diff --git a/rclcpp/include/rclcpp/rate.hpp b/rclcpp/include/rclcpp/rate.hpp
index 381e8d7908..5b04b72b81 100644
--- a/rclcpp/include/rclcpp/rate.hpp
+++ b/rclcpp/include/rclcpp/rate.hpp
@@ -184,16 +184,6 @@ class WallRate : public Rate
   explicit WallRate(const Duration & period);
 };
 
-class ROSRate : public Rate
-{
-public:
-  RCLCPP_PUBLIC
-  explicit ROSRate(const double rate);
-
-  RCLCPP_PUBLIC
-  explicit ROSRate(const Duration & period);
-};
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__RATE_HPP_
diff --git a/rclcpp/src/rclcpp/rate.cpp b/rclcpp/src/rclcpp/rate.cpp
index 9a6e3d486b..cd071d2cb0 100644
--- a/rclcpp/src/rclcpp/rate.cpp
+++ b/rclcpp/src/rclcpp/rate.cpp
@@ -102,12 +102,4 @@ WallRate::WallRate(const Duration & period)
 : Rate(period, std::make_shared<Clock>(RCL_STEADY_TIME))
 {}
 
-ROSRate::ROSRate(const double rate)
-: Rate(rate, std::make_shared<Clock>(RCL_ROS_TIME))
-{}
-
-ROSRate::ROSRate(const Duration & period)
-: Rate(period, std::make_shared<Clock>(RCL_ROS_TIME))
-{}
-
 }  // namespace rclcpp
diff --git a/rclcpp/test/rclcpp/test_rate.cpp b/rclcpp/test/rclcpp/test_rate.cpp
index 5ab64ee608..4f067b2bd8 100644
--- a/rclcpp/test/rclcpp/test_rate.cpp
+++ b/rclcpp/test/rclcpp/test_rate.cpp
@@ -22,7 +22,7 @@
 #include "../utils/rclcpp_gtest_macros.hpp"
 
 /*
-   Basic tests for the Rate, WallRate and ROSRate classes.
+   Basic tests for the Rate and WallRate classes.
  */
 TEST(TestRate, rate_basics) {
   rclcpp::init(0, nullptr);
@@ -144,69 +144,6 @@ TEST(TestRate, wall_rate_basics) {
   rclcpp::shutdown();
 }
 
-TEST(TestRate, ros_rate_basics) {
-  rclcpp::init(0, nullptr);
-
-  auto period = std::chrono::milliseconds(100);
-  auto offset = std::chrono::milliseconds(50);
-  auto epsilon = std::chrono::milliseconds(1);
-  double overrun_ratio = 1.5;
-
-  rclcpp::Clock clock(RCL_ROS_TIME);
-
-  auto start = clock.now();
-  rclcpp::ROSRate r(period);
-  EXPECT_EQ(rclcpp::Duration(period), r.period());
-// suppress deprecated warnings
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-  ASSERT_FALSE(r.is_steady());
-// suppress deprecated warnings
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-  ASSERT_EQ(RCL_ROS_TIME, r.get_type());
-  ASSERT_TRUE(r.sleep());
-  auto one = clock.now();
-  auto delta = one - start;
-  EXPECT_LT(rclcpp::Duration(period), delta);
-  EXPECT_GT(rclcpp::Duration(period * overrun_ratio), delta);
-
-  clock.sleep_for(offset);
-  ASSERT_TRUE(r.sleep());
-  auto two = clock.now();
-  delta = two - start;
-  EXPECT_LT(rclcpp::Duration(2 * period), delta + epsilon);
-  EXPECT_GT(rclcpp::Duration(2 * period * overrun_ratio), delta);
-
-  clock.sleep_for(offset);
-  auto two_offset = clock.now();
-  r.reset();
-  ASSERT_TRUE(r.sleep());
-  auto three = clock.now();
-  delta = three - two_offset;
-  EXPECT_LT(rclcpp::Duration(period), delta);
-  EXPECT_GT(rclcpp::Duration(period * overrun_ratio), delta);
-
-  clock.sleep_for(offset + period);
-  auto four = clock.now();
-  ASSERT_FALSE(r.sleep());
-  auto five = clock.now();
-  delta = five - four;
-  EXPECT_GT(rclcpp::Duration(epsilon), delta);
-
-  rclcpp::shutdown();
-}
-
 /*
    Basic test for the deprecated GenericRate class.
  */
@@ -331,7 +268,7 @@ TEST(TestRate, from_double) {
     EXPECT_EQ(rclcpp::Duration(std::chrono::seconds(1)), rate.period());
   }
   {
-    rclcpp::WallRate rate(2.0);
+    rclcpp::Rate rate(2.0);
     EXPECT_EQ(rclcpp::Duration(std::chrono::milliseconds(500)), rate.period());
   }
   {
@@ -339,7 +276,7 @@ TEST(TestRate, from_double) {
     EXPECT_EQ(rclcpp::Duration(std::chrono::seconds(2)), rate.period());
   }
   {
-    rclcpp::ROSRate rate(4.0);
+    rclcpp::WallRate rate(4.0);
     EXPECT_EQ(rclcpp::Duration(std::chrono::milliseconds(250)), rate.period());
   }
 }