diff --git a/rclcpp/include/rclcpp/future_return_code.hpp b/rclcpp/include/rclcpp/future_return_code.hpp
index 9161fa832d..0da67d7f7b 100644
--- a/rclcpp/include/rclcpp/future_return_code.hpp
+++ b/rclcpp/include/rclcpp/future_return_code.hpp
@@ -42,20 +42,6 @@ RCLCPP_PUBLIC
 std::string
 to_string(const FutureReturnCode & future_return_code);
 
-namespace executor
-{
-
-using FutureReturnCode [[deprecated("use rclcpp::FutureReturnCode instead")]] = FutureReturnCode;
-
-[[deprecated("use rclcpp::to_string(const rclcpp::FutureReturnCode &) instead")]]
-inline
-std::string
-to_string(const rclcpp::FutureReturnCode & future_return_code)
-{
-  return rclcpp::to_string(future_return_code);
-}
-
-}  // namespace executor
 }  // namespace rclcpp
 
 #endif  // RCLCPP__FUTURE_RETURN_CODE_HPP_
diff --git a/rclcpp/test/rclcpp/test_future_return_code.cpp b/rclcpp/test/rclcpp/test_future_return_code.cpp
index f4647b6e29..0ad2dcd44b 100644
--- a/rclcpp/test/rclcpp/test_future_return_code.cpp
+++ b/rclcpp/test/rclcpp/test_future_return_code.cpp
@@ -1,4 +1,4 @@
-// Copyright 2015 Open Source Robotics Foundation, Inc.
+// Copyright 2020 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.
@@ -14,6 +14,7 @@
 
 #include <gtest/gtest.h>
 
+#include <sstream>
 #include <string>
 
 #include "rclcpp/future_return_code.hpp"
@@ -32,3 +33,10 @@ TEST(TestFutureReturnCode, to_string) {
   EXPECT_EQ(
     "Unknown enum value (100)", rclcpp::to_string(rclcpp::FutureReturnCode(100)));
 }
+
+TEST(FutureReturnCode, ostream) {
+  std::ostringstream ostream;
+
+  ostream << rclcpp::FutureReturnCode::SUCCESS;
+  ASSERT_EQ("SUCCESS (0)", ostream.str());
+}