGraphFixture, test_bad_get_node_names) {
   rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
   rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array();
 
diff --git a/rcl/test/rcl/test_guard_condition.cpp b/rcl/test/rcl/test_guard_condition.cpp
index 48d4ede4d..027fa9aed 100644
--- a/rcl/test/rcl/test_guard_condition.cpp
+++ b/rcl/test/rcl/test_guard_condition.cpp
@@ -28,19 +28,12 @@
 
 #include "../mocking_utils/patch.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 using osrf_testing_tools_cpp::memory_tools::on_unexpected_malloc;
 using osrf_testing_tools_cpp::memory_tools::on_unexpected_realloc;
 using osrf_testing_tools_cpp::memory_tools::on_unexpected_calloc;
 using osrf_testing_tools_cpp::memory_tools::on_unexpected_free;
 
-class CLASSNAME (TestGuardConditionFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestGuardConditionFixture : public ::testing::Test
 {
 public:
   void SetUp()
@@ -60,8 +53,7 @@ class CLASSNAME (TestGuardConditionFixture, RMW_IMPLEMENTATION) : public ::testi
 
 /* Tests the guard condition accessors, i.e. rcl_guard_condition_get_* functions.
  */
-TEST_F(
-  CLASSNAME(TestGuardConditionFixture, RMW_IMPLEMENTATION), test_rcl_guard_condition_accessors) {
+TEST_F(TestGuardConditionFixture, test_rcl_guard_condition_accessors) {
   osrf_testing_tools_cpp::memory_tools::enable_monitoring_in_all_threads();
 
   rcl_ret_t ret;
@@ -135,8 +127,7 @@ TEST_F(
 
 /* Tests the guard condition life cycle, including rcl_guard_condition_init/fini().
  */
-TEST_F(
-  CLASSNAME(TestGuardConditionFixture, RMW_IMPLEMENTATION), test_rcl_guard_condition_life_cycle) {
+TEST_F(TestGuardConditionFixture, test_rcl_guard_condition_life_cycle) {
   rcl_ret_t ret;
   rcl_context_t context = rcl_get_zero_initialized_context();
   rcl_guard_condition_t guard_condition = rcl_get_zero_initialized_guard_condition();
@@ -243,8 +234,7 @@ TEST_F(
 
 /* Tests trigger_guard_condition with bad arguments
  */
-TEST_F(
-  CLASSNAME(TestGuardConditionFixture, RMW_IMPLEMENTATION), test_rcl_guard_condition_bad_arg) {
+TEST_F(TestGuardConditionFixture, test_rcl_guard_condition_bad_arg) {
   rcl_guard_condition_t zero_guard_condition = rcl_get_zero_initialized_guard_condition();
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_trigger_guard_condition(nullptr));
   rcl_reset_error();
diff --git a/rcl/test/rcl/test_info_by_topic.cpp b/rcl/test/rcl/test_info_by_topic.cpp
index 09d6e0858..de8849b31 100644
--- a/rcl/test/rcl/test_info_by_topic.cpp
+++ b/rcl/test/rcl/test_info_by_topic.cpp
@@ -34,14 +34,7 @@
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
-class CLASSNAME (TestInfoByTopicFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestInfoByTopicFixture : public ::testing::Test
 {
 public:
   rcl_context_t old_context;
@@ -132,9 +125,7 @@ class CLASSNAME (TestInfoByTopicFixture, RMW_IMPLEMENTATION) : public ::testing:
  * This does not test content of the response.
  * It only tests if the return code is the one expected.
  */
-TEST_F(
-  CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_publishers_info_by_topic_null_node)
+TEST_F(TestInfoByTopicFixture, test_rcl_get_publishers_info_by_topic_null_node)
 {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   const auto ret = rcl_get_publishers_info_by_topic(
@@ -148,9 +139,7 @@ TEST_F(
  * This does not test content of the response.
  * It only tests if the return code is the one expected.
  */
-TEST_F(
-  CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_subscriptions_info_by_topic_null_node)
+TEST_F(TestInfoByTopicFixture, test_rcl_get_subscriptions_info_by_topic_null_node)
 {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   const auto ret = rcl_get_subscriptions_info_by_topic(
@@ -164,9 +153,7 @@ TEST_F(
  * This does not test content of the response.
  * It only tests if the return code is the one expected.
  */
-TEST_F(
-  CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_publishers_info_by_topic_invalid_node)
+TEST_F(TestInfoByTopicFixture, test_rcl_get_publishers_info_by_topic_invalid_node)
 {
   // this->old_node is an invalid node.
   rcl_allocator_t allocator = rcl_get_default_allocator();
@@ -181,9 +168,7 @@ TEST_F(
  * This does not test content of the response.
  * It only tests if the return code is the one expected.
  */
-TEST_F(
-  CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_subscriptions_info_by_topic_invalid_node)
+TEST_F(TestInfoByTopicFixture, test_rcl_get_subscriptions_info_by_topic_invalid_node)
 {
   // this->old_node is an invalid node.
   rcl_allocator_t allocator = rcl_get_default_allocator();
@@ -198,9 +183,7 @@ TEST_F(
  * This does not test content of the response.
  * It only tests if the return code is the one expected.
  */
-TEST_F(
-  CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_publishers_info_by_topic_null_allocator)
+TEST_F(TestInfoByTopicFixture, test_rcl_get_publishers_info_by_topic_null_allocator)
 {
   const auto ret = rcl_get_publishers_info_by_topic(
     &this->node, nullptr, this->topic_name, false,
@@ -213,9 +196,7 @@ TEST_F(
  * This does not test content of the response.
  * It only tests if the return code is the one expected.
  */
-TEST_F(
-  CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_subscriptions_info_by_topic_null_allocator)
+TEST_F(TestInfoByTopicFixture, test_rcl_get_subscriptions_info_by_topic_null_allocator)
 {
   const auto ret = rcl_get_subscriptions_info_by_topic(
     &this->node, nullptr, this->topic_name, false,
@@ -228,9 +209,7 @@ TEST_F(
  * This does not test content of the response.
  * It only tests if the return code is the one expected.
  */
-TEST_F(
-  CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_publishers_info_by_topic_null_topic)
+TEST_F(TestInfoByTopicFixture, test_rcl_get_publishers_info_by_topic_null_topic)
 {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   const auto ret = rcl_get_publishers_info_by_topic(
@@ -243,9 +222,7 @@ TEST_F(
  * This does not test content of the response.
  * It only tests if the return code is the one expected.
  */
-TEST_F(
-  CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_subscriptions_info_by_topic_null_topic)
+TEST_F(TestInfoByTopicFixture, test_rcl_get_subscriptions_info_by_topic_null_topic)
 {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   const auto ret = rcl_get_subscriptions_info_by_topic(
@@ -258,9 +235,7 @@ TEST_F(
  * This does not test content of the response.
  * It only tests if the return code is the one expected.
  */
-TEST_F(
-  CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_publishers_info_by_topic_null_participants)
+TEST_F(TestInfoByTopicFixture, test_rcl_get_publishers_info_by_topic_null_participants)
 {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   const auto ret = rcl_get_publishers_info_by_topic(
@@ -273,9 +248,7 @@ TEST_F(
  * This does not test content of the response.
  * It only tests if the return code is the one expected.
  */
-TEST_F(
-  CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_subscriptions_info_by_topic_null_participants)
+TEST_F(TestInfoByTopicFixture, test_rcl_get_subscriptions_info_by_topic_null_participants)
 {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   const auto ret = rcl_get_subscriptions_info_by_topic(
@@ -288,9 +261,7 @@ TEST_F(
  * This does not test content of the response.
  * It only tests if the return code is the one expected.
  */
-TEST_F(
-  CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_publishers_info_by_topic_invalid_participants)
+TEST_F(TestInfoByTopicFixture, test_rcl_get_publishers_info_by_topic_invalid_participants)
 {
   // topic_endpoint_info_array is invalid because it is expected to be zero initialized
   // and the info_array variable inside it is expected to be null.
@@ -311,9 +282,7 @@ TEST_F(
  * This does not test content of the response.
  * It only tests if the return code is the one expected.
  */
-TEST_F(
-  CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_subscriptions_info_by_topic_invalid_participants)
+TEST_F(TestInfoByTopicFixture, test_rcl_get_subscriptions_info_by_topic_invalid_participants)
 {
   // topic_endpoint_info_array is invalid because it is expected to be zero initialized
   // and the info_array variable inside it is expected to be null.
@@ -330,9 +299,7 @@ TEST_F(
   rcl_reset_error();
 }
 
-TEST_F(
-  CLASSNAME(TestInfoByTopicFixture, RMW_IMPLEMENTATION),
-  test_rcl_get_publishers_subscription_info_by_topic)
+TEST_F(TestInfoByTopicFixture, test_rcl_get_publishers_subscription_info_by_topic)
 {
   rmw_qos_profile_t default_qos_profile = rmw_qos_profile_system_default;
   default_qos_profile.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
diff --git a/rcl/test/rcl/test_init.cpp b/rcl/test/rcl/test_init.cpp
index f40e015e2..6ac629eb7 100644
--- a/rcl/test/rcl/test_init.cpp
+++ b/rcl/test/rcl/test_init.cpp
@@ -31,19 +31,12 @@
 #include "../mocking_utils/patch.hpp"
 #include "../src/rcl/init_options_impl.h"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 using osrf_testing_tools_cpp::memory_tools::on_unexpected_malloc;
 using osrf_testing_tools_cpp::memory_tools::on_unexpected_realloc;
 using osrf_testing_tools_cpp::memory_tools::on_unexpected_calloc;
 using osrf_testing_tools_cpp::memory_tools::on_unexpected_free;
 
