diff --git a/rcl/test/rcl/client_fixture.cpp b/rcl/test/rcl/client_fixture.cpp
index 42cf6405fd..6ccdabe6cb 100644
--- a/rcl/test/rcl/client_fixture.cpp
+++ b/rcl/test/rcl/client_fixture.cpp
@@ -22,7 +22,7 @@
 #include "rcl/client.h"
 #include "rcl/rcl.h"
 
-#include "test_msgs/srv/primitives.h"
+#include "test_msgs/srv/basic_types.h"
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcl/error_handling.h"
@@ -153,8 +153,8 @@ int main(int argc, char ** argv)
     });
 
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      test_msgs, srv, Primitives);
-    const char * service_name = "primitives";
+      test_msgs, srv, BasicTypes);
+    const char * service_name = "basic_types";
 
     rcl_client_t client = rcl_get_zero_initialized_client();
     rcl_client_options_t client_options = rcl_client_get_default_options();
@@ -180,11 +180,11 @@ int main(int argc, char ** argv)
     }
 
     // Initialize a request.
-    test_msgs__srv__Primitives_Request client_request;
+    test_msgs__srv__BasicTypes_Request client_request;
     // TODO(dirk-thomas) zero initialization necessary until
     // https://github.com/ros2/ros2/issues/397 is implemented
-    memset(&client_request, 0, sizeof(test_msgs__srv__Primitives_Request));
-    test_msgs__srv__Primitives_Request__init(&client_request);
+    memset(&client_request, 0, sizeof(test_msgs__srv__BasicTypes_Request));
+    test_msgs__srv__BasicTypes_Request__init(&client_request);
     client_request.uint8_value = 1;
     client_request.uint32_value = 2;
     int64_t sequence_number;
@@ -200,14 +200,14 @@ int main(int argc, char ** argv)
       return -1;
     }
 
-    test_msgs__srv__Primitives_Request__fini(&client_request);
+    test_msgs__srv__BasicTypes_Request__fini(&client_request);
 
     // Initialize the response owned by the client and take the response.
-    test_msgs__srv__Primitives_Response client_response;
+    test_msgs__srv__BasicTypes_Response client_response;
     // TODO(dirk-thomas) zero initialization necessary until
     // https://github.com/ros2/ros2/issues/397 is implemented
-    memset(&client_response, 0, sizeof(test_msgs__srv__Primitives_Response));
-    test_msgs__srv__Primitives_Response__init(&client_response);
+    memset(&client_response, 0, sizeof(test_msgs__srv__BasicTypes_Response));
+    test_msgs__srv__BasicTypes_Response__init(&client_response);
 
     if (!wait_for_client_to_be_ready(&client, &context, 1000, 100)) {
       RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Client never became ready");
@@ -220,7 +220,7 @@ int main(int argc, char ** argv)
       return -1;
     }
 
-    test_msgs__srv__Primitives_Response__fini(&client_response);
+    test_msgs__srv__BasicTypes_Response__fini(&client_response);
   }
 
   return main_ret;
diff --git a/rcl/test/rcl/service_fixture.cpp b/rcl/test/rcl/service_fixture.cpp
index a1cc9ed876..6f38c0a755 100644
--- a/rcl/test/rcl/service_fixture.cpp
+++ b/rcl/test/rcl/service_fixture.cpp
@@ -23,7 +23,7 @@
 
 #include "rcl/rcl.h"
 
-#include "test_msgs/srv/primitives.h"
+#include "test_msgs/srv/basic_types.h"
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcl/error_handling.h"
@@ -126,8 +126,8 @@ int main(int argc, char ** argv)
     });
 
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      test_msgs, srv, Primitives);
-    const char * service_name = "primitives";
+      test_msgs, srv, BasicTypes);
+    const char * service_name = "basic_types";
 
     rcl_service_t service = rcl_get_zero_initialized_service();
     rcl_service_options_t service_options = rcl_service_get_default_options();
@@ -147,13 +147,13 @@ int main(int argc, char ** argv)
     });
 
