diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
index 56c5801006..3d3b930d04 100644
--- a/hardware_interface/CMakeLists.txt
+++ b/hardware_interface/CMakeLists.txt
@@ -21,11 +21,11 @@ find_package(TinyXML2 REQUIRED)
 add_library(
   hardware_interface
   SHARED
-  src/components/actuator.cpp
-  src/components/sensor.cpp
-  src/components/system.cpp
+  src/actuator.cpp
   src/component_parser.cpp
   src/resource_manager.cpp
+  src/sensor.cpp
+  src/system.cpp
 )
 target_include_directories(
   hardware_interface
diff --git a/hardware_interface/include/hardware_interface/components/actuator.hpp b/hardware_interface/include/hardware_interface/actuator.hpp
similarity index 89%
rename from hardware_interface/include/hardware_interface/components/actuator.hpp
rename to hardware_interface/include/hardware_interface/actuator.hpp
index 23ef1e5879..fa0534f983 100644
--- a/hardware_interface/include/hardware_interface/components/actuator.hpp
+++ b/hardware_interface/include/hardware_interface/actuator.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HARDWARE_INTERFACE__COMPONENTS__ACTUATOR_HPP_
-#define HARDWARE_INTERFACE__COMPONENTS__ACTUATOR_HPP_
+#ifndef HARDWARE_INTERFACE__ACTUATOR_HPP_
+#define HARDWARE_INTERFACE__ACTUATOR_HPP_
 
 #include <memory>
 #include <string>
@@ -27,8 +27,6 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 
 class ActuatorInterface;
 
@@ -75,6 +73,5 @@ class Actuator final
   std::unique_ptr<ActuatorInterface> impl_;
 };
 
-}  // namespace components
 }  // namespace hardware_interface
-#endif  // HARDWARE_INTERFACE__COMPONENTS__ACTUATOR_HPP_
+#endif  // HARDWARE_INTERFACE__ACTUATOR_HPP_
diff --git a/hardware_interface/include/hardware_interface/components/actuator_interface.hpp b/hardware_interface/include/hardware_interface/actuator_interface.hpp
similarity index 93%
rename from hardware_interface/include/hardware_interface/components/actuator_interface.hpp
rename to hardware_interface/include/hardware_interface/actuator_interface.hpp
index e40c44a3e2..750615f070 100644
--- a/hardware_interface/include/hardware_interface/components/actuator_interface.hpp
+++ b/hardware_interface/include/hardware_interface/actuator_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HARDWARE_INTERFACE__COMPONENTS__ACTUATOR_INTERFACE_HPP_
-#define HARDWARE_INTERFACE__COMPONENTS__ACTUATOR_INTERFACE_HPP_
+#ifndef HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_
+#define HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_
 
 #include <memory>
 #include <string>
@@ -26,8 +26,6 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 
 /**
   * \brief Virtual Class to implement when integrating a 1 DoF actuator into ros2_control.
@@ -129,6 +127,5 @@ class ActuatorInterface
   return_type write() = 0;
 };
 
-}  // namespace components
 }  // namespace hardware_interface
-#endif  // HARDWARE_INTERFACE__COMPONENTS__ACTUATOR_INTERFACE_HPP_
+#endif  // HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_
diff --git a/hardware_interface/include/hardware_interface/components/base_interface.hpp b/hardware_interface/include/hardware_interface/base_interface.hpp
similarity index 86%
rename from hardware_interface/include/hardware_interface/components/base_interface.hpp
rename to hardware_interface/include/hardware_interface/base_interface.hpp
index 80b89c7709..3b51e75230 100644
--- a/hardware_interface/include/hardware_interface/components/base_interface.hpp
+++ b/hardware_interface/include/hardware_interface/base_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HARDWARE_INTERFACE__COMPONENTS__BASE_INTERFACE_HPP_
-#define HARDWARE_INTERFACE__COMPONENTS__BASE_INTERFACE_HPP_
+#ifndef HARDWARE_INTERFACE__BASE_INTERFACE_HPP_
+#define HARDWARE_INTERFACE__BASE_INTERFACE_HPP_
 
 #include <string>
 
@@ -23,8 +23,6 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 
 template<class InterfaceType>
 class BaseInterface : public InterfaceType
@@ -57,7 +55,6 @@ class BaseInterface : public InterfaceType
   status status_;
 };
 