-class CLASSNAME (TestRCLFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestRCLFixture : public ::testing::Test
 {
 public:
   void SetUp()
@@ -106,7 +99,7 @@ struct FakeTestArgv
 
 /* Tests rcl_init_options_init() and rcl_init_options_fini() functions.
  */
-TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_init) {
+TEST_F(TestRCLFixture, test_rcl_init_options_init) {
   rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
 
   // fini a not empty options
@@ -140,7 +133,7 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_init
 
 /* Tests calling rcl_init() with invalid arguments fails.
  */
-TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_invalid_arguments) {
+TEST_F(TestRCLFixture, test_rcl_init_invalid_arguments) {
   rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
   rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -250,7 +243,7 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_invalid_argu
 
 /* Tests the rcl_init() and rcl_shutdown() functions.
  */
-TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_and_shutdown) {
+TEST_F(TestRCLFixture, test_rcl_init_and_shutdown) {
   rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
   rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -321,7 +314,7 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_and_shutdown
 
 /* Tests rcl_init() deals with internal errors correctly.
  */
-TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_internal_error) {
+TEST_F(TestRCLFixture, test_rcl_init_internal_error) {
   rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
   rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -364,7 +357,7 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_internal_err
 
 /* Tests rcl_shutdown() deals with internal errors correctly.
  */
-TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_shutdown_internal_error) {
+TEST_F(TestRCLFixture, test_rcl_shutdown_internal_error) {
   rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
   rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -391,7 +384,7 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_shutdown_internal
 
 /* Tests the rcl_get_instance_id() function.
  */
-TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_get_instance_id) {
+TEST_F(TestRCLFixture, test_rcl_get_instance_id) {
   rcl_ret_t ret;
   rcl_context_t context = rcl_get_zero_initialized_context();
   // Instance id should be 0 before rcl_init().
@@ -454,7 +447,7 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_get_instance_id)
   EXPECT_EQ(ret, RCL_RET_OK);
 }
 
-TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_access) {
+TEST_F(TestRCLFixture, test_rcl_init_options_access) {
   rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
   rcl_init_options_t not_ini_init_options = rcl_get_zero_initialized_init_options();
   rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
@@ -535,7 +528,7 @@ MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, >)
 MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, !=)
 
 // Tests rcl_init_options_init() mocked to fail
-TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_mocked_rcl_init_options_ini) {
+TEST_F(TestRCLFixture, test_mocked_rcl_init_options_ini) {
   rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
   auto mock = mocking_utils::patch_and_return("lib:rcl", rmw_init_options_init, RMW_RET_ERROR);
   EXPECT_EQ(RCL_RET_ERROR, rcl_init_options_init(&init_options, rcl_get_default_allocator()));
@@ -543,7 +536,7 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_mocked_rcl_init_optio
 }
 
 // Tests rcl_init_options_fini() mocked to fail
-TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_mocked_rcl_init_options_fini) {
+TEST_F(TestRCLFixture, test_mocked_rcl_init_options_fini) {
   rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
   rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -555,7 +548,7 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_mocked_rcl_init_optio
 }
 
 // Mock rcl_init_options_copy to fail
-TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_copy_fail_rmw_copy) {
+TEST_F(TestRCLFixture, test_rcl_init_options_copy_fail_rmw_copy) {
   rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
   rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
diff --git a/rcl/test/rcl/test_logging_rosout.cpp b/rcl/test/rcl/test_logging_rosout.cpp
index bd89dc4f6..6bfcac97e 100644
--- a/rcl/test/rcl/test_logging_rosout.cpp
+++ b/rcl/test/rcl/test_logging_rosout.cpp
@@ -27,26 +27,6 @@
 
 #include "rcl/logging_rosout.h"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
-#define EXPAND(x) x
-#define TEST_FIXTURE_P_RMW(test_fixture_name) CLASSNAME( \
-    test_fixture_name, RMW_IMPLEMENTATION)
-#define APPLY(macro, ...) EXPAND(macro(__VA_ARGS__))
-#define TEST_P_RMW(test_case_name, test_name) \
-  APPLY( \
-    TEST_P, CLASSNAME(test_case_name, RMW_IMPLEMENTATION), test_name)
-#define INSTANTIATE_TEST_SUITE_P_RMW(instance_name, test_case_name, ...) \
-  EXPAND( \
-    APPLY( \
-      INSTANTIATE_TEST_SUITE_P, instance_name, \
-      CLASSNAME(test_case_name, RMW_IMPLEMENTATION), __VA_ARGS__))
-
 struct TestParameters
 {
   int argc;
@@ -65,7 +45,7 @@ std::ostream & operator<<(
   return out;
 }
 
-class CLASSNAME (TestLogRosoutFixtureNotParam, RMW_IMPLEMENTATION) : public ::testing::Test {};
+class TestLogRosoutFixtureNotParam : public ::testing::Test {};
 
 class TestLoggingRosout : public ::testing::Test
 {
@@ -153,7 +133,7 @@ class TestLoggingRosout : public ::testing::Test
   rcl_subscription_t * subscription_ptr;
 };
 
-class TEST_FIXTURE_P_RMW (TestLoggingRosoutFixture)
+class TestLoggingRosoutFixture
   : public TestLoggingRosout, public ::testing::WithParamInterface<TestParameters>
 {
 protected:
@@ -179,7 +159,7 @@ class TEST_FIXTURE_P_RMW (TestLoggingRosoutFixture)
   TestParameters param_;
 };
 
-class CLASSNAME (TestLogRosoutFixtureGeneral, RMW_IMPLEMENTATION) : public TestLoggingRosout {};
+class TestLogRosoutFixtureGeneral : public TestLoggingRosout {};
 
 static void
 check_if_rosout_subscription_gets_a_message(
@@ -233,7 +213,7 @@ check_if_rosout_subscription_gets_a_message(
 
 /* Testing the subscriber of topic 'rosout' whether to get event from logging or not.
  */
-TEST_P_RMW(TestLoggingRosoutFixture, test_logging_rosout) {
+TEST_P(TestLoggingRosoutFixture, test_logging_rosout) {
   bool success = false;
   check_if_rosout_subscription_gets_a_message(
     rcl_node_get_logger_name(this->node_ptr), this->subscription_ptr,
@@ -322,7 +302,7 @@ get_parameters()
   return parameters;
 }
 
-INSTANTIATE_TEST_SUITE_P_RMW(
+INSTANTIATE_TEST_SUITE_P(
   TestLoggingRosoutWithDifferentSettings,
   TestLoggingRosoutFixture,
   ::testing::ValuesIn(get_parameters()),
@@ -330,8 +310,7 @@ INSTANTIATE_TEST_SUITE_P_RMW(
 
 /* Testing twice init logging_rosout
  */
-TEST_F(
-  CLASSNAME(TestLogRosoutFixtureNotParam, RMW_IMPLEMENTATION), test_twice_init_logging_rosout)
+TEST_F(TestLogRosoutFixtureNotParam, test_twice_init_logging_rosout)
 {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   EXPECT_EQ(RCL_RET_OK, rcl_logging_rosout_init(&allocator));
@@ -344,10 +323,7 @@ TEST_F(
 
 /* Bad params
  */
-TEST_F(
-  CLASSNAME(
-    TestLogRosoutFixtureNotParam, RMW_IMPLEMENTATION),
-  test_bad_params_init_fini_node_publisher)
+TEST_F(TestLogRosoutFixtureNotParam, test_bad_params_init_fini_node_publisher)
 {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_node_t not_init_node = rcl_get_zero_initialized_node();
@@ -368,8 +344,7 @@ TEST_F(
 
 /* Testing basic of adding and removing sublogger
  */
-TEST_F(
-  CLASSNAME(TestLogRosoutFixtureGeneral, RMW_IMPLEMENTATION), test_add_remove_sublogger_basic)
+TEST_F(TestLogRosoutFixtureGeneral, test_add_remove_sublogger_basic)
 {
   const char * logger_name = rcl_node_get_logger_name(this->node_ptr);
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_logging_rosout_add_sublogger(nullptr, nullptr));
@@ -413,8 +388,7 @@ TEST_F(
 
 /* Testing rosout message while adding and removing sublogger
  */
-TEST_F(
-  CLASSNAME(TestLogRosoutFixtureGeneral, RMW_IMPLEMENTATION), test_add_remove_sublogger_message)
+TEST_F(TestLogRosoutFixtureGeneral, test_add_remove_sublogger_message)
 {
   const char * logger_name = rcl_node_get_logger_name(this->node_ptr);
   const char * sublogger_name = "child";
@@ -447,9 +421,7 @@ TEST_F(
 
 /* Testing rosout message while adding and removing sublogger multiple times
  */
-TEST_F(
-  CLASSNAME(TestLogRosoutFixtureGeneral, RMW_IMPLEMENTATION),
-  test_multi_add_remove_sublogger_message)
+TEST_F(TestLogRosoutFixtureGeneral, test_multi_add_remove_sublogger_message)
 {
   const char * logger_name = rcl_node_get_logger_name(this->node_ptr);
   const char * sublogger_name = "child";
diff --git a/rcl/test/rcl/test_network_flow_endpoints.cpp b/rcl/test/rcl/test_network_flow_endpoints.cpp
index 12b1b87f3..857a4516c 100644
--- a/rcl/test/rcl/test_network_flow_endpoints.cpp
+++ b/rcl/test/rcl/test_network_flow_endpoints.cpp
@@ -26,14 +26,7 @@
 #include "./allocator_testing_utils.h"
 #include "../mocking_utils/patch.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
-class CLASSNAME (TestNetworkFlowEndpointsNode, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestNetworkFlowEndpointsNode : public ::testing::Test
 {
 public:
   rcl_context_t * context_ptr;
@@ -75,8 +68,7 @@ class CLASSNAME (TestNetworkFlowEndpointsNode, RMW_IMPLEMENTATION) : public ::te
   }
 };
 
