diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index c95df3e768..4e4706ef76 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -43,6 +43,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/callback_group.cpp
   src/rclcpp/client.cpp
   src/rclcpp/clock.cpp
+  src/rclcpp/condition_wait_return_code.cpp
   src/rclcpp/context.cpp
   src/rclcpp/contexts/default_context.cpp
   src/rclcpp/create_generic_client.cpp
@@ -73,7 +74,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/expand_topic_or_service_name.cpp
   src/rclcpp/experimental/executors/events_executor/events_executor.cpp
   src/rclcpp/experimental/timers_manager.cpp
-  src/rclcpp/future_return_code.cpp
   src/rclcpp/generic_client.cpp
   src/rclcpp/generic_publisher.cpp
   src/rclcpp/generic_subscription.cpp
diff --git a/rclcpp/include/rclcpp/condition_wait_return_code.hpp b/rclcpp/include/rclcpp/condition_wait_return_code.hpp
new file mode 100644
index 0000000000..2aa863644d
--- /dev/null
+++ b/rclcpp/include/rclcpp/condition_wait_return_code.hpp
@@ -0,0 +1,47 @@
+// Copyright 2014 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__CONDITION_WAIT_RETURN_CODE_HPP_
+#define RCLCPP__CONDITION_WAIT_RETURN_CODE_HPP_
+
+#include <iostream>
+#include <string>
+
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+
+/// Return codes to be used with spin_until_complete.
+/**
+ * SUCCESS: The condition wait is complete. This does not indicate that the operation succeeded.
+ * INTERRUPTED: The condition wait is not complete, spinning was interrupted by Ctrl-C or another
+ *              error.
+ * TIMEOUT: Spinning timed out.
+ */
+enum class ConditionWaitReturnCode {SUCCESS, INTERRUPTED, TIMEOUT};
+
+/// Stream operator for ConditionWaitReturnCode.
+RCLCPP_PUBLIC
+std::ostream &
+operator<<(std::ostream & os, const ConditionWaitReturnCode & condition_wait_return_code);
+
+/// String conversion function for ConditionWaitReturnCode.
+RCLCPP_PUBLIC
+std::string
+to_string(const ConditionWaitReturnCode & condition_wait_return_code);
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__CONDITION_WAIT_RETURN_CODE_HPP_
diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
index b9bfb52c45..fc7df14371 100644
--- a/rclcpp/include/rclcpp/executor.hpp
+++ b/rclcpp/include/rclcpp/executor.hpp
@@ -32,6 +32,7 @@
 #include "rclcpp/executors/executor_notify_waitable.hpp"
 #include "rcpputils/scope_exit.hpp"
 
+#include "rclcpp/condition_wait_return_code.hpp"
 #include "rclcpp/context.hpp"
 #include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/guard_condition.hpp"
@@ -361,7 +362,7 @@ class Executor
    * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
    */
   template<typename TimeRepT = int64_t, typename TimeT = std::milli>
-  FutureReturnCode
+  ConditionWaitReturnCode
   spin_until_complete(
     const std::function<bool(void)> & condition,
     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
@@ -376,7 +377,7 @@ class Executor
 
     // Preliminary check, finish if condition is done already.
     if (condition()) {
-      return FutureReturnCode::SUCCESS;
+      return ConditionWaitReturnCode::SUCCESS;
     }
 
     if (spinning.exchange(true)) {
@@ -388,7 +389,7 @@ class Executor
       spin_once_impl(timeout_left);
 
       if (condition()) {
-        return FutureReturnCode::SUCCESS;
+        return ConditionWaitReturnCode::SUCCESS;
       }
       // If the original timeout is < 0, then this is blocking, never TIMEOUT.
       if (timeout_ns < std::chrono::nanoseconds::zero()) {
@@ -397,14 +398,14 @@ class Executor
       // Otherwise check if we still have time to wait, return TIMEOUT if not.
       auto now = std::chrono::steady_clock::now();
       if (now >= end_time) {
-        return FutureReturnCode::TIMEOUT;
+        return ConditionWaitReturnCode::TIMEOUT;
       }
       // Subtract the elapsed time from the original timeout.
       timeout_left = std::chrono::duration_cast<std::chrono::nanoseconds>(end_time - now);
     }
 
     // The condition did not pass before ok() returned false, return INTERRUPTED.
-    return FutureReturnCode::INTERRUPTED;
+    return ConditionWaitReturnCode::INTERRUPTED;
   }
 
