diff --git a/rcl/package.xml b/rcl/package.xml
index a4f039c5c..f35e5f91f 100644
--- a/rcl/package.xml
+++ b/rcl/package.xml
@@ -35,7 +35,6 @@
   <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>osrf_testing_tools_cpp</test_depend>
-  <test_depend>std_msgs</test_depend>
   <test_depend>test_msgs</test_depend>
 
   <export>
diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index c76a14b5c..b9c7f3430 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -1,7 +1,6 @@
 find_package(ament_cmake_gtest REQUIRED)
 find_package(ament_cmake_pytest REQUIRED)
 
-find_package(std_msgs REQUIRED)
 find_package(test_msgs REQUIRED)
 
 find_package(rmw_implementation_cmake REQUIRED)
@@ -99,7 +98,7 @@ function(test_target_function)
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs" "test_msgs"
+    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
     ${SKIP_TEST}
   )
 
@@ -142,7 +141,7 @@ function(test_target_function)
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES "std_msgs" "test_msgs"
+    AMENT_DEPENDENCIES "test_msgs"
   )
 
   rcl_add_custom_gtest(test_guard_condition${target_suffix}
@@ -160,7 +159,7 @@ function(test_target_function)
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
+    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
   )
 
   rcl_add_custom_gtest(test_service${target_suffix}
@@ -178,7 +177,7 @@ function(test_target_function)
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
+    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
   )
 
   rcl_add_custom_gtest(test_wait${target_suffix}
diff --git a/rcl/test/rcl/test_graph.cpp b/rcl/test/rcl/test_graph.cpp
index c8aaa8538..3d606fc32 100644
--- a/rcl/test/rcl/test_graph.cpp
+++ b/rcl/test/rcl/test_graph.cpp
@@ -32,7 +32,7 @@
 
 #include "rcutils/logging_macros.h"
 
-#include "std_msgs/msg/string.h"
+#include "test_msgs/msg/primitives.h"
 #include "test_msgs/srv/primitives.h"
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
@@ -333,7 +333,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
   // Now create a publisher on "topic_name" and check that it is seen.
   rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
   rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
-  auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String);
+  auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
   ret = rcl_publisher_init(&pub, this->node_ptr, ts, topic_name.c_str(), &pub_ops);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
   rcl_reset_error();
@@ -410,7 +410,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
       rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
       rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
       rcl_ret_t ret = rcl_publisher_init(
-        &pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
+        &pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives),
         "/chatter_test_graph_guard_condition_topics", &pub_ops);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
       // sleep
@@ -419,7 +419,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
       rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
       rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
       ret = rcl_subscription_init(
-        &sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
+        &sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives),
         "/chatter_test_graph_guard_condition_topics", &sub_ops);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
       // sleep
diff --git a/rcl/test/rcl/test_publisher.cpp b/rcl/test/rcl/test_publisher.cpp
index 0c4a48431..6c44d4eed 100644
--- a/rcl/test/rcl/test_publisher.cpp
+++ b/rcl/test/rcl/test_publisher.cpp
@@ -17,8 +17,7 @@
 #include "rcl/publisher.h"
 
 #include "rcl/rcl.h"
-#include "std_msgs/msg/int64.h"
-#include "std_msgs/msg/string.h"
+#include "test_msgs/msg/primitives.h"
 #include "rosidl_generator_c/string_functions.h"
 
