diff --git a/rosbag2_cpp/include/rosbag2_cpp/message_definitions/local_message_definition_source.hpp b/rosbag2_cpp/include/rosbag2_cpp/message_definitions/local_message_definition_source.hpp
index 55912f5532..d42cc76f3e 100644
--- a/rosbag2_cpp/include/rosbag2_cpp/message_definitions/local_message_definition_source.hpp
+++ b/rosbag2_cpp/include/rosbag2_cpp/message_definitions/local_message_definition_source.hpp
@@ -59,17 +59,6 @@ class DefinitionNotFoundError : public std::exception
 class ROSBAG2_CPP_PUBLIC LocalMessageDefinitionSource final
 {
 public:
-  /**
-   * Concatenate the message definition with its dependencies into a self-contained schema.
-   * The format is different for MSG/SRV/ACTION and IDL definitions, and is described fully in
-   * docs/message_definition_encoding.md
-   * For SRV type, root_type must include a string '/srv/'.
-   * For ACTION type, root_type must include a string '/action/'.
-   */
-  [[deprecated("Use get_full_text_ext() instead, which allows specifying the topic name and "
-     "provides more flexibility in how the message definition is constructed.")]]
-  rosbag2_storage::MessageDefinition get_full_text(const std::string & root_type);
-
   /**
    * \brief Try to get the message definition and concatenate it with its dependencies into a
    * self-contained schema.
diff --git a/rosbag2_cpp/src/rosbag2_cpp/message_definitions/local_message_definition_source.cpp b/rosbag2_cpp/src/rosbag2_cpp/message_definitions/local_message_definition_source.cpp
index 683d766ca8..6765177bc5 100644
--- a/rosbag2_cpp/src/rosbag2_cpp/message_definitions/local_message_definition_source.cpp
+++ b/rosbag2_cpp/src/rosbag2_cpp/message_definitions/local_message_definition_source.cpp
@@ -327,12 +327,6 @@ const LocalMessageDefinitionSource::MessageSpec & LocalMessageDefinitionSource::
   return spec;
 }
 
-rosbag2_storage::MessageDefinition LocalMessageDefinitionSource::get_full_text(
-  const std::string & root_type)
-{
-  return get_full_text_ext(root_type, std::string{});
-}
-
 rosbag2_storage::MessageDefinition LocalMessageDefinitionSource::get_full_text_ext(
   const std::string & root_type,
   const std::string & topic_name)
diff --git a/rosbag2_py/rosbag2_py/_transport.pyi b/rosbag2_py/rosbag2_py/_transport.pyi
index d744345ac6..49aa5a31b3 100644
--- a/rosbag2_py/rosbag2_py/_transport.pyi
+++ b/rosbag2_py/rosbag2_py/_transport.pyi
@@ -54,38 +54,16 @@ class PlayOptions:
     def __init__(self) -> None: ...
 
 class Player:
-    @overload
-    def __init__(self) -> None: ...
-    @overload
-    def __init__(self, log_level: str) -> None: ...
     @overload
     def __init__(self, storage_options: rosbag2_py._storage.StorageOptions, play_options: PlayOptions, log_level: str = ..., node_name: str = ...) -> None: ...
     @overload
     def __init__(self, storage_options: List[rosbag2_py._storage.StorageOptions], play_options: PlayOptions, log_level: str = ..., node_name: str = ...) -> None: ...
-    @overload
     def burst(self, num_messages: int) -> int: ...
-    @overload
-    def burst(self, constsize_t) -> Any: ...
-    @overload
-    def burst(self, storage_options: rosbag2_py._storage.StorageOptions, play_options: PlayOptions, num_messages: int) -> None: ...
-    @overload
-    def burst(self, num_messages) -> Any: ...
-    @staticmethod
-    def cancel() -> None: ...
     def get_playback_duration(self) -> int: ...
     def get_starting_time(self) -> int: ...
     def is_paused(self) -> bool: ...
     def pause(self) -> None: ...
-    @overload
     def play(self) -> None: ...
-    @overload
-    def play(self, storage_options: rosbag2_py._storage.StorageOptions, play_options: PlayOptions) -> None: ...
-    @overload
-    def play(self) -> Any: ...
-    @overload
-    def play(self, storage_options: List[rosbag2_py._storage.StorageOptions], play_options: PlayOptions) -> None: ...
-    @overload
-    def play(self) -> Any: ...
     def play_next(self) -> bool: ...
     def resume(self) -> None: ...
     def seek(self, time_point: int) -> None: ...
@@ -123,7 +101,6 @@ class RecordOptions:
     regex: str
     repeat_all_transient_local_depth: int
     repeat_transient_local_messages: Dict[str, int]
-    rmw_serialization_format: str
     services: List[str]
     start_paused: bool
     static_topics_uri: str
@@ -136,24 +113,10 @@ class RecordOptions:
     def __init__(self) -> None: ...
 
 class Recorder:
-    @overload
-    def __init__(self) -> None: ...
-    @overload
-    def __init__(self, arg: str) -> None: ...
-    @overload
     def __init__(self, storage_options: rosbag2_py._storage.StorageOptions, record_options: RecordOptions, log_level: str = ..., node_name: str = ...) -> None: ...
-    @staticmethod
-    def cancel() -> None: ...
     def is_paused(self) -> bool: ...
     def pause(self) -> None: ...
-    @overload
     def record(self) -> None: ...
-    @overload
-    def record(self) -> Any: ...
-    @overload
-    def record(self, storage_options: rosbag2_py._storage.StorageOptions, record_options: RecordOptions, node_name: str = ...) -> None: ...
-    @overload
-    def record(self) -> Any: ...
     def resume(self) -> None: ...
     def start_spin(self) -> None: ...
     def stop(self) -> None: ...
diff --git a/rosbag2_py/src/rosbag2_py/_message_definitions.cpp b/rosbag2_py/src/rosbag2_py/_message_definitions.cpp
index 8aba7f8bcb..99c73c41da 100644
--- a/rosbag2_py/src/rosbag2_py/_message_definitions.cpp
+++ b/rosbag2_py/src/rosbag2_py/_message_definitions.cpp
@@ -22,17 +22,6 @@ PYBIND11_MODULE(_message_definitions, m) {
   pybind11::class_<rosbag2_cpp::LocalMessageDefinitionSource>(
     m, "LocalMessageDefinitionSource")
   .def(pybind11::init<>())
-  .def(
-    "get_full_text",
-    [](rosbag2_cpp::LocalMessageDefinitionSource & self, const std::string & root_type) {
-      PyErr_WarnEx(PyExc_DeprecationWarning,
-        "get_full_text() is deprecated, use get_full_text_ext() instead.", 1);
-      return self.get_full_text_ext(root_type, "");
-    },
-    pybind11::arg("root_type"),
-    "The root type of the message definition. (Internally calls get_full_text_ext with an empty"
-    " topic name)"
-  )
   .def(
     "get_full_text_ext", &rosbag2_cpp::LocalMessageDefinitionSource::get_full_text_ext);
 }
diff --git a/rosbag2_py/src/rosbag2_py/_transport.cpp b/rosbag2_py/src/rosbag2_py/_transport.cpp
index 51ac2763e4..a49e8c3bca 100644
--- a/rosbag2_py/src/rosbag2_py/_transport.cpp
+++ b/rosbag2_py/src/rosbag2_py/_transport.cpp
@@ -13,7 +13,6 @@
 // limitations under the License.
 
 #include <algorithm>
-#include <csignal>
 #include <chrono>
 #include <filesystem>
 #include <memory>
@@ -163,19 +162,6 @@ namespace rosbag2_py
 class Player
 {
 public:
-  using SignalHandlerType = void (*)(int);
-
-  // TODO(christophebedard): remove this constructor after a deprecation period
-  // along with the `if (!player_)` checks in the methods
-  explicit Player(const std::string & log_level = "info")
-  {
-    Arguments arguments({"--ros-args", "--log-level", log_level});
-    rclcpp::init(arguments.argc(), arguments.argv());
-    // Intentionally not initializing player_ here, because default constructor is intended to be
-    // used for the composable node only since it will call Player::Play() inside. Also it will
-    // fail without specifying storage options with valid path to the bag file via ros args.
-  }
-
   Player(
     const rosbag2_storage::StorageOptions & storage_options,
     const PlayOptions & play_options,
@@ -207,10 +193,6 @@ class Player
   void start_spin()
   {
     std::lock_guard<std::mutex> lock(spin_thread_mutex_);
-    if (!player_) {
-      throw std::runtime_error("Player is not initialized. Please use constructor with "
-        "storage and play options.");
-    }
     if (exec_) {
       // We already have an executor spinning
       return;
@@ -242,10 +224,6 @@ class Player
 
   void play()
   {
-    if (!player_) {
-      throw std::runtime_error("Player is not initialized. Please use constructor with "
-        "storage and play options.");
-    }
     player_->play();
   }
 
@@ -260,10 +238,6 @@ class Player
 
   bool wait_for_playback_to_start_exclusively(double timeout = -1.0)
   {
-    if (!player_) {
-      throw std::runtime_error("Player is not initialized. Please use constructor with "
-                               "storage and play options.");
-    }
     return player_->wait_for_playback_to_start(std::chrono::duration<double>(timeout));
   }
 
