diff --git a/nav2_amcl/include/nav2_amcl/amcl_node.hpp b/nav2_amcl/include/nav2_amcl/amcl_node.hpp
index 5910181b3a6..c7341a5985a 100644
--- a/nav2_amcl/include/nav2_amcl/amcl_node.hpp
+++ b/nav2_amcl/include/nav2_amcl/amcl_node.hpp
@@ -28,13 +28,7 @@
 #include <utility>
 #include <vector>
 
-// For compatibility with Jazzy
-#include "rclcpp/version.h"
-#if RCLCPP_VERSION_GTE(29, 0, 0)
 #include "message_filters/subscriber.hpp"
-#else
-#include "message_filters/subscriber.h"
-#endif
 
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav2_util/lifecycle_node.hpp"
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.hpp
index 05252015fb3..1cdec808da7 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.hpp
@@ -49,13 +49,7 @@
 #include "tf2_ros/message_filter.h"
 #pragma GCC diagnostic pop
 
-// For compatibility with Jazzy
-#include "rclcpp/version.h"
-#if RCLCPP_VERSION_GTE(29, 0, 0)
 #include "message_filters/subscriber.hpp"
-#else
-#include "message_filters/subscriber.h"
-#endif
 
 #include "nav_msgs/msg/occupancy_grid.hpp"
 #include "sensor_msgs/msg/laser_scan.hpp"
diff --git a/nav2_costmap_2d/plugins/obstacle_layer.cpp b/nav2_costmap_2d/plugins/obstacle_layer.cpp
index a05548a8cde..3bffea43fbe 100644
--- a/nav2_costmap_2d/plugins/obstacle_layer.cpp
+++ b/nav2_costmap_2d/plugins/obstacle_layer.cpp
@@ -46,6 +46,7 @@
 #include "pluginlib/class_list_macros.hpp"
 #include "sensor_msgs/point_cloud2_iterator.hpp"
 #include "nav2_costmap_2d/costmap_math.hpp"
+#include "rclcpp/version.h"
 
 PLUGINLIB_EXPORT_CLASS(nav2_costmap_2d::ObstacleLayer, nav2_costmap_2d::Layer)