diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
index d46eade..d96c055 100644
--- a/rcl/CMakeLists.txt
+++ b/rcl/CMakeLists.txt
@@ -3,8 +3,9 @@ cmake_minimum_required(VERSION 3.5)
 project(rcl)
 
 find_package(ament_cmake_ros REQUIRED)
-find_package(c_utilities REQUIRED)
+
 find_package(rcl_interfaces REQUIRED)
+find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_implementation REQUIRED)
 find_package(rosidl_generator_c REQUIRED)
@@ -41,8 +42,8 @@ set(${PROJECT_NAME}_sources
 
 add_library(${PROJECT_NAME} ${${PROJECT_NAME}_sources})
 ament_target_dependencies(${PROJECT_NAME}
-  "c_utilities"
   "rcl_interfaces"
+  "rcutils"
   "rmw"
   "rmw_implementation"
   "rosidl_generator_c"
@@ -65,8 +66,8 @@ install(
 set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}>")
 
 ament_export_dependencies(ament_cmake)
-ament_export_dependencies(c_utilities)
 ament_export_dependencies(rcl_interfaces)
+ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw)
 ament_export_dependencies(rmw_implementation)
 ament_export_dependencies(rosidl_generator_c)
diff --git a/rcl/include/rcl/allocator.h b/rcl/include/rcl/allocator.h
index cd0ae0c..09fc23a 100644
--- a/rcl/include/rcl/allocator.h
+++ b/rcl/include/rcl/allocator.h
@@ -20,13 +20,13 @@ extern "C"
 {
 #endif
 
-#include "c_utilities/allocator.h"
+#include "rcutils/allocator.h"
 
-typedef utilities_allocator_t rcl_allocator_t;
+typedef rcutils_allocator_t rcl_allocator_t;
 
-#define rcl_get_default_allocator utilities_get_default_allocator
+#define rcl_get_default_allocator rcutils_get_default_allocator
 
-#define rcl_reallocf utilities_reallocf
+#define rcl_reallocf rcutils_reallocf
 
 #if __cplusplus
 }
diff --git a/rcl/include/rcl/error_handling.h b/rcl/include/rcl/error_handling.h
index 8c0efc2..f835c02 100644
--- a/rcl/include/rcl/error_handling.h
+++ b/rcl/include/rcl/error_handling.h
@@ -15,9 +15,9 @@
 #ifndef RCL__ERROR_HANDLING_H_
 #define RCL__ERROR_HANDLING_H_
 
-#include "c_utilities/error_handling.h"
+#include "rcutils/error_handling.h"
 
-/// The error handling in RCL is just an alias to the error handling in c_utilities.
+/// The error handling in RCL is just an alias to the error handling in rcutils.
 /**
  * Allocators given to functions in rcl are passed along to the error handling
  * on a "best effort" basis.
@@ -29,20 +29,20 @@
  * occur during normal runtime, is should be okay to use the default allocator.
  */
 
-typedef utilities_error_state_t rcl_error_state_t;
+typedef rcutils_error_state_t rcl_error_state_t;
 
-#define rcl_set_error_state utilities_set_error_state
+#define rcl_set_error_state rcutils_set_error_state
 
-#define RCL_SET_ERROR_MSG(msg, allocator) UTILITIES_SET_ERROR_MSG(msg, allocator)
+#define RCL_SET_ERROR_MSG(msg, allocator) RCUTILS_SET_ERROR_MSG(msg, allocator)
 
-#define rcl_error_is_set utilities_error_is_set
+#define rcl_error_is_set rcutils_error_is_set
 
-#define rcl_get_error_state utilities_get_error_state
+#define rcl_get_error_state rcutils_get_error_state
 
-#define rcl_get_error_string utilities_get_error_string
+#define rcl_get_error_string rcutils_get_error_string
 
-#define rcl_get_error_string_safe utilities_get_error_string_safe
+#define rcl_get_error_string_safe rcutils_get_error_string_safe
 
-#define rcl_reset_error utilities_reset_error
+#define rcl_reset_error rcutils_reset_error
 
 #endif  // RCL__ERROR_HANDLING_H_
diff --git a/rcl/include/rcl/graph.h b/rcl/include/rcl/graph.h
index 7c16a96..59e0aaf 100644
--- a/rcl/include/rcl/graph.h
+++ b/rcl/include/rcl/graph.h
@@ -23,7 +23,7 @@ extern "C"
 #include <rmw/rmw.h>
 #include <rmw/types.h>
 
-#include "c_utilities/types.h"
+#include "rcutils/types.h"
 
 #include "rosidl_generator_c/service_type_support.h"
 