@@ -278,138 +252,57 @@ class Player
 
   bool wait_for_playback_to_finish_exclusively(double timeout = -1.0)
   {
-    if (!player_) {
-      throw std::runtime_error("Player is not initialized. Please use constructor with "
-                               "storage and play options.");
-    }
     return player_->wait_for_playback_to_finish(std::chrono::duration<double>(timeout));
   }
 
   void stop()
   {
-    if (!player_) {
-      throw std::runtime_error("Player is not initialized. Please use constructor with "
-        "storage and play options.");
-    }
     player_->stop();
   }
 
   void pause()
   {
-    if (!player_) {
-      throw std::runtime_error("Player is not initialized. Please use constructor with "
-        "storage and play options.");
-    }
     player_->pause();
   }
 
   void resume()
   {
-    if (!player_) {
-      throw std::runtime_error("Player is not initialized. Please use constructor with "
-        "storage and play options.");
-    }
     player_->resume();
   }
 
   [[nodiscard]] bool is_paused() const
   {
-    if (!player_) {
-      throw std::runtime_error("Player is not initialized. Please use constructor with "
-        "storage and play options.");
-    }
     return player_->is_paused();
   }
 
   [[nodiscard]] int64_t get_starting_time() const
   {
-    if (!player_) {
-      throw std::runtime_error("Player is not initialized. Please use constructor with "
-        "storage and play options.");
-    }
     return player_->get_starting_time();
   }
 
   [[nodiscard]] int64_t get_playback_duration() const
   {
-    if (!player_) {
-      throw std::runtime_error("Player is not initialized. Please use constructor with "
-        "storage and play options.");
-    }
     return player_->get_playback_duration();
   }
 
   bool play_next()
   {
-    if (!player_) {
-      throw std::runtime_error("Player is not initialized. Please use constructor with "
-        "storage and play options.");
-    }
     return player_->play_next();
   }
 
   size_t burst(size_t num_messages)
   {
-    if (!player_) {
-      throw std::runtime_error("Player is not initialized. Please use constructor with "
-        "storage and play options.");
-    }
     return player_->burst(num_messages);
   }
 
   void seek(int64_t time_point)
   {
-    if (!player_) {
-      throw std::runtime_error("Player is not initialized. Please use constructor with "
-        "storage and play options.");
-    }
     player_->seek(static_cast<rcutils_time_point_value_t>(time_point));
   }
 
-  static void cancel()
-  {
-    PyErr_WarnEx(PyExc_DeprecationWarning,
-                 "Player.cancel() is deprecated. Please use Player.stop() instead.", 1);
-    exit_ = true;
-    wait_for_exit_cv_.notify_all();
-  }
-
-  // TODO(christophebedard): remove this method after a deprecation period
-  void play(
-    const rosbag2_storage::StorageOptions & storage_options,
-    PlayOptions & play_options)
-  {
-    player_ = std::make_shared<rosbag2_transport::Player>(storage_options, play_options);
-    play_impl(false);
-  }
-
-  // TODO(christophebedard): remove this method after a deprecation period
-  void play(
-    const std::vector<rosbag2_storage::StorageOptions> & storage_options,
-    PlayOptions & play_options)
-  {
-    player_ = std::make_shared<rosbag2_transport::Player>(storage_options, play_options);
-    play_impl(false);
-  }
-
-  // TODO(christophebedard): remove this method after a deprecation period
-  void burst(
-    const rosbag2_storage::StorageOptions & storage_options,
-    PlayOptions & play_options,
-    size_t num_messages)
-  {
-    player_ = std::make_shared<rosbag2_transport::Player>(storage_options, play_options);
-    play_impl(true, num_messages);
-  }
-
 protected:
   bool wait_for_async(double timeout, const std::function<bool(double)> & wait_for_function)
   {
-    if (!player_) {
-      throw std::runtime_error("Player is not initialized. Please use constructor with "
-        "storage and play options.");
-    }
-
     const double wait_period =
       (timeout < 0.0) ? SIGNAL_CHECK_INTERVAL : std::min(timeout, SIGNAL_CHECK_INTERVAL);
 
@@ -448,99 +341,7 @@ class Player
     return finished;
   }
 
-  static void signal_handler(int sig_num)
-  {
-    if (sig_num == SIGINT || sig_num == SIGTERM) {
-      deferred_sig_number_ = sig_num;
-      rosbag2_py::Player::cancel();
-    }
-  }
-
-  static void install_signal_handlers()
-  {
-    deferred_sig_number_ = -1;
-    old_sigterm_handler_ = std::signal(SIGTERM, &rosbag2_py::Player::signal_handler);
-    old_sigint_handler_ = std::signal(SIGINT, &rosbag2_py::Player::signal_handler);
-  }
-
-  static void uninstall_signal_handlers()
-  {
-    if (old_sigterm_handler_ != SIG_ERR) {
-      std::signal(SIGTERM, old_sigterm_handler_);
-      old_sigterm_handler_ = SIG_ERR;
-    }
-    if (old_sigint_handler_ != SIG_ERR) {
-      std::signal(SIGINT, old_sigint_handler_);
-      old_sigint_handler_ = SIG_ERR;
-    }
-    deferred_sig_number_ = -1;
-  }
-
-  static void process_deferred_signal()
-  {
-    auto call_signal_handler = [](const SignalHandlerType & signal_handler, int sig_num) {
-        if (signal_handler != SIG_ERR && signal_handler != SIG_IGN && signal_handler != SIG_DFL) {
-          signal_handler(sig_num);
-        }
-      };
-
-    if (deferred_sig_number_ == SIGINT) {
-      call_signal_handler(old_sigint_handler_, deferred_sig_number_);
-    } else if (deferred_sig_number_ == SIGTERM) {
-      call_signal_handler(old_sigterm_handler_, deferred_sig_number_);
-    }
-  }
-
-  void play_impl(bool burst = false, size_t burst_num_messages = 0)
-  {
-    if (!player_) {
-      throw std::runtime_error("Player is not initialized. Please use constructor with "
-        "storage and play options.");
-    }
-    install_signal_handlers();
-    try {
-      exit_ = false;
-      start_spin();
-      player_->play();
-
-      auto wait_for_exit_thread = std::thread(
-        [this]() {
-          std::unique_lock<std::mutex> lock(wait_for_exit_mutex_);
-          wait_for_exit_cv_.wait(lock, [] {return rosbag2_py::Player::exit_.load();});
-          player_->stop();
-        });
-      {
-        // Release the GIL for long-running play, so that calling Python code
-        // can use other threads
-        py::gil_scoped_release release;
-        if (burst) {
-          player_->burst(burst_num_messages);
-        }
-        player_->wait_for_playback_to_finish();
-      }
-
-      rosbag2_py::Player::cancel();  // Need to trigger exit from wait_for_exit_thread
-      if (wait_for_exit_thread.joinable()) {
-        wait_for_exit_thread.join();
-      }
-
-      stop_spin();
-    } catch (...) {
-      process_deferred_signal();
-      uninstall_signal_handlers();
-      throw;
-    }
-    process_deferred_signal();
-    uninstall_signal_handlers();
-  }
-
-  static std::atomic_bool exit_;
-  static std::condition_variable wait_for_exit_cv_;
-  static SignalHandlerType old_sigint_handler_;
-  static SignalHandlerType old_sigterm_handler_;
-  static int deferred_sig_number_;
   static constexpr double SIGNAL_CHECK_INTERVAL = 0.1;
-  std::mutex wait_for_exit_mutex_;
 
   std::shared_ptr<rosbag2_transport::Player> player_;
   std::mutex spin_thread_mutex_;
@@ -548,27 +349,9 @@ class Player
   std::thread spin_thread_;
 };
 
-Player::SignalHandlerType Player::old_sigint_handler_ {SIG_ERR};
-Player::SignalHandlerType Player::old_sigterm_handler_ {SIG_ERR};
-int Player::deferred_sig_number_{-1};
-std::atomic_bool Player::exit_{false};
-std::condition_variable Player::wait_for_exit_cv_{};
-
 class Recorder
 {
 public:
-  using SignalHandlerType = void (*)(int);
-
-  // TODO(christophebedard): remove this constructor after a deprecation period
-  // along with the `if (!recorder_)` checks in the methods
-  explicit Recorder(const std::string & log_level = "info")
-  {
-    Arguments arguments({"--ros-args", "--log-level", log_level});
-    rclcpp::init(arguments.argc(), arguments.argv());
-    // Intentionally not initializing recorder_ here, because default constructor is intended to be
-    // used for the composable node only since it will call Recorder::record() inside.
-  }
-
   Recorder(
     const rosbag2_storage::StorageOptions & storage_options,
     RecordOptions & record_options,
@@ -580,16 +363,6 @@ class Recorder
     rclcpp::init(arguments.argc(), arguments.argv(),
                  rclcpp::InitOptions(), rclcpp::SignalHandlerOptions::None);
 
