diff --git a/tlsf_cpp/example/allocator_example.cpp b/tlsf_cpp/example/allocator_example.cpp
index 19373ca..700d554 100644
--- a/tlsf_cpp/example/allocator_example.cpp
+++ b/tlsf_cpp/example/allocator_example.cpp
@@ -12,12 +12,25 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <chrono>
+#include <cstdint>
+#include <cstdio>
 #include <list>
 #include <memory>
 #include <string>
 #include <utility>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/allocator/allocator_common.hpp"
+#include "rclcpp/allocator/allocator_deleter.hpp"
+#include "rclcpp/executor_options.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/message_memory_strategy.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/publisher_options.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/utilities.hpp"
+
 #include "std_msgs/msg/u_int32.hpp"
 #include "tlsf_cpp/tlsf.hpp"
 
diff --git a/tlsf_cpp/test/test_tlsf.cpp b/tlsf_cpp/test/test_tlsf.cpp
index d1ed3b6..da023e0 100644
--- a/tlsf_cpp/test/test_tlsf.cpp
+++ b/tlsf_cpp/test/test_tlsf.cpp
@@ -18,7 +18,18 @@
 #include <string>
 #include <type_traits>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/allocator/allocator_deleter.hpp"
+#include "rclcpp/contexts/default_context.hpp"
+#include "rclcpp/executor_options.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/message_memory_strategy.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/publisher_options.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/subscription_traits.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "rcpputils/scope_exit.hpp"