diff --git a/rclcpp/include/rclcpp/waitable.hpp b/rclcpp/include/rclcpp/waitable.hpp
index 280d79c39d..c803629dcd 100644
--- a/rclcpp/include/rclcpp/waitable.hpp
+++ b/rclcpp/include/rclcpp/waitable.hpp
@@ -109,7 +109,7 @@ class Waitable
   RCLCPP_PUBLIC
   virtual
   void
-  add_to_wait_set(rcl_wait_set_t & wait_set);
+  add_to_wait_set(rcl_wait_set_t & wait_set) = 0;
 
   /// Check if the Waitable is ready.
   /**
@@ -124,7 +124,7 @@ class Waitable
   RCLCPP_PUBLIC
   virtual
   bool
-  is_ready(const rcl_wait_set_t & wait_set);
+  is_ready(const rcl_wait_set_t & wait_set) = 0;
 
   /// Take the data so that it can be consumed with `execute`.
   /**
@@ -176,7 +176,7 @@ class Waitable
   RCLCPP_PUBLIC
   virtual
   std::shared_ptr<void>
-  take_data_by_entity_id(size_t id);
+  take_data_by_entity_id(size_t id) = 0;
 
   /// Execute data that is passed in.
   /**
@@ -203,7 +203,7 @@ class Waitable
   RCLCPP_PUBLIC
   virtual
   void
-  execute(const std::shared_ptr<void> & data);
+  execute(const std::shared_ptr<void> & data) = 0;
 
   /// Exchange the "in use by wait set" state for this timer.
   /**
@@ -246,7 +246,7 @@ class Waitable
   RCLCPP_PUBLIC
   virtual
   void
-  set_on_ready_callback(std::function<void(size_t, int)> callback);
+  set_on_ready_callback(std::function<void(size_t, int)> callback) = 0;
 
   /// Unset any callback registered via set_on_ready_callback.
   /**
@@ -256,7 +256,7 @@ class Waitable
   RCLCPP_PUBLIC
   virtual
   void
-  clear_on_ready_callback();
+  clear_on_ready_callback() = 0;
 
 private:
   std::atomic<bool> in_use_by_wait_set_{false};
diff --git a/rclcpp/src/rclcpp/waitable.cpp b/rclcpp/src/rclcpp/waitable.cpp
index 1ee4f9073f..ef3a50a8d9 100644
--- a/rclcpp/src/rclcpp/waitable.cpp
+++ b/rclcpp/src/rclcpp/waitable.cpp
@@ -54,54 +54,8 @@ Waitable::get_number_of_ready_guard_conditions()
   return 0u;
 }
 
-std::shared_ptr<void>
-Waitable::take_data_by_entity_id(size_t id)
-{
-  (void)id;
-  throw std::runtime_error(
-          "Custom waitables should override take_data_by_entity_id "
-          "if they want to use it.");
-}
-
 bool
 Waitable::exchange_in_use_by_wait_set_state(bool in_use_state)
 {
   return in_use_by_wait_set_.exchange(in_use_state);
 }
-
-void
-Waitable::set_on_ready_callback(std::function<void(size_t, int)> callback)
-{
-  (void)callback;
-
-  throw std::runtime_error(
-          "Custom waitables should override set_on_ready_callback "
-          "if they want to use it.");
-}
-
-void
-Waitable::clear_on_ready_callback()
-{
-  throw std::runtime_error(
-          "Custom waitables should override clear_on_ready_callback if they "
-          "want to use it and make sure to call it on the waitable destructor.");
-}
-
-bool
-Waitable::is_ready(const rcl_wait_set_t & wait_set)
-{
-  return this->is_ready(wait_set);
-}
-
-void
-Waitable::add_to_wait_set(rcl_wait_set_t & wait_set)
-{
-  this->add_to_wait_set(wait_set);
-}
-
-void
-Waitable::execute(const std::shared_ptr<void> & data)
-{
-  // note this const cast is only required to support a deprecated function
-  this->execute(const_cast<std::shared_ptr<void> &>(data));
-}
diff --git a/rclcpp/test/rclcpp/node_interfaces/test_node_waitables.cpp b/rclcpp/test/rclcpp/node_interfaces/test_node_waitables.cpp
index aa34a71af4..2b6b1092be 100644
--- a/rclcpp/test/rclcpp/node_interfaces/test_node_waitables.cpp
+++ b/rclcpp/test/rclcpp/node_interfaces/test_node_waitables.cpp
@@ -31,13 +31,13 @@ class TestWaitable : public rclcpp::Waitable
   void add_to_wait_set(rcl_wait_set_t &) override {}
   bool is_ready(const rcl_wait_set_t &) override {return false;}
 