     // Initialize a response.
-    test_msgs__srv__Primitives_Response service_response;
+    test_msgs__srv__BasicTypes_Response service_response;
     // TODO(dirk-thomas) zero initialization necessary until
     // https://github.com/ros2/ros2/issues/397 is implemented
-    memset(&service_response, 0, sizeof(test_msgs__srv__Primitives_Response));
-    test_msgs__srv__Primitives_Response__init(&service_response);
+    memset(&service_response, 0, sizeof(test_msgs__srv__BasicTypes_Response));
+    test_msgs__srv__BasicTypes_Response__init(&service_response);
     OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
-      test_msgs__srv__Primitives_Response__fini(&service_response);
+      test_msgs__srv__BasicTypes_Response__fini(&service_response);
     });
 
     // Block until a client request comes in.
@@ -164,13 +164,13 @@ int main(int argc, char ** argv)
     }
 
     // Take the pending request.
-    test_msgs__srv__Primitives_Request service_request;
+    test_msgs__srv__BasicTypes_Request service_request;
     // TODO(dirk-thomas) zero initialization necessary until
     // https://github.com/ros2/ros2/issues/397 is implemented
-    memset(&service_request, 0, sizeof(test_msgs__srv__Primitives_Request));
-    test_msgs__srv__Primitives_Request__init(&service_request);
+    memset(&service_request, 0, sizeof(test_msgs__srv__BasicTypes_Request));
+    test_msgs__srv__BasicTypes_Request__init(&service_request);
     OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
-      test_msgs__srv__Primitives_Request__fini(&service_request);
+      test_msgs__srv__BasicTypes_Request__fini(&service_request);
     });
     rmw_request_id_t header;
     // TODO(jacquelinekay) May have to check for timeout error codes
diff --git a/rcl/test/rcl/test_client.cpp b/rcl/test/rcl/test_client.cpp
index 3fb49a7d58..c53bfade87 100644
--- a/rcl/test/rcl/test_client.cpp
+++ b/rcl/test/rcl/test_client.cpp
@@ -18,8 +18,7 @@
 
 #include "rcl/rcl.h"
 
-#include "rosidl_generator_c/string_functions.h"
-#include "test_msgs/srv/primitives.h"
+#include "test_msgs/srv/basic_types.h"
 
 #include "./failing_allocator_functions.hpp"
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
@@ -76,7 +75,7 @@ TEST_F(TestClientFixture, test_client_nominal) {
   rcl_client_options_t client_options = rcl_client_get_default_options();
 
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-    test_msgs, srv, Primitives);
+    test_msgs, srv, BasicTypes);
   ret = rcl_client_init(&client, this->node_ptr, ts, topic_name, &client_options);
 
   // Check the return code of initialization and that the service name matches what's expected
@@ -89,8 +88,8 @@ TEST_F(TestClientFixture, test_client_nominal) {
   });
 
   // Initialize the client request.
-  test_msgs__srv__Primitives_Request req;
-  test_msgs__srv__Primitives_Request__init(&req);
+  test_msgs__srv__BasicTypes_Request req;
+  test_msgs__srv__BasicTypes_Request__init(&req);
   req.uint8_value = 1;
   req.uint32_value = 2;
 
@@ -110,7 +109,7 @@ TEST_F(TestClientFixture, test_client_init_fini) {
   rcl_client_t client;
 
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-    test_msgs, srv, Primitives);
+    test_msgs, srv, BasicTypes);
   const char * topic_name = "chatter";
   rcl_client_options_t default_client_options = rcl_client_get_default_options();
 
diff --git a/rcl/test/rcl/test_count_matched.cpp b/rcl/test/rcl/test_count_matched.cpp
index 3af13bba9f..c0eae560bf 100644
--- a/rcl/test/rcl/test_count_matched.cpp
+++ b/rcl/test/rcl/test_count_matched.cpp
@@ -23,8 +23,8 @@
 
 #include "rcutils/logging_macros.h"
 
-#include "test_msgs/msg/primitives.h"
-#include "test_msgs/srv/primitives.h"
+#include "test_msgs/msg/basic_types.h"
+#include "test_msgs/srv/basic_types.h"
 