-    if (!record_options.rmw_serialization_format.empty() &&
-      record_options.output_serialization_format.empty())
-    {
-      record_options.output_serialization_format = record_options.rmw_serialization_format;
-      PyErr_WarnEx(PyExc_DeprecationWarning,
-                   "The rmw_serialization_format option is deprecated and will be removed in a "
-                   "future release.\nPlease use output_serialization_format instead.",
-                   1
-      );
-    }
     if (record_options.output_serialization_format.empty()) {
       record_options.output_serialization_format = std::string(rmw_get_serialization_format());
     }
@@ -608,10 +381,6 @@ class Recorder
   void start_spin()
   {
     std::lock_guard<std::mutex> lock(spin_thread_mutex_);
-    if (!recorder_) {
-      throw std::runtime_error("Recorder is not initialized. Please use constructor with "
-        "storage and record options.");
-    }
     if (exec_) {
       // We already have an executor spinning
       return;
@@ -643,179 +412,36 @@ class Recorder
 
   void record()
   {
-    if (!recorder_) {
-      throw std::runtime_error("Recorder is not initialized. Please use constructor with "
-        "storage and record options.");
-    }
     recorder_->record();
   }
 
   void stop()
   {
-    if (!recorder_) {
-      throw std::runtime_error("Recorder is not initialized. Please use constructor with "
-        "storage and record options.");
-    }
     recorder_->stop();
   }
 
   void pause()
   {
-    if (!recorder_) {
-      throw std::runtime_error("Recorder is not initialized. Please use constructor with "
-        "storage and record options.");
-    }
     recorder_->pause();
   }
 
   void resume()
   {
-    if (!recorder_) {
-      throw std::runtime_error("Recorder is not initialized. Please use constructor with "
-        "storage and record options.");
-    }
     recorder_->resume();
   }
 
   bool is_paused()
   {
-    if (!recorder_) {
-      throw std::runtime_error("Recorder is not initialized. Please use constructor with "
-        "storage and record options.");
-    }
     return recorder_->is_paused();
   }
 
-  // TODO(christophebedard): remove this method after a deprecation period
-  void record(
-    const rosbag2_storage::StorageOptions & storage_options,
-    RecordOptions & record_options,
-    const std::string & node_name)
-  {
-    if (!record_options.rmw_serialization_format.empty() &&
-      record_options.output_serialization_format.empty())
-    {
-      record_options.output_serialization_format = record_options.rmw_serialization_format;
-      PyErr_WarnEx(PyExc_DeprecationWarning,
-                   "The rmw_serialization_format option is deprecated and will be removed in a "
-                   "future release.\nPlease use output_serialization_format instead.",
-                   1
-      );
-    }
-    if (record_options.output_serialization_format.empty()) {
-      record_options.output_serialization_format = std::string(rmw_get_serialization_format());
-    }
-    auto writer = rosbag2_transport::ReaderWriterFactory::make_writer(record_options);
-
-    recorder_ = std::make_shared<rosbag2_transport::Recorder>(
-      std::move(writer), storage_options, record_options, node_name);
-
-    record_impl();
-  }
-
-  void record_impl()
-  {
-    if (!recorder_) {
-      throw std::runtime_error("Recorder is not initialized. Please use constructor with "
-        "storage and record options.");
-    }
-    install_signal_handlers();
-    try {
-      exit_ = false;
-      recorder_->record();
-      // Run exec->spin() in a separate thread, because we need to call exec->cancel() after
-      // recorder->stop() to be able to send notifications about bag split and close.
-      start_spin();
-      {
-        // Release the GIL for long-running record, so that calling Python code
-        // can use other threads
-        py::gil_scoped_release release;
-        std::unique_lock<std::mutex> lock(wait_for_exit_mutex_);
-        wait_for_exit_cv_.wait(lock, [] {return rosbag2_py::Recorder::exit_.load();});
-        recorder_->stop();
-      }
-
-      stop_spin();
-    } catch (...) {
-      process_deferred_signal();
-      uninstall_signal_handlers();
-      throw;
-    }
-    process_deferred_signal();
-    uninstall_signal_handlers();
-  }
-
-  static void cancel()
-  {
-    PyErr_WarnEx(PyExc_DeprecationWarning,
-                 "Recorder.cancel() is deprecated. Please use Recorder.stop() instead.", 1);
-    exit_ = true;
-    wait_for_exit_cv_.notify_all();
-  }
-
 protected:
-  static void signal_handler(int sig_num)
-  {
-    if (sig_num == SIGINT || sig_num == SIGTERM) {
-      deferred_sig_number_ = sig_num;
-      rosbag2_py::Recorder::cancel();
-    }
-  }
-
-  static void install_signal_handlers()
-  {
-    deferred_sig_number_ = -1;
-    old_sigterm_handler_ = std::signal(SIGTERM, &rosbag2_py::Recorder::signal_handler);
-    old_sigint_handler_ = std::signal(SIGINT, &rosbag2_py::Recorder::signal_handler);
-  }
-
-  static void uninstall_signal_handlers()
-  {
-    if (old_sigterm_handler_ != SIG_ERR) {
-      std::signal(SIGTERM, old_sigterm_handler_);
-      old_sigterm_handler_ = SIG_ERR;
-    }
-    if (old_sigint_handler_ != SIG_ERR) {
-      std::signal(SIGINT, old_sigint_handler_);
-      old_sigint_handler_ = SIG_ERR;
-    }
-    deferred_sig_number_ = -1;
-  }
-
-  static void process_deferred_signal()
-  {
-    auto call_signal_handler = [](const SignalHandlerType & signal_handler, int sig_num) {
-        if (signal_handler != SIG_ERR && signal_handler != SIG_IGN && signal_handler != SIG_DFL) {
-          signal_handler(sig_num);
-        }
-      };
-
-    if (deferred_sig_number_ == SIGINT) {
-      call_signal_handler(old_sigint_handler_, deferred_sig_number_);
-    } else if (deferred_sig_number_ == SIGTERM) {
-      call_signal_handler(old_sigterm_handler_, deferred_sig_number_);
-    }
-  }
-
-  static std::atomic_bool exit_;
-  static std::condition_variable wait_for_exit_cv_;
-  static SignalHandlerType old_sigint_handler_;
-  static SignalHandlerType old_sigterm_handler_;
-  static int deferred_sig_number_;
-  std::mutex wait_for_exit_mutex_;
-
   std::shared_ptr<rosbag2_transport::Recorder> recorder_;
   std::mutex spin_thread_mutex_;
   std::unique_ptr<rclcpp::executors::SingleThreadedExecutor> exec_{nullptr};
   std::thread spin_thread_;
 };
 
-Recorder::SignalHandlerType Recorder::old_sigint_handler_ {SIG_ERR};
-Recorder::SignalHandlerType Recorder::old_sigterm_handler_ {SIG_ERR};
-int Recorder::deferred_sig_number_{-1};
-std::atomic_bool Recorder::exit_{false};
-std::condition_variable Recorder::wait_for_exit_cv_{};
-
 // Return a RecordOptions struct with defaults set for rewriting bags.
 rosbag2_transport::RecordOptions bag_rewrite_default_record_options()
 {
@@ -980,7 +606,6 @@ PYBIND11_MODULE(_transport, m) {
   .def_readwrite("static_topics_uri", &RecordOptions::static_topics_uri)
   .def_readwrite("topic_types", &RecordOptions::topic_types)
   .def_readwrite("exclude_topic_types", &RecordOptions::exclude_topic_types)
-  .def_readwrite("rmw_serialization_format", &RecordOptions::rmw_serialization_format)
   .def_readwrite("input_serialization_format", &RecordOptions::input_serialization_format)
   .def_readwrite("output_serialization_format", &RecordOptions::output_serialization_format)
   .def_readwrite("topic_polling_interval", &RecordOptions::topic_polling_interval)
@@ -1016,24 +641,6 @@ PYBIND11_MODULE(_transport, m) {
   ;
 
   py::class_<rosbag2_py::Player>(m, "Player")
-  // TODO(christophebedard): remove this constructor after a deprecation period
-  // Deprecated default constructor
-  .def(py::init([]()
-    {
-      PyErr_WarnEx(PyExc_DeprecationWarning, "Player() is deprecated. Use the constructor with "
-          "full configuration parameters instead.", 1);
-      return new rosbag2_py::Player();
-    }), "Deprecated: Use constructor with full options.")
-
-  // TODO(christophebedard): remove this constructor after a deprecation period
-  // Deprecated constructor with log_level
-  .def(py::init([](const std::string & log_level)
-    {
-      PyErr_WarnEx(PyExc_DeprecationWarning, "Player(log_level) is deprecated. Use the "
-          "constructor with full configuration parameters instead.", 1);
-      return new rosbag2_py::Player(log_level);
-    }), py::arg("log_level"), "Deprecated: Use constructor with full options.")
-
   // Recommended constructor with storage and play options
   .def(py::init<const rosbag2_storage::StorageOptions &, const PlayOptions &,
     const std::string &, const std::string &>(),
@@ -1198,37 +805,7 @@ PYBIND11_MODULE(_transport, m) {
           time_point (int): Time point in ROS playback timeline, in nanoseconds.
     )pbdoc")
 
-  // TODO(christophebedard): remove this method after a deprecation period
-  // Deprecated play method with storage and play options
-  .def("play",
-    [](rosbag2_py::Player & self, const rosbag2_storage::StorageOptions & storage_options,
-    PlayOptions & play_options)
-    {
-      PyErr_WarnEx(PyExc_DeprecationWarning, "Player.play(storage_options, play_options) is "
-          "deprecated. Use the parameterless play() instead.", 1);
-      return self.play(storage_options, play_options);
-    },
-    py::arg("storage_options"),
-    py::arg("play_options"),
-    "Deprecated: use play() with preconfigured options instead.")
-
-  // TODO(christophebedard): remove this method after a deprecation period
-  // Deprecated play method with multiple storage options
-  .def("play",
-    [](rosbag2_py::Player & self,
-    const std::vector<rosbag2_storage::StorageOptions> & storage_options,
-    PlayOptions & play_options)
-    {
-      PyErr_WarnEx(PyExc_DeprecationWarning, "Player.play(storage_options_list, play_options) is "
-          "deprecated. Use the parameterless play() instead.", 1);
-      return self.play(storage_options, play_options);
-    },
-    py::arg("storage_options"),
-    py::arg("play_options"),
-    "Deprecated: use play() with preconfigured options instead.")
-
-  // Recommended burst playback method
-  .def("burst", py::overload_cast<size_t>(&rosbag2_py::Player::burst), py::arg("num_messages"),
+  .def("burst", &rosbag2_py::Player::burst, py::arg("num_messages"),
     R"pbdoc(
       Play a burst of messages.
 
