diff --git a/rcljava/CMakeLists.txt b/rcljava/CMakeLists.txt
index b2d0943f..19d7ce8c 100644
--- a/rcljava/CMakeLists.txt
+++ b/rcljava/CMakeLists.txt
@@ -60,8 +60,8 @@ set(${PROJECT_NAME}_jni_sources
   "src/main/cpp/org_ros2_rcljava_contexts_ContextImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp"
   "src/main/cpp/org_ros2_rcljava_events_EventHandlerImpl.cpp"
-  "src/main/cpp/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.cpp"
-  "src/main/cpp/org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible.cpp"
+  "src/main/cpp/org_ros2_rcljava_publisher_statuses_LivelinessLost.cpp"
+  "src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.cpp"
   "src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_publisher_PublisherImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp"
@@ -133,8 +133,8 @@ set(${PROJECT_NAME}_sources
   "src/main/java/org/ros2/rcljava/events/EventStatus.java"
   "src/main/java/org/ros2/rcljava/events/PublisherEventStatus.java"
   "src/main/java/org/ros2/rcljava/events/SubscriptionEventStatus.java"
-  "src/main/java/org/ros2/rcljava/events/publisher_statuses/LivelinessLost.java"
-  "src/main/java/org/ros2/rcljava/events/publisher_statuses/OfferedQosIncompatible.java"
+  "src/main/java/org/ros2/rcljava/publisher/statuses/LivelinessLost.java"
+  "src/main/java/org/ros2/rcljava/publisher/statuses/OfferedQosIncompatible.java"
   "src/main/java/org/ros2/rcljava/executors/AnyExecutable.java"
   "src/main/java/org/ros2/rcljava/executors/BaseExecutor.java"
   "src/main/java/org/ros2/rcljava/executors/Executor.java"
diff --git a/rcljava/include/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.h b/rcljava/include/org_ros2_rcljava_publisher_statuses_LivelinessLost.h
similarity index 55%
rename from rcljava/include/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.h
rename to rcljava/include/org_ros2_rcljava_publisher_statuses_LivelinessLost.h
index 53126f7b..b8af4373 100644
--- a/rcljava/include/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.h
+++ b/rcljava/include/org_ros2_rcljava_publisher_statuses_LivelinessLost.h
@@ -13,51 +13,51 @@
 // limitations under the License.
 
 #include <jni.h>
-/* Header for class org_ros2_rcljava_events_publisher_statuses_LivelinessLost */
+/* Header for class org_ros2_rcljava_publisher_statuses_LivelinessLost */
 
-#ifndef ORG_ROS2_RCLJAVA_EVENTS_PUBLISHER_STATUSES_LIVELINESSLOST_H_
-#define ORG_ROS2_RCLJAVA_EVENTS_PUBLISHER_STATUSES_LIVELINESSLOST_H_
+#ifndef ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_LIVELINESSLOST_H_
+#define ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_LIVELINESSLOST_H_
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 /*
- * Class:     org_ros2_rcljava_events_publisher_statuses_LivelinessLost
+ * Class:     org_ros2_rcljava_publisher_statuses_LivelinessLost
  * Method:    nativeAllocateRCLStatusEvent
  * Signature: ()J
  */
 JNIEXPORT jlong JNICALL
-Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeAllocateRCLStatusEvent(
+Java_org_ros2_rcljava_publisher_statuses_LivelinessLost_nativeAllocateRCLStatusEvent(
   JNIEnv *, jclass);
 
 /*
- * Class:     org_ros2_rcljava_events_publisher_statuses_LivelinessLost
+ * Class:     org_ros2_rcljava_publisher_statuses_LivelinessLost
  * Method:    nativeDeallocateRCLStatusEvent
  * Signature: (J)V
  */
 JNIEXPORT void JNICALL
-Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeDeallocateRCLStatusEvent(
+Java_org_ros2_rcljava_publisher_statuses_LivelinessLost_nativeDeallocateRCLStatusEvent(
   JNIEnv *, jclass, jlong);
 
