diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
index 57a6b8c..72d46c8 100644
--- a/rcl/src/rcl/subscription.c
+++ b/rcl/src/rcl/subscription.c
@@ -50,7 +50,7 @@ rcl_subscription_init(
   RCL_CHECK_ARGUMENT_FOR_NULL(topic_name, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
   if (subscription->impl) {
-    RCL_SET_ERROR_MSG("subscription already initialized, or memory was uninialized");
+    RCL_SET_ERROR_MSG("subscription already initialized, or memory was uninitialized");
     return RCL_RET_ALREADY_INIT;
   }
   const rcl_allocator_t * allocator = &options->allocator;
diff --git a/rcl/test/memory_tools.cpp b/rcl/test/memory_tools.cpp
index b95338f..17fd508 100644
--- a/rcl/test/memory_tools.cpp
+++ b/rcl/test/memory_tools.cpp
@@ -122,19 +122,19 @@ void assert_no_malloc_begin() {}
 
 void assert_no_malloc_end() {}
 
-void set_on_unepexcted_malloc_callback(UnexpectedCallbackType callback) {}
+void set_on_unexpected_malloc_callback(UnexpectedCallbackType callback) {}
 
 void assert_no_realloc_begin() {}
 
 void assert_no_realloc_end() {}
 
-void set_on_unepexcted_realloc_callback(UnexpectedCallbackType callback) {}
+void set_on_unexpected_realloc_callback(UnexpectedCallbackType callback) {}
 
 void assert_no_free_begin() {}
 
 void assert_no_free_end() {}
 
-void set_on_unepexcted_free_callback(UnexpectedCallbackType callback) {}
+void set_on_unexpected_free_callback(UnexpectedCallbackType callback) {}
 
 void memory_checking_thread_init() {}
 
diff --git a/rcl/test/memory_tools.hpp b/rcl/test/memory_tools.hpp
index 9941f63..001c110 100644
--- a/rcl/test/memory_tools.hpp
+++ b/rcl/test/memory_tools.hpp
@@ -70,7 +70,7 @@ void
 assert_no_malloc_end();
 RCL_MEMORY_TOOLS_PUBLIC
 void
-set_on_unepexcted_malloc_callback(UnexpectedCallbackType callback);
+set_on_unexpected_malloc_callback(UnexpectedCallbackType callback);
 
 #define ASSERT_NO_REALLOC(statements) \
   assert_no_realloc_begin(); statements; assert_no_realloc_end();
@@ -82,7 +82,7 @@ void
 assert_no_realloc_end();
 RCL_MEMORY_TOOLS_PUBLIC
 void
-set_on_unepexcted_realloc_callback(UnexpectedCallbackType callback);
+set_on_unexpected_realloc_callback(UnexpectedCallbackType callback);
 
 #define ASSERT_NO_FREE(statements) \
   assert_no_free_begin(); statements; assert_no_free_end();
@@ -94,7 +94,7 @@ void
 assert_no_free_end();
 RCL_MEMORY_TOOLS_PUBLIC
 void
-set_on_unepexcted_free_callback(UnexpectedCallbackType callback);
+set_on_unexpected_free_callback(UnexpectedCallbackType callback);
 
 RCL_MEMORY_TOOLS_PUBLIC
 void
diff --git a/rcl/test/memory_tools_common.cpp b/rcl/test/memory_tools_common.cpp
index 03a2772..8789a75 100644
--- a/rcl/test/memory_tools_common.cpp
+++ b/rcl/test/memory_tools_common.cpp
@@ -31,7 +31,7 @@ static std::atomic<bool> enabled(false);
 
 static __thread bool malloc_expected = true;
 static __thread UnexpectedCallbackType * unexpected_malloc_callback = nullptr;
-void set_on_unepexcted_malloc_callback(UnexpectedCallbackType callback)
+void set_on_unexpected_malloc_callback(UnexpectedCallbackType callback)
 {
   if (unexpected_malloc_callback) {
     unexpected_malloc_callback->~UnexpectedCallbackType();
@@ -73,7 +73,7 @@ custom_malloc(size_t size)
 
 static __thread bool realloc_expected = true;
 static __thread UnexpectedCallbackType * unexpected_realloc_callback = nullptr;
-void set_on_unepexcted_realloc_callback(UnexpectedCallbackType callback)
+void set_on_unexpected_realloc_callback(UnexpectedCallbackType callback)
 {
   if (unexpected_realloc_callback) {
     unexpected_realloc_callback->~UnexpectedCallbackType();
@@ -115,7 +115,7 @@ custom_realloc(void * memory_in, size_t size)
 
 static __thread bool free_expected = true;
 static __thread UnexpectedCallbackType * unexpected_free_callback = nullptr;
-void set_on_unepexcted_free_callback(UnexpectedCallbackType callback)
+void set_on_unexpected_free_callback(UnexpectedCallbackType callback)
 {
   if (unexpected_free_callback) {
     unexpected_free_callback->~UnexpectedCallbackType();
diff --git a/rcl/test/rcl/test_allocator.cpp b/rcl/test/rcl/test_allocator.cpp
index ecf1bd6..b9ca12a 100644
--- a/rcl/test/rcl/test_allocator.cpp
+++ b/rcl/test/rcl/test_allocator.cpp
@@ -28,9 +28,9 @@ public:
   }
   void SetUp()
   {
-    set_on_unepexcted_malloc_callback([]() {EXPECT_FALSE(true) << "UNEXPECTED MALLOC";});
-    set_on_unepexcted_realloc_callback([]() {EXPECT_FALSE(true) << "UNEXPECTED REALLOC";});
-    set_on_unepexcted_free_callback([]() {EXPECT_FALSE(true) << "UNEXPECTED FREE";});
+    set_on_unexpected_malloc_callback([]() {EXPECT_FALSE(true) << "UNEXPECTED MALLOC";});
+    set_on_unexpected_realloc_callback([]() {EXPECT_FALSE(true) << "UNEXPECTED REALLOC";});
+    set_on_unexpected_free_callback([]() {EXPECT_FALSE(true) << "UNEXPECTED FREE";});
     start_memory_checking();
   }
 