-class CLASSNAME (TestPublisherNetworkFlowEndpoints, RMW_IMPLEMENTATION)
-  : public CLASSNAME(TestNetworkFlowEndpointsNode, RMW_IMPLEMENTATION)
+class TestPublisherNetworkFlowEndpoints : public TestNetworkFlowEndpointsNode
 {
 public:
   const rosidl_message_type_support_t * ts =
@@ -95,7 +87,7 @@ class CLASSNAME (TestPublisherNetworkFlowEndpoints, RMW_IMPLEMENTATION)
 
   void SetUp() override
   {
-    CLASSNAME(TestNetworkFlowEndpointsNode, RMW_IMPLEMENTATION) ::SetUp();
+    TestNetworkFlowEndpointsNode::SetUp();
 
     publisher_1 = rcl_get_zero_initialized_publisher();
     publisher_1_options = rcl_publisher_get_default_options();
@@ -136,12 +128,11 @@ class CLASSNAME (TestPublisherNetworkFlowEndpoints, RMW_IMPLEMENTATION)
     ret = rcl_publisher_fini(&publisher_3, this->node_ptr);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 
-    CLASSNAME(TestNetworkFlowEndpointsNode, RMW_IMPLEMENTATION) ::TearDown();
+    TestNetworkFlowEndpointsNode::TearDown();
   }
 };
 
-class CLASSNAME (TestSubscriptionNetworkFlowEndpoints, RMW_IMPLEMENTATION)
-  : public CLASSNAME(TestNetworkFlowEndpointsNode, RMW_IMPLEMENTATION)
+class TestSubscriptionNetworkFlowEndpoints : public TestNetworkFlowEndpointsNode
 {
 public:
   const rosidl_message_type_support_t * ts =
@@ -160,7 +151,7 @@ class CLASSNAME (TestSubscriptionNetworkFlowEndpoints, RMW_IMPLEMENTATION)
 
   void SetUp() override
   {
-    CLASSNAME(TestNetworkFlowEndpointsNode, RMW_IMPLEMENTATION) ::SetUp();
+    TestNetworkFlowEndpointsNode::SetUp();
 
     subscription_1 = rcl_get_zero_initialized_subscription();
     subscription_1_options = rcl_subscription_get_default_options();
@@ -201,14 +192,11 @@ class CLASSNAME (TestSubscriptionNetworkFlowEndpoints, RMW_IMPLEMENTATION)
     ret = rcl_subscription_fini(&subscription_3, this->node_ptr);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 
-    CLASSNAME(TestNetworkFlowEndpointsNode, RMW_IMPLEMENTATION) ::TearDown();
+    TestNetworkFlowEndpointsNode::TearDown();
   }
 };
 
-TEST_F(
-  CLASSNAME(
-    TestPublisherNetworkFlowEndpoints,
-    RMW_IMPLEMENTATION), test_publisher_get_network_flow_endpoints_errors) {
+TEST_F(TestPublisherNetworkFlowEndpoints, test_publisher_get_network_flow_endpoints_errors) {
   rcl_ret_t ret;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_allocator_t failing_allocator = get_failing_allocator();
@@ -248,10 +236,7 @@ TEST_F(
   rcl_reset_error();
 }
 
-TEST_F(
-  CLASSNAME(
-    TestPublisherNetworkFlowEndpoints,
-    RMW_IMPLEMENTATION), test_publisher_get_network_flow_endpoints) {
+TEST_F(TestPublisherNetworkFlowEndpoints, test_publisher_get_network_flow_endpoints) {
   rcl_ret_t ret_1;
   rcl_ret_t ret_2;
   rcl_allocator_t allocator = rcl_get_default_allocator();
@@ -312,10 +297,7 @@ TEST_F(
   rcl_reset_error();
 }
 
-TEST_F(
-  CLASSNAME(
-    TestSubscriptionNetworkFlowEndpoints,
-    RMW_IMPLEMENTATION), test_subscription_get_network_flow_endpoints_errors) {
+TEST_F(TestSubscriptionNetworkFlowEndpoints, test_subscription_get_network_flow_endpoints_errors) {
   rcl_ret_t ret;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_allocator_t failing_allocator = get_failing_allocator();
@@ -355,10 +337,7 @@ TEST_F(
   rcl_reset_error();
 }
 
-TEST_F(
-  CLASSNAME(
-    TestSubscriptionNetworkFlowEndpoints,
-    RMW_IMPLEMENTATION), test_subscription_get_network_flow_endpoints) {
+TEST_F(TestSubscriptionNetworkFlowEndpoints, test_subscription_get_network_flow_endpoints) {
   rcl_ret_t ret_1;
   rcl_ret_t ret_2;
   rcl_allocator_t allocator = rcl_get_default_allocator();
diff --git a/rcl/test/rcl/test_node.cpp b/rcl/test/rcl/test_node.cpp
index 8ab234721..314023287 100644
--- a/rcl/test/rcl/test_node.cpp
+++ b/rcl/test/rcl/test_node.cpp
@@ -37,13 +37,6 @@
 #include "../mocking_utils/patch.hpp"
 #include "./arg_macros.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 using osrf_testing_tools_cpp::memory_tools::on_unexpected_malloc;
 using osrf_testing_tools_cpp::memory_tools::on_unexpected_realloc;
 using osrf_testing_tools_cpp::memory_tools::on_unexpected_calloc;
@@ -71,7 +64,7 @@ bool operator==(
          lhs.avoid_ros_namespace_conventions == rhs.avoid_ros_namespace_conventions;
 }
 
-class CLASSNAME (TestNodeFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestNodeFixture : public ::testing::Test
 {
 public:
   void SetUp()
@@ -107,7 +100,7 @@ class CLASSNAME (TestNodeFixture, RMW_IMPLEMENTATION) : public ::testing::Test
 
 /* Tests the node accessors, i.e. rcl_node_get_* functions.
  */
-TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors) {
+TEST_F(TestNodeFixture, test_rcl_node_accessors) {
   osrf_testing_tools_cpp::memory_tools::enable_monitoring_in_all_threads();
   rcl_ret_t ret;
   // Initialize rcl with rcl_init().
@@ -354,7 +347,7 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
 
 /* Tests the node life cycle, including rcl_node_init() and rcl_node_fini().
  */
-TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_life_cycle) {
+TEST_F(TestNodeFixture, test_rcl_node_life_cycle) {
   rcl_ret_t ret;
   rcl_context_t context = rcl_get_zero_initialized_context();
   rcl_node_t node = rcl_get_zero_initialized_node();
@@ -428,7 +421,7 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_life_cycle)
   EXPECT_EQ(RCL_RET_OK, ret);
 }
 
-TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_init_with_internal_errors) {
+TEST_F(TestNodeFixture, test_rcl_node_init_with_internal_errors) {
   // We always call rcutils_logging_shutdown(), even if we didn't explicitly
   // initialize it.  That's because some internals of rcl may implicitly
   // initialize it, so we have to do this not to leak memory.  It doesn't
@@ -555,7 +548,7 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_init_with_i
 
 /* Tests the node name restrictions enforcement.
  */
-TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_name_restrictions) {
+TEST_F(TestNodeFixture, test_rcl_node_name_restrictions) {
   rcl_ret_t ret;
 
   // Initialize rcl with rcl_init().
@@ -623,7 +616,7 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_name_restri
 
 /* Tests the node namespace restrictions enforcement.
  */
-TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_namespace_restrictions) {
+TEST_F(TestNodeFixture, test_rcl_node_namespace_restrictions) {
   rcl_ret_t ret;
 
   // Initialize rcl with rcl_init().
@@ -729,7 +722,7 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_namespace_r
 
 /* Tests the logger name as well as fully qualified name associated with the node.
  */
-TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_names) {
+TEST_F(TestNodeFixture, test_rcl_node_names) {
   rcl_ret_t ret;
 
   // Initialize rcl with rcl_init().
@@ -859,7 +852,7 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_names) {
 
 /* Tests the node_options functionality
  */
-TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_options) {
+TEST_F(TestNodeFixture, test_rcl_node_options) {
   rcl_node_options_t default_options = rcl_node_get_default_options();
   rcl_node_options_t not_ini_options = rcl_node_get_default_options();
   memset(&not_ini_options.rosout_qos, 0, sizeof(rmw_qos_profile_t));
@@ -904,7 +897,7 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_options) {
 
 /* Tests special case node_options
  */
-TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_options_fail) {
+TEST_F(TestNodeFixture, test_rcl_node_options_fail) {
   rcl_node_options_t prev_ini_options = rcl_node_get_default_options();
   const char * argv[] = {"--ros-args"};
   int argc = sizeof(argv) / sizeof(const char *);
@@ -921,7 +914,7 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_options_fai
 
 /* Tests special case node_options
  */
-TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_resolve_name) {
+TEST_F(TestNodeFixture, test_rcl_node_resolve_name) {
   rcl_allocator_t default_allocator = rcl_get_default_allocator();
   char * final_name = NULL;
   rcl_node_t node = rcl_get_zero_initialized_node();
@@ -1021,7 +1014,7 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_resolve_nam
 