 /*
- * Class:     org_ros2_rcljava_events_publisher_statuses_LivelinessLost
+ * Class:     org_ros2_rcljava_publisher_statuses_LivelinessLost
  * Method:    nativeFromRCLEvent
  * Signature: (J)V
  */
 JNIEXPORT void JNICALL
-Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeFromRCLEvent(
+Java_org_ros2_rcljava_publisher_statuses_LivelinessLost_nativeFromRCLEvent(
   JNIEnv *, jobject, jlong);
 
 /*
- * Class:     org_ros2_rcljava_events_publisher_statuses_LivelinessLost
+ * Class:     org_ros2_rcljava_publisher_statuses_LivelinessLost
  * Method:    nativeGetPublisherEventType
  * Signature: ()I
  */
 JNIEXPORT jint JNICALL
-Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeGetPublisherEventType(
+Java_org_ros2_rcljava_publisher_statuses_LivelinessLost_nativeGetPublisherEventType(
   JNIEnv *, jclass);
 
 #ifdef __cplusplus
 }
 #endif
-#endif  // ORG_ROS2_RCLJAVA_EVENTS_PUBLISHER_STATUSES_LIVELINESSLOST_H_
+#endif  // ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_LIVELINESSLOST_H_
diff --git a/rcljava/include/org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible.h b/rcljava/include/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.h
similarity index 52%
rename from rcljava/include/org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible.h
rename to rcljava/include/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.h
index 0c17d341..44b8ea07 100644
--- a/rcljava/include/org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible.h
+++ b/rcljava/include/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.h
@@ -13,51 +13,51 @@
 // limitations under the License.
 
 #include <jni.h>
-/* Header for class org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible */
+/* Header for class org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible */
 
-#ifndef ORG_ROS2_RCLJAVA_EVENTS_PUBLISHER_STATUSES_OFFEREDQOSINCOMPATIBLE_H_
-#define ORG_ROS2_RCLJAVA_EVENTS_PUBLISHER_STATUSES_OFFEREDQOSINCOMPATIBLE_H_
+#ifndef ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_OFFEREDQOSINCOMPATIBLE_H_
+#define ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_OFFEREDQOSINCOMPATIBLE_H_
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 /*
- * Class:     org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible
+ * Class:     org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible
  * Method:    nAllocateRCLStatusEvent
  * Signature: ()J
  */
 JNIEXPORT jlong JNICALL
-Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nAllocateRCLStatusEvent(
+Java_org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible_nAllocateRCLStatusEvent(
   JNIEnv *, jclass);
 
 /*
- * Class:     org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible
+ * Class:     org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible
  * Method:    nDeallocateRCLStatusEvent
  * Signature: (J)V
  */
 JNIEXPORT void JNICALL
-Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nDeallocateRCLStatusEvent(
+Java_org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible_nDeallocateRCLStatusEvent(
   JNIEnv *, jclass, jlong);
 
 /*
- * Class:     org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible
+ * Class:     org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible
  * Method:    nFromRCLEvent
  * Signature: (J)V
  */
 JNIEXPORT void JNICALL
-Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nFromRCLEvent(
+Java_org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible_nFromRCLEvent(
   JNIEnv *, jobject, jlong);
 
 /*
- * Class:     org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible
+ * Class:     org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible
  * Method:    nGetPublisherEventType
  * Signature: ()I
  */
 JNIEXPORT jint JNICALL
-Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nGetPublisherEventType(
+Java_org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible_nGetPublisherEventType(
   JNIEnv *, jclass);
 
 #ifdef __cplusplus
 }
 #endif
-#endif  // ORG_ROS2_RCLJAVA_EVENTS_PUBLISHER_STATUSES_OFFEREDQOSINCOMPATIBLE_H_
+#endif  // ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_OFFEREDQOSINCOMPATIBLE_H_
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_LivelinessLost.cpp
similarity index 82%
rename from rcljava/src/main/cpp/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.cpp
rename to rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_LivelinessLost.cpp
index 1b658a28..4e5558e4 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_LivelinessLost.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "org_ros2_rcljava_events_publisher_statuses_LivelinessLost.h"
+#include "org_ros2_rcljava_publisher_statuses_LivelinessLost.h"
 