@@ -40,9 +40,9 @@ public:
     assert_no_realloc_end();
     assert_no_free_end();
     stop_memory_checking();
-    set_on_unepexcted_malloc_callback(nullptr);
-    set_on_unepexcted_realloc_callback(nullptr);
-    set_on_unepexcted_free_callback(nullptr);
+    set_on_unexpected_malloc_callback(nullptr);
+    set_on_unexpected_realloc_callback(nullptr);
+    set_on_unexpected_free_callback(nullptr);
   }
 };
 
@@ -59,13 +59,13 @@ TEST_F(TestAllocatorFixture, test_default_allocator_normal) {
   size_t mallocs = 0;
   size_t reallocs = 0;
   size_t frees = 0;
-  set_on_unepexcted_malloc_callback([&mallocs]() {
+  set_on_unexpected_malloc_callback([&mallocs]() {
     mallocs++;
   });
-  set_on_unepexcted_realloc_callback([&reallocs]() {
+  set_on_unexpected_realloc_callback([&reallocs]() {
     reallocs++;
   });
-  set_on_unepexcted_free_callback([&frees]() {
+  set_on_unexpected_free_callback([&frees]() {
     frees++;
   });
   assert_no_malloc_begin();
diff --git a/rcl/test/rcl/test_rcl.cpp b/rcl/test/rcl/test_rcl.cpp
index aa8c7b4..42b634c 100644
--- a/rcl/test/rcl/test_rcl.cpp
+++ b/rcl/test/rcl/test_rcl.cpp
@@ -24,9 +24,9 @@ class TestRCLFixture : public::testing::Test
 public:
   void SetUp()
   {
-    set_on_unepexcted_malloc_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED MALLOC";});
-    set_on_unepexcted_realloc_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED REALLOC";});
-    set_on_unepexcted_free_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED FREE";});
+    set_on_unexpected_malloc_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED MALLOC";});
+    set_on_unexpected_realloc_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED REALLOC";});
+    set_on_unexpected_free_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED FREE";});
     start_memory_checking();
   }
 
@@ -36,9 +36,9 @@ public:
     assert_no_realloc_end();
     assert_no_free_end();
     stop_memory_checking();
-    set_on_unepexcted_malloc_callback(nullptr);
-    set_on_unepexcted_realloc_callback(nullptr);
-    set_on_unepexcted_free_callback(nullptr);
+    set_on_unexpected_malloc_callback(nullptr);
+    set_on_unexpected_realloc_callback(nullptr);
+    set_on_unexpected_free_callback(nullptr);
   }
 };
 
diff --git a/rcl/test/rcl/test_time.cpp b/rcl/test/rcl/test_time.cpp
index 54b33fc..0ff333c 100644
--- a/rcl/test/rcl/test_time.cpp
+++ b/rcl/test/rcl/test_time.cpp
@@ -26,9 +26,9 @@ class TestTimeFixture : public::testing::Test
 public:
   void SetUp()
   {
-    set_on_unepexcted_malloc_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED MALLOC";});
-    set_on_unepexcted_realloc_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED REALLOC";});
-    set_on_unepexcted_free_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED FREE";});
+    set_on_unexpected_malloc_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED MALLOC";});
+    set_on_unexpected_realloc_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED REALLOC";});
+    set_on_unexpected_free_callback([]() {ASSERT_FALSE(true) << "UNEXPECTED FREE";});
     start_memory_checking();
   }
 
@@ -38,9 +38,9 @@ public:
     assert_no_realloc_end();
     assert_no_free_end();
     stop_memory_checking();
-    set_on_unepexcted_malloc_callback(nullptr);
-    set_on_unepexcted_realloc_callback(nullptr);
-    set_on_unepexcted_free_callback(nullptr);
+    set_on_unexpected_malloc_callback(nullptr);
+    set_on_unexpected_realloc_callback(nullptr);
+    set_on_unexpected_free_callback(nullptr);
   }
 };
 
diff --git a/rcl/test/test_memory_tools.cpp b/rcl/test/test_memory_tools.cpp
index 1c03b03..dcddaa3 100644
--- a/rcl/test/test_memory_tools.cpp
+++ b/rcl/test/test_memory_tools.cpp
@@ -23,17 +23,17 @@ TEST(TestMemoryTools, test_allocation_checking_tools) {
   auto on_unexpected_malloc = ([&unexpected_mallocs]() {
     unexpected_mallocs++;
   });
-  set_on_unepexcted_malloc_callback(on_unexpected_malloc);
+  set_on_unexpected_malloc_callback(on_unexpected_malloc);
   size_t unexpected_reallocs = 0;
   auto on_unexpected_realloc = ([&unexpected_reallocs]() {
     unexpected_reallocs++;
   });
-  set_on_unepexcted_realloc_callback(on_unexpected_realloc);
+  set_on_unexpected_realloc_callback(on_unexpected_realloc);
   size_t unexpected_frees = 0;
   auto on_unexpected_free = ([&unexpected_frees]() {
     unexpected_frees++;
   });
-  set_on_unepexcted_free_callback(on_unexpected_free);
+  set_on_unexpected_free_callback(on_unexpected_free);
   void * mem = nullptr;
   void * remem = nullptr;
   // First try before enabling, should have no effect.