diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
index 397ccf347c..93ab6d7e1e 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -16,10 +16,9 @@
 #define JOINT_TRAJECTORY_CONTROLLER__JOINT_TRAJECTORY_CONTROLLER_HPP_
 
 #include <chrono>
+#include <functional>  // for std::reference_wrapper
 #include <memory>
-#include <mutex>
 #include <string>
-#include <utility>
 #include <vector>
 
 #include "control_msgs/action/follow_joint_trajectory.hpp"
@@ -30,15 +29,15 @@
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "joint_trajectory_controller/interpolation_methods.hpp"
 #include "joint_trajectory_controller/tolerances.hpp"
+#include "joint_trajectory_controller/trajectory.hpp"
 #include "joint_trajectory_controller/visibility_control.h"
 #include "rclcpp/duration.hpp"
 #include "rclcpp/subscription.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/timer.hpp"
 #include "rclcpp_action/server.hpp"
-#include "rclcpp_action/types.hpp"
-#include "rclcpp_lifecycle/lifecycle_publisher.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
+#include "rclcpp_lifecycle/state.hpp"
 #include "realtime_tools/realtime_buffer.h"
 #include "realtime_tools/realtime_publisher.h"
 #include "realtime_tools/realtime_server_goal_handle.h"
@@ -50,19 +49,8 @@
 
 using namespace std::chrono_literals;  // NOLINT
 
-namespace rclcpp_action
-{
-template <typename ActionT>
-class ServerGoalHandle;
-}  // namespace rclcpp_action
-namespace rclcpp_lifecycle
-{
-class State;
-}  // namespace rclcpp_lifecycle
-
 namespace joint_trajectory_controller
 {
-class Trajectory;
 
 class JointTrajectoryController : public controller_interface::ControllerInterface
 {
diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
index b5e660be54..792938b96f 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
@@ -30,9 +30,6 @@
 #ifndef JOINT_TRAJECTORY_CONTROLLER__TOLERANCES_HPP_
 #define JOINT_TRAJECTORY_CONTROLLER__TOLERANCES_HPP_
 
-#include <cassert>
-#include <cmath>
-#include <string>
 #include <vector>
 
 #include "control_msgs/action/follow_joint_trajectory.hpp"
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index cc71c8d68e..13422eaac0 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -14,12 +14,10 @@
 
 #include "joint_trajectory_controller/joint_trajectory_controller.hpp"
 
-#include <stddef.h>
 #include <chrono>
 #include <functional>
 #include <memory>
-#include <ostream>
-#include <ratio>
+
 #include <string>
 #include <vector>
 
@@ -33,15 +31,11 @@
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/event_handler.hpp"
 #include "rclcpp/logging.hpp"
-#include "rclcpp/parameter.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp_action/create_server.hpp"
 #include "rclcpp_action/server_goal_handle.hpp"
-#include "rclcpp_lifecycle/lifecycle_node.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "std_msgs/msg/header.hpp"
 
 namespace joint_trajectory_controller
 {
diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp
index 0b6651e79f..22f999849e 100644
--- a/joint_trajectory_controller/test/test_trajectory_controller.cpp
+++ b/joint_trajectory_controller/test/test_trajectory_controller.cpp
@@ -14,7 +14,6 @@
 
 #include <stddef.h>
 
-#include <array>
 #include <chrono>
 #include <cmath>
 #include <future>
@@ -30,7 +29,6 @@
 #include "builtin_interfaces/msg/time.hpp"
 #include "controller_interface/controller_interface.hpp"
 #include "hardware_interface/resource_manager.hpp"
-#include "joint_trajectory_controller/joint_trajectory_controller.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/clock.hpp"
 #include "rclcpp/duration.hpp"
@@ -44,9 +42,6 @@
 #include "rclcpp/subscription.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/utilities.hpp"
-#include "rclcpp_lifecycle/lifecycle_node.hpp"
-#include "rclcpp_lifecycle/state.hpp"
-#include "std_msgs/msg/header.hpp"
 #include "trajectory_msgs/msg/joint_trajectory.hpp"
 #include "trajectory_msgs/msg/joint_trajectory_point.hpp"
 
diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
index 488787dd13..0261880735 100644
--- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
+++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -25,7 +25,6 @@
 
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "joint_trajectory_controller/joint_trajectory_controller.hpp"
-#include "joint_trajectory_controller/trajectory.hpp"
 
 namespace
 {