 /* Tests special case node_options
  */
-TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_get_disable_loaned_message) {
+TEST_F(TestNodeFixture, test_rcl_get_disable_loaned_message) {
   {
     EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_get_disable_loaned_message(nullptr));
     rcl_reset_error();
diff --git a/rcl/test/rcl/test_node_type_cache.cpp b/rcl/test/rcl/test_node_type_cache.cpp
index 378f4c4d5..cf691529e 100644
--- a/rcl/test/rcl/test_node_type_cache.cpp
+++ b/rcl/test/rcl/test_node_type_cache.cpp
@@ -25,15 +25,7 @@
 #include "rcl/node.h"
 #include "rcutils/env.h"
 
-#ifdef RMW_IMPLEMENTATION
-#define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-#define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-#define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
-class CLASSNAME (TestNodeTypeCacheFixture, RMW_IMPLEMENTATION)
-  : public ::testing::Test
+class TestNodeTypeCacheFixture : public ::testing::Test
 {
 public:
   rcl_context_t * context_ptr;
@@ -78,9 +70,7 @@ class CLASSNAME (TestNodeTypeCacheFixture, RMW_IMPLEMENTATION)
   }
 };
 
-TEST_F(
-  CLASSNAME(TestNodeTypeCacheFixture, RMW_IMPLEMENTATION),
-  test_type_cache_invalid_args) {
+TEST_F(TestNodeTypeCacheFixture, test_type_cache_invalid_args) {
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
   rcl_type_info_t type_info;
@@ -129,9 +119,7 @@ TEST_F(
   rcl_reset_error();
 }
 
-TEST_F(
-  CLASSNAME(TestNodeTypeCacheFixture, RMW_IMPLEMENTATION),
-  test_type_registration_count) {
+TEST_F(TestNodeTypeCacheFixture, test_type_registration_count) {
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
   rcl_type_info_t type_info;
@@ -174,9 +162,7 @@ TEST_F(
       this->node_ptr, ts->get_type_hash_func(ts), &type_info));
 }
 
-TEST_F(
-  CLASSNAME(TestNodeTypeCacheFixture, RMW_IMPLEMENTATION),
-  test_invalid_unregistration) {
+TEST_F(TestNodeTypeCacheFixture, test_invalid_unregistration) {
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
   EXPECT_EQ(
diff --git a/rcl/test/rcl/test_publisher.cpp b/rcl/test/rcl/test_publisher.cpp
index 0a4249218..a303241e8 100644
--- a/rcl/test/rcl/test_publisher.cpp
+++ b/rcl/test/rcl/test_publisher.cpp
@@ -33,14 +33,7 @@
 #include "./publisher_impl.h"
 #include "../mocking_utils/patch.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
-class CLASSNAME (TestPublisherFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestPublisherFixture : public ::testing::Test
 {
 public:
   rcl_context_t * context_ptr;
@@ -82,8 +75,7 @@ class CLASSNAME (TestPublisherFixture, RMW_IMPLEMENTATION) : public ::testing::T
   }
 };
 
-class CLASSNAME (TestPublisherFixtureInit, RMW_IMPLEMENTATION)
-  : public CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION)
+class TestPublisherFixtureInit : public TestPublisherFixture
 {
 public:
   const rosidl_message_type_support_t * ts =
@@ -94,7 +86,7 @@ class CLASSNAME (TestPublisherFixtureInit, RMW_IMPLEMENTATION)
 
   void SetUp() override
   {
-    CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION) ::SetUp();
+    TestPublisherFixture::SetUp();
     publisher = rcl_get_zero_initialized_publisher();
     publisher_options = rcl_publisher_get_default_options();
     rcl_ret_t ret = rcl_publisher_init(
@@ -106,13 +98,13 @@ class CLASSNAME (TestPublisherFixtureInit, RMW_IMPLEMENTATION)
   {
     rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-    CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION) ::TearDown();
+    TestPublisherFixture::TearDown();
   }
 };
 
 /* Basic nominal test of a publisher.
  */
-TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nominal) {
+TEST_F(TestPublisherFixture, test_publisher_nominal) {
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
   const rosidl_message_type_support_t * ts =
@@ -138,7 +130,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
 
 /* Basic nominal test of a publisher with a string.
  */
-TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nominal_string) {
+TEST_F(TestPublisherFixture, test_publisher_nominal_string) {
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
   const rosidl_message_type_support_t * ts =
@@ -166,7 +158,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
  * not support publishers on topics with the same basename (but different namespaces) using
  * different message types, because at the time partitions were used for implementing namespaces.
  */
-TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_different_types) {
+TEST_F(TestPublisherFixture, test_publishers_different_types) {
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
   const rosidl_message_type_support_t * ts_int =
@@ -215,7 +207,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
 
 /* Testing the publisher init and fini functions.
  */
-TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_fini) {
+TEST_F(TestPublisherFixture, test_publisher_init_fini) {
   rcl_ret_t ret;
   // Setup valid inputs.
   rcl_publisher_t publisher;
@@ -340,7 +332,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_loan) {
+TEST_F(TestPublisherFixture, test_publisher_loan) {
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
@@ -372,7 +364,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_loan)
   }
 }
 
-TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_option) {
+TEST_F(TestPublisherFixture, test_publisher_option) {
   {
     rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
     EXPECT_FALSE(publisher_options.disable_loaned_message);
@@ -399,7 +391,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_optio
   }
 }
 
-TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_loan_disable) {
+TEST_F(TestPublisherFixture, test_publisher_loan_disable) {
   bool is_fastdds = (std::string(rmw_get_implementation_identifier()).find("rmw_fastrtps") == 0);
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
@@ -442,7 +434,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_loan_
   }
 }
 
-TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_invalid_publisher) {
+TEST_F(TestPublisherFixture, test_invalid_publisher) {
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
@@ -623,9 +615,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_invalid_publish
 
 // Mocking rmw_publisher_count_matched_subscriptions to make
 // rcl_publisher_get_subscription_count fail
-TEST_F(
-  CLASSNAME(TestPublisherFixtureInit, RMW_IMPLEMENTATION),
-  test_mock_publisher_get_subscription_count)
+TEST_F(TestPublisherFixtureInit, test_mock_publisher_get_subscription_count)
 {
   auto mock = mocking_utils::patch_and_return(
     "lib:rcl", rmw_publisher_count_matched_subscriptions, RMW_RET_BAD_ALLOC);
@@ -641,7 +631,7 @@ TEST_F(
 
 // Mocking rmw_publisher_assert_liveliness to make
 // rcl_publisher_assert_liveliness fail
-TEST_F(CLASSNAME(TestPublisherFixtureInit, RMW_IMPLEMENTATION), test_mock_assert_liveliness) {
+TEST_F(TestPublisherFixtureInit, test_mock_assert_liveliness) {
   auto mock = mocking_utils::patch_and_return(
     "lib:rcl", rmw_publisher_assert_liveliness, RMW_RET_ERROR);
 
@@ -660,9 +650,7 @@ MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rmw_time_t, !=)
 MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rmw_time_t, <)
 MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rmw_time_t, >)
 
-TEST_F(
-  CLASSNAME(TestPublisherFixtureInit, RMW_IMPLEMENTATION),
-  test_mock_assert_wait_for_all_acked)
+TEST_F(TestPublisherFixtureInit, test_mock_assert_wait_for_all_acked)
 {
 #define CHECK_PUBLISHER_WAIT_FOR_ALL_ACKED_RETURN(RMW_RET_RESULT, EXPECT_RET)   do { \
     rmw_publisher_wait_for_all_acked_return = RMW_RET_RESULT; \
@@ -713,7 +701,7 @@ TEST_F(
 }
 
 // Mocking rmw_publish to make rcl_publish fail
-TEST_F(CLASSNAME(TestPublisherFixtureInit, RMW_IMPLEMENTATION), test_mock_publish) {
+TEST_F(TestPublisherFixtureInit, test_mock_publish) {
   auto mock = mocking_utils::patch_and_return("lib:rcl", rmw_publish, RMW_RET_ERROR);
 
   // Test normal usage of the function rcl_publish returning unexpected RMW_RET_ERROR
@@ -728,8 +716,7 @@ TEST_F(CLASSNAME(TestPublisherFixtureInit, RMW_IMPLEMENTATION), test_mock_publis
 }
 
 // Mocking rmw_publish_serialized_message to make rcl_publish_serialized_message fail
-TEST_F(
-  CLASSNAME(TestPublisherFixtureInit, RMW_IMPLEMENTATION), test_mock_publish_serialized_message)
+TEST_F(TestPublisherFixtureInit, test_mock_publish_serialized_message)
 {
   rcl_serialized_message_t serialized_msg = rmw_get_zero_initialized_serialized_message();
   size_t initial_size_serialized = 0u;
@@ -780,7 +767,7 @@ MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, <)
 MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, >)
 MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, !=)
 
-TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_mock_publisher_init) {
+TEST_F(TestPublisherFixture, test_mock_publisher_init) {
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
@@ -795,8 +782,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_mock_publisher_
   rcl_reset_error();
 }
 
-TEST_F(
-  CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_mock_publisher_init_fail_qos)
+TEST_F(TestPublisherFixture, test_mock_publisher_init_fail_qos)
 {
   auto mock = mocking_utils::patch_and_return(
     "lib:rcl", rmw_publisher_get_actual_qos, RMW_RET_ERROR);
@@ -814,7 +800,7 @@ TEST_F(
 }
 
