diff --git a/admittance_controller/include/admittance_controller/admittance_controller.hpp b/admittance_controller/include/admittance_controller/admittance_controller.hpp
index 35b072f8d7..a76695d11b 100644
--- a/admittance_controller/include/admittance_controller/admittance_controller.hpp
+++ b/admittance_controller/include/admittance_controller/admittance_controller.hpp
@@ -67,9 +67,6 @@ class AdmittanceController : public controller_interface::ChainableControllerInt
   controller_interface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  controller_interface::CallbackReturn on_cleanup(
-    const rclcpp_lifecycle::State & previous_state) override;
-
   controller_interface::CallbackReturn on_error(
     const rclcpp_lifecycle::State & previous_state) override;
 
diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp
index 468c02624b..7bcd770a52 100644
--- a/admittance_controller/src/admittance_controller.cpp
+++ b/admittance_controller/src/admittance_controller.cpp
@@ -479,12 +479,6 @@ controller_interface::CallbackReturn AdmittanceController::on_deactivate(
   return CallbackReturn::SUCCESS;
 }
 
-controller_interface::CallbackReturn AdmittanceController::on_cleanup(
-  const rclcpp_lifecycle::State & /*previous_state*/)
-{
-  return controller_interface::CallbackReturn::SUCCESS;
-}
-
 controller_interface::CallbackReturn AdmittanceController::on_error(
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
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 dd91377ee1..80d46c23a8 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
@@ -78,9 +78,6 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   controller_interface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  controller_interface::CallbackReturn on_cleanup(
-    const rclcpp_lifecycle::State & previous_state) override;
-
   controller_interface::CallbackReturn on_error(
     const rclcpp_lifecycle::State & previous_state) override;
 
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index 9eea619d25..a4ad5210be 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -1043,12 +1043,6 @@ controller_interface::CallbackReturn JointTrajectoryController::on_deactivate(
   return CallbackReturn::SUCCESS;
 }
 
-controller_interface::CallbackReturn JointTrajectoryController::on_cleanup(
-  const rclcpp_lifecycle::State &)
-{
-  return CallbackReturn::SUCCESS;
-}
-
 controller_interface::CallbackReturn JointTrajectoryController::on_error(
   const rclcpp_lifecycle::State &)
 {
diff --git a/pid_controller/include/pid_controller/pid_controller.hpp b/pid_controller/include/pid_controller/pid_controller.hpp
index afd5555c0c..2dd093cea9 100644
--- a/pid_controller/include/pid_controller/pid_controller.hpp
+++ b/pid_controller/include/pid_controller/pid_controller.hpp
@@ -61,9 +61,6 @@ class PidController : public controller_interface::ChainableControllerInterface
   controller_interface::CallbackReturn on_activate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  controller_interface::CallbackReturn on_deactivate(
-    const rclcpp_lifecycle::State & previous_state) override;
-
   controller_interface::return_type update_reference_from_subscribers(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp
index f3b2ba33a0..521227b49c 100644
--- a/pid_controller/src/pid_controller.cpp
+++ b/pid_controller/src/pid_controller.cpp
@@ -443,12 +443,6 @@ controller_interface::CallbackReturn PidController::on_activate(
   return controller_interface::CallbackReturn::SUCCESS;
 }
 
-controller_interface::CallbackReturn PidController::on_deactivate(
-  const rclcpp_lifecycle::State & /*previous_state*/)
-{
-  return controller_interface::CallbackReturn::SUCCESS;
-}
-
 controller_interface::return_type PidController::update_reference_from_subscribers(
   const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
 {