diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 8c3e7c0c7..85ac9d822 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -32,13 +32,6 @@
 #include "rcutils/logging.h"
 #include "rcutils/logging_macros.h"
 #include "rcutils/strdup.h"
-#include "rmw/validate_namespace.h"
-#include "rmw/validate_node_name.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
 
 /// Parse an argument that may or may not be a remap rule.
 /**
@@ -2072,8 +2065,4 @@ _rcl_allocate_initialized_arguments_impl(rcl_arguments_t * args, rcl_allocator_t
   return RCL_RET_OK;
 }
 
-#ifdef __cplusplus
-}
-#endif
-
 /// \endcond  // Internal Doxygen documentation
diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index 506dbf8d8..27d7dfbeb 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -62,14 +62,6 @@ function(test_target_function)
     AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
   )
 
-  rcl_add_custom_gtest(test_time${target_suffix}
-    SRCS rcl/test_time.cpp
-    ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
-    AMENT_DEPENDENCIES ${rmw_implementation}
-  )
-
   rcl_add_custom_gtest(test_timer${target_suffix}
     SRCS rcl/test_timer.cpp
     ENV ${rmw_implementation_env_var}
@@ -94,22 +86,6 @@ function(test_target_function)
     AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
   )
 
-  rcl_add_custom_gtest(test_lexer${target_suffix}
-    SRCS rcl/test_lexer.cpp
-    ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation}
-  )
-
-  rcl_add_custom_gtest(test_lexer_lookahead${target_suffix}
-    SRCS rcl/test_lexer_lookahead.cpp
-    ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
-  )
-
   rcl_add_custom_gtest(test_graph${target_suffix}
     SRCS rcl/test_graph.cpp
     ENV ${rmw_implementation_env_var}
@@ -170,15 +146,6 @@ function(test_target_function)
     TIMEOUT 240  # Large timeout to wait for fault injection tests
   )
 
-  rcl_add_custom_gtest(test_arguments${target_suffix}
-    SRCS rcl/test_arguments.cpp
-    ENV ${rmw_implementation_env_var}
-    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
-    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
-    AMENT_DEPENDENCIES "osrf_testing_tools_cpp" "rcpputils"
-  )
-
   rcl_add_custom_gtest(test_remap${target_suffix}
     SRCS rcl/test_remap.cpp
     ENV ${rmw_implementation_env_var}
@@ -422,6 +389,34 @@ target_link_libraries(wait_for_entity_helpers PRIVATE
 
 call_for_each_rmw_implementation(test_target)
 
+rcl_add_custom_gtest(test_arguments
+  SRCS rcl/test_arguments.cpp
+  APPEND_LIBRARY_DIRS ${extra_lib_dirs}
+  INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
+  LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
+  AMENT_DEPENDENCIES "osrf_testing_tools_cpp" "rcpputils"
+)
+
+rcl_add_custom_gtest(test_time
+  SRCS rcl/test_time.cpp
+  ENV ${memory_tools_ld_preload_env_var}
+  APPEND_LIBRARY_DIRS ${extra_lib_dirs}
+  LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
+)
+
+rcl_add_custom_gtest(test_lexer
+  SRCS rcl/test_lexer.cpp
+  APPEND_LIBRARY_DIRS ${extra_lib_dirs}
+  LIBRARIES ${PROJECT_NAME}
+)
+
+rcl_add_custom_gtest(test_lexer_lookahead
+  SRCS rcl/test_lexer_lookahead.cpp
+  APPEND_LIBRARY_DIRS ${extra_lib_dirs}
+  LIBRARIES ${PROJECT_NAME}
+  AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
+)
+
 rcl_add_custom_gtest(test_validate_enclave_name
   SRCS rcl/test_validate_enclave_name.cpp
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
diff --git a/rcl/test/rcl/test_arguments.cpp b/rcl/test/rcl/test_arguments.cpp
index 02f8371a7..e77f0bb3d 100644
--- a/rcl/test/rcl/test_arguments.cpp
+++ b/rcl/test/rcl/test_arguments.cpp
@@ -31,14 +31,7 @@
 #include "./allocator_testing_utils.h"
 #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 (TestArgumentsFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestArgumentsFixture : public ::testing::Test
 {
 public:
   void SetUp()
@@ -50,6 +43,7 @@ class CLASSNAME (TestArgumentsFixture, RMW_IMPLEMENTATION) : public ::testing::T
   {
   }
 
+protected:
   rcpputils::fs::path test_path{TEST_RESOURCES_DIRECTORY};
 };
 