-}  // namespace components
 }  // namespace hardware_interface
 
-#endif  // HARDWARE_INTERFACE__COMPONENTS__BASE_INTERFACE_HPP_
+#endif  // HARDWARE_INTERFACE__BASE_INTERFACE_HPP_
diff --git a/hardware_interface/include/hardware_interface/resource_manager.hpp b/hardware_interface/include/hardware_interface/resource_manager.hpp
index 2f94515b62..460bec4193 100644
--- a/hardware_interface/include/hardware_interface/resource_manager.hpp
+++ b/hardware_interface/include/hardware_interface/resource_manager.hpp
@@ -28,13 +28,9 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 class ActuatorInterface;
 class SensorInterface;
 class SystemInterface;
-}  // namespace components
-
 class ResourceStorage;
 
 class ResourceManager
@@ -152,8 +148,7 @@ class ResourceManager
    * externally and prior to the call to import.
    * \param actuator pointer to the actuator interface.
    */
-  void import_component(
-    std::unique_ptr<components::ActuatorInterface> actuator);
+  void import_component(std::unique_ptr<ActuatorInterface> actuator);
 
   /// Return the number of loaded sensor components.
   /**
@@ -171,7 +166,7 @@ class ResourceManager
    * externally and prior to the call to import.
    * \param sensor pointer to the sensor interface.
    */
-  void import_component(std::unique_ptr<components::SensorInterface> sensor);
+  void import_component(std::unique_ptr<SensorInterface> sensor);
 
   /// Return the number of loaded system components.
   /**
@@ -189,7 +184,7 @@ class ResourceManager
    * externally and prior to the call to import.
    * \param system pointer to the system interface.
    */
-  void import_component(std::unique_ptr<components::SystemInterface> system);
+  void import_component(std::unique_ptr<SystemInterface> system);
 
   /// Return status for all components.
   /**
diff --git a/hardware_interface/include/hardware_interface/components/sensor.hpp b/hardware_interface/include/hardware_interface/sensor.hpp
similarity index 89%
rename from hardware_interface/include/hardware_interface/components/sensor.hpp
rename to hardware_interface/include/hardware_interface/sensor.hpp
index 3780d8d9a3..6388b3d061 100644
--- a/hardware_interface/include/hardware_interface/components/sensor.hpp
+++ b/hardware_interface/include/hardware_interface/sensor.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HARDWARE_INTERFACE__COMPONENTS__SENSOR_HPP_
-#define HARDWARE_INTERFACE__COMPONENTS__SENSOR_HPP_
+#ifndef HARDWARE_INTERFACE__SENSOR_HPP_
+#define HARDWARE_INTERFACE__SENSOR_HPP_
 
 #include <memory>
 #include <string>
@@ -28,8 +28,6 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 
 class SensorInterface;
 
@@ -70,6 +68,5 @@ class Sensor final
   std::unique_ptr<SensorInterface> impl_;
 };
 
-}  // namespace components
 }  // namespace hardware_interface
-#endif  // HARDWARE_INTERFACE__COMPONENTS__SENSOR_HPP_
+#endif  // HARDWARE_INTERFACE__SENSOR_HPP_
diff --git a/hardware_interface/include/hardware_interface/components/sensor_interface.hpp b/hardware_interface/include/hardware_interface/sensor_interface.hpp
similarity index 92%
rename from hardware_interface/include/hardware_interface/components/sensor_interface.hpp
rename to hardware_interface/include/hardware_interface/sensor_interface.hpp
index 7517c9936b..b051180806 100644
--- a/hardware_interface/include/hardware_interface/components/sensor_interface.hpp
+++ b/hardware_interface/include/hardware_interface/sensor_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HARDWARE_INTERFACE__COMPONENTS__SENSOR_INTERFACE_HPP_
-#define HARDWARE_INTERFACE__COMPONENTS__SENSOR_INTERFACE_HPP_
+#ifndef HARDWARE_INTERFACE__SENSOR_INTERFACE_HPP_
+#define HARDWARE_INTERFACE__SENSOR_INTERFACE_HPP_
 
 #include <memory>
 #include <string>
@@ -27,8 +27,6 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 
 /**
   * \brief Virtual Class to implement when integrating a stand-alone sensor into ros2_control.
@@ -108,6 +106,5 @@ class SensorInterface
   return_type read() = 0;
 };
 