-  std::shared_ptr<void>
-  take_data() override
-  {
-    return nullptr;
-  }
-
+  std::shared_ptr<void> take_data() override {return nullptr;}
   void execute(const std::shared_ptr<void> &) override {}
+
+  void set_on_ready_callback(std::function<void(size_t, int)>) override {}
+  void clear_on_ready_callback() override {}
+
+  std::shared_ptr<void> take_data_by_entity_id(size_t) override {return nullptr;}
 };
 
 class TestNodeWaitables : public ::testing::Test
diff --git a/rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp b/rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp
index 452228645b..27c2711916 100644
--- a/rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp
+++ b/rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp
@@ -51,13 +51,13 @@ class TestWaitable : public rclcpp::Waitable
     return test_waitable_result;
   }
 
-  std::shared_ptr<void>
-  take_data() override
-  {
-    return nullptr;
-  }
-
+  std::shared_ptr<void> take_data() override {return nullptr;}
   void execute(const std::shared_ptr<void> &) override {}
+
+  void set_on_ready_callback(std::function<void(size_t, int)>) override {}
+  void clear_on_ready_callback() override {}
+
+  std::shared_ptr<void> take_data_by_entity_id(size_t) override {return nullptr;}
 };
 
 struct RclWaitSetSizes
diff --git a/rclcpp/test/rclcpp/test_memory_strategy.cpp b/rclcpp/test/rclcpp/test_memory_strategy.cpp
index 4c166ebb88..7ceb4e7be4 100644
--- a/rclcpp/test/rclcpp/test_memory_strategy.cpp
+++ b/rclcpp/test/rclcpp/test_memory_strategy.cpp
@@ -40,6 +40,11 @@ class TestWaitable : public rclcpp::Waitable
 
   std::shared_ptr<void> take_data() override {return nullptr;}
   void execute(const std::shared_ptr<void> &) override {}
+
+  void set_on_ready_callback(std::function<void(size_t, int)>) override {}
+  void clear_on_ready_callback() override {}
+
+  std::shared_ptr<void> take_data_by_entity_id(size_t) override {return nullptr;}
 };
 
 class TestMemoryStrategy : public ::testing::Test
diff --git a/rclcpp/test/rclcpp/wait_set_policies/test_dynamic_storage.cpp b/rclcpp/test/rclcpp/wait_set_policies/test_dynamic_storage.cpp
index 12bd2f884e..e69d3480d9 100644
--- a/rclcpp/test/rclcpp/wait_set_policies/test_dynamic_storage.cpp
+++ b/rclcpp/test/rclcpp/wait_set_policies/test_dynamic_storage.cpp
@@ -52,16 +52,18 @@ class TestWaitable : public rclcpp::Waitable
   : is_ready_(false) {}
 
   void add_to_wait_set(rcl_wait_set_t &) override {}
-
   bool is_ready(const rcl_wait_set_t &) override {return is_ready_;}
 
   std::shared_ptr<void> take_data() override {return nullptr;}
-
-  void
-  execute(const std::shared_ptr<void> &) override {}
+  void execute(const std::shared_ptr<void> &) override {}
 