@@ -128,7 +122,7 @@ are_known_ros_args(std::vector<const char *> argv)
   return is_valid;
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_known_vs_unknown_args) {
+TEST_F(TestArgumentsFixture, check_known_vs_unknown_args) {
   EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "__node:=node_name"}));
   EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "old_name:__node:=node_name"}));
   EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "old_name:__node:=nodename123"}));
@@ -219,7 +213,7 @@ are_valid_ros_args(std::vector<const char *> argv)
   return true;
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_invalid_args) {
+TEST_F(TestArgumentsFixture, check_valid_vs_invalid_args) {
   const std::string parameters_filepath = (test_path / "test_parameters.1.yaml").string();
   EXPECT_TRUE(
     are_valid_ros_args(
@@ -291,7 +285,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_inval
   EXPECT_FALSE(are_valid_ros_args({"--ros-args", "--log-level", "foo"}));
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_args) {
+TEST_F(TestArgumentsFixture, test_no_args) {
   rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
   rcl_ret_t ret = rcl_parse_arguments(0, NULL, rcl_get_default_allocator(), &parsed_args);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -300,7 +294,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_args) {
   EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_null_args) {
+TEST_F(TestArgumentsFixture, test_null_args) {
   const int argc = 1;
   rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
   rcl_ret_t ret = rcl_parse_arguments(argc, NULL, rcl_get_default_allocator(), &parsed_args);
@@ -308,7 +302,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_null_args) {
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_negative_args) {
+TEST_F(TestArgumentsFixture, test_negative_args) {
   const int argc = -1;
   const char * const argv[] = {"process_name"};
   rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
@@ -317,7 +311,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_negative_args)
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_alloc_parse_args) {
+TEST_F(TestArgumentsFixture, test_bad_alloc_parse_args) {
   const char * const argv[] = {"process_name"};
   const int argc = sizeof(argv) / sizeof(const char *);
   rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
@@ -327,7 +321,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_alloc_parse
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_alloc_unparse_args) {
+TEST_F(TestArgumentsFixture, test_bad_alloc_unparse_args) {
   const char * const argv[] = {
     "process_name", "--ros-args", "/foo/bar:=", "-r", "bar:=/fiz/buz", "}bar:=fiz", "--", "arg"};
   const int argc = sizeof(argv) / sizeof(const char *);
@@ -355,7 +349,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_alloc_unpar
   EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_empty_unparsed) {
+TEST_F(TestArgumentsFixture, test_empty_unparsed) {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_arguments_t empty_parsed_args = rcl_get_zero_initialized_arguments();
   int * actual_unparsed = NULL;
@@ -372,7 +366,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_empty_unparsed)
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_params_get_counts) {
+TEST_F(TestArgumentsFixture, test_bad_params_get_counts) {
   rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
   EXPECT_EQ(-1, rcl_arguments_get_count_unparsed(nullptr));
   rcl_reset_error();
@@ -388,7 +382,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_params_get_
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_null_args_output) {
+TEST_F(TestArgumentsFixture, test_null_args_output) {
   const char * const argv[] = {"process_name"};
   const int argc = sizeof(argv) / sizeof(const char *);
   rcl_ret_t ret = rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), NULL);
@@ -396,7 +390,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_null_args_outpu
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_ros_args) {
+TEST_F(TestArgumentsFixture, test_no_ros_args) {
   const char * const argv[] = {"process_name"};
   const int argc = sizeof(argv) / sizeof(const char *);
   rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
@@ -407,7 +401,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_ros_args) {
   EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_zero_ros_args) {
+TEST_F(TestArgumentsFixture, test_zero_ros_args) {
   const char * const argv[] = {"process_name", "--ros-args"};
   const int argc = sizeof(argv) / sizeof(const char *);
   rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
@@ -418,7 +412,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_zero_ros_args)
   EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_zero_ros_args_w_trailing_dashes) {
+TEST_F(TestArgumentsFixture, test_zero_ros_args_w_trailing_dashes) {
   const char * const argv[] = {"process_name", "--ros-args", "--"};
   const int argc = sizeof(argv) / sizeof(const char *);
   rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
@@ -429,7 +423,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_zero_ros_args_w
   EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remap) {
+TEST_F(TestArgumentsFixture, test_remap) {
   const char * const argv[] = {
     "process_name", "--ros-args", "-r", "/foo/bar:=/fiz/buz", "--remap", "foo:=/baz"
   };
@@ -443,7 +437,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remap) {
   EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap_two_ros_args) {
+TEST_F(TestArgumentsFixture, test_one_remap_two_ros_args) {
   const char * const argv[] =
   {"process_name", "--ros-args", "--ros-args", "-r", "/foo/bar:=/fiz/buz"};
   const int argc = sizeof(argv) / sizeof(const char *);
@@ -456,7 +450,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap_two_r
   EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap_w_trailing_dashes) {
+TEST_F(TestArgumentsFixture, test_one_remap_w_trailing_dashes) {
   const char * const argv[] = {"process_name", "--ros-args", "-r", "/foo/bar:=/fiz/buz", "--"};
   const int argc = sizeof(argv) / sizeof(const char *);
   rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
@@ -468,7 +462,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap_w_tra
   EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap_w_two_trailing_dashes) {
+TEST_F(TestArgumentsFixture, test_one_remap_w_two_trailing_dashes) {
   const char * const argv[] =
   {"process_name", "--ros-args", "-r", "/foo/bar:=/fiz/buz", "--", "--"};
   const int argc = sizeof(argv) / sizeof(const char *);
@@ -481,7 +475,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_one_remap_w_two
   EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_mix_valid_invalid_rules) {
+TEST_F(TestArgumentsFixture, test_mix_valid_invalid_rules) {
   const char * const argv[] = {
     "process_name", "--ros-args", "/foo/bar:=", "-r", "bar:=/fiz/buz", "}bar:=fiz", "--", "arg"
   };
@@ -495,7 +489,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_mix_valid_inval
   EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy) {
+TEST_F(TestArgumentsFixture, test_copy) {
   const char * const argv[] = {
     "process_name", "--ros-args", "/foo/bar:=", "-r", "bar:=/fiz/buz", "-r", "__ns:=/foo", "--",
     "arg"
@@ -525,7 +519,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy) {
   EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&copied_args));
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy_bad_alloc) {
+TEST_F(TestArgumentsFixture, test_copy_bad_alloc) {
   const char * const argv[] = {"process_name", "--ros-args", "/foo/bar:="};
   const int argc = sizeof(argv) / sizeof(const char *);
   rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
@@ -546,7 +540,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy_bad_alloc)
   EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args)) << rcl_get_error_string().str;
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy_no_ros_args) {
+TEST_F(TestArgumentsFixture, test_copy_no_ros_args) {
   const char * const argv[] = {"process_name", "--ros-args", "--", "arg", "--ros-args"};
   const int argc = sizeof(argv) / sizeof(const char *);
   rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
@@ -581,7 +575,7 @@ __return_null_on_zero_allocate(size_t size, void * state)
   return malloc(size);
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy_no_args) {
+TEST_F(TestArgumentsFixture, test_copy_no_args) {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   allocator.allocate = __return_null_on_zero_allocate;
   rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
@@ -600,7 +594,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy_no_args) {
   EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&copied_args));
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_two_namespace) {
+TEST_F(TestArgumentsFixture, test_two_namespace) {
   const char * const argv[] = {
     "process_name", "--ros-args", "-r", "__ns:=/foo/bar", "-r", "__ns:=/fiz/buz"
   };
@@ -614,7 +608,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_two_namespace)
   EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&parsed_args));
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_uninitialized_parsed_args) {
+TEST_F(TestArgumentsFixture, test_uninitialized_parsed_args) {
   const char * const argv[] = {"process_name"};
   const int argc = sizeof(argv) / sizeof(const char *);
   rcl_arguments_t parsed_args;
@@ -626,7 +620,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_uninitialized_p
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_double_parse) {
+TEST_F(TestArgumentsFixture, test_double_parse) {
   const char * const argv[] = {
     "process_name", "--ros-args", "-r", "__ns:=/foo/bar", "-r", "__ns:=/fiz/buz"
   };
@@ -645,19 +639,19 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_double_parse) {
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_fini_null) {
+TEST_F(TestArgumentsFixture, test_fini_null) {
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_arguments_fini(NULL));
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_fini_impl_null) {
+TEST_F(TestArgumentsFixture, test_fini_impl_null) {
   rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
   parsed_args.impl = NULL;
   EXPECT_EQ(RCL_RET_ERROR, rcl_arguments_fini(&parsed_args));
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_fini_twice) {
+TEST_F(TestArgumentsFixture, test_fini_twice) {
   const char * const argv[] = {"process_name"};
   const int argc = sizeof(argv) / sizeof(const char *);
   rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
@@ -667,7 +661,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_fini_twice) {
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_remove_ros_args) {
+TEST_F(TestArgumentsFixture, test_bad_remove_ros_args) {
   const char * const argv[] = {"process_name"};
   const int argc = sizeof(argv) / sizeof(const char *);
 
