diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport.hpp b/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport.hpp
index 206f52f5..303ef3cb 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport.hpp
+++ b/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport.hpp
@@ -16,9 +16,9 @@
 #ifndef RMW_CYCLONEDDS_CPP__TYPESUPPORT_HPP_
 #define RMW_CYCLONEDDS_CPP__TYPESUPPORT_HPP_
 
-#include <rosidl_generator_c/string.h>
-#include <rosidl_generator_c/string_functions.h>
-#include <rosidl_generator_c/u16string_functions.h>
+#include <rosidl_runtime_c/string.h>
+#include <rosidl_runtime_c/string_functions.h>
+#include <rosidl_runtime_c/u16string_functions.h>
 
 #include <cassert>
 #include <string>
@@ -53,15 +53,15 @@ struct StringHelper;
 template<>
 struct StringHelper<rosidl_typesupport_introspection_c__MessageMembers>
 {
-  using type = rosidl_generator_c__String;
+  using type = rosidl_runtime_c__String;
 
   static std::string convert_to_std_string(void * data)
   {
-    auto c_string = static_cast<rosidl_generator_c__String *>(data);
+    auto c_string = static_cast<rosidl_runtime_c__String *>(data);
     if (!c_string) {
       RCUTILS_LOG_ERROR_NAMED(
         "rmw_cyclonedds_cpp",
-        "Failed to cast data as rosidl_generator_c__String");
+        "Failed to cast data as rosidl_runtime_c__String");
       return "";
     }
     if (!c_string->data) {
@@ -73,7 +73,7 @@ struct StringHelper<rosidl_typesupport_introspection_c__MessageMembers>
     return std::string(c_string->data);
   }
 
-  static std::string convert_to_std_string(rosidl_generator_c__String & data)
+  static std::string convert_to_std_string(rosidl_runtime_c__String & data)
   {
     return std::string(data.data);
   }
@@ -82,8 +82,8 @@ struct StringHelper<rosidl_typesupport_introspection_c__MessageMembers>
   {
     std::string str;
     deser >> str;
-    rosidl_generator_c__String * c_str = static_cast<rosidl_generator_c__String *>(field);
-    rosidl_generator_c__String__assign(c_str, str.c_str());
+    rosidl_runtime_c__String * c_str = static_cast<rosidl_runtime_c__String *>(field);
+    rosidl_runtime_c__String__assign(c_str, str.c_str());
   }
 };
 
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp b/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp
index f2cc2cba..0a733ee2 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp
+++ b/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp
@@ -30,8 +30,8 @@
 #include "rosidl_typesupport_introspection_c/message_introspection.h"
 #include "rosidl_typesupport_introspection_c/service_introspection.h"
 
-#include "rosidl_generator_c/primitives_sequence_functions.h"
-#include "rosidl_generator_c/u16string_functions.h"
+#include "rosidl_runtime_c/primitives_sequence_functions.h"
+#include "rosidl_runtime_c/u16string_functions.h"
 
 #include "serdes.hpp"
 #include "u16string.hpp"
@@ -56,19 +56,19 @@ SPECIALIZE_GENERIC_C_SEQUENCE(uint32, uint32_t)
 SPECIALIZE_GENERIC_C_SEQUENCE(int64, int64_t)
 SPECIALIZE_GENERIC_C_SEQUENCE(uint64, uint64_t)
 
-typedef struct rosidl_generator_c__void__Sequence
+typedef struct rosidl_runtime_c__void__Sequence
 {
   void * data;
   /// The number of valid items in data
   size_t size;
   /// The number of allocated items in data
   size_t capacity;
-} rosidl_generator_c__void__Sequence;
+} rosidl_runtime_c__void__Sequence;
 
 inline
 bool
-rosidl_generator_c__void__Sequence__init(
-  rosidl_generator_c__void__Sequence * sequence, size_t size, size_t member_size)
+rosidl_runtime_c__void__Sequence__init(
+  rosidl_runtime_c__void__Sequence * sequence, size_t size, size_t member_size)
 {
   if (!sequence) {
     return false;
@@ -88,7 +88,7 @@ rosidl_generator_c__void__Sequence__init(
 
