diff --git a/rclcpp/include/rclcpp/node_interfaces/node_base.hpp b/rclcpp/include/rclcpp/node_interfaces/node_base.hpp
index 5bede31..0179ca5 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_base.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_base.hpp
@@ -50,87 +50,87 @@ public:
   ~NodeBase();
 
   RCLCPP_PUBLIC
-  virtual
+
   const char *
   get_name() const;
 
   RCLCPP_PUBLIC
-  virtual
+
   const char *
   get_namespace() const;
 
   RCLCPP_PUBLIC
-  virtual
+
   const char *
   get_fully_qualified_name() const;
 
   RCLCPP_PUBLIC
-  virtual
+
   rclcpp::Context::SharedPtr
   get_context();
 
   RCLCPP_PUBLIC
-  virtual
+
   rcl_node_t *
   get_rcl_node_handle();
 
   RCLCPP_PUBLIC
-  virtual
+
   const rcl_node_t *
   get_rcl_node_handle() const;
 
   RCLCPP_PUBLIC
-  virtual
+
   std::shared_ptr<rcl_node_t>
   get_shared_rcl_node_handle();
 
   RCLCPP_PUBLIC
-  virtual
+
   std::shared_ptr<const rcl_node_t>
   get_shared_rcl_node_handle() const;
 
   RCLCPP_PUBLIC
-  virtual
+
   bool
   assert_liveliness() const;
 
   RCLCPP_PUBLIC
-  virtual
+
   rclcpp::callback_group::CallbackGroup::SharedPtr
   create_callback_group(rclcpp::callback_group::CallbackGroupType group_type);
 
   RCLCPP_PUBLIC
-  virtual
+
   rclcpp::callback_group::CallbackGroup::SharedPtr
   get_default_callback_group();
 
   RCLCPP_PUBLIC
-  virtual
+
   bool
   callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group);
 
   RCLCPP_PUBLIC
-  virtual
+
   const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
   get_callback_groups() const;
 
   RCLCPP_PUBLIC
-  virtual
+
   std::atomic_bool &
   get_associated_with_executor_atomic();
 
   RCLCPP_PUBLIC
-  virtual
+
   rcl_guard_condition_t *
   get_notify_guard_condition();
 
   RCLCPP_PUBLIC
-  virtual
+
   std::unique_lock<std::recursive_mutex>
   acquire_notify_guard_condition_lock() const;
 
   RCLCPP_PUBLIC
-  virtual
+
   bool
   get_use_intra_process_default() const;
 
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_clock.hpp b/rclcpp/include/rclcpp/node_interfaces/node_clock.hpp
index e0e7059..67f1b7b 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_clock.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_clock.hpp
@@ -50,7 +50,7 @@ public:
 
   /// Get a clock which will be kept up to date by the node.
   RCLCPP_PUBLIC
-  virtual
+
   rclcpp::Clock::SharedPtr
   get_clock();
 
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_graph.hpp b/rclcpp/include/rclcpp/node_interfaces/node_graph.hpp
index 8ecaf07..49a1e3d 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_graph.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_graph.hpp
@@ -56,64 +56,64 @@ public:
   ~NodeGraph();
 
   RCLCPP_PUBLIC
-  virtual
+
   std::map<std::string, std::vector<std::string>>
   get_topic_names_and_types(bool no_demangle = false) const;
 
   RCLCPP_PUBLIC
-  virtual
+
   std::map<std::string, std::vector<std::string>>
   get_service_names_and_types() const;
 
   RCLCPP_PUBLIC
-  virtual
+
   std::vector<std::string>
   get_node_names() const;
 
   RCLCPP_PUBLIC
-  virtual
+
   std::vector<std::pair<std::string, std::string>>
   get_node_names_and_namespaces() const;
 
   RCLCPP_PUBLIC
-  virtual
+
   size_t
   count_publishers(const std::string & topic_name) const;
 
   RCLCPP_PUBLIC
-  virtual
+
   size_t
   count_subscribers(const std::string & topic_name) const;
 
   RCLCPP_PUBLIC
-  virtual
+
   const rcl_guard_condition_t *
   get_graph_guard_condition() const;
 
   RCLCPP_PUBLIC
-  virtual
+
   void
   notify_graph_change();
 
   RCLCPP_PUBLIC
-  virtual
+
   void
   notify_shutdown();
 