@@ -1239,51 +816,9 @@ PYBIND11_MODULE(_transport, m) {
       Returns:
           size_t: Number of messages played in this burst.
     )pbdoc")
-
-  // TODO(christophebedard): remove this method after a deprecation period
-  // Deprecated burst method with storage and play options
-  .def("burst",
-    [](rosbag2_py::Player & self, const rosbag2_storage::StorageOptions & storage_options,
-    PlayOptions & play_options, size_t num_messages)
-    {
-      PyErr_WarnEx(PyExc_DeprecationWarning,
-          "Player.burst(storage_options, play_options, num_messages) is deprecated. "
-          "Use burst(num_messages) with preconfigured options instead.", 1);
-      return self.burst(storage_options, play_options, num_messages);
-    },
-    py::arg("storage_options"),
-    py::arg("play_options"),
-    py::arg("num_messages"),
-    "Deprecated: use burst(num_messages) with preconfigured options instead.")
-
-  .def_static("cancel", &rosbag2_py::Player::cancel,
-    R"pbdoc(
-      Cancel the ongoing playback session.
-
-      This is a static method and will affect any running Players globally.
-      Deprecated: use Player.stop() instead.
-    )pbdoc")
   ;
 
   py::class_<rosbag2_py::Recorder>(m, "Recorder")
-  // TODO(christophebedard): remove this constructor after a deprecation period
-  // Deprecated default constructor
-  .def(py::init([]()
-    {
-      PyErr_WarnEx(PyExc_DeprecationWarning, "Recorder() is deprecated. Use the constructor with "
-        "full configuration parameters instead.", 1);
-      return new rosbag2_py::Recorder();
-    }), "Deprecated: Use constructor with full options.")
-
-  // TODO(christophebedard): remove this constructor after a deprecation period
-  // Deprecated constructor with string argument
-  .def(py::init([](const std::string & arg)
-    {
-      PyErr_WarnEx(PyExc_DeprecationWarning, "Recorder(log_level) is deprecated. Use the"
-        " constructor with full configuration parameters instead.", 1);
-      return new rosbag2_py::Recorder(arg);
-    }), py::arg("arg"), "Deprecated: Use constructor with full options.")
-
   // Recommended constructor with storage and record options
   .def(
     py::init<const rosbag2_storage::StorageOptions &, RecordOptions &,
@@ -1314,7 +849,7 @@ PYBIND11_MODULE(_transport, m) {
       Stop the thread that spins the recorder node, if there is one.
     )pbdoc")
 
-  .def("record", py::overload_cast<>(&rosbag2_py::Recorder::record),
+  .def("record", &rosbag2_py::Recorder::record,
     R"pbdoc(
       Start recording based on the internal Recorder configuration.
 
@@ -1342,29 +877,6 @@ PYBIND11_MODULE(_transport, m) {
     "is_paused",
     &rosbag2_py::Recorder::is_paused,
     "Whether the recording is currently paused.")
-
-  // TODO(christophebedard): remove this method after a deprecation period
-  // (deprecated) record method
-  .def("record",
-    [](rosbag2_py::Recorder & self, const rosbag2_storage::StorageOptions & storage_options,
-    RecordOptions & record_options, const std::string & node_name)
-    {
-      PyErr_WarnEx(PyExc_DeprecationWarning, "Recorder.record(storage_options, record_options, "
-        "node_name) is deprecated. Use the parameterless record() instead.", 1);
-      return self.record(storage_options, record_options, node_name);
-    },
-    py::arg("storage_options"),
-    py::arg("record_options"),
-    py::arg("node_name") = "rosbag2_recorder",
-    "Deprecated: use record() with preconfigured options instead.")
-
-  .def_static("cancel", &rosbag2_py::Recorder::cancel,
-    R"pbdoc(
-      Cancel the ongoing recording session.
-
-      This is a static method and will affect any running Recorders globally.
-      Deprecated: use Recorder.stop() instead.
-    )pbdoc")
   ;
 
   m.def(
diff --git a/rosbag2_py/test/test_transport.py b/rosbag2_py/test/test_transport.py
index 5314da2104..a52a1331bf 100644
--- a/rosbag2_py/test/test_transport.py
+++ b/rosbag2_py/test/test_transport.py
@@ -15,7 +15,6 @@
 import datetime
 import os
 from pathlib import Path
-import re
 import signal
 import threading
 
@@ -32,7 +31,6 @@
 
 
 RESOURCES_PATH = Path(os.environ['ROSBAG2_PY_TEST_RESOURCES_DIR'])
-PLAYBACK_UNTIL_TIMESTAMP_REGEX_STRING = r'\[rosbag2_player]: Playback until timestamp: -1'
 
 
 def test_options_qos_conversion():
@@ -248,142 +246,6 @@ def test_recorder_api(tmp_path, storage_id):
     assert '/test_recorder_api_node/topic' in bag_topics, str(bag_topics)
 
 
-def test_player_unconfigured():
-    # Test that using a constructor without full configuration raises an error when trying to use
-    # the player
-    player = rosbag2_py.Player()
-    with pytest.raises(RuntimeError):
-        player.start_spin()
-    with pytest.raises(RuntimeError):
-        player.play()
-    with pytest.raises(RuntimeError):
-        player.wait_for_playback_to_start()
-    with pytest.raises(RuntimeError):
-        player.wait_for_playback_to_finish()
-    with pytest.raises(RuntimeError):
-        player.stop()
-    with pytest.raises(RuntimeError):
-        player.pause()
-    with pytest.raises(RuntimeError):
-        player.resume()
-    with pytest.raises(RuntimeError):
-        player.is_paused()
-    with pytest.raises(RuntimeError):
-        player.play_next()
-    with pytest.raises(RuntimeError):
-        player.burst(1)
-    with pytest.raises(RuntimeError):
-        player.seek(0)
-
-
-def test_recorder_unconfigured():
-    # Test that using a constructor without full configuration raises an error when trying to use
-    # the recorder
-    recorder = rosbag2_py.Recorder()
-    with pytest.raises(RuntimeError):
-        recorder.start_spin()
-    with pytest.raises(RuntimeError):
-        recorder.record()
-    with pytest.raises(RuntimeError):
-        recorder.stop()
-    with pytest.raises(RuntimeError):
-        recorder.pause()
-    with pytest.raises(RuntimeError):
-        recorder.resume()
-    with pytest.raises(RuntimeError):
-        recorder.is_paused()
-
-
-@pytest.mark.parametrize('storage_id', TESTED_STORAGE_IDS)
-def test_record_cancel(tmp_path, storage_id):
-    bag_path = tmp_path / 'test_record_cancel'
-    storage_options, converter_options = get_rosbag_options(str(bag_path), storage_id)
-
-    record_options = rosbag2_py.RecordOptions()
-    record_options.all_topics = True
-    record_options.is_discovery_disabled = False
-    record_options.topic_polling_interval = datetime.timedelta(milliseconds=100)
-
-    recorder = rosbag2_py.Recorder()
-
-    ctx = rclpy.Context()
-    ctx.init()
-    record_thread = threading.Thread(
-        target=recorder.record,
-        args=(storage_options, record_options),
-        daemon=True)
-    record_thread.start()
-
-    node = rclpy.create_node('test_record_cancel', context=ctx)
-    executor = rclpy.executors.SingleThreadedExecutor(context=ctx)
-    executor.add_node(node)
-    pub = node.create_publisher(String, 'chatter', 10)
-
-    i = 0
-    msg = String()
-
-    while rclpy.ok() and i < 10:
-        msg.data = 'Hello World: {0}'.format(i)
-        i += 1
-        pub.publish(msg)
-
-    recorder.cancel()
-
-    metadata_io = rosbag2_py.MetadataIo()
-    assert wait_for(lambda: metadata_io.metadata_file_exists(str(bag_path)),
-                    timeout=rclpy.duration.Duration(seconds=3))
-    record_thread.join()
-
-    metadata = metadata_io.read_metadata(str(bag_path))
-    assert len(metadata.relative_file_paths)
-    storage_path = bag_path / metadata.relative_file_paths[0]
-    assert wait_for(lambda: storage_path.is_file(),
-                    timeout=rclpy.duration.Duration(seconds=3))
-
-
-@pytest.mark.parametrize('storage_id', TESTED_STORAGE_IDS)
-def test_play_cancel(storage_id, capfd):
-    bag_path = str(RESOURCES_PATH / storage_id / 'talker')
-    assert os.path.exists(bag_path), 'Could not find test bag file: ' + bag_path
-
-    storage_options, converter_options = get_rosbag_options(bag_path, storage_id)
-
-    play_options = rosbag2_py.PlayOptions()
-    play_options.loop = True
-    play_options.start_paused = True
-
-    player = rosbag2_py.Player(storage_options, play_options)
-
-    player_thread = threading.Thread(
-        target=player.play,
-        args=(storage_options, play_options),
-        daemon=True)
-    player_thread.start()
-
-    def check_playback_start_output(cap_streams):
-        out, err = capfd.readouterr()
-        cap_streams['err'] += err
-        cap_streams['out'] += out
-        expected_string_regex = re.compile(PLAYBACK_UNTIL_TIMESTAMP_REGEX_STRING)
-        matches = expected_string_regex.search(cap_streams['err'])
-        return matches is not None
-
-    captured_streams = {'out': '', 'err': ''}
-
-    if not wait_for(lambda: check_playback_start_output(captured_streams),
-                    timeout=rclpy.duration.Duration(seconds=5)):
-        with capfd.disabled():
-            print('\nCaptured stdout:', captured_streams['out'])
-            print('\nCaptured stderr:', captured_streams['err'])
-        player.cancel()
-        player_thread.join()
-        assert False
-
-    player.cancel()
-    player_thread.join(3)
-    assert not player_thread.is_alive()
-
-
 @pytest.mark.parametrize('storage_id', TESTED_STORAGE_IDS)
 def test_play_process_sigint_in_python_handler(storage_id):
     bag_path = str(RESOURCES_PATH / storage_id / 'talker')
diff --git a/rosbag2_storage/include/rosbag2_storage/storage_interfaces/base_write_interface.hpp b/rosbag2_storage/include/rosbag2_storage/storage_interfaces/base_write_interface.hpp
index d6ecdfd4c3..186864a056 100644
--- a/rosbag2_storage/include/rosbag2_storage/storage_interfaces/base_write_interface.hpp
+++ b/rosbag2_storage/include/rosbag2_storage/storage_interfaces/base_write_interface.hpp
@@ -40,17 +40,6 @@ class ROSBAG2_STORAGE_PUBLIC BaseWriteInterface
   /// \brief Default destructor.
   virtual ~BaseWriteInterface() = default;
 
