diff --git a/rcl_lifecycle/Doxyfile b/rcl_lifecycle/Doxyfile
index 7576d71da..e4661a16a 100644
--- a/rcl_lifecycle/Doxyfile
+++ b/rcl_lifecycle/Doxyfile
@@ -16,6 +16,7 @@ ENABLE_PREPROCESSING   = YES
 MACRO_EXPANSION        = YES
 EXPAND_ONLY_PREDEF     = YES
 PREDEFINED             += RCL_LIFECYCLE_PUBLIC=
+PREDEFINED             += RCL_WARN_UNUSED=
 
 # Tag files that do not exist will produce a warning and cross-project linking will not work.
 TAGFILES += "../../../../doxygen_tag_files/cppreference-doxygen-web.tag.xml=http://en.cppreference.com/w/"
diff --git a/rcl_lifecycle/include/rcl_lifecycle/data_types.h b/rcl_lifecycle/include/rcl_lifecycle/data_types.h
index 033203385..7cff80853 100644
--- a/rcl_lifecycle/include/rcl_lifecycle/data_types.h
+++ b/rcl_lifecycle/include/rcl_lifecycle/data_types.h
@@ -24,10 +24,10 @@ extern "C"
 {
 #endif
 
-typedef struct rcl_lifecycle_transition_t rcl_lifecycle_transition_t;
+typedef struct rcl_lifecycle_transition_s rcl_lifecycle_transition_t;
 
 /// It contains the state of the lifecycle state machine
-typedef struct rcl_lifecycle_state_t
+typedef struct rcl_lifecycle_state_s
 {
   /// String with state name: Unconfigured, Inactive, Active or Finalized
   const char * label;
@@ -41,7 +41,7 @@ typedef struct rcl_lifecycle_state_t
 } rcl_lifecycle_state_t;
 
 /// It contains the transitions of the lifecycle state machine
-typedef struct rcl_lifecycle_transition_t
+typedef struct rcl_lifecycle_transition_s
 {
   /// String with transition name: configuring, cleaningup, activating, deactivating,
   /// errorprocessing or shuttingdown.
@@ -55,7 +55,7 @@ typedef struct rcl_lifecycle_transition_t
 } rcl_lifecycle_transition_t;
 
 /// It contains the transition map states and transitions
-typedef struct rcl_lifecycle_transition_map_t
+typedef struct rcl_lifecycle_transition_map_s
 {
   /// States used to generate the transition map
   rcl_lifecycle_state_t * states;
@@ -68,7 +68,7 @@ typedef struct rcl_lifecycle_transition_map_t
 } rcl_lifecycle_transition_map_t;
 
 /// It contains the communication interfac with the ROS world
-typedef struct rcl_lifecycle_com_interface_t
+typedef struct rcl_lifecycle_com_interface_s
 {
   /// Handle to the node used to create the publisher and the services
   rcl_node_t * node_handle;
@@ -87,7 +87,7 @@ typedef struct rcl_lifecycle_com_interface_t
 } rcl_lifecycle_com_interface_t;
 
 /// It contains various options to configure the rcl_lifecycle_state_machine_t instance
-typedef struct rcl_lifecycle_state_machine_options_t
+typedef struct rcl_lifecycle_state_machine_options_s
 {
   /// Flag indicating whether the state machine shall be initialized with default states
   bool initialize_default_states;
@@ -98,7 +98,7 @@ typedef struct rcl_lifecycle_state_machine_options_t
 } rcl_lifecycle_state_machine_options_t;
 
 /// It contains the state machine data
-typedef struct rcl_lifecycle_state_machine_t
+typedef struct rcl_lifecycle_state_machine_s
 {
   /// Current state of the state machine
   const rcl_lifecycle_state_t * current_state;