   /// Spin (blocking) for at least the given amount of duration.
@@ -413,7 +414,7 @@ class Executor
    */
   template<typename TimeRepT = int64_t, typename TimeT = std::milli>
   void
-  spin_for(std::chrono::duration<TimeRepT, TimeT> timeout duration)
+  spin_for(std::chrono::duration<TimeRepT, TimeT> duration)
   {
     (void)spin_until_complete([]() {return false;}, duration);
   }
diff --git a/rclcpp/include/rclcpp/executors.hpp b/rclcpp/include/rclcpp/executors.hpp
index 92d6903856..c40ad7c884 100644
--- a/rclcpp/include/rclcpp/executors.hpp
+++ b/rclcpp/include/rclcpp/executors.hpp
@@ -18,10 +18,12 @@
 #include <future>
 #include <memory>
 
+#include "rclcpp/condition_wait_return_code.hpp"
 #include "rclcpp/executors/multi_threaded_executor.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
 #include "rclcpp/executors/static_single_threaded_executor.hpp"
 #include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
+#include "rclcpp/future_return_code.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -79,7 +81,7 @@ using rclcpp::executors::SingleThreadedExecutor;
  * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
  */
 template<typename TimeRepT = int64_t, typename TimeT = std::milli>
-rclcpp::FutureReturnCode
+rclcpp::ConditionWaitReturnCode
 spin_node_until_complete(
   rclcpp::Executor & executor,
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
@@ -95,7 +97,7 @@ spin_node_until_complete(
 }
 
 template<typename NodeT = rclcpp::Node, typename TimeRepT = int64_t, typename TimeT = std::milli>
-rclcpp::FutureReturnCode
+rclcpp::ConditionWaitReturnCode
 spin_node_until_complete(
   rclcpp::Executor & executor,
   std::shared_ptr<NodeT> node_ptr,
@@ -156,7 +158,7 @@ spin_node_until_future_complete(
 }  // namespace executors
 
 template<typename TimeRepT = int64_t, typename TimeT = std::milli>
-rclcpp::FutureReturnCode
+rclcpp::ConditionWaitReturnCode
 spin_until_complete(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
   const std::function<bool(void)> & condition,
@@ -167,7 +169,7 @@ spin_until_complete(
 }
 
 template<typename NodeT = rclcpp::Node, typename TimeRepT = int64_t, typename TimeT = std::milli>
-rclcpp::FutureReturnCode
+rclcpp::ConditionWaitReturnCode
 spin_until_complete(
   std::shared_ptr<NodeT> node_ptr,
   const std::function<bool(void)> & condition,
diff --git a/rclcpp/include/rclcpp/future_return_code.hpp b/rclcpp/include/rclcpp/future_return_code.hpp
index 0da67d7f7b..34fdcf7163 100644
--- a/rclcpp/include/rclcpp/future_return_code.hpp
+++ b/rclcpp/include/rclcpp/future_return_code.hpp
@@ -18,6 +18,7 @@
 #include <iostream>
 #include <string>
 
+#include "rclcpp/condition_wait_return_code.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -30,17 +31,7 @@ namespace rclcpp
  * INTERRUPTED: The future is not complete, spinning was interrupted by Ctrl-C or another error.
  * TIMEOUT: Spinning timed out.
  */
-enum class FutureReturnCode {SUCCESS, INTERRUPTED, TIMEOUT};
-
-/// Stream operator for FutureReturnCode.
-RCLCPP_PUBLIC
-std::ostream &
-operator<<(std::ostream & os, const FutureReturnCode & future_return_code);
-
-/// String conversion function for FutureReturnCode.
-RCLCPP_PUBLIC
-std::string
-to_string(const FutureReturnCode & future_return_code);
+using FutureReturnCode = ConditionWaitReturnCode;
 
 }  // namespace rclcpp
 
diff --git a/rclcpp/src/rclcpp/future_return_code.cpp b/rclcpp/src/rclcpp/condition_wait_return_code.cpp
similarity index 65%
rename from rclcpp/src/rclcpp/future_return_code.cpp
rename to rclcpp/src/rclcpp/condition_wait_return_code.cpp
index 61e167dfb9..ff9b4f4920 100644
--- a/rclcpp/src/rclcpp/future_return_code.cpp
+++ b/rclcpp/src/rclcpp/condition_wait_return_code.cpp
@@ -16,31 +16,31 @@
 #include <string>
 #include <type_traits>
 