   RCLCPP_PUBLIC
-  virtual
+
   rclcpp::Event::SharedPtr
   get_graph_event();
 
   RCLCPP_PUBLIC
-  virtual
+
   void
   wait_for_graph_change(
     rclcpp::Event::SharedPtr event,
     std::chrono::nanoseconds timeout);
 
   RCLCPP_PUBLIC
-  virtual
+
   size_t
   count_graph_users();
 
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_logging.hpp b/rclcpp/include/rclcpp/node_interfaces/node_logging.hpp
index 9694bf3..9b4a0ce 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_logging.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_logging.hpp
@@ -42,12 +42,12 @@ public:
   ~NodeLogging();
 
   RCLCPP_PUBLIC
-  virtual
+
   rclcpp::Logger
   get_logger() const;
 
   RCLCPP_PUBLIC
-  virtual
+
   const char *
   get_logger_name() const;
 
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_services.hpp b/rclcpp/include/rclcpp/node_interfaces/node_services.hpp
index 0b0d99d..7a191b5 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_services.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_services.hpp
@@ -42,14 +42,14 @@ public:
   ~NodeServices();
 
   RCLCPP_PUBLIC
-  virtual
+
   void
   add_client(
     rclcpp::ClientBase::SharedPtr client_base_ptr,
     rclcpp::callback_group::CallbackGroup::SharedPtr group);
 
   RCLCPP_PUBLIC
-  virtual
+
   void
   add_service(
     rclcpp::ServiceBase::SharedPtr service_base_ptr,
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_timers.hpp b/rclcpp/include/rclcpp/node_interfaces/node_timers.hpp
index 955e39c..0cf197d 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_timers.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_timers.hpp
@@ -42,7 +42,7 @@ public:
 
   /// Add a timer to the node.
   RCLCPP_PUBLIC
-  virtual
+
   void
   add_timer(
     rclcpp::TimerBase::SharedPtr timer,
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_waitables.hpp b/rclcpp/include/rclcpp/node_interfaces/node_waitables.hpp
index e16ff8e..06e1019 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_waitables.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_waitables.hpp
@@ -42,14 +42,14 @@ public:
   ~NodeWaitables();
 
   RCLCPP_PUBLIC
-  virtual
+
   void
   add_waitable(
     rclcpp::Waitable::SharedPtr waitable_base_ptr,
     rclcpp::callback_group::CallbackGroup::SharedPtr group);
 
   RCLCPP_PUBLIC
-  virtual
+
   void
   remove_waitable(
     rclcpp::Waitable::SharedPtr waitable_ptr,
diff --git a/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp b/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
index 339e5a0..56b7f3d 100644
--- a/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
+++ b/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
@@ -90,7 +90,7 @@ public:
     waitable_handles_.clear();
   }
 
-  virtual void remove_null_handles(rcl_wait_set_t * wait_set)
+  void remove_null_handles(rcl_wait_set_t * wait_set)
   {
     // TODO(jacobperron): Check if wait set sizes are what we expect them to be?
     //                    e.g. wait_set->size_of_clients == client_handles_.size()
@@ -250,7 +250,7 @@ public:
     return true;
   }
 
-  virtual void
+  void
   get_next_subscription(
     executor::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes)
@@ -285,7 +285,7 @@ public:
     }
   }
 
-  virtual void
+  void
   get_next_service(
     executor::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes)
@@ -320,7 +320,7 @@ public:
     }
   }
 
-  virtual void
+  void
   get_next_client(executor::AnyExecutable & any_exec, const WeakNodeList & weak_nodes)
   {
     auto it = client_handles_.begin();
@@ -353,7 +353,7 @@ public:
     }
   }
 
-  virtual void
+  void
   get_next_timer(
     executor::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes)
@@ -388,7 +388,7 @@ public:
     }
   }
 
-  virtual void
+  void
   get_next_waitable(executor::AnyExecutable & any_exec, const WeakNodeList & weak_nodes)
   {
     auto it = waitable_handles_.begin();
@@ -421,7 +421,7 @@ public:
     }
   }
 
-  virtual rcl_allocator_t get_allocator()
+  rcl_allocator_t get_allocator()
   {
     return rclcpp::allocator::get_rcl_allocator<void *, VoidAlloc>(*allocator_.get());
   }