-  /// \brief Writes one serialized message to the storage.
-  /// \throws std::runtime_error if the storage is not open, or if create_topic(..) was not called
-  /// previously for the topic associated with the message being written.
-  [[deprecated("Use write_message(std::shared_ptr<const SerializedBagMessage> msg) instead.")]]
-  virtual void write(std::shared_ptr<const SerializedBagMessage> msg) = 0;
-
-  // This method is deprecated, use
-  // std::vector<size_t> write_messages(const SerializedBagMessages & messages) instead.
-  [[deprecated("Use write_messages(const SerializedBagMessages & messages) instead.")]]
-  virtual void write(const std::vector<std::shared_ptr<const SerializedBagMessage>> & msg) = 0;
-
   /// \brief Writes one serialized message to the storage.
   /// \param msg - The serialized message to write.
   /// \return Returns true if the message was written successfully, false otherwise.
diff --git a/rosbag2_storage/test/rosbag2_storage/test_plugin.cpp b/rosbag2_storage/test/rosbag2_storage/test_plugin.cpp
index 96275ebea1..d5f090afe3 100644
--- a/rosbag2_storage/test/rosbag2_storage/test_plugin.cpp
+++ b/rosbag2_storage/test/rosbag2_storage/test_plugin.cpp
@@ -82,19 +82,6 @@ void TestPlugin::remove_topic(const rosbag2_storage::TopicMetadata & topic)
   std::cout << "Removed topic with name =" << topic.name << " and type =" << topic.type << ".\n";
 }
 
-void TestPlugin::write(const std::shared_ptr<const rosbag2_storage::SerializedBagMessage> msg)
-{
-  (void) msg;
-  std::cout << "\nwriting\n";
-}
-
-void TestPlugin::write(
-  const std::vector<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>> & msg)
-{
-  (void) msg;
-  std::cout << "\nwriting multiple\n";
-}
-
 bool TestPlugin::write_message(
   const std::shared_ptr<const rosbag2_storage::SerializedBagMessage> msg)
 {
diff --git a/rosbag2_storage/test/rosbag2_storage/test_plugin.hpp b/rosbag2_storage/test/rosbag2_storage/test_plugin.hpp
index 4ffab612b2..badf64ed90 100644
--- a/rosbag2_storage/test/rosbag2_storage/test_plugin.hpp
+++ b/rosbag2_storage/test/rosbag2_storage/test_plugin.hpp
@@ -47,11 +47,6 @@ class TestPlugin : public rosbag2_storage::storage_interfaces::ReadWriteInterfac
 
   std::shared_ptr<rosbag2_storage::SerializedBagMessage> read_next() override;
 
-  void write(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> msg) override;
-
-  void write(
-    const std::vector<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>> & msg) override;
-
   bool write_message(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> msg) override;
 
   std::vector<size_t>
diff --git a/rosbag2_storage_mcap/src/mcap_storage.cpp b/rosbag2_storage_mcap/src/mcap_storage.cpp
index 1b6ee569fc..2e9c810d47 100644
--- a/rosbag2_storage_mcap/src/mcap_storage.cpp
+++ b/rosbag2_storage_mcap/src/mcap_storage.cpp
@@ -201,9 +201,6 @@ class ROSBAG2_STORAGE_MCAP_PUBLIC MCAPStorage
   uint64_t get_minimum_split_file_size() const override;
 
   /** BaseWriteInterface **/
-  void write(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> msg) override;
-  void write(
-    const std::vector<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>> & msg) override;
   bool write_message(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> msg) override;
   std::vector<size_t> write_messages(
     const rosbag2_storage::SerializedBagMessages & messages) override;
@@ -846,28 +843,6 @@ uint64_t MCAPStorage::get_minimum_split_file_size() const
 }
 
 /** BaseWriteInterface **/
-void MCAPStorage::write(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> msg)
-{
-  if (!write_message(msg)) {
-    throw std::runtime_error{std::string{"Message on topic '"} + msg->topic_name + "' of size '" +
-                             std::to_string(msg->serialized_data->buffer_length) +
-                             "' bytes failed to write to MCAP file. It will be lost."};
-  }
-}
-
-void MCAPStorage::write(
-  const std::vector<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>> & msgs)
-{
-  std::lock_guard<std::mutex> lock(mcap_storage_mutex_);
-  for (const auto & msg : msgs) {
-    if (!write_lock_free(msg)) {
-      throw std::runtime_error{std::string{"Message on topic '"} + msg->topic_name + "' of size '" +
-                               std::to_string(msg->serialized_data->buffer_length) +
-                               "' bytes failed to write to MCAP file. It will be lost."};
-    }
-  }
-}
-
 bool MCAPStorage::write_message(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> msg)
 {
   std::lock_guard<std::mutex> lock(mcap_storage_mutex_);
diff --git a/rosbag2_storage_sqlite3/include/rosbag2_storage_sqlite3/sqlite_storage.hpp b/rosbag2_storage_sqlite3/include/rosbag2_storage_sqlite3/sqlite_storage.hpp
index 5e3440b4ad..31a7ea8d9d 100644
--- a/rosbag2_storage_sqlite3/include/rosbag2_storage_sqlite3/sqlite_storage.hpp
+++ b/rosbag2_storage_sqlite3/include/rosbag2_storage_sqlite3/sqlite_storage.hpp
@@ -63,12 +63,6 @@ class ROSBAG2_STORAGE_DEFAULT_PLUGINS_PUBLIC SqliteStorage
     const rosbag2_storage::TopicMetadata & topic,
     const rosbag2_storage::MessageDefinition & message_definition) override;
 
-  void write(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> message) override;
-
-  void write(
-    const std::vector<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>> & messages)
-  override;
-
   bool write_message(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> message) override;
 
   std::vector<size_t>
diff --git a/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp b/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
index 18e3d525d2..4aaa7f6444 100644
--- a/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
+++ b/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
@@ -280,11 +280,6 @@ void SqliteStorage::commit_transaction()
   active_transaction_ = false;
 }
 
-void SqliteStorage::write(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> message)
-{
-  (void)write_message(message);
-}
-
 bool
 SqliteStorage::write_message(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> message)
 {
@@ -335,12 +330,6 @@ bool SqliteStorage::write_locked(
   return true;
 }
 