-}  // namespace components
 }  // namespace hardware_interface
-#endif  // HARDWARE_INTERFACE__COMPONENTS__SENSOR_INTERFACE_HPP_
+#endif  // HARDWARE_INTERFACE__SENSOR_INTERFACE_HPP_
diff --git a/hardware_interface/include/hardware_interface/components/system.hpp b/hardware_interface/include/hardware_interface/system.hpp
similarity index 90%
rename from hardware_interface/include/hardware_interface/components/system.hpp
rename to hardware_interface/include/hardware_interface/system.hpp
index 0a95ad350d..a1434d7bae 100644
--- a/hardware_interface/include/hardware_interface/components/system.hpp
+++ b/hardware_interface/include/hardware_interface/system.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HARDWARE_INTERFACE__COMPONENTS__SYSTEM_HPP_
-#define HARDWARE_INTERFACE__COMPONENTS__SYSTEM_HPP_
+#ifndef HARDWARE_INTERFACE__SYSTEM_HPP_
+#define HARDWARE_INTERFACE__SYSTEM_HPP_
 
 #include <memory>
 #include <string>
@@ -28,8 +28,6 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 
 class SystemInterface;
 
@@ -74,6 +72,5 @@ class System final
   std::unique_ptr<SystemInterface> impl_;
 };
 
-}  // namespace components
 }  // namespace hardware_interface
-#endif  // HARDWARE_INTERFACE__COMPONENTS__SYSTEM_HPP_
+#endif  // HARDWARE_INTERFACE__SYSTEM_HPP_
diff --git a/hardware_interface/include/hardware_interface/components/system_interface.hpp b/hardware_interface/include/hardware_interface/system_interface.hpp
similarity index 94%
rename from hardware_interface/include/hardware_interface/components/system_interface.hpp
rename to hardware_interface/include/hardware_interface/system_interface.hpp
index 11323b931a..e63ba0d151 100644
--- a/hardware_interface/include/hardware_interface/components/system_interface.hpp
+++ b/hardware_interface/include/hardware_interface/system_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HARDWARE_INTERFACE__COMPONENTS__SYSTEM_INTERFACE_HPP_
-#define HARDWARE_INTERFACE__COMPONENTS__SYSTEM_INTERFACE_HPP_
+#ifndef HARDWARE_INTERFACE__SYSTEM_INTERFACE_HPP_
+#define HARDWARE_INTERFACE__SYSTEM_INTERFACE_HPP_
 
 #include <memory>
 #include <string>
@@ -27,8 +27,6 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 
 /**
 * \brief Virtual Class to implement when integrating a complex system into ros2_control.
@@ -132,6 +130,5 @@ class SystemInterface
   return_type write() = 0;
 };
 
-}  // namespace components
 }  // namespace hardware_interface
-#endif  // HARDWARE_INTERFACE__COMPONENTS__SYSTEM_INTERFACE_HPP_
+#endif  // HARDWARE_INTERFACE__SYSTEM_INTERFACE_HPP_
diff --git a/hardware_interface/src/components/actuator.cpp b/hardware_interface/src/actuator.cpp
similarity index 92%
rename from hardware_interface/src/components/actuator.cpp
rename to hardware_interface/src/actuator.cpp
index 63d64ce636..b312c59df8 100644
--- a/hardware_interface/src/components/actuator.cpp
+++ b/hardware_interface/src/actuator.cpp
@@ -18,8 +18,8 @@
 #include <utility>
 #include <vector>
 
-#include "hardware_interface/components/actuator.hpp"
-#include "hardware_interface/components/actuator_interface.hpp"
+#include "hardware_interface/actuator.hpp"
+#include "hardware_interface/actuator_interface.hpp"
 
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
@@ -28,8 +28,6 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 
 Actuator::Actuator(std::unique_ptr<ActuatorInterface> impl)
 : impl_(std::move(impl))
@@ -82,5 +80,4 @@ return_type Actuator::write()
   return impl_->write();
 }
 
-}  // namespace components
 }  // namespace hardware_interface
diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
index 401203e11b..5c8b3da7c8 100644
--- a/hardware_interface/src/resource_manager.cpp
+++ b/hardware_interface/src/resource_manager.cpp
@@ -20,12 +20,12 @@
 #include <unordered_map>
 #include <utility>
 
-#include "hardware_interface/components/actuator.hpp"
-#include "hardware_interface/components/actuator_interface.hpp"
-#include "hardware_interface/components/sensor.hpp"
-#include "hardware_interface/components/sensor_interface.hpp"
-#include "hardware_interface/components/system.hpp"
-#include "hardware_interface/components/system_interface.hpp"
+#include "hardware_interface/actuator.hpp"
+#include "hardware_interface/actuator_interface.hpp"
+#include "hardware_interface/sensor.hpp"
+#include "hardware_interface/sensor_interface.hpp"
+#include "hardware_interface/system.hpp"
+#include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/component_parser.hpp"
 
