diff --git a/rclcpp/include/rclcpp/any_subscription_callback.hpp b/rclcpp/include/rclcpp/any_subscription_callback.hpp
index bb45d6a07d..62e116af56 100644
--- a/rclcpp/include/rclcpp/any_subscription_callback.hpp
+++ b/rclcpp/include/rclcpp/any_subscription_callback.hpp
@@ -406,10 +406,10 @@ class AnySubscriptionCallback
 
   /// Function for shared_ptr to non-const MessageT, which is deprecated.
   template<typename SetT>
-  // TODO(wjwwood): enable this deprecation after Galactic
-  // [[deprecated(
-  //   "use 'void (std::shared_ptr<const MessageT>)' instead"
-  // )]]
+#if !defined(RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS)
+  // suppress deprecation warnings in `test_any_subscription_callback.cpp`
+  [[deprecated("use 'void(std::shared_ptr<const MessageT>)' instead")]]
+#endif
   void
   set_deprecated(std::function<void(std::shared_ptr<SetT>)> callback)
   {
@@ -418,10 +418,12 @@ class AnySubscriptionCallback
 
   /// Function for shared_ptr to non-const MessageT with MessageInfo, which is deprecated.
   template<typename SetT>
-  // TODO(wjwwood): enable this deprecation after Galactic
-  // [[deprecated(
-  //   "use 'void (std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)' instead"
-  // )]]
+#if !defined(RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS)
+  // suppress deprecation warnings in `test_any_subscription_callback.cpp`
+  [[deprecated(
+          "use 'void(std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)' instead"
+  )]]
+#endif
   void
   set_deprecated(std::function<void(std::shared_ptr<SetT>, const rclcpp::MessageInfo &)> callback)
   {
diff --git a/rclcpp/include/rclcpp/wait_for_message.hpp b/rclcpp/include/rclcpp/wait_for_message.hpp
index f5f3adc9a4..20c9df4db6 100644
--- a/rclcpp/include/rclcpp/wait_for_message.hpp
+++ b/rclcpp/include/rclcpp/wait_for_message.hpp
@@ -90,7 +90,7 @@ bool wait_for_message(
   const std::string & topic,
   std::chrono::duration<Rep, Period> time_to_wait = std::chrono::duration<Rep, Period>(-1))
 {
-  auto sub = node->create_subscription<MsgT>(topic, 1, [](const std::shared_ptr<MsgT>) {});
+  auto sub = node->create_subscription<MsgT>(topic, 1, [](const std::shared_ptr<const MsgT>) {});
   return wait_for_message<MsgT, Rep, Period>(
     out, sub, node->get_node_options().context(), time_to_wait);
 }
diff --git a/rclcpp/test/rclcpp/test_any_subscription_callback.cpp b/rclcpp/test/rclcpp/test_any_subscription_callback.cpp
index 8e44eb71bf..32abdf2934 100644
--- a/rclcpp/test/rclcpp/test_any_subscription_callback.cpp
+++ b/rclcpp/test/rclcpp/test_any_subscription_callback.cpp
@@ -19,6 +19,8 @@
 #include <string>
 #include <utility>
 
+// TODO(aprotyas): Figure out better way to suppress deprecation warnings.
+#define RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS 1
 #include "rclcpp/any_subscription_callback.hpp"
 #include "test_msgs/msg/empty.hpp"
 #include "test_msgs/msg/empty.h"
diff --git a/rclcpp/test/rclcpp/test_generic_pubsub.cpp b/rclcpp/test/rclcpp/test_generic_pubsub.cpp
index 71a60a77fb..ff34ec52b3 100644
--- a/rclcpp/test/rclcpp/test_generic_pubsub.cpp
+++ b/rclcpp/test/rclcpp/test_generic_pubsub.cpp
@@ -187,7 +187,7 @@ TEST_F(RclcppGenericNodeFixture, generic_publisher_uses_qos)
   auto publisher = node_->create_generic_publisher(topic_name, topic_type, qos);
   auto subscription = node_->create_subscription<test_msgs::msg::Strings>(
     topic_name, qos,
-    [](std::shared_ptr<test_msgs::msg::Strings>/* message */) {});
+    [](std::shared_ptr<const test_msgs::msg::Strings>/* message */) {});
   auto connected = [publisher, subscription]() -> bool {
       return publisher->get_subscription_count() && subscription->get_publisher_count();
     };
diff --git a/rclcpp/test/rclcpp/test_publisher_with_type_adapter.cpp b/rclcpp/test/rclcpp/test_publisher_with_type_adapter.cpp
index 2f5d540568..f5ab43cb7c 100644
--- a/rclcpp/test/rclcpp/test_publisher_with_type_adapter.cpp
+++ b/rclcpp/test/rclcpp/test_publisher_with_type_adapter.cpp
@@ -191,7 +191,7 @@ TEST_F(
 