 #include "rcl/error_handling.h"
 
@@ -152,7 +152,7 @@ TEST_F(CLASSNAME(TestCountFixture, RMW_IMPLEMENTATION), test_count_matched_funct
 
   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(test_msgs, msg, Primitives);
+  auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
   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().str;
   rcl_reset_error();
@@ -202,7 +202,7 @@ TEST_F(CLASSNAME(TestCountFixture, RMW_IMPLEMENTATION),
   pub_ops.qos.avoid_ros_namespace_conventions = false;
   pub_ops.allocator = rcl_get_default_allocator();
 
-  auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
+  auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
   ret = rcl_publisher_init(&pub, this->node_ptr, ts, topic_name.c_str(), &pub_ops);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   rcl_reset_error();
diff --git a/rcl/test/rcl/test_publisher.cpp b/rcl/test/rcl/test_publisher.cpp
index 94dd8fd6fd..c4c95d4795 100644
--- a/rcl/test/rcl/test_publisher.cpp
+++ b/rcl/test/rcl/test_publisher.cpp
@@ -17,7 +17,8 @@
 #include "rcl/publisher.h"
 
 #include "rcl/rcl.h"
-#include "test_msgs/msg/primitives.h"
+#include "test_msgs/msg/basic_types.h"
+#include "test_msgs/msg/strings.h"
 #include "rosidl_generator_c/string_functions.h"
 
 #include "./failing_allocator_functions.hpp"
@@ -78,7 +79,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
   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(test_msgs, msg, Primitives);
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
   const char * topic_name = "chatter";
   const char * expected_topic_name = "/chatter";
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
@@ -89,11 +90,11 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   });
   EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher), expected_topic_name), 0);
-  test_msgs__msg__Primitives msg;
-  test_msgs__msg__Primitives__init(&msg);
+  test_msgs__msg__BasicTypes msg;
+  test_msgs__msg__BasicTypes__init(&msg);
   msg.int64_value = 42;
   ret = rcl_publish(&publisher, &msg);
-  test_msgs__msg__Primitives__fini(&msg);
+  test_msgs__msg__BasicTypes__fini(&msg);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
@@ -103,7 +104,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
   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(test_msgs, msg, Primitives);
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
   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);
@@ -112,11 +113,11 @@ 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().str;
   });
-  test_msgs__msg__Primitives msg;
-  test_msgs__msg__Primitives__init(&msg);
+  test_msgs__msg__Strings msg;
+  test_msgs__msg__Strings__init(&msg);
   ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, "testing"));
   ret = rcl_publish(&publisher, &msg);
-  test_msgs__msg__Primitives__fini(&msg);
+  test_msgs__msg__Strings__fini(&msg);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 }
 
@@ -130,7 +131,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
   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(test_msgs, msg, Primitives);
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
   const char * topic_name = "basename";
   const char * expected_topic_name = "/basename";
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
@@ -144,7 +145,7 @@ 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(
-    test_msgs, msg, Primitives);
+    test_msgs, msg, Strings);
   topic_name = "namespace/basename";
   expected_topic_name = "/namespace/basename";
   ret = rcl_publisher_init(
@@ -156,15 +157,15 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_diff
   });
   EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher_in_namespace), expected_topic_name), 0);
 
-  test_msgs__msg__Primitives msg_int;
-  test_msgs__msg__Primitives__init(&msg_int);
+  test_msgs__msg__BasicTypes msg_int;
+  test_msgs__msg__BasicTypes__init(&msg_int);
   msg_int.int64_value = 42;
   ret = rcl_publish(&publisher, &msg_int);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-  test_msgs__msg__Primitives__fini(&msg_int);
+  test_msgs__msg__BasicTypes__fini(&msg_int);
 