 #include "pluginlib/class_loader.hpp"
@@ -38,11 +38,11 @@ class ResourceStorage
   static constexpr const char * pkg_name = "hardware_interface";
 
   static constexpr const char * actuator_interface_name =
-    "hardware_interface::components::ActuatorInterface";
+    "hardware_interface::ActuatorInterface";
   static constexpr const char * sensor_interface_name =
-    "hardware_interface::components::SensorInterface";
+    "hardware_interface::SensorInterface";
   static constexpr const char * system_interface_name =
-    "hardware_interface::components::SystemInterface";
+    "hardware_interface::SystemInterface";
 
 public:
   ResourceStorage()
@@ -98,7 +98,7 @@ class ResourceStorage
     const HardwareInfo & hardware_info,
     std::unordered_map<std::string, bool> & claimed_command_interface_map)
   {
-    initialize_hardware<components::Actuator, components::ActuatorInterface>(
+    initialize_hardware<Actuator, ActuatorInterface>(
       hardware_info, actuator_loader_, actuators_);
     if (return_type::OK != actuators_.back().configure(hardware_info)) {
       throw std::runtime_error(std::string("failed to configure ") + hardware_info.name);
@@ -109,7 +109,7 @@ class ResourceStorage
 
   void initialize_sensor(const HardwareInfo & hardware_info)
   {
-    initialize_hardware<components::Sensor, components::SensorInterface>(
+    initialize_hardware<Sensor, SensorInterface>(
       hardware_info, sensor_loader_, sensors_);
     if (return_type::OK != sensors_.back().configure(hardware_info)) {
       throw std::runtime_error(std::string("failed to configure ") + hardware_info.name);
@@ -121,7 +121,7 @@ class ResourceStorage
     const HardwareInfo & hardware_info,
     std::unordered_map<std::string, bool> & claimed_command_interface_map)
   {
-    initialize_hardware<components::System, components::SystemInterface>(
+    initialize_hardware<System, SystemInterface>(
       hardware_info, system_loader_, systems_);
     if (return_type::OK != systems_.back().configure(hardware_info)) {
       throw std::runtime_error(std::string("failed to configure ") + hardware_info.name);
@@ -131,13 +131,13 @@ class ResourceStorage
   }
 
   // hardware plugins
-  pluginlib::ClassLoader<components::ActuatorInterface> actuator_loader_;
-  pluginlib::ClassLoader<components::SensorInterface> sensor_loader_;
-  pluginlib::ClassLoader<components::SystemInterface> system_loader_;
+  pluginlib::ClassLoader<ActuatorInterface> actuator_loader_;
+  pluginlib::ClassLoader<SensorInterface> sensor_loader_;
+  pluginlib::ClassLoader<SystemInterface> system_loader_;
 
-  std::vector<components::Actuator> actuators_;
-  std::vector<components::Sensor> sensors_;
-  std::vector<components::System> systems_;
+  std::vector<Actuator> actuators_;
+  std::vector<Sensor> sensors_;
+  std::vector<System> systems_;
 
   std::unordered_map<std::string, status> hardware_status_map_;
 
@@ -257,10 +257,10 @@ bool ResourceManager::command_interface_exists(const std::string & key) const
          resource_storage_->command_interface_map_.end();
 }
 
-void ResourceManager::import_component(std::unique_ptr<components::ActuatorInterface> actuator)
+void ResourceManager::import_component(std::unique_ptr<ActuatorInterface> actuator)
 {
   resource_storage_->actuators_.emplace_back(
-    components::Actuator(std::move(actuator)));
+    Actuator(std::move(actuator)));
   resource_storage_->import_state_interfaces(resource_storage_->actuators_.back());
   resource_storage_->import_command_interfaces(
     resource_storage_->actuators_.back(), claimed_command_interface_map_);
@@ -271,9 +271,9 @@ size_t ResourceManager::actuator_components_size() const
   return resource_storage_->actuators_.size();
 }
 
-void ResourceManager::import_component(std::unique_ptr<components::SensorInterface> sensor)
+void ResourceManager::import_component(std::unique_ptr<SensorInterface> sensor)
 {
-  resource_storage_->sensors_.emplace_back(components::Sensor(std::move(sensor)));
+  resource_storage_->sensors_.emplace_back(Sensor(std::move(sensor)));
   resource_storage_->import_state_interfaces(resource_storage_->sensors_.back());
 }
 
@@ -282,9 +282,9 @@ size_t ResourceManager::sensor_components_size() const
   return resource_storage_->sensors_.size();
 }
 