@@ -746,7 +740,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_remove_ros_
   EXPECT_EQ(0, nonros_argc);
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_alloc_remove_ros_args) {
+TEST_F(TestArgumentsFixture, test_bad_alloc_remove_ros_args) {
   const char * const argv[] = {
     "process_name", "-d", "--ros-args", "-r", "__ns:=/foo/bar", "-r", "__ns:=/fiz/buz", "--",
     "--foo=bar", "--baz", "--ros-args", "--ros-args", "-p", "bar:=baz", "--", "--", "arg",
@@ -775,7 +769,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_alloc_remov
   EXPECT_EQ(RCL_RET_BAD_ALLOC, ret);
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remove_ros_args) {
+TEST_F(TestArgumentsFixture, test_remove_ros_args) {
   const char * const argv[] = {
     "process_name", "-d", "--ros-args", "-r", "__ns:=/foo/bar", "-r", "__ns:=/fiz/buz", "--",
     "--foo=bar", "--baz", "--ros-args", "--ros-args", "-p", "bar:=baz", "--", "--", "arg",
@@ -815,7 +809,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remove_ros_args
   EXPECT_STREQ(nonros_argv[5], "arg");
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remove_ros_args_if_ros_only) {
+TEST_F(TestArgumentsFixture, test_remove_ros_args_if_ros_only) {
   const char * const argv[] = {"--ros-args", "--disable-rosout-logs"};
   const int argc = sizeof(argv) / sizeof(const char *);
 