-  test_msgs__msg__Primitives msg_string;
-  test_msgs__msg__Primitives__init(&msg_string);
+  test_msgs__msg__Strings msg_string;
+  test_msgs__msg__Strings__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().str;
@@ -177,7 +178,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
   // Setup valid inputs.
   rcl_publisher_t publisher;
   const rosidl_message_type_support_t * ts =
-    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
   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 4ea00fc18c..b02f6d6c10 100644
--- a/rcl/test/rcl/test_remap_integration.cpp
+++ b/rcl/test/rcl/test_remap_integration.cpp
@@ -18,8 +18,8 @@
 #include "rcl/remap.h"
 #include "rcl/error_handling.h"
 
-#include "test_msgs/msg/primitives.h"
-#include "test_msgs/srv/primitives.h"
+#include "test_msgs/msg/basic_types.h"
+#include "test_msgs/srv/basic_types.h"
 
 #include "./arg_macros.hpp"
 
@@ -65,7 +65,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
   }
   {  // Publisher topic gets remapped
     const rosidl_message_type_support_t * ts =
-      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
     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);
@@ -75,7 +75,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
   }
   {  // Subscription topic gets remapped
     const rosidl_message_type_support_t * ts =
-      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
     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(
@@ -86,7 +86,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
   }
   {  // Client service name gets remapped
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      test_msgs, srv, Primitives);
+      test_msgs, srv, BasicTypes);
     rcl_client_options_t client_options = rcl_client_get_default_options();
     rcl_client_t client = rcl_get_zero_initialized_client();
     rcl_ret_t ret = rcl_client_init(&client, &node, ts, "/foo/bar", &client_options);
@@ -96,7 +96,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
   }
   {  // Server service name gets remapped
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      test_msgs, srv, Primitives);
+      test_msgs, srv, BasicTypes);
     rcl_service_options_t service_options = rcl_service_get_default_options();
     rcl_service_t service = rcl_get_zero_initialized_service();
     rcl_ret_t ret = rcl_service_init(&service, &node, ts, "/foo/bar", &service_options);
@@ -133,7 +133,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
   }
   {  // Publisher topic does not get remapped
     const rosidl_message_type_support_t * ts =
-      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
     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);
@@ -143,7 +143,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
   }
   {  // Subscription topic does not get remapped
     const rosidl_message_type_support_t * ts =
-      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
     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(
@@ -154,7 +154,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
   }
   {  // Client service name does not get remapped
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      test_msgs, srv, Primitives);
+      test_msgs, srv, BasicTypes);
     rcl_client_options_t client_options = rcl_client_get_default_options();
     rcl_client_t client = rcl_get_zero_initialized_client();
     rcl_ret_t ret = rcl_client_init(&client, &node, ts, "/foo/bar", &client_options);
@@ -164,7 +164,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
   }
   {  // Server service name does not get remapped
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      test_msgs, srv, Primitives);
+      test_msgs, srv, BasicTypes);
     rcl_service_options_t service_options = rcl_service_get_default_options();
     rcl_service_t service = rcl_get_zero_initialized_service();
     rcl_ret_t ret = rcl_service_init(&service, &node, ts, "/foo/bar", &service_options);
@@ -202,7 +202,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
   }
   {  // Publisher topic
     const rosidl_message_type_support_t * ts =
-      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
     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);
@@ -212,7 +212,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
   }
   {  // Subscription topic
     const rosidl_message_type_support_t * ts =
-      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
     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(
@@ -223,7 +223,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
   }
   {  // Client service name
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      test_msgs, srv, Primitives);
+      test_msgs, srv, BasicTypes);
     rcl_client_options_t client_options = rcl_client_get_default_options();
     rcl_client_t client = rcl_get_zero_initialized_client();
     rcl_ret_t ret = rcl_client_init(&client, &node, ts, "/foo/bar", &client_options);
@@ -233,7 +233,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
   }
   {  // Server service name
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      test_msgs, srv, Primitives);
+      test_msgs, srv, BasicTypes);
     rcl_service_options_t service_options = rcl_service_get_default_options();
     rcl_service_t service = rcl_get_zero_initialized_service();
     rcl_ret_t ret = rcl_service_init(&service, &node, ts, "/foo/bar", &service_options);
@@ -256,7 +256,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
 