 #include "./failing_allocator_functions.hpp"
@@ -64,19 +63,10 @@ class CLASSNAME (TestPublisherFixture, RMW_IMPLEMENTATION) : public ::testing::T
 TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nominal) {
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
-  const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
-  // TODO(wjwwood): Change this back to just chatter when this OpenSplice problem is resolved:
-  //  ========================================================================================
-  //  Report      : WARNING
-  //  Date        : Wed Feb 10 18:17:03 PST 2016
-  //  Description : Create Topic "chatter" failed: typename <std_msgs::msg::dds_::Int64_>
-  //                differs exiting definition <std_msgs::msg::dds_::String_>.
-  //  Node        : farl
-  //  Process     : test_subscription__rmw_opensplice_cpp <23524>
-  //  Thread      : main thread 7fff7342d000
-  //  Internals   : V6.4.140407OSS///v_topicNew/v_topic.c/448/21/1455157023.781423000
-  const char * topic_name = "chatter_int64";
-  const char * expected_topic_name = "/chatter_int64";
+  const rosidl_message_type_support_t * ts =
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
+  const char * topic_name = "chatter";
+  const char * expected_topic_name = "/chatter";
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@@ -85,11 +75,11 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
   });
   EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher), expected_topic_name), 0);
-  std_msgs__msg__Int64 msg;
-  std_msgs__msg__Int64__init(&msg);
-  msg.data = 42;
+  test_msgs__msg__Primitives msg;
+  test_msgs__msg__Primitives__init(&msg);
+  msg.int64_value = 42;
   ret = rcl_publish(&publisher, &msg);
-  std_msgs__msg__Int64__fini(&msg);
+  test_msgs__msg__Primitives__fini(&msg);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
 }
 
@@ -98,7 +88,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
 TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nominal_string) {
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
-  const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String);
+  const rosidl_message_type_support_t * ts =
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
   const char * topic_name = "chatter";
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
@@ -107,11 +98,11 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
     rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
   });
-  std_msgs__msg__String msg;
-  std_msgs__msg__String__init(&msg);
-  ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.data, "testing"));
+  test_msgs__msg__Primitives msg;
+  test_msgs__msg__Primitives__init(&msg);
+  ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, "testing"));
   ret = rcl_publish(&publisher, &msg);
-  std_msgs__msg__String__fini(&msg);
+  test_msgs__msg__Primitives__fini(&msg);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
 }
 
@@ -124,7 +115,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
 TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_different_types) {
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
-  const rosidl_message_type_support_t * ts_int = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
+  const rosidl_message_type_support_t * ts_int =
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
   const char * topic_name = "basename";
   const char * expected_topic_name = "/basename";
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
@@ -138,7 +130,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
 
   rcl_publisher_t publisher_in_namespace = rcl_get_zero_initialized_publisher();
   const rosidl_message_type_support_t * ts_string = ROSIDL_GET_MSG_TYPE_SUPPORT(
-    std_msgs, msg, String);
+    test_msgs, msg, Primitives);
   topic_name = "namespace/basename";
   expected_topic_name = "/namespace/basename";
   ret = rcl_publisher_init(
@@ -150,16 +142,16 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
   });
   EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher_in_namespace), expected_topic_name), 0);
 
-  std_msgs__msg__Int64 msg_int;
-  std_msgs__msg__Int64__init(&msg_int);
-  msg_int.data = 42;
+  test_msgs__msg__Primitives msg_int;
+  test_msgs__msg__Primitives__init(&msg_int);
+  msg_int.int64_value = 42;
   ret = rcl_publish(&publisher, &msg_int);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  std_msgs__msg__Int64__fini(&msg_int);
+  test_msgs__msg__Primitives__fini(&msg_int);
 
-  std_msgs__msg__String msg_string;
-  std_msgs__msg__String__init(&msg_string);
-  ASSERT_TRUE(rosidl_generator_c__String__assign(&msg_string.data, "testing"));
+  test_msgs__msg__Primitives msg_string;
+  test_msgs__msg__Primitives__init(&msg_string);
+  ASSERT_TRUE(rosidl_generator_c__String__assign(&msg_string.string_value, "testing"));
   ret = rcl_publish(&publisher_in_namespace, &msg_string);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
 }
@@ -170,7 +162,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
   rcl_ret_t ret;
   // Setup valid inputs.
   rcl_publisher_t publisher;
-  const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
+  const rosidl_message_type_support_t * ts =
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
   const char * topic_name = "chatter";
   rcl_publisher_options_t default_publisher_options = rcl_publisher_get_default_options();
 
diff --git a/rcl/test/rcl/test_remap_integration.cpp b/rcl/test/rcl/test_remap_integration.cpp
index ca7c0afc5..4ccee096c 100644
--- a/rcl/test/rcl/test_remap_integration.cpp
+++ b/rcl/test/rcl/test_remap_integration.cpp
@@ -18,7 +18,7 @@
 #include "rcl/remap.h"
 #include "rcl/error_handling.h"
 