@@ -849,7 +843,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remove_ros_args
 }
 
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remove_ros_args_if_no_args) {
+TEST_F(TestArgumentsFixture, test_remove_ros_args_if_no_args) {
   const char ** argv = NULL;
   const int argc = 0;
 
@@ -882,7 +876,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_remove_ros_args
   EXPECT_TRUE(NULL == nonros_argv);
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_zero) {
+TEST_F(TestArgumentsFixture, test_param_argument_zero) {
   const char * const argv[] =
   {"process_name", "--ros-args", "-r", "__ns:=/namespace", "random:=arg"};
   const int argc = sizeof(argv) / sizeof(const char *);
@@ -901,7 +895,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_
   EXPECT_EQ(0, parameter_filecount);
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_single) {
+TEST_F(TestArgumentsFixture, test_param_argument_single) {
   const std::string parameters_filepath = (test_path / "test_parameters.1.yaml").string();
   const char * const argv[] = {
     "process_name", "--ros-args", "-r", "__ns:=/namespace", "random:=arg",
@@ -963,7 +957,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_
   EXPECT_EQ(1, *(param_value->integer_value));
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_multiple) {
+TEST_F(TestArgumentsFixture, test_param_argument_multiple) {
   const std::string parameters_filepath1 = (test_path / "test_parameters.1.yaml").string();
   const std::string parameters_filepath2 = (test_path / "test_parameters.2.yaml").string();
   const char * const argv[] = {
@@ -1034,7 +1028,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_argument_
   EXPECT_FALSE(bool_value);
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_arguments_copy) {
+TEST_F(TestArgumentsFixture, test_param_arguments_copy) {
   const std::string parameters_filepath1 = (test_path / "test_parameters.1.yaml").string();
   const std::string parameters_filepath2 = (test_path / "test_parameters.2.yaml").string();
   const char * const argv[] = {
@@ -1064,7 +1058,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_arguments
   EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&copied_args));
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_param_overrides) {
+TEST_F(TestArgumentsFixture, test_no_param_overrides) {
   const char * const argv[] = {"process_name"};
   const int argc = sizeof(argv) / sizeof(const char *);
 
@@ -1104,7 +1098,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_no_param_overri
   EXPECT_TRUE(NULL == params);
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_overrides) {
+TEST_F(TestArgumentsFixture, test_param_overrides) {
   const std::string parameters_filepath = (test_path / "test_parameters.1.yaml").string();
   const char * const argv[] = {
     "process_name", "--ros-args",
@@ -1157,7 +1151,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_param_overrides
   EXPECT_STREQ("foo", param_value->string_value);
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_alloc_get_param_files) {
+TEST_F(TestArgumentsFixture, test_bad_alloc_get_param_files) {
   const std::string parameters_filepath1 = (test_path / "test_parameters.1.yaml").string();
   const std::string parameters_filepath2 = (test_path / "test_parameters.2.yaml").string();
   const char * const argv[] = {
@@ -1193,7 +1187,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_bad_alloc_get_p
   EXPECT_EQ(RCL_RET_BAD_ALLOC, ret) << rcl_get_error_string().str;
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_null_get_param_files) {
+TEST_F(TestArgumentsFixture, test_null_get_param_files) {
   const std::string parameters_filepath1 = (test_path / "test_parameters.1.yaml").string();
   const char * const argv[] = {
     "process_name", "--ros-args", "--params-file", parameters_filepath1.c_str()
@@ -1227,7 +1221,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_null_get_param_
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_parse_with_internal_errors) {
+TEST_F(TestArgumentsFixture, test_parse_with_internal_errors) {
   const std::string parameters_filepath1 =
     (test_path / "test_parameters.1.yaml").string();
   const std::string parameters_filepath2 =
@@ -1272,7 +1266,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_parse_with_inte
   });
 }
 
-TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), test_copy_with_internal_errors) {
+TEST_F(TestArgumentsFixture, test_copy_with_internal_errors) {
   const std::string parameters_filepath1 =
     (test_path / "test_parameters.1.yaml").string();
   const std::string parameters_filepath2 =
diff --git a/rcl/test/rcl/test_lexer.cpp b/rcl/test/rcl/test_lexer.cpp
index d231a68ab..58c56fd3f 100644
--- a/rcl/test/rcl/test_lexer.cpp
+++ b/rcl/test/rcl/test_lexer.cpp
@@ -18,25 +18,6 @@
 