   {  // Publisher topic
     const rosidl_message_type_support_t * ts =
-      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
     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);
@@ -266,7 +266,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
   }
   {  // Subscription topic
     const rosidl_message_type_support_t * ts =
-      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives);
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
     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(
@@ -277,7 +277,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
   }
   {  // Client service name
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      test_msgs, srv, Primitives);
+      test_msgs, srv, BasicTypes);
     rcl_client_options_t client_options = rcl_client_get_default_options();
     rcl_client_t client = rcl_get_zero_initialized_client();
     rcl_ret_t ret = rcl_client_init(&client, &node, ts, "bar", &client_options);
@@ -287,7 +287,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
   }
   {  // Server service name
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      test_msgs, srv, Primitives);
+      test_msgs, srv, BasicTypes);
     rcl_service_options_t service_options = rcl_service_get_default_options();
     rcl_service_t service = rcl_get_zero_initialized_service();
     rcl_ret_t ret = rcl_service_init(&service, &node, ts, "bar", &service_options);
diff --git a/rcl/test/rcl/test_service.cpp b/rcl/test/rcl/test_service.cpp
index 93a303fb2f..9a32c811c7 100644
--- a/rcl/test/rcl/test_service.cpp
+++ b/rcl/test/rcl/test_service.cpp
@@ -22,7 +22,7 @@
 
 #include "rcl/rcl.h"
 
-#include "test_msgs/srv/primitives.h"
+#include "test_msgs/srv/basic_types.h"
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcl/error_handling.h"
@@ -117,7 +117,7 @@ wait_for_service_to_be_ready(
 TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal) {
   rcl_ret_t ret;
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-    test_msgs, srv, Primitives);
+    test_msgs, srv, BasicTypes);
   const char * topic = "primitives";
   const char * expected_topic = "/primitives";
 
@@ -164,8 +164,8 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
   std::this_thread::sleep_for(std::chrono::milliseconds(1000));
 
   // Initialize a request.
-  test_msgs__srv__Primitives_Request client_request;
-  test_msgs__srv__Primitives_Request__init(&client_request);
+  test_msgs__srv__BasicTypes_Request client_request;
+  test_msgs__srv__BasicTypes_Request__init(&client_request);
   // TODO(clalancette): the C __init methods do not initialize all structure
   // members, so the numbers in the fields not explicitly set is arbitrary.
   // The CDR deserialization in Fast-CDR requires a 0 or 1 for bool fields,
@@ -177,7 +177,7 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
   int64_t sequence_number;
   ret = rcl_send_request(&client, &client_request, &sequence_number);
   EXPECT_EQ(sequence_number, 1);
-  test_msgs__srv__Primitives_Request__fini(&client_request);
+  test_msgs__srv__BasicTypes_Request__fini(&client_request);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 
   bool success;
@@ -188,15 +188,15 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
   // test take_request/send_response in a single-threaded, deterministic execution.
   {
     // Initialize a response.
-    test_msgs__srv__Primitives_Response service_response;
-    test_msgs__srv__Primitives_Response__init(&service_response);
+    test_msgs__srv__BasicTypes_Response service_response;
+    test_msgs__srv__BasicTypes_Response__init(&service_response);
     OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
-      test_msgs__srv__Primitives_Response__fini(&service_response);
+      test_msgs__srv__BasicTypes_Response__fini(&service_response);
     });
 
     // Initialize a separate instance of the request and take the pending request.
-    test_msgs__srv__Primitives_Request service_request;
-    test_msgs__srv__Primitives_Request__init(&service_request);
+    test_msgs__srv__BasicTypes_Request service_request;
+    test_msgs__srv__BasicTypes_Request__init(&service_request);
     rmw_request_id_t header;
     ret = rcl_take_request(&service, &header, &service_request);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -211,8 +211,8 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
   wait_for_service_to_be_ready(&service, context_ptr, 10, 100, success);
 
