diff --git a/rclcpp/include/rclcpp/any_subscription_callback.hpp b/rclcpp/include/rclcpp/any_subscription_callback.hpp
index a2249b74a8..661e6b97fd 100644
--- a/rclcpp/include/rclcpp/any_subscription_callback.hpp
+++ b/rclcpp/include/rclcpp/any_subscription_callback.hpp
@@ -407,12 +407,73 @@ class AnySubscriptionCallback
     // converted to one another, e.g. shared_ptr and unique_ptr.
     using scbth = detail::SubscriptionCallbackTypeHelper<MessageT, CallbackT>;
 
-    callback_variant_ = static_cast<typename scbth::callback_type>(callback);
+    // Determine if the given CallbackT is a deprecated signature or not.
+    constexpr auto is_deprecated =
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<SubscribedType>)>
+      >::value ||
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<SubscribedType>, const rclcpp::MessageInfo &)>
+      >::value ||
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<ROSMessageType>)>
+      >::value ||
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<ROSMessageType>, const rclcpp::MessageInfo &)>
+      >::value ||
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>
+      >::value ||
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo &)>
+      >::value;
+
+    // Use the discovered type to force the type of callback when assigning
+    // into the variant.
+    if constexpr (is_deprecated) {
+      // If deprecated, call sub-routine that is deprecated.
+      set_deprecated(static_cast<typename scbth::callback_type>(callback));
+    } else {
+      // Otherwise just assign it.
+      callback_variant_ = static_cast<typename scbth::callback_type>(callback);
+    }
 
     // Return copy of self for easier testing, normally will be compiled out.
     return *this;
   }
 
+  /// Function for shared_ptr to non-const MessageT, which is deprecated.
+  template<typename SetT>
+  #if !defined(RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS)
+  // suppress deprecation warnings in `test_any_subscription_callback.cpp`
+  [[deprecated("use 'void(std::shared_ptr<const MessageT>)' instead")]]
+  #endif
+  void
+  set_deprecated(std::function<void(std::shared_ptr<SetT>)> callback)
+  {
+    callback_variant_ = callback;
+  }
+
+  /// Function for shared_ptr to non-const MessageT with MessageInfo, which is deprecated.
+  template<typename SetT>
+  #if !defined(RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS)
+  // suppress deprecation warnings in `test_any_subscription_callback.cpp`
+  [[deprecated(
+          "use 'void(std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)' instead"
+  )]]
+  #endif
+  void
+  set_deprecated(std::function<void(std::shared_ptr<SetT>, const rclcpp::MessageInfo &)> callback)
+  {
+    callback_variant_ = callback;
+  }
+
   /// Disable the callback from being called during dispatch.
   void disable()
   {
diff --git a/rclcpp/test/rclcpp/test_any_subscription_callback.cpp b/rclcpp/test/rclcpp/test_any_subscription_callback.cpp
index 9539bebd01..f292399695 100644
--- a/rclcpp/test/rclcpp/test_any_subscription_callback.cpp
+++ b/rclcpp/test/rclcpp/test_any_subscription_callback.cpp
@@ -20,6 +20,7 @@
 #include <string>
 #include <utility>
 
+#define RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS 1
 #include "rclcpp/any_subscription_callback.hpp"
 #include "test_msgs/msg/empty.hpp"
 
@@ -178,7 +179,7 @@ TEST_F(TestAnySubscriptionCallback, is_serialized_message_callback) {
   }
   {
     rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
-    asc.set([](std::shared_ptr<rclcpp::SerializedMessage>) {});
+    asc.set([](std::shared_ptr<const rclcpp::SerializedMessage>) {});
     EXPECT_TRUE(asc.is_serialized_message_callback());
     EXPECT_NO_THROW(
       asc.dispatch(
@@ -187,7 +188,7 @@ TEST_F(TestAnySubscriptionCallback, is_serialized_message_callback) {
   }
   {
     rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
-    asc.set([](std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo &) {});
+    asc.set([](std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo &) {});
     EXPECT_TRUE(asc.is_serialized_message_callback());
     EXPECT_NO_THROW(
       asc.dispatch(
diff --git a/rclcpp/test/rclcpp/test_subscription_publisher_with_same_type_adapter.cpp b/rclcpp/test/rclcpp/test_subscription_publisher_with_same_type_adapter.cpp
index ffb47e9468..d733d9758b 100644
--- a/rclcpp/test/rclcpp/test_subscription_publisher_with_same_type_adapter.cpp
+++ b/rclcpp/test/rclcpp/test_subscription_publisher_with_same_type_adapter.cpp
@@ -212,7 +212,7 @@ TEST_F(
     bool is_received = false;
     auto callback =
       [message_data, &is_received](
-      std::shared_ptr<std::string> msg) -> void {
+      std::shared_ptr<const std::string> msg) -> void {
         is_received = true;
         EXPECT_STREQ(message_data.c_str(), (*msg).c_str());
       };
@@ -230,7 +230,7 @@ TEST_F(
     bool is_received = false;
     auto callback =
       [message_data, &is_received](
-      std::shared_ptr<std::string> msg,
+      std::shared_ptr<const std::string> msg,
       const rclcpp::MessageInfo & message_info) -> void {
         is_received = true;
         EXPECT_STREQ(message_data.c_str(), (*msg).c_str());
@@ -422,7 +422,7 @@ TEST_F(
     bool is_received = false;
     auto callback =
       [message_data, &is_received](
-      std::shared_ptr<std::string> msg) -> void {
+      std::shared_ptr<const std::string> msg) -> void {
         is_received = true;
         EXPECT_STREQ(message_data.c_str(), (*msg).c_str());
       };
@@ -440,7 +440,7 @@ TEST_F(
     bool is_received = false;
     auto callback =
       [message_data, &is_received](
-      std::shared_ptr<std::string> msg,
+      std::shared_ptr<const std::string> msg,
       const rclcpp::MessageInfo & message_info) -> void {
         is_received = true;
         EXPECT_STREQ(message_data.c_str(), (*msg).c_str());
@@ -637,7 +637,7 @@ TEST_F(
     bool is_received = false;
     auto callback =
       [message_data, &is_received](
-      std::shared_ptr<double> msg) -> void {
+      std::shared_ptr<const double> msg) -> void {
         is_received = true;
         ASSERT_EQ(message_data, *msg);
       };
@@ -656,7 +656,7 @@ TEST_F(
     bool is_received = false;
     auto callback =
       [message_data, &is_received](
-      std::shared_ptr<double> msg,
+      std::shared_ptr<const double> msg,
       const rclcpp::MessageInfo & message_info) -> void {
         is_received = true;
         ASSERT_EQ(message_data, *msg);
@@ -862,7 +862,7 @@ TEST_F(
     bool is_received = false;
     auto callback =
       [message_data, &is_received](
-      std::shared_ptr<double> msg) -> void {
+      std::shared_ptr<const double> msg) -> void {
         is_received = true;
         ASSERT_EQ(message_data, *msg);
       };
@@ -882,7 +882,7 @@ TEST_F(
     bool is_received = false;
     auto callback =
       [message_data, &is_received](
-      std::shared_ptr<double> msg,
+      std::shared_ptr<const double> msg,
       const rclcpp::MessageInfo & message_info) -> void {
         is_received = true;
         ASSERT_EQ(message_data, *msg);