-#include "std_msgs/msg/int64.h"
+#include "test_msgs/msg/primitives.h"
 #include "test_msgs/srv/primitives.h"
 
 #include "./arg_macros.hpp"
@@ -62,7 +62,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
     EXPECT_STREQ("new_ns.new_name", rcl_node_get_logger_name(&node));
   }
   {  // Publisher topic gets remapped
-    const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
+    const rosidl_message_type_support_t * ts =
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
     rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
     rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
     rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "/foo/bar", &publisher_options);
@@ -71,7 +72,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
     EXPECT_EQ(RCL_RET_OK, rcl_publisher_fini(&publisher, &node));
   }
   {  // Subscription topic gets remapped
-    const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
+    const rosidl_message_type_support_t * ts =
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
     rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
     rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
     rcl_ret_t ret = rcl_subscription_init(
@@ -128,7 +130,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
     EXPECT_STREQ("original_ns.original_name", rcl_node_get_logger_name(&node));
   }
   {  // Publisher topic does not get remapped
-    const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
+    const rosidl_message_type_support_t * ts =
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
     rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
     rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
     rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "/foo/bar", &publisher_options);
@@ -137,7 +140,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
     EXPECT_EQ(RCL_RET_OK, rcl_publisher_fini(&publisher, &node));
   }
   {  // Subscription topic does not get remapped
-    const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
+    const rosidl_message_type_support_t * ts =
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
     rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
     rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
     rcl_ret_t ret = rcl_subscription_init(
@@ -195,7 +199,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
     EXPECT_STREQ("local_ns.local_name", rcl_node_get_logger_name(&node));
   }
   {  // Publisher topic
-    const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
+    const rosidl_message_type_support_t * ts =
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
     rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
     rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
     rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "/foo/bar", &publisher_options);
@@ -204,7 +209,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
     EXPECT_EQ(RCL_RET_OK, rcl_publisher_fini(&publisher, &node));
   }
   {  // Subscription topic
-    const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
+    const rosidl_message_type_support_t * ts =
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
     rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
     rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
     rcl_ret_t ret = rcl_subscription_init(
@@ -247,7 +253,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
   ASSERT_EQ(RCL_RET_OK, rcl_node_init(&node, "original_name", "/foo", &default_options));
 
   {  // Publisher topic
-    const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
+    const rosidl_message_type_support_t * ts =
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
     rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
     rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
     rcl_ret_t ret = rcl_publisher_init(&publisher, &node, ts, "bar", &publisher_options);
@@ -256,7 +263,8 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
     EXPECT_EQ(RCL_RET_OK, rcl_publisher_fini(&publisher, &node));
   }
   {  // Subscription topic
-    const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
+    const rosidl_message_type_support_t * ts =
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
     rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
     rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
     rcl_ret_t ret = rcl_subscription_init(
diff --git a/rcl/test/rcl/test_subscription.cpp b/rcl/test/rcl/test_subscription.cpp
index 3aee2e808..775beae0d 100644
--- a/rcl/test/rcl/test_subscription.cpp
+++ b/rcl/test/rcl/test_subscription.cpp
@@ -21,8 +21,7 @@
 #include "rcl/subscription.h"
 