   // Initialize the response owned by the client and take the response.
-  test_msgs__srv__Primitives_Response client_response;
-  test_msgs__srv__Primitives_Response__init(&client_response);
+  test_msgs__srv__BasicTypes_Response client_response;
+  test_msgs__srv__BasicTypes_Response__init(&client_response);
 
   rmw_request_id_t header;
   ret = rcl_take_response(&client, &header, &client_response);
diff --git a/rcl/test/rcl/test_subscription.cpp b/rcl/test/rcl/test_subscription.cpp
index 1ea9710334..261b24eda3 100644
--- a/rcl/test/rcl/test_subscription.cpp
+++ b/rcl/test/rcl/test_subscription.cpp
@@ -21,7 +21,8 @@
 #include "rcl/subscription.h"
 
 #include "rcl/rcl.h"
-#include "test_msgs/msg/primitives.h"
+#include "test_msgs/msg/basic_types.h"
+#include "test_msgs/msg/strings.h"
 #include "rosidl_generator_c/string_functions.h"
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
@@ -118,7 +119,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   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(test_msgs, msg, Primitives);
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
   const char * topic = "chatter";
   const char * expected_topic = "/chatter";
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
@@ -159,21 +160,21 @@ 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));
   {
-    test_msgs__msg__Primitives msg;
-    test_msgs__msg__Primitives__init(&msg);
+    test_msgs__msg__BasicTypes msg;
+    test_msgs__msg__BasicTypes__init(&msg);
     msg.int64_value = 42;
     ret = rcl_publish(&publisher, &msg);
-    test_msgs__msg__Primitives__fini(&msg);
+    test_msgs__msg__BasicTypes__fini(&msg);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   }
   bool success;
   wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100, success);
   ASSERT_TRUE(success);
   {
-    test_msgs__msg__Primitives msg;
-    test_msgs__msg__Primitives__init(&msg);
+    test_msgs__msg__BasicTypes msg;
+    test_msgs__msg__BasicTypes__init(&msg);
     OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
-      test_msgs__msg__Primitives__fini(&msg);
+      test_msgs__msg__BasicTypes__fini(&msg);
     });
     ret = rcl_take(&subscription, &msg, nullptr);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -187,7 +188,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   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(test_msgs, msg, Primitives);
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
   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);
@@ -210,21 +211,21 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   std::this_thread::sleep_for(std::chrono::milliseconds(1000));
   const char * test_string = "testing";
   {
-    test_msgs__msg__Primitives msg;
-    test_msgs__msg__Primitives__init(&msg);
+    test_msgs__msg__Strings msg;
+    test_msgs__msg__Strings__init(&msg);
     ASSERT_TRUE(rosidl_generator_c__String__assign(&msg.string_value, test_string));
     ret = rcl_publish(&publisher, &msg);
-    test_msgs__msg__Primitives__fini(&msg);
+    test_msgs__msg__Strings__fini(&msg);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   }
   bool success;
   wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100, success);
   ASSERT_TRUE(success);
   {
-    test_msgs__msg__Primitives msg;
-    test_msgs__msg__Primitives__init(&msg);
+    test_msgs__msg__Strings msg;
+    test_msgs__msg__Strings__init(&msg);
     OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
-      test_msgs__msg__Primitives__fini(&msg);
+      test_msgs__msg__Strings__fini(&msg);
     });
     ret = rcl_take(&subscription, &msg, nullptr);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
diff --git a/rcl/test/test_namespace.cpp b/rcl/test/test_namespace.cpp
index 18df73e0ba..9296a3b127 100644
--- a/rcl/test/test_namespace.cpp
+++ b/rcl/test/test_namespace.cpp
@@ -23,7 +23,7 @@
 #include "rcl/graph.h"
 
 #include "rosidl_generator_c/string_functions.h"
-#include "test_msgs/srv/primitives.h"
+#include "test_msgs/srv/basic_types.h"
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcl/error_handling.h"
@@ -75,7 +75,7 @@ class TestNamespaceFixture : public ::testing::Test
  */
 TEST_F(TestNamespaceFixture, test_client_server) {
   rcl_ret_t ret;
-  auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, Primitives);
+  auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
   const char * service_name = "/my/namespace/test_namespace_client_server";
   const char * unmatched_client_name = "/your/namespace/test_namespace_client_server";
   const char * matched_client_name = "/my/namespace/test_namespace_client_server";