diff --git a/example_7/controller/include/ros2_control_demo_example_7/r6bot_controller.hpp b/example_7/controller/include/ros2_control_demo_example_7/r6bot_controller.hpp
index ee8c24f9..9c02c6c1 100644
--- a/example_7/controller/include/ros2_control_demo_example_7/r6bot_controller.hpp
+++ b/example_7/controller/include/ros2_control_demo_example_7/r6bot_controller.hpp
@@ -42,43 +42,32 @@ namespace ros2_control_demo_example_7
 class RobotController : public controller_interface::ControllerInterface
 {
 public:
-  CONTROLLER_INTERFACE_PUBLIC
   RobotController();
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::return_type update(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::CallbackReturn on_init() override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::CallbackReturn on_configure(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::CallbackReturn on_activate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::CallbackReturn on_cleanup(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::CallbackReturn on_error(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::CallbackReturn on_shutdown(
     const rclcpp_lifecycle::State & previous_state) override;
 
diff --git a/example_7/doc/userdoc.rst b/example_7/doc/userdoc.rst
index c2a4e6b5..580bcfee 100644
--- a/example_7/doc/userdoc.rst
+++ b/example_7/doc/userdoc.rst
@@ -207,7 +207,7 @@ There are more methods that can be implemented for lifecycle changes, but they a
   using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
   #include "hardware_interface/types/hardware_interface_return_values.hpp"
 
-  class HARDWARE_INTERFACE_PUBLIC RobotSystem : public hardware_interface::SystemInterface {
+  class RobotSystem : public hardware_interface::SystemInterface {
       public:
       CallbackReturn on_init(const hardware_interface::HardwareInfo &info) override;
       CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override;