-void SqliteStorage::write(
-  const std::vector<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>> & messages)
-{
-  (void)write_messages(messages);
-}
-
 std::vector<size_t>
 SqliteStorage::write_messages(const rosbag2_storage::SerializedBagMessages & messages)
 {
diff --git a/rosbag2_tests/test/rosbag2_tests/test_rosbag2_cpp_get_service_info.cpp b/rosbag2_tests/test/rosbag2_tests/test_rosbag2_cpp_get_service_info.cpp
index 48cb070042..9a4f2a89da 100644
--- a/rosbag2_tests/test/rosbag2_tests/test_rosbag2_cpp_get_service_info.cpp
+++ b/rosbag2_tests/test/rosbag2_tests/test_rosbag2_cpp_get_service_info.cpp
@@ -210,7 +210,7 @@ TEST_P(Rosbag2CPPGetServiceInfoTest, get_service_info_for_bag_with_services_only
   storage_options.storage_id = storage_id;
   storage_options.uri = bag_path_str;
   rosbag2_transport::RecordOptions record_options =
-  {false, true, false, false, {}, {}, {}, {}, {"/rosout"}, {}, {}, {}, {}, {}, "cdr", 100ms};
+  {false, true, false, false, {}, {}, {}, {}, {"/rosout"}, {}, {}, {}, {}, "cdr", 100ms};
   auto recorder = std::make_shared<rosbag2_transport::Recorder>(
     std::move(writer), storage_options, record_options);
   recorder->record();
@@ -296,7 +296,7 @@ TEST_P(Rosbag2CPPGetServiceInfoTest, get_service_info_for_bag_with_topics_and_se
   storage_options.storage_id = storage_id;
   storage_options.uri = bag_path_str;
   rosbag2_transport::RecordOptions record_options =
-  {true, true, false, false, {}, {}, {}, {}, {"/rosout"}, {}, {}, {}, {}, {}, "cdr", 100ms};
+  {true, true, false, false, {}, {}, {}, {}, {"/rosout"}, {}, {}, {}, {}, "cdr", 100ms};
   auto recorder = std::make_shared<rosbag2_transport::Recorder>(
     std::move(writer), storage_options, record_options);
   recorder->record();
diff --git a/rosbag2_transport/include/rosbag2_transport/player.hpp b/rosbag2_transport/include/rosbag2_transport/player.hpp
index 9c0a445169..a24c30e8e9 100644
--- a/rosbag2_transport/include/rosbag2_transport/player.hpp
+++ b/rosbag2_transport/include/rosbag2_transport/player.hpp
@@ -379,13 +379,6 @@ class Player : public rclcpp::Node
   ROSBAG2_TRANSPORT_PUBLIC
   size_t get_number_of_registered_on_play_msg_post_callbacks();
 
-  /// \brief Getter for the first of the currently stored storage options
-  /// \return Copy of the first item in the StorageOptions vector
-  // TODO(morlov): Remove this method in Rolling after Lyrical release
-  [[deprecated("Use rosabg2_transport::Player::get_all_storage_options() instead")]]
-  ROSBAG2_TRANSPORT_PUBLIC
-  rosbag2_storage::StorageOptions get_storage_options();
-
   /// \brief Getter for the currently stored storage options
   /// \return Copy of the currently stored storage options
   ROSBAG2_TRANSPORT_PUBLIC
diff --git a/rosbag2_transport/include/rosbag2_transport/record_options.hpp b/rosbag2_transport/include/rosbag2_transport/record_options.hpp
index 7ee770fe29..faa924941a 100644
--- a/rosbag2_transport/include/rosbag2_transport/record_options.hpp
+++ b/rosbag2_transport/include/rosbag2_transport/record_options.hpp
@@ -42,8 +42,6 @@ struct RecordOptions
   std::vector<std::string> exclude_topic_types;
   std::vector<std::string> exclude_service_events;  // service event topics list
   std::vector<std::string> exclude_actions;         // actions name list
-  // rmw_serialization_format deprecated. Use output_serialization_format instead
-  std::string rmw_serialization_format;
   std::string input_serialization_format;
   std::string output_serialization_format;
   std::chrono::milliseconds topic_polling_interval{100};
diff --git a/rosbag2_transport/src/rosbag2_transport/bag_rewrite.cpp b/rosbag2_transport/src/rosbag2_transport/bag_rewrite.cpp
index 2ff5c89d3e..c4cf3e04c6 100644
--- a/rosbag2_transport/src/rosbag2_transport/bag_rewrite.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/bag_rewrite.cpp
@@ -131,10 +131,6 @@ setup_topic_filtering(
     auto filtered_topics_and_types = topic_filter.filter_topics(input_topics);
 
     std::string output_serialization_format = record_options.output_serialization_format;
-    // Fall back to the deprecated rmw_serialization_format if output format is unspecified
-    if (!record_options.rmw_serialization_format.empty() && output_serialization_format.empty()) {
-      output_serialization_format = record_options.rmw_serialization_format;
-    }
 
     // Done filtering - set up writer
     for (const auto & [topic_name, topic_type] : filtered_topics_and_types) {
diff --git a/rosbag2_transport/src/rosbag2_transport/config_options_from_node_params.cpp b/rosbag2_transport/src/rosbag2_transport/config_options_from_node_params.cpp
index c8c6a18b81..1bc914455d 100644
--- a/rosbag2_transport/src/rosbag2_transport/config_options_from_node_params.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/config_options_from_node_params.cpp
@@ -327,9 +327,6 @@ RecordOptions get_record_options_from_node_params(rclcpp::Node & node)
   record_options.exclude_actions = node.declare_parameter<std::vector<std::string>>(
     "record.exclude_actions", std::vector<std::string>());
 
-  record_options.rmw_serialization_format =
-    node.declare_parameter<std::string>("record.rmw_serialization_format", "cdr");
-
   record_options.input_serialization_format =
     node.declare_parameter<std::string>("record.input_serialization_format", "cdr");
   record_options.output_serialization_format =
diff --git a/rosbag2_transport/src/rosbag2_transport/player.cpp b/rosbag2_transport/src/rosbag2_transport/player.cpp
index b15ca4dd78..1dd777914a 100644
--- a/rosbag2_transport/src/rosbag2_transport/player.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/player.cpp
@@ -240,10 +240,6 @@ class PlayerImpl
   /// \return Number of registered on_play_msg_post_callbacks
   size_t get_number_of_registered_on_play_msg_post_callbacks();
 
-  /// \brief Getter for the first of the currently stored storage options
-  /// \return Copy of the first of the currently stored storage options
-  rosbag2_storage::StorageOptions get_storage_options();
-
   /// \brief Getter for the currently stored storage options
   /// \return Copy of the currently stored storage options
   std::vector<rosbag2_storage::StorageOptions> get_all_storage_options();
@@ -2272,15 +2268,6 @@ void PlayerImpl::publish_clock_update(const rclcpp::Time & time)
   }
 }
 
-rosbag2_storage::StorageOptions PlayerImpl::get_storage_options()
-{
-  auto all_storage_options = get_all_storage_options();
-  if (all_storage_options.empty()) {
-    throw std::runtime_error("Storage options not available.");
-  }
-  return all_storage_options[0];
-}
-
 std::vector<rosbag2_storage::StorageOptions> PlayerImpl::get_all_storage_options()
 {
   return readers_->get_all_storage_options();
@@ -2541,11 +2528,6 @@ size_t Player::get_number_of_registered_on_play_msg_post_callbacks()
   return pimpl_->get_number_of_registered_on_play_msg_post_callbacks();
 }
 
-rosbag2_storage::StorageOptions Player::get_storage_options()
-{
-  return pimpl_->get_storage_options();
-}
-
 std::vector<rosbag2_storage::StorageOptions> Player::get_all_storage_options()
 {
   return pimpl_->get_all_storage_options();
diff --git a/rosbag2_transport/src/rosbag2_transport/record_options.cpp b/rosbag2_transport/src/rosbag2_transport/record_options.cpp
index 8cea5dc65c..76c4d046a8 100644
--- a/rosbag2_transport/src/rosbag2_transport/record_options.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/record_options.cpp
@@ -33,7 +33,7 @@ Node convert<rosbag2_transport::RecordOptions>::encode(
   auto & [all_topics, all_services, all_actions, is_discovery_disabled,
     topics, topic_types, services, actions,
     exclude_topics, exclude_topic_types, exclude_service_events, exclude_actions,
-    rmw_serialization_format, input_serialization_format, output_serialization_format,
+    input_serialization_format, output_serialization_format,
     topic_polling_interval, regex, exclude_regex, node_prefix,
     compression_mode, compression_format, compression_queue_size, compression_threads,
     compression_threads_priority, topic_qos_profile_overrides,
@@ -54,7 +54,6 @@ Node convert<rosbag2_transport::RecordOptions>::encode(
   node["exclude_topic_types"] = exclude_topic_types;
   node["exclude_services"] = exclude_service_events;
   node["exclude_actions"] = exclude_actions;
-  node["rmw_serialization_format"] = rmw_serialization_format;
   node["input_serialization_format"] = input_serialization_format;
   node["output_serialization_format"] = output_serialization_format;
   node["topic_polling_interval"] = topic_polling_interval;
@@ -91,7 +90,7 @@ bool convert<rosbag2_transport::RecordOptions>::decode(
   auto & [all_topics, all_services, all_actions, is_discovery_disabled,
     topics, topic_types, services, actions,
     exclude_topics, exclude_topic_types, exclude_service_events, exclude_actions,
-    rmw_serialization_format, input_serialization_format, output_serialization_format,
+    input_serialization_format, output_serialization_format,
     topic_polling_interval, regex, exclude_regex, node_prefix,
     compression_mode, compression_format, compression_queue_size, compression_threads,
     compression_threads_priority, topic_qos_profile_overrides,
@@ -120,8 +119,6 @@ bool convert<rosbag2_transport::RecordOptions>::decode(
   optional_assign<std::vector<std::string>>(node, "exclude_topic_types", exclude_topic_types);
   optional_assign<std::vector<std::string>>(node, "exclude_services", exclude_service_events);
   optional_assign<std::vector<std::string>>(node, "exclude_actions", exclude_actions);
-  optional_assign<std::string>(
-    node, "rmw_serialization_format", rmw_serialization_format);
   optional_assign<std::string>(
     node, "input_serialization_format", input_serialization_format);
   optional_assign<std::string>(
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index 982bd3e9f4..e9aea107b1 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -687,14 +687,6 @@ bool RecorderImpl::record(const std::string & uri)
   RCLCPP_INFO(node->get_logger(), "Starting recording to '%s'", storage_options_.uri.c_str());
 