-void ResourceManager::import_component(std::unique_ptr<components::SystemInterface> system)
+void ResourceManager::import_component(std::unique_ptr<SystemInterface> system)
 {
-  resource_storage_->systems_.emplace_back(components::System(std::move(system)));
+  resource_storage_->systems_.emplace_back(System(std::move(system)));
   resource_storage_->import_state_interfaces(resource_storage_->systems_.back());
   resource_storage_->import_command_interfaces(
     resource_storage_->systems_.back(), claimed_command_interface_map_);
diff --git a/hardware_interface/src/components/sensor.cpp b/hardware_interface/src/sensor.cpp
similarity index 90%
rename from hardware_interface/src/components/sensor.cpp
rename to hardware_interface/src/sensor.cpp
index 65b550515c..b957254c1b 100644
--- a/hardware_interface/src/components/sensor.cpp
+++ b/hardware_interface/src/sensor.cpp
@@ -17,18 +17,16 @@
 #include <utility>
 #include <vector>
 
-#include "hardware_interface/components/sensor.hpp"
+#include "hardware_interface/sensor.hpp"
 
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
-#include "hardware_interface/components/sensor_interface.hpp"
+#include "hardware_interface/sensor_interface.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
 #include "hardware_interface/types/hardware_interface_status_values.hpp"
 
 namespace hardware_interface
 {
-namespace components
-{
 
 Sensor::Sensor(std::unique_ptr<SensorInterface> impl)
 : impl_(std::move(impl))
@@ -69,5 +67,4 @@ return_type Sensor::read()
   return impl_->read();
 }
 
-}  // namespace components
 }  // namespace hardware_interface
diff --git a/hardware_interface/src/components/system.cpp b/hardware_interface/src/system.cpp
similarity index 91%
rename from hardware_interface/src/components/system.cpp
rename to hardware_interface/src/system.cpp
index 2fe421a9a7..5708d3b6ee 100644
--- a/hardware_interface/src/components/system.cpp
+++ b/hardware_interface/src/system.cpp
@@ -17,18 +17,16 @@
 #include <utility>
 #include <vector>
 
-#include "hardware_interface/components/system.hpp"
+#include "hardware_interface/system.hpp"
 
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
-#include "hardware_interface/components/system_interface.hpp"
+#include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
 #include "hardware_interface/types/hardware_interface_status_values.hpp"
 
 namespace hardware_interface
 {
-namespace components
-{
 
 System::System(std::unique_ptr<SystemInterface> impl)
 : impl_(std::move(impl))
@@ -79,5 +77,4 @@ return_type System::write()
   return impl_->write();
 }
 
-}  // namespace components
 }  // namespace hardware_interface
diff --git a/hardware_interface/test/test_component_interfaces.cpp b/hardware_interface/test/test_component_interfaces.cpp
index f483d24fa9..045e9a4963 100644
--- a/hardware_interface/test/test_component_interfaces.cpp
+++ b/hardware_interface/test/test_component_interfaces.cpp
@@ -20,12 +20,12 @@
 #include <unordered_map>
 #include <vector>
 
-#include "hardware_interface/components/actuator.hpp"
-#include "hardware_interface/components/actuator_interface.hpp"
-#include "hardware_interface/components/sensor_interface.hpp"
-#include "hardware_interface/components/sensor.hpp"
-#include "hardware_interface/components/system_interface.hpp"
-#include "hardware_interface/components/system.hpp"
+#include "hardware_interface/actuator.hpp"
+#include "hardware_interface/actuator_interface.hpp"
+#include "hardware_interface/sensor_interface.hpp"
+#include "hardware_interface/sensor.hpp"
+#include "hardware_interface/system_interface.hpp"
+#include "hardware_interface/system.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
 #include "hardware_interface/types/hardware_interface_status_values.hpp"
@@ -36,7 +36,7 @@ using namespace ::testing;  // NOLINT
 namespace test_components
 {
 
-class DummyActuator : public hardware_interface::components::ActuatorInterface
+class DummyActuator : public hardware_interface::ActuatorInterface
 {
   hardware_interface::return_type configure(
     const hardware_interface::HardwareInfo & /* info */) override
@@ -110,7 +110,7 @@ class DummyActuator : public hardware_interface::components::ActuatorInterface
   double velocity_command_ = 0.0;
 };
 
-class DummySensor : public hardware_interface::components::SensorInterface
+class DummySensor : public hardware_interface::SensorInterface
 {
   hardware_interface::return_type configure(
     const hardware_interface::HardwareInfo & /* info */) override
@@ -159,7 +159,7 @@ class DummySensor : public hardware_interface::components::SensorInterface
   double voltage_level_ = 0x666;
 };
 
