diff --git a/rclcpp/include/rclcpp/event_handler.hpp b/rclcpp/include/rclcpp/event_handler.hpp
index 5d5f7665ce..f9b75eb7cf 100644
--- a/rclcpp/include/rclcpp/event_handler.hpp
+++ b/rclcpp/include/rclcpp/event_handler.hpp
@@ -106,12 +106,6 @@ class EventHandlerBase : public Waitable
     Event,
   };
 
-  // TODO(wjwwood): is this ok? do events continue to stay ready until they are
-  // taken/checked?
-  RCLCPP_PUBLIC
-  void
-  dummy() override {};
-
   RCLCPP_PUBLIC
   virtual ~EventHandlerBase();
 
diff --git a/rclcpp/include/rclcpp/executors/executor_notify_waitable.hpp b/rclcpp/include/rclcpp/executors/executor_notify_waitable.hpp
index 6115e653f5..7faa723394 100644
--- a/rclcpp/include/rclcpp/executors/executor_notify_waitable.hpp
+++ b/rclcpp/include/rclcpp/executors/executor_notify_waitable.hpp
@@ -53,10 +53,6 @@ class ExecutorNotifyWaitable : public rclcpp::Waitable
   RCLCPP_PUBLIC
   ExecutorNotifyWaitable & operator=(const ExecutorNotifyWaitable & other);
 
-  RCLCPP_PUBLIC
-  void
-  dummy() override {};
-
   /// Add conditions to the wait set
   /**
    * \param[inout] wait_set structure that conditions will be added to
diff --git a/rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp b/rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp
index 106ba523e7..f9fd2ff672 100644
--- a/rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp
+++ b/rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp
@@ -53,10 +53,6 @@ class StaticExecutorEntitiesCollector final
   RCLCPP_PUBLIC
   ~StaticExecutorEntitiesCollector();
 
-  RCLCPP_PUBLIC
-  void
-  dummy() override {};
-
   /// Initialize StaticExecutorEntitiesCollector
   /**
    * \param p_wait_set A reference to the wait set to be used in the executor
diff --git a/rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp b/rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp
index 129eb439a4..34ba02ef07 100644
--- a/rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp
+++ b/rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp
@@ -101,10 +101,6 @@ class SubscriptionIntraProcess
 
   virtual ~SubscriptionIntraProcess() = default;
 
-  RCLCPP_PUBLIC
-  void
-  dummy() override {};
-
   RCLCPP_PUBLIC
   void
   add_to_wait_set(rcl_wait_set_t * wait_set) override
diff --git a/rclcpp/include/rclcpp/waitable.hpp b/rclcpp/include/rclcpp/waitable.hpp
index 8dfe3b112d..1a0d8b61f1 100644
--- a/rclcpp/include/rclcpp/waitable.hpp
+++ b/rclcpp/include/rclcpp/waitable.hpp
@@ -35,11 +35,6 @@ class Waitable
   RCLCPP_PUBLIC
   virtual ~Waitable() = default;
 
-  RCLCPP_PUBLIC
-  virtual
-  void
-  dummy() = 0;
-
   /// Get the number of ready subscriptions
   /**
    * Returns a value of 0 by default.
diff --git a/rclcpp/test/rclcpp/executors/test_executors.cpp b/rclcpp/test/rclcpp/executors/test_executors.cpp
index 05e568d7ec..da4b087607 100644
--- a/rclcpp/test/rclcpp/executors/test_executors.cpp
+++ b/rclcpp/test/rclcpp/executors/test_executors.cpp
@@ -338,12 +338,6 @@ class TestWaitable : public rclcpp::Waitable
 public:
   TestWaitable() = default;
 
-  // TODO(wjwwood): is this ok? do events continue to stay ready until they are
-  // taken/checked?
-  RCLCPP_PUBLIC
-  void
-  dummy() override {};
-
   void
   add_to_wait_set(rcl_wait_set_t * wait_set) override
   {
diff --git a/rclcpp/test/rclcpp/executors/test_static_executor_entities_collector.cpp b/rclcpp/test/rclcpp/executors/test_static_executor_entities_collector.cpp
index fd5eff5876..1ea91029f4 100644
--- a/rclcpp/test/rclcpp/executors/test_static_executor_entities_collector.cpp
+++ b/rclcpp/test/rclcpp/executors/test_static_executor_entities_collector.cpp
@@ -230,12 +230,6 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_out_of_scope) {
 class TestWaitable : public rclcpp::Waitable
 {
 public:
-  // TODO(wjwwood): is this ok? do events continue to stay ready until they are
-  // taken/checked?
-  RCLCPP_PUBLIC
-  void
-  dummy() override {};
-
   void add_to_wait_set(rcl_wait_set_t *) override {}
 
   bool is_ready(rcl_wait_set_t *) override {return true;}
diff --git a/rclcpp/test/rclcpp/node_interfaces/test_node_waitables.cpp b/rclcpp/test/rclcpp/node_interfaces/test_node_waitables.cpp
index a8df05e20b..e559e57cd1 100644
--- a/rclcpp/test/rclcpp/node_interfaces/test_node_waitables.cpp
+++ b/rclcpp/test/rclcpp/node_interfaces/test_node_waitables.cpp
@@ -28,12 +28,6 @@
 class TestWaitable : public rclcpp::Waitable
 {
 public:
-  // TODO(wjwwood): is this ok? do events continue to stay ready until they are
-  // taken/checked?
-  RCLCPP_PUBLIC
-  void
-  dummy() override {};
-
   void add_to_wait_set(rcl_wait_set_t *) override {}
   bool is_ready(rcl_wait_set_t *) override {return false;}
 