 #include <jni.h>
 #include <stdlib.h>
@@ -24,7 +24,7 @@
 using rcljava_common::exceptions::rcljava_throw_exception;
 
 JNIEXPORT jlong JNICALL
-Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeAllocateRCLStatusEvent(
+Java_org_ros2_rcljava_publisher_statuses_LivelinessLost_nativeAllocateRCLStatusEvent(
   JNIEnv * env, jclass)
 {
   void * p = malloc(sizeof(rmw_liveliness_lost_status_t));
@@ -36,14 +36,14 @@ Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeAllocateRC
 }
 
 JNIEXPORT void JNICALL
-Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeDeallocateRCLStatusEvent(
+Java_org_ros2_rcljava_publisher_statuses_LivelinessLost_nativeDeallocateRCLStatusEvent(
   JNIEnv *, jclass, jlong handle)
 {
   free(reinterpret_cast<void *>(handle));
 }
 
 JNIEXPORT void JNICALL
-Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeFromRCLEvent(
+Java_org_ros2_rcljava_publisher_statuses_LivelinessLost_nativeFromRCLEvent(
   JNIEnv * env, jobject self, jlong handle)
 {
   auto * p = reinterpret_cast<rmw_liveliness_lost_status_t *>(handle);
@@ -66,7 +66,7 @@ Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeFromRCLEve
 }
 
 JNIEXPORT jint JNICALL
-Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeGetPublisherEventType(
+Java_org_ros2_rcljava_publisher_statuses_LivelinessLost_nativeGetPublisherEventType(
   JNIEnv *, jclass)
 {
   return RCL_PUBLISHER_LIVELINESS_LOST;
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.cpp
similarity index 85%
rename from rcljava/src/main/cpp/org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible.cpp
rename to rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.cpp
index ed3f4fcd..9fab2f2b 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible.h"
+#include "org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.h"
 
 #include <jni.h>
 #include <stdlib.h>
@@ -25,7 +25,7 @@
 using rcljava_common::exceptions::rcljava_throw_exception;
 
 JNIEXPORT jlong JNICALL
-Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nAllocateRCLStatusEvent(
+Java_org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible_nAllocateRCLStatusEvent(
   JNIEnv * env, jclass)
 {
   void * p = malloc(sizeof(rmw_offered_qos_incompatible_event_status_t));
@@ -37,14 +37,14 @@ Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nAllocat
 }
 
 JNIEXPORT void JNICALL
-Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nDeallocateRCLStatusEvent(
+Java_org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible_nDeallocateRCLStatusEvent(
   JNIEnv *, jclass, jlong handle)
 {
   free(reinterpret_cast<void *>(handle));
 }
 
 JNIEXPORT void JNICALL
-Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nFromRCLEvent(
+Java_org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible_nFromRCLEvent(
   JNIEnv * env, jobject self, jlong handle)
 {
   auto * p = reinterpret_cast<rmw_offered_qos_incompatible_event_status_t *>(handle);
@@ -55,7 +55,7 @@ Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nFromRCL
   // TODO(ivanpauno): class and field lookup could be done at startup time
   jclass clazz = env->GetObjectClass(self);
   jclass qos_kind_clazz = env->FindClass(
-    "org/ros2/rcljava/events/publisher_statuses/OfferedQosIncompatible$PolicyKind");
+    "org/ros2/rcljava/publisher/statuses/OfferedQosIncompatible$PolicyKind");
   if (env->ExceptionCheck()) {
     return;
   }
@@ -68,7 +68,7 @@ Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nFromRCL
     return;
   }
   const char * enum_class_path =
-    "Lorg/ros2/rcljava/events/publisher_statuses/OfferedQosIncompatible$PolicyKind;";
+    "Lorg/ros2/rcljava/publisher/statuses/OfferedQosIncompatible$PolicyKind;";
   jfieldID policy_kind_fid = env->GetFieldID(clazz, "lastPolicyKind", enum_class_path);
   if (env->ExceptionCheck()) {
     return;
@@ -113,7 +113,7 @@ Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nFromRCL
 }
 
