diff --git a/rmw_implementation/src/functions.cpp b/rmw_implementation/src/functions.cpp
index 983b9211..ae0bd290 100644
--- a/rmw_implementation/src/functions.cpp
+++ b/rmw_implementation/src/functions.cpp
@@ -699,28 +699,28 @@ RMW_INTERFACE_FN(
     rmw_network_flow_endpoint_array_t *))
 
 RMW_INTERFACE_FN(
-  rmw_subscription_set_listener_callback,
+  rmw_subscription_set_on_new_message_callback,
   rmw_ret_t, RMW_RET_ERROR,
   3, ARG_TYPES(
-    rmw_subscription_t *, rmw_listener_callback_t, const void *))
+    rmw_subscription_t *, rmw_event_callback_t, const void *))
 
 RMW_INTERFACE_FN(
-  rmw_service_set_listener_callback,
+  rmw_service_set_on_new_request_callback,
   rmw_ret_t, RMW_RET_ERROR,
   3, ARG_TYPES(
-    rmw_service_t *, rmw_listener_callback_t, const void *))
+    rmw_service_t *, rmw_event_callback_t, const void *))
 
 RMW_INTERFACE_FN(
-  rmw_client_set_listener_callback,
+  rmw_client_set_on_new_response_callback,
   rmw_ret_t, RMW_RET_ERROR,
   3, ARG_TYPES(
-    rmw_client_t *, rmw_listener_callback_t, const void *))
+    rmw_client_t *, rmw_event_callback_t, const void *))
 
 RMW_INTERFACE_FN(
-  rmw_event_set_listener_callback,
+  rmw_event_set_callback,
   rmw_ret_t, RMW_RET_ERROR,
   3, ARG_TYPES(
-    rmw_event_t *, rmw_listener_callback_t, const void *))
+    rmw_event_t *, rmw_event_callback_t, const void *))
 
 #define GET_SYMBOL(x) symbol_ ## x = get_symbol(#x);
 
@@ -807,10 +807,10 @@ void prefetch_symbols(void)
   GET_SYMBOL(rmw_subscription_get_network_flow_endpoints)
   GET_SYMBOL(rmw_client_request_publisher_get_actual_qos);
   GET_SYMBOL(rmw_client_response_subscription_get_actual_qos);
-  GET_SYMBOL(rmw_subscription_set_listener_callback)
-  GET_SYMBOL(rmw_service_set_listener_callback)
-  GET_SYMBOL(rmw_client_set_listener_callback)
-  GET_SYMBOL(rmw_event_set_listener_callback)
+  GET_SYMBOL(rmw_subscription_set_on_new_message_callback)
+  GET_SYMBOL(rmw_service_set_on_new_request_callback)
+  GET_SYMBOL(rmw_client_set_on_new_response_callback)
+  GET_SYMBOL(rmw_event_set_callback)
 }
 
 void * symbol_rmw_init = nullptr;
@@ -919,5 +919,9 @@ unload_library()
   symbol_rmw_publisher_get_network_flow_endpoints = nullptr;
   symbol_rmw_subscription_get_network_flow_endpoints = nullptr;
   symbol_rmw_init = nullptr;
+  symbol_rmw_subscription_set_on_new_message_callback = nullptr;
+  symbol_rmw_service_set_on_new_request_callback = nullptr;
+  symbol_rmw_client_set_on_new_response_callback = nullptr;
+  symbol_rmw_event_set_callback = nullptr;
   g_rmw_lib.reset();
 }