 #include "rcl/lexer.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 (TestLexerFixture, RMW_IMPLEMENTATION) : public ::testing::Test
-{
-public:
-  void SetUp()
-  {
-  }
-
-  void TearDown()
-  {
-  }
-};
-
 // Not using a function so gtest failure output shows the line number where the macro is used
 #define EXPECT_LEX(expected_lexeme, expected_text, text) \
   do { \
@@ -50,7 +31,7 @@ class CLASSNAME (TestLexerFixture, RMW_IMPLEMENTATION) : public ::testing::Test
     EXPECT_STREQ(expected_text, actual_text.c_str()); \
   } while (false)
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_different_endings)
+TEST(TestLexer, test_token_different_endings)
 {
   // Things get recognized as tokens whether input ends or non token characters come after them
   EXPECT_LEX(RCL_LEXEME_TOKEN, "foo", "foo");
@@ -59,7 +40,7 @@ TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_different_end
   EXPECT_LEX(RCL_LEXEME_TOKEN, "foo_", "foo_:");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_start_char)
+TEST(TestLexer, test_token_start_char)
 {
   // Check full range for starting character
   EXPECT_LEX(RCL_LEXEME_TOKEN, "a", "a");
@@ -117,7 +98,7 @@ TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_start_char)
   EXPECT_LEX(RCL_LEXEME_TOKEN, "_", "_");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_adjacent_ascii)
+TEST(TestLexer, test_token_adjacent_ascii)
 {
   // Check banned characters adjacent to allowed ones in ASCII
   EXPECT_LEX(RCL_LEXEME_NONE, "@", "@");
@@ -126,7 +107,7 @@ TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_adjacent_asci
   EXPECT_LEX(RCL_LEXEME_NONE, "{", "{");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_cannot_start_with_digits)
+TEST(TestLexer, test_token_cannot_start_with_digits)
 {
   // Tokens cannot start with digits
   EXPECT_LEX(RCL_LEXEME_NONE, "0", "0");
@@ -141,7 +122,7 @@ TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_cannot_start_
   EXPECT_LEX(RCL_LEXEME_NONE, "9", "9");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_underscores)
+TEST(TestLexer, test_token_underscores)
 {
   // Tokens may contain underscores
   EXPECT_LEX(RCL_LEXEME_TOKEN, "_abcd", "_abcd");
@@ -157,7 +138,7 @@ TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_underscores)
   EXPECT_LEX(RCL_LEXEME_NONE, "__A", "__A");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_contain_digits)
+TEST(TestLexer, test_token_contain_digits)
 {
   // Tokens may contain digits
   EXPECT_LEX(RCL_LEXEME_TOKEN, "_0_", "_0_");
@@ -182,7 +163,7 @@ TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_contain_digit
   EXPECT_LEX(RCL_LEXEME_TOKEN, "a9a", "a9a");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_end_with_digits)
+TEST(TestLexer, test_token_end_with_digits)
 {
   // Tokens may end with digits
   EXPECT_LEX(RCL_LEXEME_TOKEN, "_0", "_0");
@@ -207,7 +188,7 @@ TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_end_with_digi
   EXPECT_LEX(RCL_LEXEME_TOKEN, "a9", "a9");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_close_to_url_scheme)
+TEST(TestLexer, test_token_close_to_url_scheme)
 {
   // Things that almost look like a url scheme but are actually tokens
   EXPECT_LEX(RCL_LEXEME_TOKEN, "ro", "ro");
@@ -234,7 +215,7 @@ TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_close_to_url_
   EXPECT_LEX(RCL_LEXEME_TOKEN, "rostopic", "rostopic:/a");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_upper_case)
+TEST(TestLexer, test_token_upper_case)
 {
   // Tokens may contain uppercase characters
   EXPECT_LEX(RCL_LEXEME_TOKEN, "ABC", "ABC");
@@ -242,7 +223,7 @@ TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_token_upper_case)
   EXPECT_LEX(RCL_LEXEME_TOKEN, "_GHI_", "_GHI_");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_url_scheme)
+TEST(TestLexer, test_url_scheme)
 {
   // No text after scheme
   EXPECT_LEX(RCL_LEXEME_URL_SERVICE, "rosservice://", "rosservice://");
@@ -255,7 +236,7 @@ TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_url_scheme)
   EXPECT_LEX(RCL_LEXEME_URL_TOPIC, "rostopic://", "rostopic:///");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_backreferences)
+TEST(TestLexer, test_backreferences)
 {
   // No text after backreference
   EXPECT_LEX(RCL_LEXEME_BR1, "\\1", "\\1");
@@ -286,14 +267,14 @@ TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_backreferences)
   EXPECT_LEX(RCL_LEXEME_NONE, "\\_", "\\_");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_forward_slash)
+TEST(TestLexer, test_forward_slash)
 {
   EXPECT_LEX(RCL_LEXEME_FORWARD_SLASH, "/", "/");
   EXPECT_LEX(RCL_LEXEME_FORWARD_SLASH, "/", "//");
   EXPECT_LEX(RCL_LEXEME_FORWARD_SLASH, "/", "/_");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_wildcards)
+TEST(TestLexer, test_wildcards)
 {
   EXPECT_LEX(RCL_LEXEME_WILD_ONE, "*", "*");
   EXPECT_LEX(RCL_LEXEME_WILD_ONE, "*", "*/");
@@ -301,19 +282,19 @@ TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_wildcards)
   EXPECT_LEX(RCL_LEXEME_WILD_MULTI, "**", "**/");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_colon)
+TEST(TestLexer, test_colon)
 {
   EXPECT_LEX(RCL_LEXEME_COLON, ":", ":");
   EXPECT_LEX(RCL_LEXEME_COLON, ":", ":r");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_separator)
+TEST(TestLexer, test_separator)
 {
   EXPECT_LEX(RCL_LEXEME_SEPARATOR, ":=", ":=");
   EXPECT_LEX(RCL_LEXEME_SEPARATOR, ":=", ":=0");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_ns)
+TEST(TestLexer, test_ns)
 {
   // Has __ns
   EXPECT_LEX(RCL_LEXEME_NS, "__ns", "__ns");
@@ -325,7 +306,7 @@ TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_ns)
   EXPECT_LEX(RCL_LEXEME_NONE, "__n!", "__n!");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_name)
+TEST(TestLexer, test_name)
 {
   // Has __name
   EXPECT_LEX(RCL_LEXEME_NODE, "__name", "__name");
@@ -338,7 +319,7 @@ TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_name)
   EXPECT_LEX(RCL_LEXEME_NONE, "__nama", "__nama");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_node)
+TEST(TestLexer, test_node)
 {
   // Has __node
   EXPECT_LEX(RCL_LEXEME_NODE, "__node", "__node");
@@ -354,7 +335,7 @@ TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_node)
   EXPECT_LEX(RCL_LEXEME_NONE, "__noda", "__noda");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_tilde_slash)
+TEST(TestLexer, test_tilde_slash)
 {
   EXPECT_LEX(RCL_LEXEME_TILDE_SLASH, "~/", "~/");
   EXPECT_LEX(RCL_LEXEME_TILDE_SLASH, "~/", "~//");
@@ -362,7 +343,7 @@ TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_tilde_slash)
   EXPECT_LEX(RCL_LEXEME_NONE, "~!", "~!");
 }
 