 JNIEXPORT jint JNICALL
-Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nGetPublisherEventType(
+Java_org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible_nGetPublisherEventType(
   JNIEnv *, jclass)
 {
   return RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS;
diff --git a/rcljava/src/main/java/org/ros2/rcljava/events/publisher_statuses/LivelinessLost.java b/rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/LivelinessLost.java
similarity index 97%
rename from rcljava/src/main/java/org/ros2/rcljava/events/publisher_statuses/LivelinessLost.java
rename to rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/LivelinessLost.java
index 003e3ff5..bf49a1f0 100644
--- a/rcljava/src/main/java/org/ros2/rcljava/events/publisher_statuses/LivelinessLost.java
+++ b/rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/LivelinessLost.java
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-package org.ros2.rcljava.events.publisher_statuses;
+package org.ros2.rcljava.publisher.statuses;
 
 import java.util.function.Supplier;
 
diff --git a/rcljava/src/main/java/org/ros2/rcljava/events/publisher_statuses/OfferedQosIncompatible.java b/rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/OfferedQosIncompatible.java
similarity index 97%
rename from rcljava/src/main/java/org/ros2/rcljava/events/publisher_statuses/OfferedQosIncompatible.java
rename to rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/OfferedQosIncompatible.java
index 9b506703..7f572c71 100644
--- a/rcljava/src/main/java/org/ros2/rcljava/events/publisher_statuses/OfferedQosIncompatible.java
+++ b/rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/OfferedQosIncompatible.java
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-package org.ros2.rcljava.events.publisher_statuses;
+package org.ros2.rcljava.publisher.statuses;
 
 import java.util.function.Supplier;
 
diff --git a/rcljava/src/test/java/org/ros2/rcljava/SpinTest.java b/rcljava/src/test/java/org/ros2/rcljava/SpinTest.java
index c7273fbe..2562d23e 100644
--- a/rcljava/src/test/java/org/ros2/rcljava/SpinTest.java
+++ b/rcljava/src/test/java/org/ros2/rcljava/SpinTest.java
@@ -29,7 +29,7 @@
 import org.ros2.rcljava.concurrent.Callback;
 import org.ros2.rcljava.consumers.Consumer;
 import org.ros2.rcljava.events.EventHandler;
-import org.ros2.rcljava.events.publisher_statuses.OfferedQosIncompatible;
+import org.ros2.rcljava.publisher.statuses.OfferedQosIncompatible;
 import org.ros2.rcljava.executors.Executor;
 import org.ros2.rcljava.executors.SingleThreadedExecutor;
 import org.ros2.rcljava.node.ComposableNode;
diff --git a/rcljava/src/test/java/org/ros2/rcljava/publisher/PublisherTest.java b/rcljava/src/test/java/org/ros2/rcljava/publisher/PublisherTest.java
index 3ef726e8..7ee84de8 100644
--- a/rcljava/src/test/java/org/ros2/rcljava/publisher/PublisherTest.java
+++ b/rcljava/src/test/java/org/ros2/rcljava/publisher/PublisherTest.java
@@ -24,8 +24,8 @@
 import org.ros2.rcljava.RCLJava;
 import org.ros2.rcljava.consumers.Consumer;
 import org.ros2.rcljava.events.EventHandler;
-import org.ros2.rcljava.events.publisher_statuses.LivelinessLost;
-import org.ros2.rcljava.events.publisher_statuses.OfferedQosIncompatible;
+import org.ros2.rcljava.publisher.statuses.LivelinessLost;
+import org.ros2.rcljava.publisher.statuses.OfferedQosIncompatible;
 import org.ros2.rcljava.exceptions.RCLException;
 import org.ros2.rcljava.node.Node;