 // Tests for loaned msgs functions. Mocked as the rmw tier1 vendors don't support it
-TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_mock_loaned_functions) {
+TEST_F(TestPublisherFixture, test_mock_loaned_functions) {
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
   rcl_publisher_t not_init_publisher = rcl_get_zero_initialized_publisher();
   const rosidl_message_type_support_t * ts =
@@ -906,7 +892,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_mock_loaned_fun
 }
 
 // Tests mocking ini/fini functions for specific failures
-TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_mocks_fail_publisher_init) {
+TEST_F(TestPublisherFixture, test_mocks_fail_publisher_init) {
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
@@ -959,7 +945,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_mocks_fail_publ
 }
 
 // Test mocked fail fini publisher
-TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_mock_publisher_fini_fail) {
+TEST_F(TestPublisherFixture, test_mock_publisher_fini_fail) {
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
diff --git a/rcl/test/rcl/test_publisher_wait_all_ack.cpp b/rcl/test/rcl/test_publisher_wait_all_ack.cpp
index 6371eb4d0..7aa00ad6a 100644
--- a/rcl/test/rcl/test_publisher_wait_all_ack.cpp
+++ b/rcl/test/rcl/test_publisher_wait_all_ack.cpp
@@ -34,17 +34,9 @@
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcl/error_handling.h"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
-
 /* This class is used for test_wait_for_all_acked
  */
-class CLASSNAME (TestPublisherFixtureSpecial, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestPublisherFixtureSpecial : public ::testing::Test
 {
 public:
   rcl_context_t * context_ptr;
@@ -118,7 +110,7 @@ class CLASSNAME (TestPublisherFixtureSpecial, RMW_IMPLEMENTATION) : public ::tes
 
 #define ONE_MEGABYTE (1024 * 1024)
 
-TEST_F(CLASSNAME(TestPublisherFixtureSpecial, RMW_IMPLEMENTATION), test_wait_for_all_acked) {
+TEST_F(TestPublisherFixtureSpecial, test_wait_for_all_acked) {
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
   const rosidl_message_type_support_t * ts =
@@ -183,9 +175,7 @@ TEST_F(CLASSNAME(TestPublisherFixtureSpecial, RMW_IMPLEMENTATION), test_wait_for
   EXPECT_EQ(RCL_RET_OK, ret);
 }
 
-TEST_F(
-  CLASSNAME(TestPublisherFixtureSpecial, RMW_IMPLEMENTATION),
-  test_wait_for_all_acked_with_best_effort)
+TEST_F(TestPublisherFixtureSpecial, test_wait_for_all_acked_with_best_effort)
 {
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
diff --git a/rcl/test/rcl/test_remap.cpp b/rcl/test/rcl/test_remap.cpp
index ed25fb0be..90b701544 100644
--- a/rcl/test/rcl/test_remap.cpp
+++ b/rcl/test/rcl/test_remap.cpp
@@ -23,14 +23,7 @@
 #include "./arg_macros.hpp"
 #include "./arguments_impl.h"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
-class CLASSNAME (TestRemapFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestRemapFixture : public ::testing::Test
 {
 public:
   void SetUp()
@@ -42,7 +35,7 @@ class CLASSNAME (TestRemapFixture, RMW_IMPLEMENTATION) : public ::testing::Test
   }
 };
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_namespace_replacement) {
+TEST_F(TestRemapFixture, global_namespace_replacement) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "__ns:=/foo/bar");
@@ -55,7 +48,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_namespace_replace
   rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_namespace_remap) {
+TEST_F(TestRemapFixture, nodename_prefix_namespace_remap) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(
@@ -92,7 +85,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_namespac
   }
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_namespace_replacement) {
+TEST_F(TestRemapFixture, no_namespace_replacement) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name");
@@ -104,7 +97,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_namespace_replacement
   EXPECT_EQ(NULL, output);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_namespace_replacement_before_global) {
+TEST_F(TestRemapFixture, local_namespace_replacement_before_global) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "__ns:=/global_args");
@@ -119,7 +112,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_namespace_replacem
   rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_use_global_namespace_replacement) {
+TEST_F(TestRemapFixture, no_use_global_namespace_replacement) {
   rcl_ret_t ret;
   rcl_arguments_t local_arguments;
   SCOPE_ARGS(local_arguments, "process_name");
@@ -131,7 +124,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_use_global_namespace_
   EXPECT_EQ(NULL, output);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_namespace_rule) {
+TEST_F(TestRemapFixture, other_rules_before_namespace_rule) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(
@@ -150,7 +143,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_names
   allocator.deallocate(output, allocator.state);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_topic_name_replacement) {
+TEST_F(TestRemapFixture, global_topic_name_replacement) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "/bar/foo:=/foo/bar");
@@ -172,7 +165,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_topic_name_replac
   }
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), topic_and_service_name_not_null) {
+TEST_F(TestRemapFixture, topic_and_service_name_not_null) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "/bar/foo:=/foo/bar");
@@ -195,7 +188,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), topic_and_service_name_n
   }
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), relative_topic_name_remap) {
+TEST_F(TestRemapFixture, relative_topic_name_remap) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "foo:=bar");
@@ -208,7 +201,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), relative_topic_name_rema
   rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_topic_remap) {
+TEST_F(TestRemapFixture, nodename_prefix_topic_remap) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(
@@ -245,7 +238,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_topic_re
   }
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_use_global_topic_name_replacement) {
+TEST_F(TestRemapFixture, no_use_global_topic_name_replacement) {
   rcl_ret_t ret;
   rcl_arguments_t local_arguments;
   SCOPE_ARGS(local_arguments, "process_name");
@@ -257,7 +250,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_use_global_topic_name
   EXPECT_EQ(NULL, output);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_topic_name_replacement) {
+TEST_F(TestRemapFixture, no_topic_name_replacement) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name");
@@ -269,7 +262,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_topic_name_replacemen
   EXPECT_EQ(NULL, output);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_topic_replacement_before_global) {
+TEST_F(TestRemapFixture, local_topic_replacement_before_global) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "/bar/foo:=/foo/global_args");
@@ -285,7 +278,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_topic_replacement_
   rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_topic_rule) {
+TEST_F(TestRemapFixture, other_rules_before_topic_rule) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(
@@ -305,7 +298,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_topic
   allocator.deallocate(output, allocator.state);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_service_name_replacement) {
+TEST_F(TestRemapFixture, global_service_name_replacement) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "/bar/foo:=/foo/bar");
@@ -327,7 +320,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_service_name_repl
   }
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), relative_service_name_remap) {
+TEST_F(TestRemapFixture, relative_service_name_remap) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "foo:=bar");
@@ -340,7 +333,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), relative_service_name_re
   rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_service_remap) {
+TEST_F(TestRemapFixture, nodename_prefix_service_remap) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(
@@ -377,7 +370,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_service_
   }
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_use_global_service_name_replacement) {
+TEST_F(TestRemapFixture, no_use_global_service_name_replacement) {
   rcl_ret_t ret;
   rcl_arguments_t local_arguments;
   SCOPE_ARGS(local_arguments, "process_name");
@@ -390,7 +383,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_use_global_service_na
   EXPECT_EQ(NULL, output);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_service_name_replacement) {
+TEST_F(TestRemapFixture, no_service_name_replacement) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name");
@@ -402,7 +395,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_service_name_replacem
   EXPECT_EQ(NULL, output);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_service_replacement_before_global) {
+TEST_F(TestRemapFixture, local_service_replacement_before_global) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "/bar/foo:=/foo/global_args");
@@ -418,7 +411,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_service_replacemen
   rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_service_rule) {
+TEST_F(TestRemapFixture, other_rules_before_service_rule) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(
@@ -438,7 +431,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_servi
   allocator.deallocate(output, allocator.state);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_nodename_replacement) {
+TEST_F(TestRemapFixture, global_nodename_replacement) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "__node:=globalname");
@@ -451,7 +444,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_nodename_replacem
   allocator.deallocate(output, allocator.state);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_nodename_replacement) {
+TEST_F(TestRemapFixture, no_nodename_replacement) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name");
@@ -463,7 +456,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_nodename_replacement)
   EXPECT_EQ(NULL, output);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_nodename_replacement_before_global) {
+TEST_F(TestRemapFixture, local_nodename_replacement_before_global) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "__node:=global_name");
@@ -478,7 +471,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_nodename_replaceme
   rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_use_global_nodename_replacement) {
+TEST_F(TestRemapFixture, no_use_global_nodename_replacement) {
   rcl_ret_t ret;
   rcl_arguments_t local_arguments;
   SCOPE_ARGS(local_arguments, "process_name");
@@ -490,7 +483,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_use_global_nodename_r
   EXPECT_EQ(NULL, output);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), use_first_nodename_rule) {
+TEST_F(TestRemapFixture, use_first_nodename_rule) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(
@@ -508,7 +501,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), use_first_nodename_rule)
   allocator.deallocate(output, allocator.state);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_nodename_rule) {
+TEST_F(TestRemapFixture, other_rules_before_nodename_rule) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(
@@ -527,7 +520,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_noden
   allocator.deallocate(output, allocator.state);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), url_scheme_rosservice) {
+TEST_F(TestRemapFixture, url_scheme_rosservice) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "rosservice://foo:=bar");
@@ -545,7 +538,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), url_scheme_rosservice) {
   EXPECT_EQ(NULL, output);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), url_scheme_rostopic) {
+TEST_F(TestRemapFixture, url_scheme_rostopic) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "rostopic://foo:=bar");
@@ -563,7 +556,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), url_scheme_rostopic) {
   EXPECT_EQ(NULL, output);
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), _rcl_remap_name_bad_arg) {
+TEST_F(TestRemapFixture, _rcl_remap_name_bad_arg) {
   rcl_arguments_t global_arguments;
   SCOPE_ARGS(global_arguments, "process_name", "--ros-args", "-r", "__node:=global_name");
   rcl_arguments_t local_arguments;
@@ -597,7 +590,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), _rcl_remap_name_bad_arg)
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), internal_remap_use) {
+TEST_F(TestRemapFixture, internal_remap_use) {
   // Easiest way to init a rcl_remap is through the arguments API
   const char * argv[] = {
     "process_name", "--ros-args", "-r", "__ns:=/namespace", "random:=arg"
diff --git a/rcl/test/rcl/test_remap_integration.cpp b/rcl/test/rcl/test_remap_integration.cpp
index 60ff51909..68abf4a5a 100644
--- a/rcl/test/rcl/test_remap_integration.cpp
+++ b/rcl/test/rcl/test_remap_integration.cpp
@@ -23,14 +23,7 @@
 