-TEST_F(CLASSNAME(TestLexerFixture, RMW_IMPLEMENTATION), test_eof)
+TEST(TestLexer, test_eof)
 {
   EXPECT_LEX(RCL_LEXEME_EOF, "", "");
 }
diff --git a/rcl/test/rcl/test_lexer_lookahead.cpp b/rcl/test/rcl/test_lexer_lookahead.cpp
index c2b1bd54b..b7742e80a 100644
--- a/rcl/test/rcl/test_lexer_lookahead.cpp
+++ b/rcl/test/rcl/test_lexer_lookahead.cpp
@@ -21,25 +21,6 @@
 #include "rcl/error_handling.h"
 #include "rcl/lexer_lookahead.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 (TestLexerLookaheadFixture, RMW_IMPLEMENTATION) : public ::testing::Test
-{
-public:
-  void SetUp()
-  {
-  }
-
-  void TearDown()
-  {
-  }
-};
-
 #define SCOPE_LOOKAHEAD2(name, text) \
   { \
     name = rcl_get_zero_initialized_lexer_lookahead2(); \
@@ -52,7 +33,7 @@ class CLASSNAME (TestLexerLookaheadFixture, RMW_IMPLEMENTATION) : public ::testi
       ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; \
     })
 
-TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_init_fini_twice)
+TEST(TestLexerLookahead, test_init_fini_twice)
 {
   rcl_lexer_lookahead2_t buffer = rcl_get_zero_initialized_lexer_lookahead2();
   rcl_ret_t ret = rcl_lexer_lookahead2_init(&buffer, "foobar", rcl_get_default_allocator());
@@ -66,7 +47,7 @@ TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_init_fini_
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_init_not_zero_initialized)
+TEST(TestLexerLookahead, test_init_not_zero_initialized)
 {
   rcl_lexer_lookahead2_t buffer;
   int not_zero = 1;
@@ -76,7 +57,7 @@ TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_init_not_z
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_peek)
+TEST(TestLexerLookahead, test_peek)
 {
   rcl_ret_t ret;
   rcl_lexer_lookahead2_t buffer;
@@ -95,7 +76,7 @@ TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_peek)
   EXPECT_EQ(RCL_LEXEME_TOKEN, lexeme);
 }
 
-TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_peek2)
+TEST(TestLexerLookahead, test_peek2)
 {
   rcl_ret_t ret;
   rcl_lexer_lookahead2_t buffer;
@@ -118,7 +99,7 @@ TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_peek2)
   EXPECT_EQ(RCL_LEXEME_FORWARD_SLASH, lexeme2);
 }
 
-TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_peek2_no_lexeme)
+TEST(TestLexerLookahead, test_peek2_no_lexeme)
 {
   rcl_ret_t ret;
   rcl_lexer_lookahead2_t buffer;
@@ -133,7 +114,7 @@ TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_peek2_no_l
   EXPECT_EQ(RCL_LEXEME_NONE, lexeme2);
 }
 
-TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_peek2_no_lexeme_eof)
+TEST(TestLexerLookahead, test_peek2_no_lexeme_eof)
 {
   rcl_ret_t ret;
   rcl_lexer_lookahead2_t buffer;
@@ -148,7 +129,7 @@ TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_peek2_no_l
   EXPECT_EQ(RCL_LEXEME_NONE, lexeme2);
 }
 
-TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_peek2_eof)
+TEST(TestLexerLookahead, test_peek2_eof)
 {
   rcl_ret_t ret;
   rcl_lexer_lookahead2_t buffer;
@@ -163,7 +144,7 @@ TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_peek2_eof)
   EXPECT_EQ(RCL_LEXEME_EOF, lexeme2);
 }
 
-TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_eof)
+TEST(TestLexerLookahead, test_eof)
 {
   rcl_ret_t ret;
   rcl_lexer_lookahead2_t buffer;
@@ -194,7 +175,7 @@ TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_eof)
 }
 
 
-TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_accept)
+TEST(TestLexerLookahead, test_accept)
 {
   rcl_ret_t ret;
   rcl_lexer_lookahead2_t buffer;
@@ -240,7 +221,7 @@ TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_accept)
   EXPECT_EQ(RCL_LEXEME_EOF, lexeme);
 }
 
-TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_accept_bad_arg)
+TEST(TestLexerLookahead, test_accept_bad_arg)
 {
   rcl_lexer_lookahead2_t buffer;
   rcl_lexer_lookahead2_t buffer_not_ini = rcl_get_zero_initialized_lexer_lookahead2();
@@ -281,7 +262,7 @@ TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_accept_bad
   rcl_reset_error();
 }
 
-TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_expect)
+TEST(TestLexerLookahead, test_expect)
 {
   rcl_ret_t ret;
   rcl_lexer_lookahead2_t buffer;
@@ -311,7 +292,7 @@ TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_expect)
     EXPECT_STREQ(expected_text, std::string(lexeme_text, lexeme_text_length).c_str()); \
   } while (false)
 
-TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_lex_long_string)
+TEST(TestLexerLookahead, test_lex_long_string)
 {
   rcl_ret_t ret;
   rcl_lexer_lookahead2_t buffer;
@@ -332,7 +313,7 @@ TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_lex_long_s
   EXPECT_LOOKAHEAD(RCL_LEXEME_EOF, "", buffer);
 }
 
-TEST_F(CLASSNAME(TestLexerLookaheadFixture, RMW_IMPLEMENTATION), test_lex_remap_rules)
+TEST(TestLexerLookahead, test_lex_remap_rules)
 {
   rcl_ret_t ret;
   rcl_lexer_lookahead2_t buffer;
diff --git a/rcl/test/rcl/test_time.cpp b/rcl/test/rcl/test_time.cpp
index b2f828d45..503bdfd50 100644
--- a/rcl/test/rcl/test_time.cpp
+++ b/rcl/test/rcl/test_time.cpp
@@ -26,19 +26,12 @@
 
 #include "./allocator_testing_utils.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 (TestTimeFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+class TestTimeFixture : public ::testing::Test
 {
 public:
   void SetUp()
@@ -57,7 +50,7 @@ class CLASSNAME (TestTimeFixture, RMW_IMPLEMENTATION) : public ::testing::Test
 };
 
 // Tests the rcl_set_ros_time_override() function.
-TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_ros_time_set_override) {
+TEST_F(TestTimeFixture, test_rcl_ros_time_set_override) {
   osrf_testing_tools_cpp::memory_tools::enable_monitoring_in_all_threads();
   rcl_clock_t ros_clock;
   rcl_allocator_t allocator = rcl_get_default_allocator();
@@ -161,7 +154,7 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_ros_time_set_ove
   }
 }
 
-TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_init_for_clock_and_point) {
+TEST_F(TestTimeFixture, test_rcl_init_for_clock_and_point) {
   rcl_ret_t ret;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   // Check for invalid argument error condition (allowed to alloc).
@@ -191,7 +184,7 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_init_for_clock_a
   });
 }
 
-TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_ros_clock_initially_zero) {
+TEST_F(TestTimeFixture, test_ros_clock_initially_zero) {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_clock_t ros_clock;
   ASSERT_EQ(RCL_RET_OK, rcl_ros_clock_init(&ros_clock, &allocator)) << rcl_get_error_string().str;
@@ -205,7 +198,7 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_ros_clock_initially_
   EXPECT_EQ(0, query_now);
 }
 
-TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), clock_validation) {
+TEST(rcl_time, clock_validation) {
   ASSERT_FALSE(rcl_clock_valid(NULL));
   rcl_clock_t uninitialized;
   // Not reliably detectable due to random values.
@@ -220,7 +213,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), clock_validation) {
   });
 }
 
-TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), default_clock_instanciation) {
+TEST(rcl_time, default_clock_instanciation) {
   rcl_clock_t ros_clock;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_ret_t retval = rcl_ros_clock_init(&ros_clock, &allocator);
@@ -261,7 +254,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), default_clock_instanciation) {
   ASSERT_TRUE(rcl_clock_valid(system_clock));
 }
 
-TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), specific_clock_instantiation) {
+TEST(rcl_time, specific_clock_instantiation) {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   {
     rcl_clock_t uninitialized_clock;
@@ -318,7 +311,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), specific_clock_instantiation) {
   }
 }
 
-TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_clock_time_started) {
+TEST(rcl_time, rcl_clock_time_started) {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   {
     rcl_clock_t ros_clock;
@@ -353,7 +346,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_clock_time_started) {
   }
 }
 
-TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference) {
+TEST(rcl_time, rcl_time_difference) {
   rcl_ret_t ret;
   rcl_time_point_t a, b;
 
@@ -377,7 +370,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference) {
   rcl_reset_error();
 }
 
-TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference_signed) {
+TEST(rcl_time, rcl_time_difference_signed) {
   rcl_time_point_t a, b;
   a.nanoseconds = RCL_S_TO_NS(0LL) + 0LL;
   b.nanoseconds = RCL_S_TO_NS(10LL) + 0LL;
@@ -446,7 +439,7 @@ void reset_callback_triggers(void)
   post_callback_called = false;
 }
 
-TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_clock_change_callbacks) {
+TEST(rcl_time, rcl_time_clock_change_callbacks) {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_clock_t ros_clock;
   rcl_ret_t ret = rcl_ros_clock_init(&ros_clock, &allocator);
@@ -506,7 +499,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_clock_change_callbacks) {
   reset_callback_triggers();
 }
 
-TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_fail_set_jump_callbacks) {
+TEST(rcl_time, rcl_time_fail_set_jump_callbacks) {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_clock_t fail_clock;
   rcl_time_jump_t time_jump;
@@ -533,7 +526,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_fail_set_jump_callbacks)
   rcl_reset_error();
 }
 
-TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_forward_jump_callbacks) {
+TEST(rcl_time, rcl_time_forward_jump_callbacks) {
   rcl_clock_t ros_clock;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_ret_t ret = rcl_ros_clock_init(&ros_clock, &allocator);
@@ -597,7 +590,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_forward_jump_callbacks) {
   EXPECT_FALSE(post_callback_called);
 }
 
-TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_backward_jump_callbacks) {
+TEST(rcl_time, rcl_time_backward_jump_callbacks) {
   rcl_clock_t ros_clock;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_ret_t ret = rcl_ros_clock_init(&ros_clock, &allocator);
@@ -660,7 +653,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_backward_jump_callbacks)
   EXPECT_FALSE(post_callback_called);
 }
 
-TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_clock_add_jump_callback) {
+TEST(rcl_time, rcl_clock_add_jump_callback) {
   rcl_clock_t clock;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_ret_t ret = rcl_ros_clock_init(&clock, &allocator);
@@ -694,7 +687,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_clock_add_jump_callback) {
   EXPECT_EQ(2u, clock.num_jump_callbacks);
 }
 
-TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_clock_remove_jump_callback) {
+TEST(rcl_time, rcl_clock_remove_jump_callback) {
   rcl_clock_t clock;
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_ret_t ret = rcl_ros_clock_init(&clock, &allocator);
@@ -739,7 +732,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_clock_remove_jump_callback) {
   EXPECT_EQ(0u, clock.num_jump_callbacks);
 }
 
-TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), add_remove_add_jump_callback) {
+TEST(rcl_time, add_remove_add_jump_callback) {
   rcl_allocator_t failing_allocator = get_failing_allocator();
   set_failing_allocator_is_failing(failing_allocator, false);
 
@@ -790,7 +783,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), add_remove_add_jump_callback) {
   EXPECT_EQ(1u, clock.num_jump_callbacks);
 }
 
-TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), failed_get_now) {
+TEST(rcl_time, failed_get_now) {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_clock_t uninitialized_clock;
   rcl_time_point_value_t query_now;
@@ -802,7 +795,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), failed_get_now) {
   rcl_reset_error();
 }
 
-TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), fail_ros_time_override) {
+TEST(rcl_time, fail_ros_time_override) {
   bool result;
   rcl_time_point_value_t set_point = 1000000000ull;