diff --git a/rclcpp/include/rclcpp/parameter_events_filter.hpp b/rclcpp/include/rclcpp/parameter_events_filter.hpp
index 3aa70d8a85..6960a1bccf 100644
--- a/rclcpp/include/rclcpp/parameter_events_filter.hpp
+++ b/rclcpp/include/rclcpp/parameter_events_filter.hpp
@@ -48,7 +48,7 @@ class ParameterEventsFilter
    *
    * Example Usage:
    *
-   * If you have recieved a parameter event and are only interested in parameters foo and
+   * If you have received a parameter event and are only interested in parameters foo and
    * bar being added or changed but don't care about deletion.
    *
    * ```cpp
diff --git a/rclcpp/test/rclcpp/test_subscription.cpp b/rclcpp/test/rclcpp/test_subscription.cpp
index 6facada4dd..9f9a7ff62d 100644
--- a/rclcpp/test/rclcpp/test_subscription.cpp
+++ b/rclcpp/test/rclcpp/test_subscription.cpp
@@ -313,13 +313,13 @@ TEST_F(TestSubscription, take) {
     }
     test_msgs::msg::Empty msg;
     rclcpp::MessageInfo msg_info;
-    bool message_recieved = false;
+    bool message_received = false;
     auto start = std::chrono::steady_clock::now();
     do {
-      message_recieved = sub->take(msg, msg_info);
+      message_received = sub->take(msg, msg_info);
       std::this_thread::sleep_for(100ms);
-    } while (!message_recieved && std::chrono::steady_clock::now() - start < 10s);
-    EXPECT_TRUE(message_recieved);
+    } while (!message_received && std::chrono::steady_clock::now() - start < 10s);
+    EXPECT_TRUE(message_received);
   }
   // TODO(wjwwood): figure out a good way to test the intra-process exclusion behavior.
 }
@@ -350,13 +350,13 @@ TEST_F(TestSubscription, take_serialized) {
     }
     std::shared_ptr<rclcpp::SerializedMessage> msg = sub->create_serialized_message();
     rclcpp::MessageInfo msg_info;
-    bool message_recieved = false;
+    bool message_received = false;
     auto start = std::chrono::steady_clock::now();
     do {
-      message_recieved = sub->take_serialized(*msg, msg_info);
+      message_received = sub->take_serialized(*msg, msg_info);
       std::this_thread::sleep_for(100ms);
-    } while (!message_recieved && std::chrono::steady_clock::now() - start < 10s);
-    EXPECT_TRUE(message_recieved);
+    } while (!message_received && std::chrono::steady_clock::now() - start < 10s);
+    EXPECT_TRUE(message_received);
   }
 }
 
diff --git a/rclcpp/test/rclcpp/test_time_source.cpp b/rclcpp/test/rclcpp/test_time_source.cpp
index 26d7cb2192..1437e47126 100644
--- a/rclcpp/test/rclcpp/test_time_source.cpp
+++ b/rclcpp/test/rclcpp/test_time_source.cpp
@@ -305,7 +305,7 @@ TEST_F(TestTimeSource, clock) {
 
   trigger_clock_changes(node, ros_clock, false);
 
-  // Even now that we've recieved a message, ROS time should still not be active since the
+  // Even now that we've received a message, ROS time should still not be active since the
   // parameter has not been explicitly set.
   EXPECT_FALSE(ros_clock->ros_time_is_active());