diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt
index 792a9a32c..160aae1f4 100644
--- a/rmw_fastrtps_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_cpp/CMakeLists.txt
@@ -53,7 +53,6 @@ add_library(rmw_fastrtps_cpp
   src/get_service.cpp
   src/get_subscriber.cpp
   src/identifier.cpp
-  src/namespace_prefix.cpp
   src/qos.cpp
   src/rmw_logging.cpp
   src/rmw_client.cpp
diff --git a/rmw_fastrtps_cpp/src/namespace_prefix.cpp b/rmw_fastrtps_cpp/src/namespace_prefix.cpp
deleted file mode 100644
index 179c06c13..000000000
--- a/rmw_fastrtps_cpp/src/namespace_prefix.cpp
+++ /dev/null
@@ -1,53 +0,0 @@
-// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <string>
-#include <vector>
-
-#include "namespace_prefix.hpp"
-
-extern "C"
-{
-// static for internal linkage
-const char * const ros_topic_prefix = "rt";
-const char * const ros_service_requester_prefix = "rq";
-const char * const ros_service_response_prefix = "rr";
-
-const std::vector<std::string> _ros_prefixes =
-{ros_topic_prefix, ros_service_requester_prefix, ros_service_response_prefix};
-}  // extern "C"
-
-/// Return the ROS specific prefix if it exists, otherwise "".
-std::string
-_get_ros_prefix_if_exists(const std::string & topic_name)
-{
-  for (const auto & prefix : _ros_prefixes) {
-    if (topic_name.rfind(prefix, 0) == 0 && topic_name.at(prefix.length()) == '/') {
-      return prefix;
-    }
-  }
-  return "";
-}
-
-/// Strip the ROS specific prefix if it exists from the topic name.
-std::string
-_strip_ros_prefix_if_exists(const std::string & topic_name)
-{
-  for (const auto & prefix : _ros_prefixes) {
-    if (topic_name.rfind(prefix, 0) == 0 && topic_name.at(prefix.length()) == '/') {
-      return topic_name.substr(prefix.length());
-    }
-  }
-  return topic_name;
-}
diff --git a/rmw_fastrtps_cpp/src/namespace_prefix.hpp b/rmw_fastrtps_cpp/src/namespace_prefix.hpp
deleted file mode 100644
index a230f3cc9..000000000
--- a/rmw_fastrtps_cpp/src/namespace_prefix.hpp
+++ /dev/null
@@ -1,37 +0,0 @@
-// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef NAMESPACE_PREFIX_HPP_
-#define NAMESPACE_PREFIX_HPP_
-
-#include <vector>
-#include <string>
-
-extern "C"
-{
-extern const char * const ros_topic_prefix;
-extern const char * const ros_service_requester_prefix;
-extern const char * const ros_service_response_prefix;
-
-extern const std::vector<std::string> _ros_prefixes;
-}  // extern "C"
-
-/// Return the ROS specific prefix if it exists, otherwise "".
-std::string
-_get_ros_prefix_if_exists(const std::string & topic_name);
-
-/// Returns the topic name stripped of and ROS specific prefix if exists.
-std::string
-_strip_ros_prefix_if_exists(const std::string & topic_name);
-#endif  // NAMESPACE_PREFIX_HPP_
diff --git a/rmw_fastrtps_cpp/src/rmw_client.cpp b/rmw_fastrtps_cpp/src/rmw_client.cpp
index 409a91f1c..fdd92eb61 100644
--- a/rmw_fastrtps_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_client.cpp
@@ -21,11 +21,11 @@
 
 #include "rmw_fastrtps_shared_cpp/custom_client_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
 #include "rmw_fastrtps_cpp/identifier.hpp"
 
-#include "./namespace_prefix.hpp"
 #include "./qos.hpp"
 #include "./type_support_common.hpp"
 
diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
index 520afdf6a..febb64c53 100644
--- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -21,10 +21,10 @@
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 
 #include "rmw_fastrtps_cpp/identifier.hpp"
 
-#include "./namespace_prefix.hpp"
 #include "./qos.hpp"
 #include "./type_support_common.hpp"
 
diff --git a/rmw_fastrtps_cpp/src/rmw_service.cpp b/rmw_fastrtps_cpp/src/rmw_service.cpp
index 80a8739ff..0409ff820 100644
--- a/rmw_fastrtps_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_service.cpp
@@ -33,11 +33,11 @@
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_service_info.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 
 #include "rmw_fastrtps_cpp/identifier.hpp"
 
 #include "./type_support_common.hpp"
-#include "./namespace_prefix.hpp"
 #include "./qos.hpp"
 
 using Domain = eprosima::fastrtps::Domain;
diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
index 27ad9e374..713e98f9f 100644
--- a/rmw_fastrtps_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -22,13 +22,13 @@
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 
 #include "fastrtps/participant/Participant.h"
 #include "fastrtps/subscriber/Subscriber.h"
 
 #include "rmw_fastrtps_cpp/identifier.hpp"
 