diff --git a/rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp b/rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp
index f540697aae..e0a666f6b0 100644
--- a/rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp
+++ b/rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp
@@ -39,11 +39,6 @@ static bool test_waitable_result = false;
 class TestWaitable : public rclcpp::Waitable
 {
 public:
-  // TODO(wjwwood): is this ok? double check that this test doesn't need more
-  RCLCPP_PUBLIC
-  void
-  dummy() override {};
-
   void add_to_wait_set(rcl_wait_set_t *) override
   {
     if (!test_waitable_result) {
diff --git a/rclcpp/test/rclcpp/test_memory_strategy.cpp b/rclcpp/test/rclcpp/test_memory_strategy.cpp
index fc7c578e2e..c08b84230a 100644
--- a/rclcpp/test/rclcpp/test_memory_strategy.cpp
+++ b/rclcpp/test/rclcpp/test_memory_strategy.cpp
@@ -35,12 +35,6 @@ typedef std::map<rclcpp::CallbackGroup::WeakPtr,
 class TestWaitable : public rclcpp::Waitable
 {
 public:
-  // TODO(wjwwood): is this ok? do events continue to stay ready until they are
-  // taken/checked?
-  RCLCPP_PUBLIC
-  void
-  dummy() override {};
-
   void add_to_wait_set(rcl_wait_set_t *) override {}
   bool is_ready(rcl_wait_set_t *) override {return true;}
   std::shared_ptr<void> take_data() override {return nullptr;}
diff --git a/rclcpp/test/rclcpp/wait_set_policies/test_dynamic_storage.cpp b/rclcpp/test/rclcpp/wait_set_policies/test_dynamic_storage.cpp
index f6551b0aa6..9afb97536a 100644
--- a/rclcpp/test/rclcpp/wait_set_policies/test_dynamic_storage.cpp
+++ b/rclcpp/test/rclcpp/wait_set_policies/test_dynamic_storage.cpp
@@ -51,12 +51,6 @@ class TestWaitable : public rclcpp::Waitable
   TestWaitable()
   : is_ready_(false) {}
 
-  // TODO(wjwwood): is this ok? do events continue to stay ready until they are
-  // taken/checked?
-  RCLCPP_PUBLIC
-  void
-  dummy() override {};
-
   void add_to_wait_set(rcl_wait_set_t *) override {}
 
   bool is_ready(rcl_wait_set_t *) override {return is_ready_;}
diff --git a/rclcpp/test/rclcpp/wait_set_policies/test_static_storage.cpp b/rclcpp/test/rclcpp/wait_set_policies/test_static_storage.cpp
index cbe88ba2da..d3aee83c23 100644
--- a/rclcpp/test/rclcpp/wait_set_policies/test_static_storage.cpp
+++ b/rclcpp/test/rclcpp/wait_set_policies/test_static_storage.cpp
@@ -51,12 +51,6 @@ class TestWaitable : public rclcpp::Waitable
   TestWaitable()
   : is_ready_(false) {}
 
-  // TODO(wjwwood): is this ok? do events continue to stay ready until they are
-  // taken/checked?
-  RCLCPP_PUBLIC
-  void
-  dummy() override {};
-
   void add_to_wait_set(rcl_wait_set_t *) override {}
 
   bool is_ready(rcl_wait_set_t *) override {return is_ready_;}
diff --git a/rclcpp/test/rclcpp/wait_set_policies/test_storage_policy_common.cpp b/rclcpp/test/rclcpp/wait_set_policies/test_storage_policy_common.cpp
index 66514ac0e0..2eeb734383 100644
--- a/rclcpp/test/rclcpp/wait_set_policies/test_storage_policy_common.cpp
+++ b/rclcpp/test/rclcpp/wait_set_policies/test_storage_policy_common.cpp
@@ -51,12 +51,6 @@ class TestWaitable : public rclcpp::Waitable
   TestWaitable()
   : is_ready_(false), add_to_wait_set_(false) {}
 
-  // TODO(wjwwood): is this ok? do events continue to stay ready until they are
-  // taken/checked?
-  RCLCPP_PUBLIC
-  void
-  dummy() override {};
-
   void add_to_wait_set(rcl_wait_set_t *) override
   {
     if (!add_to_wait_set_) {
diff --git a/rclcpp/test/rclcpp/wait_set_policies/test_thread_safe_synchronization.cpp b/rclcpp/test/rclcpp/wait_set_policies/test_thread_safe_synchronization.cpp
index 17b257f96e..ec268bb39b 100644
--- a/rclcpp/test/rclcpp/wait_set_policies/test_thread_safe_synchronization.cpp
+++ b/rclcpp/test/rclcpp/wait_set_policies/test_thread_safe_synchronization.cpp
@@ -51,12 +51,6 @@ class TestWaitable : public rclcpp::Waitable
   TestWaitable()
   : is_ready_(false) {}
 
-  // TODO(wjwwood): is this ok? do events continue to stay ready until they are
-  // taken/checked?
-  RCLCPP_PUBLIC
-  void
-  dummy() override {};
-
   void add_to_wait_set(rcl_wait_set_t *) override {}
 
   bool is_ready(rcl_wait_set_t *) override {return is_ready_;}