 #include "./arg_macros.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
-class CLASSNAME (TestRemapIntegrationFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestRemapIntegrationFixture : public ::testing::Test
 {
 public:
   void SetUp()
@@ -42,7 +35,7 @@ class CLASSNAME (TestRemapIntegrationFixture, RMW_IMPLEMENTATION) : public ::tes
   }
 };
 
-TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_global_rule) {
+TEST_F(TestRemapIntegrationFixture, remap_using_global_rule) {
   int argc;
   char ** argv;
   SCOPE_GLOBAL_ARGS(
@@ -113,7 +106,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
   EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node));
 }
 
-TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global_rules) {
+TEST_F(TestRemapIntegrationFixture, ignore_global_rules) {
   int argc;
   char ** argv;
   SCOPE_GLOBAL_ARGS(
@@ -186,7 +179,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
   EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node));
 }
 
-TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_before_global) {
+TEST_F(TestRemapIntegrationFixture, local_rules_before_global) {
   int argc;
   char ** argv;
   SCOPE_GLOBAL_ARGS(
@@ -264,7 +257,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
   EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node));
 }
 
-TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relative_topic) {
+TEST_F(TestRemapIntegrationFixture, remap_relative_topic) {
   int argc;
   char ** argv;
   SCOPE_GLOBAL_ARGS(argc, argv, "process_name", "--ros-args", "-r", "/foo/bar:=remap/global");
@@ -318,7 +311,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
   EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node));
 }
 
-TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_node_rules) {
+TEST_F(TestRemapIntegrationFixture, remap_using_node_rules) {
   int argc;
   char ** argv;
   SCOPE_GLOBAL_ARGS(
diff --git a/rcl/test/rcl/test_service.cpp b/rcl/test/rcl/test_service.cpp
index 60440a716..1a20f5013 100644
--- a/rcl/test/rcl/test_service.cpp
+++ b/rcl/test/rcl/test_service.cpp
@@ -27,14 +27,7 @@
 #include "./allocator_testing_utils.h"
 #include "../mocking_utils/patch.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
-class CLASSNAME (TestServiceFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestServiceFixture : public ::testing::Test
 {
 public:
   rcl_context_t * context_ptr;
@@ -78,7 +71,7 @@ class CLASSNAME (TestServiceFixture, RMW_IMPLEMENTATION) : public ::testing::Tes
 
 /* Basic nominal test of a service.
  */
-TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal) {
+TEST_F(TestServiceFixture, test_service_nominal) {
   rcl_ret_t ret;
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
     test_msgs, srv, BasicTypes);
@@ -240,7 +233,7 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
 
 /* Basic nominal test of a service with rcl_take_response
  */
-TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_without_info) {
+TEST_F(TestServiceFixture, test_service_without_info) {
   rcl_ret_t ret;
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
     test_msgs, srv, BasicTypes);
@@ -338,7 +331,7 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_without_i
 
 /* Passing bad/invalid arguments to service functions
  */
-TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_bad_arguments) {
+TEST_F(TestServiceFixture, test_bad_arguments) {
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
     test_msgs, srv, BasicTypes);
   const char * topic = "primitives";
@@ -453,7 +446,7 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_bad_arguments) {
 
 /* Name failed tests
  */
-TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_fail_name) {
+TEST_F(TestServiceFixture, test_service_fail_name) {
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
     test_msgs, srv, BasicTypes);
   const char * topic = "white space";
@@ -477,7 +470,7 @@ MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, !=)
 
 /* Test failed service initialization using mocks
  */
-TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_fail_ini_mocked) {
+TEST_F(TestServiceFixture, test_fail_ini_mocked) {
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
     test_msgs, srv, BasicTypes);
   constexpr char topic[] = "topic";
@@ -541,7 +534,7 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_fail_ini_mocked)
 
 /* Test failed service finalization using mocks
  */
-TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_fail_fini_mocked) {
+TEST_F(TestServiceFixture, test_fail_fini_mocked) {
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
     test_msgs, srv, BasicTypes);
   constexpr char topic[] = "primitives";
@@ -565,7 +558,7 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_fail_fini_mocked)
 
 /* Test failed service take_request_with_info using mocks and nullptrs
  */
-TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_fail_take_request_with_info) {
+TEST_F(TestServiceFixture, test_fail_take_request_with_info) {
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
     test_msgs, srv, BasicTypes);
   constexpr char topic[] = "primitives";
@@ -633,7 +626,7 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_fail_take_request
 
 /* Test failed service send_response using mocks and nullptrs
  */
-TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_fail_send_response) {
+TEST_F(TestServiceFixture, test_fail_send_response) {
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
     test_msgs, srv, BasicTypes);
   constexpr char topic[] = "primitives";
diff --git a/rcl/test/rcl/test_service_event_publisher.cpp b/rcl/test/rcl/test_service_event_publisher.cpp
index f6ee979c4..e39a6c67a 100644
--- a/rcl/test/rcl/test_service_event_publisher.cpp
+++ b/rcl/test/rcl/test_service_event_publisher.cpp
@@ -37,14 +37,7 @@
 #include "test_msgs/srv/basic_types.h"
 #include "wait_for_entity_helpers.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-#define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-#define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-#define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
-class CLASSNAME (TestServiceEventPublisherFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestServiceEventPublisherFixture : public ::testing::Test
 {
 public:
   void SetUp() override
@@ -108,9 +101,7 @@ class CLASSNAME (TestServiceEventPublisherFixture, RMW_IMPLEMENTATION) : public
 
 /* Basic nominal test of service introspection features covering init, fini, and sending a message
  */
-TEST_F(
-  CLASSNAME(TestServiceEventPublisherFixture, RMW_IMPLEMENTATION),
-  test_service_event_publisher_nominal)
+TEST_F(TestServiceEventPublisherFixture, test_service_event_publisher_nominal)
 {
   rcl_service_event_publisher_t service_event_publisher =
     rcl_get_zero_initialized_service_event_publisher();
@@ -143,9 +134,7 @@ TEST_F(
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
-TEST_F(
-  CLASSNAME(TestServiceEventPublisherFixture, RMW_IMPLEMENTATION),
-  test_service_event_publisher_init_and_fini)
+TEST_F(TestServiceEventPublisherFixture, test_service_event_publisher_init_and_fini)
 {
   rcl_service_event_publisher_t service_event_publisher =
     rcl_get_zero_initialized_service_event_publisher();
@@ -207,9 +196,7 @@ TEST_F(
 
 /* Test sending service introspection message via service_event_publisher.h
  */
-TEST_F(
-  CLASSNAME(TestServiceEventPublisherFixture, RMW_IMPLEMENTATION),
-  test_service_event_publisher_send_message_nominal)
+TEST_F(TestServiceEventPublisherFixture, test_service_event_publisher_send_message_nominal)
 {
   uint8_t guid[16] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15};
   auto sub_opts = rcl_subscription_get_default_options();
@@ -276,9 +263,7 @@ TEST_F(
   ASSERT_EQ(test_req.uint32_value, event_msg.request.data[0].uint32_value);
 }
 
-TEST_F(
-  CLASSNAME(TestServiceEventPublisherFixture, RMW_IMPLEMENTATION),
-  test_service_event_publisher_send_message_return_codes)
+TEST_F(TestServiceEventPublisherFixture, test_service_event_publisher_send_message_return_codes)
 {
   rcl_ret_t ret;
 
@@ -327,9 +312,7 @@ TEST_F(
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
-TEST_F(
-  CLASSNAME(TestServiceEventPublisherFixture, RMW_IMPLEMENTATION),
-  test_service_event_publisher_utils)
+TEST_F(TestServiceEventPublisherFixture, test_service_event_publisher_utils)
 {
   rcl_ret_t ret;
 