-#include "./namespace_prefix.hpp"
 #include "./qos.hpp"
 #include "./type_support_common.hpp"
 
diff --git a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
index f2261b6ed..8551ad6f0 100644
--- a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
@@ -54,7 +54,6 @@ add_library(rmw_fastrtps_dynamic_cpp
   src/get_service.cpp
   src/get_subscriber.cpp
   src/identifier.cpp
-  src/namespace_prefix.cpp
   src/qos.cpp
   src/rmw_logging.cpp
   src/rmw_client.cpp
diff --git a/rmw_fastrtps_dynamic_cpp/src/namespace_prefix.cpp b/rmw_fastrtps_dynamic_cpp/src/namespace_prefix.cpp
deleted file mode 100644
index 179c06c13..000000000
--- a/rmw_fastrtps_dynamic_cpp/src/namespace_prefix.cpp
+++ /dev/null
@@ -1,53 +0,0 @@
-// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <string>
-#include <vector>
-
-#include "namespace_prefix.hpp"
-
-extern "C"
-{
-// static for internal linkage
-const char * const ros_topic_prefix = "rt";
-const char * const ros_service_requester_prefix = "rq";
-const char * const ros_service_response_prefix = "rr";
-
-const std::vector<std::string> _ros_prefixes =
-{ros_topic_prefix, ros_service_requester_prefix, ros_service_response_prefix};
-}  // extern "C"
-
-/// Return the ROS specific prefix if it exists, otherwise "".
-std::string
-_get_ros_prefix_if_exists(const std::string & topic_name)
-{
-  for (const auto & prefix : _ros_prefixes) {
-    if (topic_name.rfind(prefix, 0) == 0 && topic_name.at(prefix.length()) == '/') {
-      return prefix;
-    }
-  }
-  return "";
-}
-
-/// Strip the ROS specific prefix if it exists from the topic name.
-std::string
-_strip_ros_prefix_if_exists(const std::string & topic_name)
-{
-  for (const auto & prefix : _ros_prefixes) {
-    if (topic_name.rfind(prefix, 0) == 0 && topic_name.at(prefix.length()) == '/') {
-      return topic_name.substr(prefix.length());
-    }
-  }
-  return topic_name;
-}
diff --git a/rmw_fastrtps_dynamic_cpp/src/namespace_prefix.hpp b/rmw_fastrtps_dynamic_cpp/src/namespace_prefix.hpp
deleted file mode 100644
index a230f3cc9..000000000
--- a/rmw_fastrtps_dynamic_cpp/src/namespace_prefix.hpp
+++ /dev/null
@@ -1,37 +0,0 @@
-// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef NAMESPACE_PREFIX_HPP_
-#define NAMESPACE_PREFIX_HPP_
-
-#include <vector>
-#include <string>
-
-extern "C"
-{
-extern const char * const ros_topic_prefix;
-extern const char * const ros_service_requester_prefix;
-extern const char * const ros_service_response_prefix;
-
-extern const std::vector<std::string> _ros_prefixes;
-}  // extern "C"
-
-/// Return the ROS specific prefix if it exists, otherwise "".
-std::string
-_get_ros_prefix_if_exists(const std::string & topic_name);
-
-/// Returns the topic name stripped of and ROS specific prefix if exists.
-std::string
-_strip_ros_prefix_if_exists(const std::string & topic_name);
-#endif  // NAMESPACE_PREFIX_HPP_
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
index 7adbf62f0..26619b2fe 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
@@ -25,11 +25,11 @@
 
 #include "client_service_common.hpp"
 #include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
-#include "namespace_prefix.hpp"
 #include "qos.hpp"
 #include "type_support_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_client_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
 using Domain = eprosima::fastrtps::Domain;
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
index f279dcbfc..0ac3bdaa3 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
@@ -21,9 +21,9 @@
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 
 #include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
-#include "namespace_prefix.hpp"
 #include "qos.hpp"
 #include "type_support_common.hpp"
 
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
index 42495c7d0..f11c8b0b1 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
@@ -38,10 +38,10 @@
 #include "type_support_common.hpp"
 #include "client_service_common.hpp"
 #include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
-#include "namespace_prefix.hpp"
 #include "qos.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_service_info.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 
 using Domain = eprosima::fastrtps::Domain;
 using Participant = eprosima::fastrtps::Participant;
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
index a5c9e7e52..e0aa1864b 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
@@ -22,13 +22,13 @@
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 
 #include "fastrtps/participant/Participant.h"
 #include "fastrtps/subscriber/Subscriber.h"
 
 #include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
 
-#include "namespace_prefix.hpp"
 #include "qos.hpp"
 #include "type_support_common.hpp"
 
diff --git a/rmw_fastrtps_shared_cpp/src/namespace_prefix.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/namespace_prefix.hpp
similarity index 66%
rename from rmw_fastrtps_shared_cpp/src/namespace_prefix.hpp
rename to rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/namespace_prefix.hpp
index 6cea53ab8..fa4512497 100644
--- a/rmw_fastrtps_shared_cpp/src/namespace_prefix.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/namespace_prefix.hpp
@@ -12,19 +12,21 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef NAMESPACE_PREFIX_HPP_
-#define NAMESPACE_PREFIX_HPP_
+#ifndef RMW_FASTRTPS_SHARED_CPP__NAMESPACE_PREFIX_HPP_
+#define RMW_FASTRTPS_SHARED_CPP__NAMESPACE_PREFIX_HPP_
 