   auto callback =
     [message_data, &is_received](
-    const rclcpp::msg::String::SharedPtr msg,
+    const rclcpp::msg::String::ConstSharedPtr msg,
     const rclcpp::MessageInfo & message_info
     ) -> void
     {
diff --git a/rclcpp/test/rclcpp/test_subscription.cpp b/rclcpp/test/rclcpp/test_subscription.cpp
index 2895865c1f..5812985272 100644
--- a/rclcpp/test/rclcpp/test_subscription.cpp
+++ b/rclcpp/test/rclcpp/test_subscription.cpp
@@ -510,7 +510,7 @@ INSTANTIATE_TEST_SUITE_P(
 TEST_F(TestSubscription, get_network_flow_endpoints_errors) {
   initialize();
   const rclcpp::QoS subscription_qos(1);
-  auto subscription_callback = [](test_msgs::msg::Empty::SharedPtr msg) {
+  auto subscription_callback = [](test_msgs::msg::Empty::ConstSharedPtr msg) {
       (void)msg;
     };
   auto subscription = node->create_subscription<test_msgs::msg::Empty>(
diff --git a/rclcpp_action/test/test_server.cpp b/rclcpp_action/test/test_server.cpp
index 6f8d874359..7030243c77 100644
--- a/rclcpp_action/test/test_server.cpp
+++ b/rclcpp_action/test/test_server.cpp
@@ -485,10 +485,10 @@ TEST_F(TestServer, publish_status_accepted)
   (void)as;
 
   // Subscribe to status messages
-  std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
+  std::vector<action_msgs::msg::GoalStatusArray::ConstSharedPtr> received_msgs;
   auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
     "fibonacci/_action/status", 10,
-    [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
+    [&received_msgs](action_msgs::msg::GoalStatusArray::ConstSharedPtr list)
     {
       received_msgs.push_back(list);
     });
@@ -548,10 +548,10 @@ TEST_F(TestServer, publish_status_canceling)
   (void)as;
 
   // Subscribe to status messages
-  std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
+  std::vector<action_msgs::msg::GoalStatusArray::ConstSharedPtr> received_msgs;
   auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
     "fibonacci/_action/status", 10,
-    [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
+    [&received_msgs](action_msgs::msg::GoalStatusArray::ConstSharedPtr list)
     {
       received_msgs.push_back(list);
     });
@@ -605,10 +605,10 @@ TEST_F(TestServer, publish_status_canceled)
   (void)as;
 
   // Subscribe to status messages
-  std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
+  std::vector<action_msgs::msg::GoalStatusArray::ConstSharedPtr> received_msgs;
   auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
     "fibonacci/_action/status", 10,
-    [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
+    [&received_msgs](action_msgs::msg::GoalStatusArray::ConstSharedPtr list)
     {
       received_msgs.push_back(list);
     });
@@ -664,10 +664,10 @@ TEST_F(TestServer, publish_status_succeeded)
   (void)as;
 
   // Subscribe to status messages
-  std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
+  std::vector<action_msgs::msg::GoalStatusArray::ConstSharedPtr> received_msgs;
   auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
     "fibonacci/_action/status", 10,
-    [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
+    [&received_msgs](action_msgs::msg::GoalStatusArray::ConstSharedPtr list)
     {
       received_msgs.push_back(list);
     });
@@ -721,10 +721,10 @@ TEST_F(TestServer, publish_status_aborted)
   (void)as;
 
   // Subscribe to status messages
-  std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
+  std::vector<action_msgs::msg::GoalStatusArray::ConstSharedPtr> received_msgs;
   auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
     "fibonacci/_action/status", 10,
-    [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
+    [&received_msgs](action_msgs::msg::GoalStatusArray::ConstSharedPtr list)
     {
       received_msgs.push_back(list);
     });
@@ -779,9 +779,9 @@ TEST_F(TestServer, publish_feedback)
 
   // Subscribe to feedback messages
   using FeedbackT = Fibonacci::Impl::FeedbackMessage;
-  std::vector<FeedbackT::SharedPtr> received_msgs;
+  std::vector<FeedbackT::ConstSharedPtr> received_msgs;
   auto subscriber = node->create_subscription<FeedbackT>(
-    "fibonacci/_action/feedback", 10, [&received_msgs](FeedbackT::SharedPtr msg)
+    "fibonacci/_action/feedback", 10, [&received_msgs](FeedbackT::ConstSharedPtr msg)
     {
       received_msgs.push_back(msg);
     });
diff --git a/rclcpp_lifecycle/test/test_lifecycle_node.cpp b/rclcpp_lifecycle/test/test_lifecycle_node.cpp
index 7ee883a5f0..e1863a4d39 100644
--- a/rclcpp_lifecycle/test/test_lifecycle_node.cpp
+++ b/rclcpp_lifecycle/test/test_lifecycle_node.cpp
@@ -416,7 +416,7 @@ TEST_F(TestDefaultStateMachine, bad_mood) {
 TEST_F(TestDefaultStateMachine, lifecycle_subscriber) {
   auto test_node = std::make_shared<MoodyLifecycleNode<GoodMood>>("testnode");
 
-  auto cb = [](const std::shared_ptr<lifecycle_msgs::msg::State> msg) {(void) msg;};
+  auto cb = [](const std::shared_ptr<const lifecycle_msgs::msg::State> msg) {(void) msg;};
   auto lifecycle_sub =
     test_node->create_subscription<lifecycle_msgs::msg::State>("~/empty", 10, cb);