@@ -368,7 +351,7 @@ TEST_F(
 }
 
 TEST_F(
-  CLASSNAME(TestServiceEventPublisherFixture, RMW_IMPLEMENTATION),
+  TestServiceEventPublisherFixture,
   test_service_event_publisher_enable_and_disable_return_codes)
 {
   rcl_ret_t ret;
@@ -404,8 +387,7 @@ TEST_F(
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
-class CLASSNAME (TestServiceEventPublisherWithServicesAndClientsFixture, RMW_IMPLEMENTATION)
-  : public ::testing::Test
+class TestServiceEventPublisherWithServicesAndClientsFixture : public ::testing::Test
 {
 public:
   void SetUp()
@@ -522,7 +504,7 @@ class CLASSNAME (TestServiceEventPublisherWithServicesAndClientsFixture, RMW_IMP
 /* Whole test of service event publisher with service, client, and subscription
  */
 TEST_F(
-  CLASSNAME(TestServiceEventPublisherWithServicesAndClientsFixture, RMW_IMPLEMENTATION),
+  TestServiceEventPublisherWithServicesAndClientsFixture,
   test_service_event_publisher_with_subscriber)
 {
   rcl_ret_t ret;
@@ -614,7 +596,7 @@ TEST_F(
 /* Integration level test with disabling service events
  */
 TEST_F(
-  CLASSNAME(TestServiceEventPublisherWithServicesAndClientsFixture, RMW_IMPLEMENTATION),
+  TestServiceEventPublisherWithServicesAndClientsFixture,
   test_service_event_publisher_with_subscriber_disable_service_events)
 {
   rcl_ret_t ret;
diff --git a/rcl/test/rcl/test_subscription.cpp b/rcl/test/rcl/test_subscription.cpp
index fe58e20c1..dbb7435d1 100644
--- a/rcl/test/rcl/test_subscription.cpp
+++ b/rcl/test/rcl/test_subscription.cpp
@@ -41,27 +41,7 @@
 #include "./allocator_testing_utils.h"
 #include "../mocking_utils/patch.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
-#define EXPAND(x) x
-#define TEST_FIXTURE_P_RMW(test_fixture_name) CLASSNAME( \
-    test_fixture_name, RMW_IMPLEMENTATION)
-#define APPLY(macro, ...) EXPAND(macro(__VA_ARGS__))
-#define TEST_P_RMW(test_case_name, test_name) \
-  APPLY( \
-    TEST_P, CLASSNAME(test_case_name, RMW_IMPLEMENTATION), test_name)
-#define INSTANTIATE_TEST_SUITE_P_RMW(instance_name, test_case_name, ...) \
-  EXPAND( \
-    APPLY( \
-      INSTANTIATE_TEST_SUITE_P, instance_name, \
-      CLASSNAME(test_case_name, RMW_IMPLEMENTATION), __VA_ARGS__))
-
-class CLASSNAME (TestSubscriptionFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestSubscriptionFixture : public ::testing::Test
 {
 public:
   rcl_context_t * context_ptr;
@@ -103,8 +83,7 @@ class CLASSNAME (TestSubscriptionFixture, RMW_IMPLEMENTATION) : public ::testing
   }
 };
 
-class CLASSNAME (TestSubscriptionFixtureInit, RMW_IMPLEMENTATION)
-  : public CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION)
+class TestSubscriptionFixtureInit : public TestSubscriptionFixture
 {
 public:
   const rosidl_message_type_support_t * ts =
@@ -118,7 +97,7 @@ class CLASSNAME (TestSubscriptionFixtureInit, RMW_IMPLEMENTATION)
 
   void SetUp() override
   {
-    CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION) ::SetUp();
+    TestSubscriptionFixture::SetUp();
     allocator = rcutils_get_default_allocator();
     subscription_options = rcl_subscription_get_default_options();
     subscription = rcl_get_zero_initialized_subscription();
@@ -131,15 +110,13 @@ class CLASSNAME (TestSubscriptionFixtureInit, RMW_IMPLEMENTATION)
   {
     rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-    CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION) ::TearDown();
+    TestSubscriptionFixture::TearDown();
   }
 };
 
 /* Test subscription init, fini and is_valid functions
  */
-TEST_F(
-  CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION),
-  test_subscription_init_fini_and_is_valid)
+TEST_F(TestSubscriptionFixture, test_subscription_init_fini_and_is_valid)
 {
   rcl_ret_t ret;
 
@@ -174,7 +151,7 @@ MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, <)
 MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, >)
 
 // Bad arguments for init and fini
-TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_bad_init) {
+TEST_F(TestSubscriptionFixture, test_subscription_bad_init) {
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
   constexpr char topic[] = "/chatter";
@@ -284,7 +261,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
 
 /* Basic nominal test of a subscription
  */
-TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_nominal) {
+TEST_F(TestSubscriptionFixture, test_subscription_nominal) {
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
   const rosidl_message_type_support_t * ts =
@@ -357,7 +334,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
 
 /* Basic nominal test of a publisher with a string.
  */
-TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_nominal_string) {
+TEST_F(TestSubscriptionFixture, test_subscription_nominal_string) {
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
   const rosidl_message_type_support_t * ts =
@@ -406,10 +383,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
 
 /* Basic nominal test of a subscription taking a sequence.
  */
-TEST_F(
-  CLASSNAME(
-    TestSubscriptionFixture,
-    RMW_IMPLEMENTATION), test_subscription_nominal_string_sequence) {
+TEST_F(TestSubscriptionFixture, test_subscription_nominal_string_sequence) {
   using namespace std::chrono_literals;
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
@@ -578,7 +552,7 @@ TEST_F(
 
 /* Basic nominal test of a subscription with take_serialize msg
  */
-TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_serialized) {
+TEST_F(TestSubscriptionFixture, test_subscription_serialized) {
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
   rcutils_allocator_t allocator = rcl_get_default_allocator();
@@ -654,7 +628,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
 
 /* Basic test for subscription loan functions
  */
-TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_loaned) {
+TEST_F(TestSubscriptionFixture, test_subscription_loaned) {
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
   const rosidl_message_type_support_t * ts =
@@ -733,7 +707,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   }
 }
 
-TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_option) {
+TEST_F(TestSubscriptionFixture, test_subscription_option) {
   {
     rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
     EXPECT_TRUE(subscription_options.disable_loaned_message);
@@ -760,7 +734,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   }
 }
 
-TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_loan_disable) {
+TEST_F(TestSubscriptionFixture, test_subscription_loan_disable) {
   bool is_fastdds = (std::string(rmw_get_implementation_identifier()).find("rmw_fastrtps") == 0);
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
@@ -805,7 +779,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
 
 /* Test for all failure modes in subscription take with loaned messages function.
  */
-TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_bad_take_loaned_message) {
+TEST_F(TestSubscriptionFixture, test_bad_take_loaned_message) {
   constexpr char topic[] = "rcl_loan";
   const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
   rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
@@ -878,7 +852,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_bad_take_loa
 
 /* Test for all failure modes in subscription return loaned messages function.
  */
-TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_bad_return_loaned_message) {
+TEST_F(TestSubscriptionFixture, test_bad_return_loaned_message) {
   constexpr char topic[] = "rcl_loan";
   const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
   rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
@@ -940,10 +914,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_bad_return_l
 
 /* A subscription with a content filtered topic setting.
  */
-TEST_F(
-  CLASSNAME(
-    TestSubscriptionFixture,
-    RMW_IMPLEMENTATION), test_subscription_content_filtered) {
+TEST_F(TestSubscriptionFixture, test_subscription_content_filtered) {
   const char * filter_expression1 = "string_value = 'FilteredData'";
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
@@ -1213,10 +1184,7 @@ TEST_F(
 
 /* A subscription without a content filtered topic setting at beginning.
  */
-TEST_F(
-  CLASSNAME(
-    TestSubscriptionFixture,
-    RMW_IMPLEMENTATION), test_subscription_not_initialized_with_content_filtering) {
+TEST_F(TestSubscriptionFixture, test_subscription_not_initialized_with_content_filtering) {
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
   const rosidl_message_type_support_t * ts =
@@ -1369,7 +1337,7 @@ TEST_F(
   }
 }
 
-TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_get_options) {
+TEST_F(TestSubscriptionFixture, test_get_options) {
   rcl_ret_t ret;
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
@@ -1395,7 +1363,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_get_options)
 
 /* bad take()
  */
-TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscription_bad_take) {
+TEST_F(TestSubscriptionFixtureInit, test_subscription_bad_take) {
   test_msgs__msg__BasicTypes msg;
   rmw_message_info_t message_info = rmw_get_zero_initialized_message_info();
   ASSERT_TRUE(test_msgs__msg__BasicTypes__init(&msg));
@@ -1434,9 +1402,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscrip
 
 /* bad take_serialized
  */
-TEST_F(
-  CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION),
-  test_subscription_bad_take_serialized) {
+TEST_F(TestSubscriptionFixtureInit, test_subscription_bad_take_serialized) {
   rcl_serialized_message_t serialized_msg = rmw_get_zero_initialized_serialized_message();
   size_t initial_serialization_capacity = 0u;
   ASSERT_EQ(
@@ -1490,8 +1456,7 @@ TEST_F(
 
 /* Bad arguments take_sequence
  */
-TEST_F(
-  CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscription_bad_take_sequence)
+TEST_F(TestSubscriptionFixtureInit, test_subscription_bad_take_sequence)
 {
   size_t seq_size = 3u;
   rmw_message_sequence_t messages;
@@ -1572,7 +1537,7 @@ TEST_F(
 
 /* Test for all failure modes in subscription get_publisher_count function.
  */
-TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_bad_get_publisher_count) {
+TEST_F(TestSubscriptionFixtureInit, test_bad_get_publisher_count) {
   size_t publisher_count = 0;
   EXPECT_EQ(
     RCL_RET_SUBSCRIPTION_INVALID,
@@ -1599,7 +1564,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_bad_get_
 