@@ -112,24 +112,24 @@ rcl_destroy_topic_names_and_types(
  * The node_names parameter must be allocated and zero initialized.
  * The node_names is the output for this function, and contains
  * allocated memory.
- * Use utilities_get_zero_initialized_string_array() for initializing an empty
- * utilities_string_array_t struct.
- * This node_names struct should therefore be passed to utilities_string_array_fini()
+ * Use rcutils_get_zero_initialized_string_array() for initializing an empty
+ * rcutils_string_array_t struct.
+ * This node_names struct should therefore be passed to rcutils_string_array_fini()
  * when it is no longer needed.
  * Failing to do so will result in leaked memory.
  *
  * Example:
  *
  * ```c
- * utilities_string_array_t node_names =
- *   utilities_get_zero_initialized_string_array();
+ * rcutils_string_array_t node_names =
+ *   rcutils_get_zero_initialized_string_array();
  * rcl_ret_t ret = rcl_get_node_names(node, &node_names);
  * if (ret != RCL_RET_OK) {
  *   // ... error handling
  * }
  * // ... use the node_names struct, and when done:
- * utilitiest_ret_t utilities_ret = utilities_string_array_fini(&node_names);
- * if (utilities_ret != UTILITIES_RET_OK) {
+ * rcutilst_ret_t rcutils_ret = rcutils_string_array_fini(&node_names);
+ * if (rcutils_ret != RCUTILS_RET_OK) {
  *   // ... error handling
  * }
  * ```
@@ -154,7 +154,7 @@ rcl_ret_t
 rcl_get_node_names(
   const rcl_node_t * node,
   rcl_allocator_t allocator,
-  utilities_string_array_t * node_names);
+  rcutils_string_array_t * node_names);
 
 /// Return the number of publishers on a given topic.
 /**
diff --git a/rcl/package.xml b/rcl/package.xml
index ae55ff6..c4bd61a 100644
--- a/rcl/package.xml
+++ b/rcl/package.xml
@@ -13,15 +13,16 @@
 
   <build_export_depend>rmw</build_export_depend>
 
-  <build_depend>c_utilities</build_depend>
   <build_depend>rcl_interfaces</build_depend>
+  <build_depend>rcutils</build_depend>
   <build_depend>rosidl_generator_c</build_depend>
-  <build_export_depend>c_utilities</build_export_depend>
+
   <build_export_depend>rcl_interfaces</build_export_depend>
+  <build_export_depend>rcutils</build_export_depend>
   <build_export_depend>rosidl_generator_c</build_export_depend>
 
   <exec_depend>ament_cmake</exec_depend>
-  <exec_depend>c_utilities</exec_depend>
+  <exec_depend>rcutils</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <depend>rmw_implementation</depend>
diff --git a/rcl/src/rcl/graph.c b/rcl/src/rcl/graph.c
index 52c71d2..019e5c4 100644
--- a/rcl/src/rcl/graph.c
+++ b/rcl/src/rcl/graph.c
@@ -17,7 +17,7 @@ extern "C"
 {
 #endif
 
-#include "c_utilities/types.h"
+#include "rcutils/types.h"
 
 #include "rcl/graph.h"
 
@@ -72,7 +72,7 @@ rcl_ret_t
 rcl_get_node_names(
   const rcl_node_t * node,
   rcl_allocator_t allocator,
-  utilities_string_array_t * node_names)
+  rcutils_string_array_t * node_names)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, allocator);
   if (!rcl_node_is_valid(node)) {
diff --git a/rcl/test/rcl/test_get_node_names.cpp b/rcl/test/rcl/test_get_node_names.cpp
index a4d14c6..613f7bc 100644
--- a/rcl/test/rcl/test_get_node_names.cpp
+++ b/rcl/test/rcl/test_get_node_names.cpp
@@ -17,7 +17,7 @@
 #include <chrono>
 #include <thread>
 
-#include "c_utilities/types.h"
+#include "rcutils/types.h"
 
 #include "rcl/graph.h"
 #include "rcl/rcl.h"
@@ -77,16 +77,16 @@ TEST_F(CLASSNAME(TestGetNodeNames, RMW_IMPLEMENTATION), test_rcl_get_node_names)
 
   std::this_thread::sleep_for(1s);
 
-  utilities_string_array_t node_names = utilities_get_zero_initialized_string_array();
+  rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
   ret = rcl_get_node_names(node1_ptr, node1_options.allocator, &node_names);
-  ASSERT_EQ(UTILITIES_RET_OK, ret) << rcl_get_error_string_safe();
+  ASSERT_EQ(RCUTILS_RET_OK, ret) << rcl_get_error_string_safe();
 
   EXPECT_EQ(size_t(2), node_names.size);
   EXPECT_EQ(0, strcmp(node1_name, node_names.data[0]));
   EXPECT_EQ(0, strcmp(node2_name, node_names.data[1]));
 