   void set_is_ready(bool value) {is_ready_ = value;}
 
+  void set_on_ready_callback(std::function<void(size_t, int)>) override {}
+  void clear_on_ready_callback() override {}
+
+  std::shared_ptr<void> take_data_by_entity_id(size_t) override {return nullptr;}
+
 private:
   bool is_ready_;
 };
diff --git a/rclcpp/test/rclcpp/wait_set_policies/test_static_storage.cpp b/rclcpp/test/rclcpp/wait_set_policies/test_static_storage.cpp
index f3e94b6aa0..ed3336e123 100644
--- a/rclcpp/test/rclcpp/wait_set_policies/test_static_storage.cpp
+++ b/rclcpp/test/rclcpp/wait_set_policies/test_static_storage.cpp
@@ -52,16 +52,18 @@ class TestWaitable : public rclcpp::Waitable
   : is_ready_(false) {}
 
   void add_to_wait_set(rcl_wait_set_t &) override {}
-
   bool is_ready(const rcl_wait_set_t &) override {return is_ready_;}
 
   std::shared_ptr<void> take_data() override {return nullptr;}
-
-  void
-  execute(const std::shared_ptr<void> &) override {}
+  void execute(const std::shared_ptr<void> &) override {}
 
   void set_is_ready(bool value) {is_ready_ = value;}
 
+  void set_on_ready_callback(std::function<void(size_t, int)>) override {}
+  void clear_on_ready_callback() override {}
+
+  std::shared_ptr<void> take_data_by_entity_id(size_t) override {return nullptr;}
+
 private:
   bool is_ready_;
 };
diff --git a/rclcpp/test/rclcpp/wait_set_policies/test_storage_policy_common.cpp b/rclcpp/test/rclcpp/wait_set_policies/test_storage_policy_common.cpp
index eaf3a866d1..f7ae12c2f3 100644
--- a/rclcpp/test/rclcpp/wait_set_policies/test_storage_policy_common.cpp
+++ b/rclcpp/test/rclcpp/wait_set_policies/test_storage_policy_common.cpp
@@ -61,14 +61,17 @@ class TestWaitable : public rclcpp::Waitable
   bool is_ready(const rcl_wait_set_t &) override {return is_ready_;}
 
   std::shared_ptr<void> take_data() override {return nullptr;}
-
-  void
-  execute(const std::shared_ptr<void> & data) override {(void)data;}
+  void execute(const std::shared_ptr<void> &) override {}
 
   void set_is_ready(bool value) {is_ready_ = value;}
 
   void set_add_to_wait_set(bool value) {add_to_wait_set_ = value;}
 
+  void set_on_ready_callback(std::function<void(size_t, int)>) override {}
+  void clear_on_ready_callback() override {}
+
+  std::shared_ptr<void> take_data_by_entity_id(size_t) override {return nullptr;}
+
 private:
   bool is_ready_;
   bool add_to_wait_set_;
diff --git a/rclcpp/test/rclcpp/wait_set_policies/test_thread_safe_synchronization.cpp b/rclcpp/test/rclcpp/wait_set_policies/test_thread_safe_synchronization.cpp
index e6a034832b..12c8838188 100644
--- a/rclcpp/test/rclcpp/wait_set_policies/test_thread_safe_synchronization.cpp
+++ b/rclcpp/test/rclcpp/wait_set_policies/test_thread_safe_synchronization.cpp
@@ -52,16 +52,18 @@ class TestWaitable : public rclcpp::Waitable
   : is_ready_(false) {}
 
   void add_to_wait_set(rcl_wait_set_t &) override {}
-
   bool is_ready(const rcl_wait_set_t &) override {return is_ready_;}
 
   std::shared_ptr<void> take_data() override {return nullptr;}
-
-  void
-  execute(const std::shared_ptr<void> &) override {}
+  void execute(const std::shared_ptr<void> &) override {}
 
   void set_is_ready(bool value) {is_ready_ = value;}
 
+  void set_on_ready_callback(std::function<void(size_t, int)>) override {}
+  void clear_on_ready_callback() override {}
+
+  std::shared_ptr<void> take_data_by_entity_id(size_t) override {return nullptr;}
+
 private:
   bool is_ready_;
 };