 /* Using bad arguments subscription methods
  */
-TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscription_bad_argument) {
+TEST_F(TestSubscriptionFixtureInit, test_subscription_bad_argument) {
   EXPECT_EQ(NULL, rcl_subscription_get_actual_qos(nullptr));
   rcl_reset_error();
   EXPECT_FALSE(rcl_subscription_can_loan_messages(nullptr));
@@ -1629,10 +1594,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscrip
 
 /* Test for all failure modes in rcl_subscription_set_content_filter function.
  */
-TEST_F(
-  CLASSNAME(
-    TestSubscriptionFixtureInit,
-    RMW_IMPLEMENTATION), test_bad_rcl_subscription_set_content_filter) {
+TEST_F(TestSubscriptionFixtureInit, test_bad_rcl_subscription_set_content_filter) {
   EXPECT_EQ(
     RCL_RET_SUBSCRIPTION_INVALID,
     rcl_subscription_set_content_filter(nullptr, nullptr));
@@ -1692,10 +1654,7 @@ TEST_F(
 
 /* Test for all failure modes in rcl_subscription_get_content_filter function.
  */
-TEST_F(
-  CLASSNAME(
-    TestSubscriptionFixtureInit,
-    RMW_IMPLEMENTATION), test_bad_rcl_subscription_get_content_filter) {
+TEST_F(TestSubscriptionFixtureInit, test_bad_rcl_subscription_get_content_filter) {
   EXPECT_EQ(
     RCL_RET_SUBSCRIPTION_INVALID,
     rcl_subscription_get_content_filter(nullptr, nullptr));
@@ -1735,7 +1694,7 @@ TEST_F(
   }
 }
 
-TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_init_fini_maybe_fail)
+TEST_F(TestSubscriptionFixture, test_init_fini_maybe_fail)
 {
   const rosidl_message_type_support_t * ts =
     ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
@@ -1776,15 +1735,14 @@ struct TestParameters
   TYPESUPPORT sub_ts_;
 };
 
-class TEST_FIXTURE_P_RMW (TestSubscriptionFixtureParam)
-  : public TEST_FIXTURE_P_RMW(TestSubscriptionFixture),
+class TestSubscriptionFixtureParam : public TestSubscriptionFixture,
   public ::testing::WithParamInterface<TestParameters>
 {
 protected:
   void SetUp()
   {
     param_ = GetParam();
-    TEST_FIXTURE_P_RMW(TestSubscriptionFixture) ::SetUp();
+    TestSubscriptionFixture::SetUp();
   }
 
   TestParameters param_;
@@ -1793,7 +1751,7 @@ class TEST_FIXTURE_P_RMW (TestSubscriptionFixtureParam)
 
 /* Test subscription to receive complex message from a publisher with typesupport settings.
  */
-TEST_P_RMW(TestSubscriptionFixtureParam, test_subscription_complex_message) {
+TEST_P(TestSubscriptionFixtureParam, test_subscription_complex_message) {
   rcl_ret_t ret;
   const rosidl_message_type_support_t * ts_pub;
   const rosidl_message_type_support_t * ts_sub;
@@ -1870,7 +1828,7 @@ TEST_P_RMW(TestSubscriptionFixtureParam, test_subscription_complex_message) {
   }
 }
 
-INSTANTIATE_TEST_SUITE_P_RMW(
+INSTANTIATE_TEST_SUITE_P(
   TestSubscriptionFixtureParamWithDifferentSettings,
   TestSubscriptionFixtureParam,
   ::testing::Values(
diff --git a/rcl/test/rcl/test_wait.cpp b/rcl/test/rcl/test_wait.cpp
index daadfbf66..626d047dc 100644
--- a/rcl/test/rcl/test_wait.cpp
+++ b/rcl/test/rcl/test_wait.cpp
@@ -32,20 +32,13 @@
 #include "./allocator_testing_utils.h"
 #include "../mocking_utils/patch.hpp"
 
-#ifdef RMW_IMPLEMENTATION
-# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
-# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
-#else
-# define CLASSNAME(NAME, SUFFIX) NAME
-#endif
-
 #ifndef _WIN32
 #define TOLERANCE RCL_MS_TO_NS(6)
 #else
 #define TOLERANCE RCL_MS_TO_NS(25)
 #endif
 
-class CLASSNAME (WaitSetTestFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class WaitSetTestFixture : public ::testing::Test
 {
 public:
   rcl_context_t * context_ptr;
@@ -73,7 +66,7 @@ class CLASSNAME (WaitSetTestFixture, RMW_IMPLEMENTATION) : public ::testing::Tes
   }
 };
 
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_is_valid) {
+TEST_F(WaitSetTestFixture, wait_set_is_valid) {
   // null pointers are invalid
   EXPECT_FALSE(rcl_wait_set_is_valid(nullptr));
 
@@ -93,7 +86,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_is_valid) {
   EXPECT_FALSE(rcl_wait_set_is_valid(&wait_set));
 }
 
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_failed_resize) {
+TEST_F(WaitSetTestFixture, test_failed_resize) {
   // Initialize a wait set with a subscription and then resize it to zero.
   rcl_allocator_t allocator = get_failing_allocator();
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
@@ -112,7 +105,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_failed_resize) {
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_resize_to_zero) {
+TEST_F(WaitSetTestFixture, test_resize_to_zero) {
   // Initialize a wait set with a subscription and then resize it to zero.
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret =
@@ -133,7 +126,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_resize_to_zero) {
 }
 
 // Test rcl_wait with a positive finite timeout value (1ms)
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), finite_timeout) {
+TEST_F(WaitSetTestFixture, finite_timeout) {
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret =
     rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
@@ -153,7 +146,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), finite_timeout) {
 }
 
 // Check that a timer overrides a negative timeout value (blocking forever)
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
+TEST_F(WaitSetTestFixture, negative_timeout) {
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret =
     rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
@@ -212,7 +205,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
 }
 
 // Test rcl_wait with a timeout value of 0 (non-blocking)
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
+TEST_F(WaitSetTestFixture, zero_timeout) {
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret =
     rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
@@ -248,7 +241,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
 }
 
 // Test rcl_wait with a timeout value of 0 (non-blocking) and an already triggered guard condition
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered_guard_condition) {
+TEST_F(WaitSetTestFixture, zero_timeout_triggered_guard_condition) {
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret =
     rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
@@ -285,7 +278,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered
 }
 
 // Test rcl_wait with a timeout value and an overrun timer
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_overrun_timer) {
+TEST_F(WaitSetTestFixture, zero_timeout_overrun_timer) {
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret =
     rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
@@ -329,7 +322,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_overrun_t
 }
 
 // Check that a canceled timer doesn't wake up rcl_wait
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
+TEST_F(WaitSetTestFixture, canceled_timer) {
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret =
     rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator());
@@ -390,7 +383,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
 }
 
 // Test rcl_wait_set_t with excess capacity works.
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), excess_capacity) {
+TEST_F(WaitSetTestFixture, excess_capacity) {
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret =
     rcl_wait_set_init(&wait_set, 42, 42, 42, 42, 42, 0, context_ptr, rcl_get_default_allocator());
@@ -407,7 +400,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), excess_capacity) {
 }
 
 // Check rcl_wait can be called in many threads, each with unique wait sets and resources.
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threaded) {
+TEST_F(WaitSetTestFixture, multi_wait_set_threaded) {
   rcl_ret_t ret;
   const size_t number_of_threads = 20;  // concurrent waits
   const size_t count_target = 10;  // number of times each wait should wake up before being "done"
@@ -541,7 +534,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
 
 // Check the interaction of a guard condition and a negative timeout by
 // triggering a guard condition in a separate thread
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), guard_condition) {
+TEST_F(WaitSetTestFixture, guard_condition) {
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret =
     rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
@@ -591,7 +584,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), guard_condition) {
 }
 
 // Check that index arguments are properly set when adding entities
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), add_with_index) {
+TEST_F(WaitSetTestFixture, add_with_index) {
   const size_t kNumEntities = 3u;
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret = rcl_wait_set_init(
@@ -626,7 +619,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), add_with_index) {
 }
 
 // Extra invalid arguments not tested
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_valid_arguments) {
+TEST_F(WaitSetTestFixture, wait_set_valid_arguments) {
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret =
     rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 0, 0, context_ptr, rcl_get_default_allocator());
@@ -683,7 +676,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_valid_argumen
 }
 
 // Test get allocator function
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_get_allocator) {
+TEST_F(WaitSetTestFixture, wait_set_get_allocator) {
   rcl_allocator_t allocator_returned;
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
 
@@ -711,7 +704,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_get_allocator
 }
 
 // Test wait set init failure cases using mocks
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_failed_init) {
+TEST_F(WaitSetTestFixture, wait_set_failed_init) {
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   // Mock rmw implementation to fail init
   auto mock = mocking_utils::patch_and_return(
@@ -724,7 +717,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_failed_init)
 }
 
 // Test wait set fini failure cases using mocks
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_failed_fini) {
+TEST_F(WaitSetTestFixture, wait_set_failed_fini) {
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret =
     rcl_wait_set_init(&wait_set, 1, 1, 1, 1, 1, 0, context_ptr, rcl_get_default_allocator());
@@ -740,7 +733,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_failed_fini)
 }
 
 // Test proper error handling with a fault injection test
-TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), wait_set_test_maybe_init_fail) {
+TEST_F(WaitSetTestFixture, wait_set_test_maybe_init_fail) {
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret = RCL_RET_OK;
   rcl_allocator_t alloc = rcl_get_default_allocator();