-#include "rclcpp/future_return_code.hpp"
+#include "rclcpp/condition_wait_return_code.hpp"
 
 namespace rclcpp
 {
 
 std::ostream &
-operator<<(std::ostream & os, const rclcpp::FutureReturnCode & future_return_code)
+operator<<(std::ostream & os, const rclcpp::ConditionWaitReturnCode & condition_wait_return_code)
 {
-  return os << to_string(future_return_code);
+  return os << to_string(condition_wait_return_code);
 }
 
 std::string
-to_string(const rclcpp::FutureReturnCode & future_return_code)
+to_string(const rclcpp::ConditionWaitReturnCode & condition_wait_return_code)
 {
-  using enum_type = std::underlying_type<FutureReturnCode>::type;
+  using enum_type = std::underlying_type<ConditionWaitReturnCode>::type;
   std::string prefix = "Unknown enum value (";
-  std::string ret_as_string = std::to_string(static_cast<enum_type>(future_return_code));
-  switch (future_return_code) {
-    case FutureReturnCode::SUCCESS:
+  std::string ret_as_string = std::to_string(static_cast<enum_type>(condition_wait_return_code));
+  switch (condition_wait_return_code) {
+    case ConditionWaitReturnCode::SUCCESS:
       prefix = "SUCCESS (";
       break;
-    case FutureReturnCode::INTERRUPTED:
+    case ConditionWaitReturnCode::INTERRUPTED:
       prefix = "INTERRUPTED (";
       break;
-    case FutureReturnCode::TIMEOUT:
+    case ConditionWaitReturnCode::TIMEOUT:
       prefix = "TIMEOUT (";
       break;
   }
diff --git a/rclcpp/test/rclcpp/CMakeLists.txt b/rclcpp/test/rclcpp/CMakeLists.txt
index c2e6b2bfe4..39ea50fec8 100644
--- a/rclcpp/test/rclcpp/CMakeLists.txt
+++ b/rclcpp/test/rclcpp/CMakeLists.txt
@@ -109,6 +109,12 @@ ament_add_gtest(test_function_traits test_function_traits.cpp)
 if(TARGET test_function_traits)
   target_link_libraries(test_function_traits ${PROJECT_NAME})
 endif()
+ament_add_gtest(
+  test_condition_wait_return_code
+  test_condition_wait_return_code.cpp)
+if(TARGET test_condition_wait_return_code)
+  target_link_libraries(test_condition_wait_return_code ${PROJECT_NAME})
+endif()
 ament_add_gtest(
   test_future_return_code
   test_future_return_code.cpp)
diff --git a/rclcpp/test/rclcpp/test_condition_wait_return_code.cpp b/rclcpp/test/rclcpp/test_condition_wait_return_code.cpp
new file mode 100644
index 0000000000..3db4f09fcc
--- /dev/null
+++ b/rclcpp/test/rclcpp/test_condition_wait_return_code.cpp
@@ -0,0 +1,42 @@
+// Copyright 2024 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <sstream>
+#include <string>
+
+#include "rclcpp/condition_wait_return_code.hpp"
+
+TEST(TestConditionWaitReturnCode, to_string) {
+  EXPECT_EQ(
+    "Unknown enum value (-1)", rclcpp::to_string(rclcpp::ConditionWaitReturnCode(-1)));
+  EXPECT_EQ(
+    "SUCCESS (0)", rclcpp::to_string(rclcpp::ConditionWaitReturnCode::SUCCESS));
+  EXPECT_EQ(
+    "INTERRUPTED (1)", rclcpp::to_string(rclcpp::ConditionWaitReturnCode::INTERRUPTED));
+  EXPECT_EQ(
+    "TIMEOUT (2)", rclcpp::to_string(rclcpp::ConditionWaitReturnCode::TIMEOUT));
+  EXPECT_EQ(
+    "Unknown enum value (3)", rclcpp::to_string(rclcpp::ConditionWaitReturnCode(3)));
+  EXPECT_EQ(
+    "Unknown enum value (100)", rclcpp::to_string(rclcpp::ConditionWaitReturnCode(100)));
+}
+
+TEST(TestConditionWaitReturnCode, ostream) {
+  std::ostringstream ostream;
+
+  ostream << rclcpp::ConditionWaitReturnCode::SUCCESS;
+  ASSERT_EQ("SUCCESS (0)", ostream.str());
+}