 inline
 void
-rosidl_generator_c__void__Sequence__fini(rosidl_generator_c__void__Sequence * sequence)
+rosidl_runtime_c__void__Sequence__fini(rosidl_runtime_c__void__Sequence * sequence)
 {
   if (!sequence) {
     return;
@@ -182,7 +182,7 @@ static size_t calculateMaxAlign(const MembersType * members)
           if (std::is_same<MembersType,
             rosidl_typesupport_introspection_c__MessageMembers>::value)
           {
-            alignment = alignof(rosidl_generator_c__String);
+            alignment = alignof(rosidl_runtime_c__String);
           } else {
             alignment = alignof(std::string);
           }
@@ -229,7 +229,7 @@ size_t get_array_size_and_assign_field(
   void * & subros_message,
   size_t, size_t)
 {
-  auto tmpsequence = static_cast<rosidl_generator_c__void__Sequence *>(field);
+  auto tmpsequence = static_cast<rosidl_runtime_c__void__Sequence *>(field);
   if (member->is_upper_bound_ && tmpsequence->size > member->array_size_) {
     throw std::runtime_error("vector overcomes the maximum length");
   }
@@ -353,34 +353,34 @@ inline void deserialize_field<std::string>(
     CStringHelper::assign(deser, field, call_new);
   } else {
     if (member->array_size_ && !member->is_upper_bound_) {
-      auto deser_field = static_cast<rosidl_generator_c__String *>(field);
+      auto deser_field = static_cast<rosidl_runtime_c__String *>(field);
       // tmpstring is defined here and not below to avoid
       // memory allocation in every iteration of the for loop
       std::string tmpstring;
       for (size_t i = 0; i < member->array_size_; ++i) {
         deser.deserialize(tmpstring);
-        if (!rosidl_generator_c__String__assign(&deser_field[i], tmpstring.c_str())) {
-          throw std::runtime_error("unable to assign rosidl_generator_c__String");
+        if (!rosidl_runtime_c__String__assign(&deser_field[i], tmpstring.c_str())) {
+          throw std::runtime_error("unable to assign rosidl_runtime_c__String");
         }
       }
     } else {
       std::vector<std::string> cpp_string_vector;
       deser >> cpp_string_vector;
 
-      auto & string_array_field = *reinterpret_cast<rosidl_generator_c__String__Sequence *>(field);
+      auto & string_array_field = *reinterpret_cast<rosidl_runtime_c__String__Sequence *>(field);
       if (
-        !rosidl_generator_c__String__Sequence__init(
+        !rosidl_runtime_c__String__Sequence__init(
           &string_array_field, cpp_string_vector.size()))
       {
-        throw std::runtime_error("unable to initialize rosidl_generator_c__String array");
+        throw std::runtime_error("unable to initialize rosidl_runtime_c__String array");
       }
 
       for (size_t i = 0; i < cpp_string_vector.size(); ++i) {
         if (
-          !rosidl_generator_c__String__assign(
+          !rosidl_runtime_c__String__assign(
             &string_array_field.data[i], cpp_string_vector[i].c_str()))
         {
-          throw std::runtime_error("unable to assign rosidl_generator_c__String");
+          throw std::runtime_error("unable to assign rosidl_runtime_c__String");
         }
       }
     }
@@ -399,9 +399,9 @@ inline void deserialize_field<std::wstring>(
   if (!member->is_array_) {
     deser >> wstr;
     wstring_to_u16string(
-      wstr, *static_cast<rosidl_generator_c__U16String *>(field));
+      wstr, *static_cast<rosidl_runtime_c__U16String *>(field));
   } else if (member->array_size_ && !member->is_upper_bound_) {
-    auto array = static_cast<rosidl_generator_c__U16String *>(field);
+    auto array = static_cast<rosidl_runtime_c__U16String *>(field);
     for (size_t i = 0; i < member->array_size_; ++i) {
       deser >> wstr;
       wstring_to_u16string(wstr, array[i]);
@@ -409,9 +409,9 @@ inline void deserialize_field<std::wstring>(
   } else {
     uint32_t size;
     deser >> size;
-    auto sequence = static_cast<rosidl_generator_c__U16String__Sequence *>(field);
-    if (!rosidl_generator_c__U16String__Sequence__init(sequence, size)) {
-      throw std::runtime_error("unable to initialize rosidl_generator_c__U16String sequence");
+    auto sequence = static_cast<rosidl_runtime_c__U16String__Sequence *>(field);
+    if (!rosidl_runtime_c__U16String__Sequence__init(sequence, size)) {
+      throw std::runtime_error("unable to initialize rosidl_runtime_c__U16String sequence");
     }
     for (size_t i = 0; i < sequence->size; ++i) {
       deser >> wstr;
@@ -452,8 +452,8 @@ inline size_t get_submessage_array_deserialize(
 {
   (void)member;
   uint32_t vsize = deser.deserialize_len(1);
-  auto tmparray = static_cast<rosidl_generator_c__void__Sequence *>(field);
-  rosidl_generator_c__void__Sequence__init(tmparray, vsize, sub_members_size);
+  auto tmparray = static_cast<rosidl_runtime_c__void__Sequence *>(field);
+  rosidl_runtime_c__void__Sequence__init(tmparray, vsize, sub_members_size);
   subros_message = reinterpret_cast<void *>(tmparray->data);
   return vsize;
 }
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/macros.hpp b/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/macros.hpp
index 2d6b6216..9be8efe5 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/macros.hpp
+++ b/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/macros.hpp
@@ -22,14 +22,14 @@
   template<> \
   struct GenericCSequence<C_TYPE> \
   { \
-    using type = rosidl_generator_c__ ## C_NAME ## __Sequence; \
+    using type = rosidl_runtime_c__ ## C_NAME ## __Sequence; \
  \
     static void fini(type * array) { \
-      rosidl_generator_c__ ## C_NAME ## __Sequence__fini(array); \
+      rosidl_runtime_c__ ## C_NAME ## __Sequence__fini(array); \
     } \
  \
     static bool init(type * array, size_t size) { \
-      return rosidl_generator_c__ ## C_NAME ## __Sequence__init(array, size); \
+      return rosidl_runtime_c__ ## C_NAME ## __Sequence__init(array, size); \
     } \
   };
 