 #include <vector>
 #include <string>
 
+#include "rmw_fastrtps_shared_cpp/visibility_control.h"
+
 extern "C"
 {
-extern const char * const ros_topic_prefix;
-extern const char * const ros_service_requester_prefix;
-extern const char * const ros_service_response_prefix;
+RMW_FASTRTPS_SHARED_CPP_PUBLIC extern const char * const ros_topic_prefix;
+RMW_FASTRTPS_SHARED_CPP_PUBLIC extern const char * const ros_service_requester_prefix;
+RMW_FASTRTPS_SHARED_CPP_PUBLIC extern const char * const ros_service_response_prefix;
 
-extern const std::vector<std::string> _ros_prefixes;
+RMW_FASTRTPS_SHARED_CPP_PUBLIC extern const std::vector<std::string> _ros_prefixes;
 }  // extern "C"
 
 /// Return the ROS specific prefix if it exists, otherwise "".
@@ -38,4 +40,4 @@ _strip_ros_prefix_if_exists(const std::string & topic_name);
 /// Returns the list of ros prefixes
 const std::vector<std::string> &
 _get_all_ros_prefixes();
-#endif  // NAMESPACE_PREFIX_HPP_
+#endif  // RMW_FASTRTPS_SHARED_CPP__NAMESPACE_PREFIX_HPP_
diff --git a/rmw_fastrtps_shared_cpp/src/demangle.cpp b/rmw_fastrtps_shared_cpp/src/demangle.cpp
index a208ba4ba..c6cc8906d 100644
--- a/rmw_fastrtps_shared_cpp/src/demangle.cpp
+++ b/rmw_fastrtps_shared_cpp/src/demangle.cpp
@@ -19,7 +19,7 @@
 #include "rcutils/logging_macros.h"
 #include "rcutils/types.h"
 
-#include "namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 
 /// Return the demangle ROS topic or the original if not a ROS topic.
 std::string
diff --git a/rmw_fastrtps_shared_cpp/src/namespace_prefix.cpp b/rmw_fastrtps_shared_cpp/src/namespace_prefix.cpp
index a44fecffe..5d58079d9 100644
--- a/rmw_fastrtps_shared_cpp/src/namespace_prefix.cpp
+++ b/rmw_fastrtps_shared_cpp/src/namespace_prefix.cpp
@@ -15,11 +15,10 @@
 #include <string>
 #include <vector>
 
-#include "namespace_prefix.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 
 extern "C"
 {
-// static for internal linkage
 const char * const ros_topic_prefix = "rt";
 const char * const ros_service_requester_prefix = "rq";
 const char * const ros_service_response_prefix = "rr";
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_client.cpp b/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
index dd76e4d96..c4a7f89a3 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
@@ -19,10 +19,10 @@
 #include "rmw/allocators.h"
 #include "rmw/rmw.h"
 
-#include "namespace_prefix.hpp"
 #include "qos.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_client_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_count.cpp b/rmw_fastrtps_shared_cpp/src/rmw_count.cpp
index eaab76e63..aadf81f23 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_count.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_count.cpp
@@ -25,8 +25,8 @@
 #include "rmw/types.h"
 
 #include "demangle.hpp"
-#include "namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
 namespace rmw_fastrtps_shared_cpp
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp b/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp
index f074daf7f..521ebce6c 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp
@@ -33,8 +33,8 @@
 #include "rmw/rmw.h"
 
 #include "demangle.hpp"
-#include "namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
 #include "rmw_fastrtps_shared_cpp/topic_cache.hpp"
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
index f31301e4d..493b9fea1 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
@@ -21,11 +21,11 @@
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
-#include "namespace_prefix.hpp"
 #include "qos.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
 using Domain = eprosima::fastrtps::Domain;
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_service.cpp b/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
index 66691d79f..b11fffe4d 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
@@ -30,10 +30,10 @@
 #include "rmw/allocators.h"
 #include "rmw/rmw.h"
 
-#include "namespace_prefix.hpp"
 #include "qos.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_service_info.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
index c237aa5cf..2556b7c76 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
@@ -24,11 +24,11 @@
 #include "fastrtps/participant/Participant.h"
 #include "fastrtps/subscriber/Subscriber.h"
 
-#include "namespace_prefix.hpp"
 #include "qos.hpp"
 
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_topic_names_and_types.cpp b/rmw_fastrtps_shared_cpp/src/rmw_topic_names_and_types.cpp
index 168e78a0b..5e3d4ef87 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_topic_names_and_types.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_topic_names_and_types.cpp
@@ -34,8 +34,8 @@
 #include "rmw/rmw.h"
 
 #include "demangle.hpp"
-#include "namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 
 #include "rmw_fastrtps_shared_cpp/topic_cache.hpp"