 #include "rcl/rcl.h"
-#include "std_msgs/msg/int64.h"
-#include "std_msgs/msg/string.h"
+#include "test_msgs/msg/primitives.h"
 #include "rosidl_generator_c/string_functions.h"
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
@@ -103,19 +102,10 @@ wait_for_subscription_to_be_ready(
 TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_nominal) {
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
-  const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
-  // TODO(wjwwood): Change this back to just chatter when this OpenSplice problem is resolved:
-  //  ========================================================================================
-  //  Report      : WARNING
-  //  Date        : Wed Feb 10 18:17:03 PST 2016
-  //  Description : Create Topic "chatter" failed: typename <std_msgs::msg::dds_::Int64_>
-  //                differs exiting definition <std_msgs::msg::dds_::String_>.
-  //  Node        : farl
-  //  Process     : test_subscription__rmw_opensplice_cpp <23524>
-  //  Thread      : main thread 7fff7342d000
-  //  Internals   : V6.4.140407OSS///v_topicNew/v_topic.c/448/21/1455157023.781423000
-  const char * topic = "rcl_test_subscription_nominal_chatter_int64";
-  const char * expected_topic = "/rcl_test_subscription_nominal_chatter_int64";
+  const rosidl_message_type_support_t * ts =
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
+  const char * topic = "chatter";
+  const char * expected_topic = "/chatter";
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@@ -154,25 +144,25 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   //                until then we will sleep for a short period of time
   std::this_thread::sleep_for(std::chrono::milliseconds(1000));
   {
-    std_msgs__msg__Int64 msg;
-    std_msgs__msg__Int64__init(&msg);
-    msg.data = 42;
+    test_msgs__msg__Primitives msg;
+    test_msgs__msg__Primitives__init(&msg);
+    msg.int64_value = 42;
     ret = rcl_publish(&publisher, &msg);
-    std_msgs__msg__Int64__fini(&msg);
+    test_msgs__msg__Primitives__fini(&msg);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
   }
   bool success;
   wait_for_subscription_to_be_ready(&subscription, 10, 100, success);
   ASSERT_TRUE(success);
   {
-    std_msgs__msg__Int64 msg;
-    std_msgs__msg__Int64__init(&msg);
+    test_msgs__msg__Primitives msg;
+    test_msgs__msg__Primitives__init(&msg);
     OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
-      std_msgs__msg__Int64__fini(&msg);
+      test_msgs__msg__Primitives__fini(&msg);
     });
     ret = rcl_take(&subscription, &msg, nullptr);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-    ASSERT_EQ(42, msg.data);
+    ASSERT_EQ(42, msg.int64_value);
   }
 }
 
@@ -181,7 +171,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
 TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_nominal_string) {
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
-  const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String);
+  const rosidl_message_type_support_t * ts =
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
   const char * topic = "rcl_test_subscription_nominal_string_chatter";
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
@@ -204,24 +195,24 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   std::this_thread::sleep_for(std::chrono::milliseconds(1000));
   const char * test_string = "testing";
   {
-    std_msgs__msg__String msg;
-    std_msgs__msg__String__init(&msg);
-    ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.data, test_string));
+    test_msgs__msg__Primitives msg;
+    test_msgs__msg__Primitives__init(&msg);
+    ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, test_string));
     ret = rcl_publish(&publisher, &msg);
-    std_msgs__msg__String__fini(&msg);
+    test_msgs__msg__Primitives__fini(&msg);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
   }
   bool success;
   wait_for_subscription_to_be_ready(&subscription, 10, 100, success);
   ASSERT_TRUE(success);
   {
-    std_msgs__msg__String msg;
-    std_msgs__msg__String__init(&msg);
+    test_msgs__msg__Primitives msg;
+    test_msgs__msg__Primitives__init(&msg);
     OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
-      std_msgs__msg__String__fini(&msg);
+      test_msgs__msg__Primitives__fini(&msg);
     });
     ret = rcl_take(&subscription, &msg, nullptr);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-    ASSERT_EQ(std::string(test_string), std::string(msg.data.data, msg.data.size));
+    ASSERT_EQ(std::string(test_string), std::string(msg.string_value.data, msg.string_value.size));
   }
 }