-  ret = utilities_string_array_fini(&node_names);
-  ASSERT_EQ(UTILITIES_RET_OK, ret);
+  ret = rcutils_string_array_fini(&node_names);
+  ASSERT_EQ(RCUTILS_RET_OK, ret);
 
   ret = rcl_node_fini(node1_ptr);
   delete node1_ptr;
diff --git a/rcl_lifecycle/CMakeLists.txt b/rcl_lifecycle/CMakeLists.txt
index 373a547..579b117 100644
--- a/rcl_lifecycle/CMakeLists.txt
+++ b/rcl_lifecycle/CMakeLists.txt
@@ -3,10 +3,11 @@ cmake_minimum_required(VERSION 3.5)
 project(rcl_lifecycle)
 
 find_package(ament_cmake REQUIRED)
-find_package(c_utilities REQUIRED)
-find_package(rcl REQUIRED)
-find_package(rmw REQUIRED)
+
 find_package(lifecycle_msgs REQUIRED)
+find_package(rcl REQUIRED)
+find_package(rcutils REQUIRED)
+find_package(rmw REQUIRED)
 
 include_directories(include)
 
@@ -14,7 +15,8 @@ set(rcl_lifecycle_sources
   src/com_interface.c
   src/default_state_machine.c
   src/rcl_lifecycle.c
-  src/transition_map.c)
+  src/transition_map.c
+)
 set_source_files_properties(
   ${rcl_lifecycle_sources}
   PROPERTIES language "C")
@@ -26,9 +28,10 @@ add_library(
   ${rcl_lifecycle_sources})
 
 ament_target_dependencies(rcl_lifecycle
-  "c_utilities"
   "lifecycle_msgs"
-  "rcl")
+  "rcl"
+  "rcutils"
+)
 
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
diff --git a/rcl_lifecycle/package.xml b/rcl_lifecycle/package.xml
index 74c5009..e18a5ed 100644
--- a/rcl_lifecycle/package.xml
+++ b/rcl_lifecycle/package.xml
@@ -10,15 +10,15 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
-  <build_depend>c_utilities</build_depend>
   <build_depend>lifecycle_msgs</build_depend>
   <build_depend>rcl</build_depend>
+  <build_depend>rcutils</build_depend>
   <build_depend>rmw_implementation</build_depend>
   <build_depend>rosidl_default_generators</build_depend>
 
-  <exec_depend>c_utilities</exec_depend>
   <exec_depend>lifecycle_msgs</exec_depend>
   <exec_depend>rcl</exec_depend>
+  <exec_depend>rcutils</exec_depend>
   <exec_depend>rmw_implementation</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 
diff --git a/rcl_lifecycle/src/com_interface.c b/rcl_lifecycle/src/com_interface.c
index 9466b82..7cd74cf 100644
--- a/rcl_lifecycle/src/com_interface.c
+++ b/rcl_lifecycle/src/com_interface.c
@@ -22,7 +22,7 @@ extern "C"
 #include <stdio.h>
 #include <string.h>
 
-#include "c_utilities/concat.h"
+#include "rcutils/concat.h"
 
 #include "lifecycle_msgs/msg/transition_event.h"
 
@@ -119,7 +119,7 @@ rcl_lifecycle_com_interface_init(
 
   // initialize publisher
   {
-    topic_name = utilities_concat(node_name, pub_transition_event_suffix, "__");
+    topic_name = rcutils_concat(node_name, pub_transition_event_suffix, "__");
     ret = rcl_lifecycle_validate_topic_name(topic_name);
     if (ret != RMW_RET_OK) {
       goto fail;
@@ -142,7 +142,7 @@ rcl_lifecycle_com_interface_init(
 
   // initialize change state service
   {
-    topic_name = utilities_concat(node_name, srv_change_state_suffix, "__");
+    topic_name = rcutils_concat(node_name, srv_change_state_suffix, "__");
     ret = rcl_lifecycle_validate_topic_name(topic_name);
     if (ret != RMW_RET_OK) {
       goto fail;
@@ -162,7 +162,7 @@ rcl_lifecycle_com_interface_init(
 
   // initialize get state service
   {
-    topic_name = utilities_concat(node_name, srv_get_state_suffix, "__");
+    topic_name = rcutils_concat(node_name, srv_get_state_suffix, "__");
     ret = rcl_lifecycle_validate_topic_name(topic_name);
     if (ret != RMW_RET_OK) {
       goto fail;
@@ -182,7 +182,7 @@ rcl_lifecycle_com_interface_init(
 
   // initialize get available states service
   {
-    topic_name = utilities_concat(node_name, srv_get_available_states_suffix, "__");
+    topic_name = rcutils_concat(node_name, srv_get_available_states_suffix, "__");
     ret = rcl_lifecycle_validate_topic_name(topic_name);
     if (ret != RMW_RET_OK) {
       goto fail;
@@ -202,7 +202,7 @@ rcl_lifecycle_com_interface_init(
 
   // initialize get available transitions service
   {
-    topic_name = utilities_concat(node_name, srv_get_available_transitions_suffix, "__");
+    topic_name = rcutils_concat(node_name, srv_get_available_transitions_suffix, "__");
     ret = rcl_lifecycle_validate_topic_name(topic_name);
     if (ret != RMW_RET_OK) {
       goto fail;