-class DummySystem : public hardware_interface::components::SystemInterface
+class DummySystem : public hardware_interface::SystemInterface
 {
   hardware_interface::return_type configure(
     const hardware_interface::HardwareInfo & /* info */) override
@@ -256,7 +256,7 @@ class DummySystem : public hardware_interface::components::SystemInterface
 
 TEST(TestComponentInterfaces, dummy_actuator)
 {
-  hardware_interface::components::Actuator actuator_hw(
+  hardware_interface::Actuator actuator_hw(
     std::make_unique<test_components::DummyActuator>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
@@ -289,7 +289,7 @@ TEST(TestComponentInterfaces, dummy_actuator)
 
 TEST(TestComponentInterfaces, dummy_sensor)
 {
-  hardware_interface::components::Sensor sensor_hw(
+  hardware_interface::Sensor sensor_hw(
     std::make_unique<test_components::DummySensor>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
@@ -304,7 +304,7 @@ TEST(TestComponentInterfaces, dummy_sensor)
 
 TEST(TestComponentInterfaces, dummy_system)
 {
-  hardware_interface::components::System system_hw(
+  hardware_interface::System system_hw(
     std::make_unique<test_components::DummySystem>());
 
   hardware_interface::HardwareInfo mock_hw_info{};
diff --git a/hardware_interface/test/test_components/test_actuator.cpp b/hardware_interface/test/test_components/test_actuator.cpp
index 94b2ec7130..7b1d1fc5a6 100644
--- a/hardware_interface/test/test_components/test_actuator.cpp
+++ b/hardware_interface/test/test_components/test_actuator.cpp
@@ -15,15 +15,15 @@
 #include <memory>
 #include <vector>
 
-#include "hardware_interface/components/base_interface.hpp"
-#include "hardware_interface/components/actuator_interface.hpp"
+#include "hardware_interface/base_interface.hpp"
+#include "hardware_interface/actuator_interface.hpp"
 
-using hardware_interface::status;
+using hardware_interface::ActuatorInterface;
+using hardware_interface::BaseInterface;
+using hardware_interface::CommandInterface;
 using hardware_interface::return_type;
 using hardware_interface::StateInterface;
-using hardware_interface::CommandInterface;
-using hardware_interface::components::ActuatorInterface;
-using hardware_interface::components::BaseInterface;
+using hardware_interface::status;
 
 class TestActuator : public BaseInterface<ActuatorInterface>
 {
@@ -110,4 +110,4 @@ class TestActuator : public BaseInterface<ActuatorInterface>
 };
 
 #include "pluginlib/class_list_macros.hpp"  // NOLINT
-PLUGINLIB_EXPORT_CLASS(TestActuator, hardware_interface::components::ActuatorInterface)
+PLUGINLIB_EXPORT_CLASS(TestActuator, hardware_interface::ActuatorInterface)
diff --git a/hardware_interface/test/test_components/test_components.xml b/hardware_interface/test/test_components/test_components.xml
index 7dd4feea40..235fec668f 100644
--- a/hardware_interface/test/test_components/test_components.xml
+++ b/hardware_interface/test/test_components/test_components.xml
@@ -1,18 +1,18 @@
 <library path="test_components">
 
-  <class name="test_actuator" type="TestActuator" base_class_type="hardware_interface::components::ActuatorInterface">
+  <class name="test_actuator" type="TestActuator" base_class_type="hardware_interface::ActuatorInterface">
     <description>
       Test Actuator
     </description>
   </class>
 
-  <class name="test_sensor" type="TestSensor" base_class_type="hardware_interface::components::SensorInterface">
+  <class name="test_sensor" type="TestSensor" base_class_type="hardware_interface::SensorInterface">
     <description>
       Test Sensor
     </description>
   </class>
 
-  <class name="test_system" type="TestSystem" base_class_type="hardware_interface::components::SystemInterface">
+  <class name="test_system" type="TestSystem" base_class_type="hardware_interface::SystemInterface">
     <description>
       Test System
     </description>
diff --git a/hardware_interface/test/test_components/test_sensor.cpp b/hardware_interface/test/test_components/test_sensor.cpp
index e9b64afc4b..3c8d8fcb8b 100644
--- a/hardware_interface/test/test_components/test_sensor.cpp
+++ b/hardware_interface/test/test_components/test_sensor.cpp
@@ -15,14 +15,14 @@
 #include <memory>
 #include <vector>
 
-#include "hardware_interface/components/base_interface.hpp"
-#include "hardware_interface/components/sensor_interface.hpp"
+#include "hardware_interface/base_interface.hpp"
+#include "hardware_interface/sensor_interface.hpp"
 