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/u16string.hpp b/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/u16string.hpp
index eae6f096..2c298964 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/u16string.hpp
+++ b/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/u16string.hpp
@@ -16,16 +16,16 @@
 #define RMW_CYCLONEDDS_CPP__U16STRING_HPP_
 
 #include <string>
-#include "rosidl_generator_c/u16string_functions.h"
+#include "rosidl_runtime_c/u16string_functions.h"
 
 namespace rmw_cyclonedds_cpp
 {
 
 void u16string_to_wstring(
-  const rosidl_generator_c__U16String & u16str, std::wstring & wstr);
+  const rosidl_runtime_c__U16String & u16str, std::wstring & wstr);
 
 bool wstring_to_u16string(
-  const std::wstring & wstr, rosidl_generator_c__U16String & u16str);
+  const std::wstring & wstr, rosidl_runtime_c__U16String & u16str);
 
 void u16string_to_wstring(const std::u16string & u16str, std::wstring & wstr);
 
diff --git a/rmw_cyclonedds_cpp/src/Serialization.hpp b/rmw_cyclonedds_cpp/src/Serialization.hpp
index b1d1ff8a..5265b845 100644
--- a/rmw_cyclonedds_cpp/src/Serialization.hpp
+++ b/rmw_cyclonedds_cpp/src/Serialization.hpp
@@ -17,7 +17,7 @@
 #include <memory>
 
 #include "TypeSupport2.hpp"
-#include "rosidl_generator_c/service_type_support_struct.h"
+#include "rosidl_runtime_c/service_type_support_struct.h"
 #include "serdata.hpp"
 
 namespace rmw_cyclonedds_cpp
diff --git a/rmw_cyclonedds_cpp/src/TypeSupport2.hpp b/rmw_cyclonedds_cpp/src/TypeSupport2.hpp
index c3e065f5..13ea0314 100644
--- a/rmw_cyclonedds_cpp/src/TypeSupport2.hpp
+++ b/rmw_cyclonedds_cpp/src/TypeSupport2.hpp
@@ -24,8 +24,8 @@
 
 #include "bytewise.hpp"
 #include "rmw_cyclonedds_cpp/exception.hpp"
-#include "rosidl_generator_c/string_functions.h"
-#include "rosidl_generator_c/u16string_functions.h"
+#include "rosidl_runtime_c/string_functions.h"
+#include "rosidl_runtime_c/u16string_functions.h"
 #include "rosidl_typesupport_introspection_c/identifier.h"
 #include "rosidl_typesupport_introspection_c/message_introspection.h"
 #include "rosidl_typesupport_introspection_c/service_introspection.h"
@@ -397,7 +397,7 @@ class U16StringValueType : public AnyValueType
 struct ROSIDLC_StringValueType : public U8StringValueType
 {
 public:
-  using type = rosidl_generator_c__String;
+  using type = rosidl_runtime_c__String;
 
   TypedSpan<const char_traits::char_type> data(const void * ptr) const override
   {
@@ -419,7 +419,7 @@ struct ROSIDLC_StringValueType : public U8StringValueType
 class ROSIDLC_WStringValueType : public U16StringValueType
 {
 public:
-  using type = rosidl_generator_c__U16String;
+  using type = rosidl_runtime_c__U16String;
 
   TypedSpan<const char_traits::char_type> data(const void * ptr) const override
   {
diff --git a/rmw_cyclonedds_cpp/src/u16string.cpp b/rmw_cyclonedds_cpp/src/u16string.cpp
index ec0d4540..562041ad 100644
--- a/rmw_cyclonedds_cpp/src/u16string.cpp
+++ b/rmw_cyclonedds_cpp/src/u16string.cpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 #include <string>
-#include "rosidl_generator_c/u16string_functions.h"
+#include "rosidl_runtime_c/u16string_functions.h"
 
 namespace rmw_cyclonedds_cpp
 {
@@ -39,7 +39,7 @@ bool wstring_to_u16string(const std::wstring & wstr, std::u16string & u16str)
   return true;
 }
 
-void u16string_to_wstring(const rosidl_generator_c__U16String & u16str, std::wstring & wstr)
+void u16string_to_wstring(const rosidl_runtime_c__U16String & u16str, std::wstring & wstr)
 {
   wstr.resize(u16str.size);
   for (size_t i = 0; i < u16str.size; ++i) {
@@ -47,9 +47,9 @@ void u16string_to_wstring(const rosidl_generator_c__U16String & u16str, std::wst
   }
 }
 
-bool wstring_to_u16string(const std::wstring & wstr, rosidl_generator_c__U16String & u16str)
+bool wstring_to_u16string(const std::wstring & wstr, rosidl_runtime_c__U16String & u16str)
 {
-  bool succeeded = rosidl_generator_c__U16String__resize(&u16str, wstr.size());
+  bool succeeded = rosidl_runtime_c__U16String__resize(&u16str, wstr.size());
   if (!succeeded) {
     return false;
   }