   // Check serialization format options
-  if (!record_options_.rmw_serialization_format.empty() &&
-    record_options_.output_serialization_format.empty())
-  {
-    RCLCPP_WARN(node->get_logger(),
-      "The rmw_serialization_format option is deprecated and will be removed in a future release.\n"
-      "Please use output_serialization_format instead.");
-    record_options_.output_serialization_format = record_options_.rmw_serialization_format;
-  }
   if (record_options_.input_serialization_format.empty()) {
     record_options_.input_serialization_format = rmw_get_serialization_format();
     RCLCPP_WARN(node->get_logger(),
diff --git a/rosbag2_transport/test/rosbag2_transport/test_composable_recorder.cpp b/rosbag2_transport/test/rosbag2_transport/test_composable_recorder.cpp
index 65ed626252..2012850b3e 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_composable_recorder.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_composable_recorder.cpp
@@ -225,7 +225,6 @@ TEST_P(ComposableRecorderTests, recorder_can_parse_parameters_from_file) {
   EXPECT_EQ(record_options.exclude_topic_types, exclude_topic_types);
   std::vector<std::string> services {"/service/_service_event", "/other_service/_service_event"};
   EXPECT_EQ(record_options.services, services);
-  EXPECT_EQ(record_options.rmw_serialization_format, "cdr");
   EXPECT_EQ(record_options.input_serialization_format, "cdr");
   EXPECT_EQ(record_options.output_serialization_format, "cdr");
   EXPECT_TRUE(record_options.topic_polling_interval == 0.01s);
diff --git a/rosbag2_transport/test/rosbag2_transport/test_keyboard_controls.cpp b/rosbag2_transport/test/rosbag2_transport/test_keyboard_controls.cpp
index 942da51eda..7644e9edad 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_keyboard_controls.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_keyboard_controls.cpp
@@ -194,7 +194,7 @@ TEST_F(RecordIntegrationTestFixture, test_keyboard_controls)
   auto keyboard_handler = std::make_shared<MockKeyboardHandler>();
 
   rosbag2_transport::RecordOptions record_options =
-  {true, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
+  {true, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
   record_options.start_paused = true;
 
   auto recorder = std::make_shared<Recorder>(
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
index b5b5422294..aba8d52d88 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -58,7 +58,7 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_topics_are
 
   rosbag2_transport::RecordOptions record_options =
   {false, false, false, false, {string_topic, array_topic},
-    {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", "rmw_format", 50ms};
+    {}, {}, {}, {}, {}, {}, {}, "rmw_format", "rmw_format", 50ms};
   auto recorder = std::make_shared<rosbag2_transport::Recorder>(
     std::move(writer_), storage_options_, record_options);
   recorder->record();
@@ -177,7 +177,7 @@ TEST_F(RecordIntegrationTestFixture, can_record_again_after_stop)
 
   rosbag2_transport::RecordOptions record_options =
   {
-    false, false, false, false, {test_topic}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format",
+    false, false, false, false, {test_topic}, {}, {}, {}, {}, {}, {}, {}, "rmw_format",
     "rmw_format", 50ms
   };
   auto recorder = std::make_shared<rosbag2_transport::Recorder>(
@@ -288,7 +288,7 @@ TEST_F(RecordIntegrationTestFixture, qos_is_stored_in_metadata)
   pub_manager.setup_publisher(topic, string_message, 2);
 
   rosbag2_transport::RecordOptions record_options =
-  {false, false, false, false, {topic}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
+  {false, false, false, false, {topic}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
   auto recorder = std::make_shared<rosbag2_transport::Recorder>(
     std::move(writer_), storage_options_, record_options);
   recorder->record();
@@ -353,7 +353,7 @@ TEST_F(RecordIntegrationTestFixture, records_sensor_data)
   pub_manager.setup_publisher(topic, string_message, 2, rclcpp::SensorDataQoS());
 
   rosbag2_transport::RecordOptions record_options =
-  {false, false, false, false, {topic}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
+  {false, false, false, false, {topic}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
   auto recorder = std::make_shared<rosbag2_transport::Recorder>(
     std::move(writer_), storage_options_, record_options);
   recorder->record();
@@ -397,7 +397,7 @@ TEST_F(RecordIntegrationTestFixture, receives_latched_messages)
   pub_manager.run_publishers();
 
   rosbag2_transport::RecordOptions record_options =
-  {false, false, false, false, {topic}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
+  {false, false, false, false, {topic}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
   auto recorder = std::make_shared<rosbag2_transport::Recorder>(
     std::move(writer_), storage_options_, record_options);
   recorder->record();
@@ -435,7 +435,6 @@ TEST_F(RecordIntegrationTestFixture, repeat_transient_local_topics_register_requ
 
   rosbag2_transport::RecordOptions record_options;
   record_options.topics = {topic};
-  record_options.rmw_serialization_format = "rmw_format";
   record_options.topic_polling_interval = 100ms;
   record_options.repeat_transient_local_messages[topic] = 3;
 
@@ -477,7 +476,6 @@ TEST_F(RecordIntegrationTestFixture, repeat_all_transient_local_auto_detects_mix
 
   rosbag2_transport::RecordOptions record_options;
   record_options.topics = {topic};
-  record_options.rmw_serialization_format = "rmw_format";
   record_options.topic_polling_interval = 100ms;
   record_options.repeat_all_transient_local_depth = expected_depth;
 
@@ -515,7 +513,6 @@ TEST_F(RecordIntegrationTestFixture, repeat_all_transient_local_skips_volatile_o
 
   rosbag2_transport::RecordOptions record_options;
   record_options.topics = {topic};
-  record_options.rmw_serialization_format = "rmw_format";
   record_options.topic_polling_interval = 100ms;
   record_options.repeat_all_transient_local_depth = 5;
 
@@ -561,7 +558,7 @@ TEST_F(RecordIntegrationTestFixture, mixed_qos_subscribes) {
     topic, profile_transient_local);
 
   rosbag2_transport::RecordOptions record_options =
-  {false, false, false, false, {topic}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
+  {false, false, false, false, {topic}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
   auto recorder = std::make_shared<rosbag2_transport::Recorder>(
     std::move(writer_), storage_options_, record_options);
   recorder->record();
@@ -610,7 +607,7 @@ TEST_F(RecordIntegrationTestFixture, duration_and_noncompatibility_policies_mixe
   auto publisher_liveliness = create_pub(profile_liveliness);
 
   rosbag2_transport::RecordOptions record_options =
-  {false, false, false, false, {topic}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
+  {false, false, false, false, {topic}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
   auto recorder = std::make_shared<rosbag2_transport::Recorder>(
     std::move(writer_), storage_options_, record_options);
   recorder->record();
@@ -653,7 +650,7 @@ TEST_F(RecordIntegrationTestFixture, write_split_callback_is_called)
 
   rosbag2_transport::RecordOptions record_options =
   {
-    false, false, false, false, {string_topic}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format",
+    false, false, false, false, {string_topic}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format",
     10ms
   };
   auto recorder = std::make_shared<rosbag2_transport::Recorder>(
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp b/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp
index 3a830ee85d..b83d617c5c 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp
@@ -62,7 +62,7 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_topics_are
       RecorderEventNotifier::get_default_write_split_topic_name(),
       RecorderEventNotifier::get_default_messages_lost_topic_name(),
     },
-    {}, {}, {}, {}, {}, "rmw_format", 100ms
+    {}, {}, {}, {}, "rmw_format", 100ms
   };
   auto recorder = std::make_shared<rosbag2_transport::Recorder>(
     std::move(writer_), storage_options_, record_options);
@@ -111,7 +111,7 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_services_a
     "test_service_2");
 
   rosbag2_transport::RecordOptions record_options =
-  {false, true, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
+  {false, true, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
   auto recorder = std::make_shared<MockRecorder>(
     std::move(writer_), storage_options_, record_options);
   recorder->record();
@@ -159,7 +159,7 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_actions_ar
     "test_action_2");
 
   rosbag2_transport::RecordOptions record_options =
-  {false, false, true, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
+  {false, false, true, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
   auto recorder = std::make_shared<MockRecorder>(
     std::move(writer_), storage_options_, record_options);
   recorder->record();
@@ -229,7 +229,7 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_topic_service_actio
       RecorderEventNotifier::get_default_write_split_topic_name(),
       RecorderEventNotifier::get_default_messages_lost_topic_name(),
     },
-    {}, {}, {}, {}, {}, "rmw_format", 100ms
+    {}, {}, {}, {}, "rmw_format", 100ms
   };
   auto recorder = std::make_shared<MockRecorder>(
     std::move(writer_), storage_options_, record_options);
@@ -292,7 +292,7 @@ TEST_F(RecordIntegrationTestFixture, cancel_event_messages_from_action_are_recor
       RecorderEventNotifier::get_default_write_split_topic_name(),
       RecorderEventNotifier::get_default_messages_lost_topic_name(),
     },
-    {}, {}, {}, {}, {}, "rmw_format", 100ms
+    {}, {}, {}, {}, "rmw_format", 100ms
   };
   auto recorder = std::make_shared<MockRecorder>(
     std::move(writer_), storage_options_, record_options);
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record_all_ignore_leaf_topics.cpp b/rosbag2_transport/test/rosbag2_transport/test_record_all_ignore_leaf_topics.cpp
index e7bc10af8c..cd7390d5a6 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record_all_ignore_leaf_topics.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record_all_ignore_leaf_topics.cpp
@@ -52,7 +52,7 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_two_topics_ignore_l
   pub_manager.setup_publisher(string_topic, string_message, 2);
 