-using hardware_interface::status;
+using hardware_interface::BaseInterface;
 using hardware_interface::return_type;
+using hardware_interface::SensorInterface;
 using hardware_interface::StateInterface;
-using hardware_interface::components::BaseInterface;
-using hardware_interface::components::SensorInterface;
+using hardware_interface::status;
 
 class TestSensor : public BaseInterface<SensorInterface>
 {
@@ -72,4 +72,4 @@ class TestSensor : public BaseInterface<SensorInterface>
 };
 
 #include "pluginlib/class_list_macros.hpp"  // NOLINT
-PLUGINLIB_EXPORT_CLASS(TestSensor, hardware_interface::components::SensorInterface)
+PLUGINLIB_EXPORT_CLASS(TestSensor, hardware_interface::SensorInterface)
diff --git a/hardware_interface/test/test_components/test_system.cpp b/hardware_interface/test/test_components/test_system.cpp
index a76e5a4fa7..6dd1c3b5d6 100644
--- a/hardware_interface/test/test_components/test_system.cpp
+++ b/hardware_interface/test/test_components/test_system.cpp
@@ -16,16 +16,16 @@
 #include <memory>
 #include <vector>
 
-#include "hardware_interface/components/base_interface.hpp"
-#include "hardware_interface/components/system_interface.hpp"
+#include "hardware_interface/base_interface.hpp"
+#include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 
-using hardware_interface::status;
-using hardware_interface::return_type;
+using hardware_interface::BaseInterface;
 using hardware_interface::CommandInterface;
+using hardware_interface::return_type;
 using hardware_interface::StateInterface;
-using hardware_interface::components::BaseInterface;
-using hardware_interface::components::SystemInterface;
+using hardware_interface::status;
+using hardware_interface::SystemInterface;
 
 class TestSystem : public BaseInterface<SystemInterface>
 {
@@ -90,4 +90,4 @@ class TestSystem : public BaseInterface<SystemInterface>
 };
 
 #include "pluginlib/class_list_macros.hpp"  // NOLINT
-PLUGINLIB_EXPORT_CLASS(TestSystem, hardware_interface::components::SystemInterface)
+PLUGINLIB_EXPORT_CLASS(TestSystem, hardware_interface::SystemInterface)
diff --git a/hardware_interface/test/test_resource_manager.cpp b/hardware_interface/test/test_resource_manager.cpp
index c104ac043c..96966a413a 100644
--- a/hardware_interface/test/test_resource_manager.cpp
+++ b/hardware_interface/test/test_resource_manager.cpp
@@ -20,7 +20,7 @@
 #include <vector>
 #include <unordered_map>
 
-#include "hardware_interface/components/actuator_interface.hpp"
+#include "hardware_interface/actuator_interface.hpp"
 #include "hardware_interface/resource_manager.hpp"
 
 class TestResourceManager : public ::testing::Test
@@ -337,7 +337,7 @@ TEST_F(TestResourceManager, resource_claiming) {
   }
 }
 
-class ExternalComponent : public hardware_interface::components::ActuatorInterface
+class ExternalComponent : public hardware_interface::ActuatorInterface
 {
   hardware_interface::return_type configure(const hardware_interface::HardwareInfo &) override
   {
diff --git a/test_robot_hardware/src/test_force_torque_sensor.cpp b/test_robot_hardware/src/test_force_torque_sensor.cpp
index e09ed0d6f6..368c97ebaa 100644
--- a/test_robot_hardware/src/test_force_torque_sensor.cpp
+++ b/test_robot_hardware/src/test_force_torque_sensor.cpp
@@ -17,14 +17,14 @@
 #include <memory>
 #include <vector>
 
-#include "hardware_interface/components/base_interface.hpp"
-#include "hardware_interface/components/sensor_interface.hpp"
+#include "hardware_interface/base_interface.hpp"
+#include "hardware_interface/sensor_interface.hpp"
 
 using hardware_interface::status;
 using hardware_interface::return_type;
 using hardware_interface::StateInterface;
-using hardware_interface::components::BaseInterface;
-using hardware_interface::components::SensorInterface;
+using hardware_interface::BaseInterface;
+using hardware_interface::SensorInterface;
 
 namespace test_robot_hardware
 {
@@ -131,4 +131,4 @@ class TestForceTorqueSensor : public BaseInterface<SensorInterface>
 