   rosbag2_transport::RecordOptions record_options =
-  {true, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
+  {true, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
   record_options.ignore_leaf_topics = true;
   auto recorder = std::make_shared<rosbag2_transport::Recorder>(
     std::move(writer_), storage_options_, record_options);
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record_all_include_unpublished_topics.cpp b/rosbag2_transport/test/rosbag2_transport/test_record_all_include_unpublished_topics.cpp
index b6fd44dc85..69b3c3f635 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record_all_include_unpublished_topics.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record_all_include_unpublished_topics.cpp
@@ -36,7 +36,7 @@ TEST_F(RecordIntegrationTestFixture, record_all_include_unpublished_false_ignore
     string_topic, 10, [](test_msgs::msg::Strings::ConstSharedPtr) {});
 
   rosbag2_transport::RecordOptions record_options =
-  {true, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
+  {true, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
   record_options.include_unpublished_topics = false;
   auto recorder = std::make_shared<MockRecorder>(writer_, storage_options_, record_options);
   recorder->record();
@@ -55,7 +55,7 @@ TEST_F(RecordIntegrationTestFixture, record_all_include_unpublished_true_include
     string_topic, 10, [](test_msgs::msg::Strings::ConstSharedPtr) {});
 
   rosbag2_transport::RecordOptions record_options =
-  {true, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
+  {true, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
   record_options.include_unpublished_topics = true;
   auto recorder = std::make_shared<MockRecorder>(writer_, storage_options_, record_options);
   recorder->record();
@@ -76,7 +76,7 @@ TEST_F(
     string_topic, 10, [](test_msgs::msg::Strings::ConstSharedPtr) {});
 
   rosbag2_transport::RecordOptions record_options =
-  {true, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
+  {true, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
   record_options.include_unpublished_topics = false;
   auto recorder = std::make_shared<MockRecorder>(writer_, storage_options_, record_options);
   recorder->record();
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record_all_no_discovery.cpp b/rosbag2_transport/test/rosbag2_transport/test_record_all_no_discovery.cpp
index f8f37d1cf4..04a864c78c 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record_all_no_discovery.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record_all_no_discovery.cpp
@@ -38,7 +38,7 @@ TEST_F(RecordIntegrationTestFixture, record_all_without_discovery_ignores_later_
   string_message->string_value = "Hello World";
 
   rosbag2_transport::RecordOptions record_options =
-  {true, false, false, true, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
+  {true, false, false, true, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
   auto recorder = std::make_shared<rosbag2_transport::Recorder>(
     std::move(writer_), storage_options_, record_options);
   recorder->record();
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record_all_use_sim_time.cpp b/rosbag2_transport/test/rosbag2_transport/test_record_all_use_sim_time.cpp
index ecbc87c524..d6a8f56b72 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record_all_use_sim_time.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record_all_use_sim_time.cpp
@@ -97,7 +97,7 @@ TEST_F(RecordIntegrationTestFixture, record_all_with_sim_time)
 
   rosbag2_transport::RecordOptions record_options =
   {
-    false, false, false, false, {string_topic, clock_topic}, {}, {}, {}, {}, {}, {}, {}, {}, {},
+    false, false, false, false, {string_topic, clock_topic}, {}, {}, {}, {}, {}, {}, {}, {},
     "rmw_format", 100ms
   };
   record_options.use_sim_time = true;
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record_options.cpp b/rosbag2_transport/test/rosbag2_transport/test_record_options.cpp
index fd4aec070c..bf8965c05e 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record_options.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record_options.cpp
@@ -35,7 +35,6 @@ TEST(record_options, test_yaml_serialization_deserialization)
   original.exclude_topic_types = {"exclude_type1", "exclude_type2"};
   original.exclude_service_events = {"exclude_service1", "exclude_service2"};
   original.exclude_actions = {"exclude_action1", "exclude_action2"};
-  original.rmw_serialization_format = "cdr";
   original.input_serialization_format = "cdr";
   original.output_serialization_format = "cdr";
   original.topic_polling_interval = std::chrono::milliseconds{200};
@@ -79,7 +78,6 @@ TEST(record_options, test_yaml_serialization_deserialization)
   CHECK(exclude_topic_types);
   CHECK(exclude_service_events);
   CHECK(exclude_actions);
-  CHECK(rmw_serialization_format);
   CHECK(input_serialization_format);
   CHECK(output_serialization_format);
   CHECK(topic_polling_interval);
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record_regex.cpp b/rosbag2_transport/test/rosbag2_transport/test_record_regex.cpp
index d48f4c80a4..d35878f89c 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record_regex.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record_regex.cpp
@@ -65,7 +65,7 @@ TEST_F(RecordIntegrationTestFixture, regex_topics_recording)
   ASSERT_FALSE(std::regex_match(b4, re));
 
   rosbag2_transport::RecordOptions record_options =
-  {false, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 10ms};
+  {false, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 10ms};
   record_options.regex = regex;
 
   // TODO(karsten1987) Refactor this into publication manager
@@ -138,7 +138,7 @@ TEST_F(RecordIntegrationTestFixture, regex_and_exclude_regex_topic_recording)
   ASSERT_TRUE(std::regex_match(e1, exclude));
 
   rosbag2_transport::RecordOptions record_options =
-  {false, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 10ms};
+  {false, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 10ms};
   record_options.regex = regex;
   record_options.exclude_regex = topics_regex_to_exclude;
 
@@ -214,7 +214,7 @@ TEST_F(RecordIntegrationTestFixture, regex_and_exclude_topic_topic_recording)
   ASSERT_TRUE(e1 == topics_exclude);
 
   rosbag2_transport::RecordOptions record_options =
-  {false, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 10ms};
+  {false, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 10ms};
   record_options.regex = regex;
   record_options.exclude_topics.emplace_back(topics_exclude);
 
@@ -277,7 +277,7 @@ TEST_F(RecordIntegrationTestFixture, regex_and_exclude_regex_service_recording)
   std::string b2 = "/namespace_before/not_nice";
 
   rosbag2_transport::RecordOptions record_options =
-  {false, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 10ms};
+  {false, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 10ms};
   record_options.regex = regex;
   record_options.exclude_regex = services_regex_to_exclude;
 
@@ -359,7 +359,7 @@ TEST_F(RecordIntegrationTestFixture, regex_and_exclude_service_service_recording
   std::string b2 = "/namespace_before/not_nice";
 
   rosbag2_transport::RecordOptions record_options =
-  {false, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 10ms};
+  {false, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 10ms};
   record_options.regex = regex;
   record_options.exclude_service_events.emplace_back(services_exclude);
 
@@ -441,7 +441,7 @@ TEST_F(RecordIntegrationTestFixture, regex_and_exclude_regex_action_recording)
   std::string b2 = "/namespace_before/not_nice";
 
   rosbag2_transport::RecordOptions record_options =
-  {false, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 10ms};
+  {false, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 10ms};
   record_options.regex = regex;
   record_options.exclude_regex = actions_regex_to_exclude;
 
@@ -541,7 +541,7 @@ TEST_F(RecordIntegrationTestFixture, regex_and_exclude_actions_action_recording)
   std::string b2 = "/namespace_before/not_nice";
 
   rosbag2_transport::RecordOptions record_options =
-  {false, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 10ms};
+  {false, false, false, false, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 10ms};
   record_options.regex = regex;
   record_options.exclude_actions = action_exclude;
 
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record_services.cpp b/rosbag2_transport/test/rosbag2_transport/test_record_services.cpp
index 967a4b5451..3a4b77336b 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record_services.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record_services.cpp
@@ -113,7 +113,6 @@ class RecordSrvsTest : public RecordIntegrationTestFixture
     rosbag2_transport::RecordOptions record_options;
     record_options.is_discovery_disabled = is_discovery_disabled_;
     record_options.topics = record_topics;
-    record_options.rmw_serialization_format = "rmw_format";
     record_options.topic_polling_interval = 100ms;
     record_options.use_sim_time = use_sim_time_;
     storage_options_.snapshot_mode = snapshot_mode_;
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record_static_topics.cpp b/rosbag2_transport/test/rosbag2_transport/test_record_static_topics.cpp
index 3d62e173e3..e47d1d8398 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record_static_topics.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record_static_topics.cpp
@@ -29,7 +29,7 @@ namespace fs = std::filesystem;
 TEST_F(RecordIntegrationTestFixture, recorder_can_read_static_topics_list)
 {
   rosbag2_transport::RecordOptions record_options = rosbag2_transport::RecordOptions{
-    true, true, true, true, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
+    true, true, true, true, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
 
   // _SRC_RESOURCES_DIR_PATH defined in CMakeLists.txt
   record_options.static_topics_uri =
@@ -55,7 +55,7 @@ TEST_F(RecordIntegrationTestFixture, exclude_applies_above_static_topics_list)
   rosbag2_test_common::PublicationManager pub_manager;
   pub_manager.setup_publisher("/topic_name1", string_message, 5);
   rosbag2_transport::RecordOptions record_options = rosbag2_transport::RecordOptions{
-    false, false, false, true, {}, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
+    false, false, false, true, {}, {}, {}, {}, {}, {}, {}, {}, {}, "rmw_format", 100ms};
   record_options.include_unpublished_topics = true;
   record_options.exclude_regex = ".*_name2.*";