 #include "pluginlib/class_list_macros.hpp"  // NOLINT
 PLUGINLIB_EXPORT_CLASS(
-  test_robot_hardware::TestForceTorqueSensor, hardware_interface::components::SensorInterface)
+  test_robot_hardware::TestForceTorqueSensor, hardware_interface::SensorInterface)
diff --git a/test_robot_hardware/src/test_single_joint_actuator.cpp b/test_robot_hardware/src/test_single_joint_actuator.cpp
index 1f7479158f..be99647a6e 100644
--- a/test_robot_hardware/src/test_single_joint_actuator.cpp
+++ b/test_robot_hardware/src/test_single_joint_actuator.cpp
@@ -15,16 +15,16 @@
 #include <memory>
 #include <vector>
 
-#include "hardware_interface/components/base_interface.hpp"
-#include "hardware_interface/components/actuator_interface.hpp"
+#include "hardware_interface/base_interface.hpp"
+#include "hardware_interface/actuator_interface.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 
 using hardware_interface::status;
 using hardware_interface::return_type;
 using hardware_interface::StateInterface;
 using hardware_interface::CommandInterface;
-using hardware_interface::components::ActuatorInterface;
-using hardware_interface::components::BaseInterface;
+using hardware_interface::ActuatorInterface;
+using hardware_interface::BaseInterface;
 
 namespace test_robot_hardware
 {
@@ -124,4 +124,4 @@ class TestSingleJointActuator : public BaseInterface<ActuatorInterface>
 
 #include "pluginlib/class_list_macros.hpp"  // NOLINT
 PLUGINLIB_EXPORT_CLASS(
-  test_robot_hardware::TestSingleJointActuator, hardware_interface::components::ActuatorInterface)
+  test_robot_hardware::TestSingleJointActuator, hardware_interface::ActuatorInterface)
diff --git a/test_robot_hardware/src/test_two_joint_system.cpp b/test_robot_hardware/src/test_two_joint_system.cpp
index adba3a6ca7..6e86942592 100644
--- a/test_robot_hardware/src/test_two_joint_system.cpp
+++ b/test_robot_hardware/src/test_two_joint_system.cpp
@@ -16,16 +16,16 @@
 #include <memory>
 #include <vector>
 
-#include "hardware_interface/components/base_interface.hpp"
-#include "hardware_interface/components/system_interface.hpp"
+#include "hardware_interface/base_interface.hpp"
+#include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 
 using hardware_interface::status;
 using hardware_interface::return_type;
 using hardware_interface::StateInterface;
 using hardware_interface::CommandInterface;
-using hardware_interface::components::BaseInterface;
-using hardware_interface::components::SystemInterface;
+using hardware_interface::BaseInterface;
+using hardware_interface::SystemInterface;
 
 namespace test_robot_hardware
 {
@@ -112,4 +112,4 @@ class TestTwoJointSystem : public BaseInterface<SystemInterface>
 
 #include "pluginlib/class_list_macros.hpp"  // NOLINT
 PLUGINLIB_EXPORT_CLASS(
-  test_robot_hardware::TestTwoJointSystem, hardware_interface::components::SystemInterface)
+  test_robot_hardware::TestTwoJointSystem, hardware_interface::SystemInterface)
diff --git a/test_robot_hardware/test_robot_components.xml b/test_robot_hardware/test_robot_components.xml
index f1c9e67200..9fb1ed288d 100644
--- a/test_robot_hardware/test_robot_components.xml
+++ b/test_robot_hardware/test_robot_components.xml
@@ -1,18 +1,18 @@
 <library path="test_robot_hardware_components">
 
-  <class name="test_robot_hardware/TestSingleJointActuator" type="test_robot_hardware::TestSingleJointActuator" base_class_type="hardware_interface::components::ActuatorInterface">
+  <class name="test_robot_hardware/TestSingleJointActuator" type="test_robot_hardware::TestSingleJointActuator" base_class_type="hardware_interface::ActuatorInterface">
     <description>
       Test actuator component for a single position joint
     </description>
   </class>
 
-  <class name="test_robot_hardware/TestForceTorqueSensor" type="test_robot_hardware::TestForceTorqueSensor" base_class_type="hardware_interface::components::SensorInterface">
+  <class name="test_robot_hardware/TestForceTorqueSensor" type="test_robot_hardware::TestForceTorqueSensor" base_class_type="hardware_interface::SensorInterface">
     <description>
       Test sensor component emulating a force torque sensor
     </description>
   </class>
 
-  <class name="test_robot_hardware/TestTwoJointSystem" type="test_robot_hardware::TestTwoJointSystem" base_class_type="hardware_interface::components::SystemInterface">
+  <class name="test_robot_hardware/TestTwoJointSystem" type="test_robot_hardware::TestTwoJointSystem" base_class_type="hardware_interface::SystemInterface">
     <description>
       Test system component for a two degree of freedom position joint robot
     </description>