diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
index d2fb3bb2..44eca9ba 100644
--- a/.github/workflows/build_and_test.yml
+++ b/.github/workflows/build_and_test.yml
@@ -4,24 +4,54 @@ on: [push, pull_request]
 
 jobs:
   build_and_test:
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
     steps:
     - name: Install Java
       run: |
         sudo apt-get update -qq
         sudo apt-get install -y default-jdk gradle
     - uses: actions/checkout@v2
-    - uses: ros-tooling/setup-ros@0.2.1
+    - uses: ros-tooling/setup-ros@v0.2
       with:
-        required-ros-distributions: dashing
+        required-ros-distributions: galactic
     - uses: ros-tooling/action-ros-ci@v0.2
       with:
         package-name: rosidl_generator_java rcljava_common rcljava
-        target-ros2-distro: dashing
+        target-ros2-distro: galactic
         vcs-repo-file-url: ${{ github.workspace }}/ros2_java_desktop.repos
 
   build_android:
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - colcon_meta: |
+              {
+                "names": {
+                  "rcl": {
+                    "cmake-args": [ "-DBUILD_TESTING=OFF" ]
+                  },
+                  "rcl_yaml_param_parser": {
+                    "cmake-args": [ "-DBUILD_TESTING=OFF" ]
+                  },
+                  "rclcpp": {
+                    "cmake-args": [ "-DBUILD_TESTING=OFF" ]
+                  },
+                  "rclcpp_action": {
+                    "cmake-args": [ "-DBUILD_TESTING=OFF" ]
+                  },
+                  "rclcpp_lifecycle": {
+                    "cmake-args": [ "-DBUILD_TESTING=OFF" ]
+                  },
+                  "rcutils": {
+                    "cmake-args": [ "-DBUILD_TESTING=OFF" ]
+                  },
+                  "rosidl_typesupport_c": {
+                    "cmake-args": [ "-DBUILD_TESTING=OFF" ]
+                  },
+                }
+              }
     steps:
     - name: Install Java
       run: |
@@ -43,20 +73,25 @@ jobs:
         sudo apt-get update && sudo apt-get install -y python3-colcon-common-extensions python3-vcstool python3-lark-parser python3-dev
     - name: Install colcon extensions for Gradle
       run: |
-        sudo pip3 install git+git://github.com/colcon/colcon-gradle.git
-        sudo pip3 install git+git://github.com/colcon/colcon-ros-gradle.git
+        sudo pip3 install git+https://github.com/colcon/colcon-gradle.git
+        sudo pip3 install git+https://github.com/colcon/colcon-ros-gradle.git
     - name: Install Android NDK
       run: |
         curl -LO https://dl.google.com/android/repository/android-ndk-r21d-linux-x86_64.zip
         unzip android-ndk-r21d-linux-x86_64.zip
+    - name: Install QEMU emulation binaries
+      run: |
+        sudo apt-get update && sudo apt-get install -y qemu-user
     - name: Setup workspace with VCS repo file
       run: |
         mkdir -p ros2_java_ws/src
         cd ros2_java_ws
         curl -sL file://${{ github.workspace }}/ros2_java_android.repos | vcs import src
         # Use checked out version of ros2_java
-        rm -rf src/ros2_java/ros2_java
-        ln --symbolic ${{ github.workspace }} src/ros2_java
+        rm -rf src/ros2-java/ros2_java
+        ln --symbolic ${{ github.workspace }} src/ros2-java
+    - name: Create colcon defaults file
+      run: printf "${{matrix.colcon_meta}}" > ${{ github.workspace }}/colcon.meta
     - name: Build ros2_java for Android
       run: |
         export PYTHON3_EXEC="$( which python3 )"
@@ -69,9 +104,11 @@ jobs:
 
         cd ros2_java_ws
         colcon build \
-          --packages-ignore cyclonedds rcl_logging_log4cxx rosidl_generator_py \
+          --packages-ignore cyclonedds rcl_logging_spdlog rcl_logging_log4cxx rosidl_generator_py \
           --packages-up-to rcljava \
+          --metas ${{ github.workspace }}/colcon.meta \
           --cmake-args \
+          -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop \
           -DPYTHON_EXECUTABLE=${PYTHON3_EXEC} \
           -DPYTHON_LIBRARY=${PYTHON3_LIBRARY} \
           -DPYTHON_INCLUDE_DIR=${PYTHON3_INCLUDE_DIR} \
@@ -82,6 +119,9 @@ jobs:
           -DANDROID_STL=c++_shared \
           -DANDROID_ABI=${ANDROID_ABI} \
           -DANDROID_NDK=${ANDROID_NDK} \
+          -DANDROID=ON \
+          -DTHIRDPARTY_android-ifaddrs=FORCE \
           -DTHIRDPARTY=ON \
           -DCOMPILE_EXAMPLES=OFF \
-          -DCMAKE_FIND_ROOT_PATH="${PWD}/install"
+          -DCMAKE_FIND_ROOT_PATH="${PWD}/install" \
+          -DCMAKE_CROSSCOMPILING_EMULATOR="/usr/bin/qemu-arm"
diff --git a/README.md b/README.md
index b9c17154..89e05c43 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,7 @@
 
 | Target                                    | Status        |
 |-------------------------------------------|---------------|
-| **ROS Dashing - Ubuntu Bionic (OpenJDK)** | ![Build Status](https://github.com/ros2-java/ros2_java/workflows/CI/badge.svg?branch=dashing) |
+| **ROS Galactic - Ubuntu Focal (OpenJDK)** | ![Build Status](https://github.com/ros2-java/ros2_java/workflows/CI/badge.svg?branch=main) |
 
 ## Introduction
 
@@ -86,13 +86,13 @@ Make sure you have Gradle 3.2 (or later) installed.
 
 1. Source your ROS 2 installation, for example:
 
-        source /opt/ros/dashing/setup.bash
+        source /opt/ros/galactic/setup.bash
 
 1. Download the ROS 2 Java repositories into a workspace:
 
         mkdir -p ros2_java_ws/src
         cd ros2_java_ws
-        curl -skL https://raw.githubusercontent.com/ros2-java/ros2_java/dashing/ros2_java_desktop.repos | vcs import src
+        curl -skL https://raw.githubusercontent.com/ros2-java/ros2_java/main/ros2_java_desktop.repos | vcs import src
 
 1. **Linux only** Install ROS dependencies:
 
@@ -127,7 +127,7 @@ Although the `ros2_java_android.repos` file contains all the repositories for th
 
         mkdir -p $HOME/ros2_android_ws/src
         cd $HOME/ros2_android_ws
-        curl https://raw.githubusercontent.com/ros2-java/ros2_java/dashing/ros2_java_android.repos | vcs import src
+        curl https://raw.githubusercontent.com/ros2-java/ros2_java/main/ros2_java_android.repos | vcs import src
 
 1. Set Android build configuration:
 
diff --git a/azure-pipelines.yml b/azure-pipelines.yml
deleted file mode 100644
index 11359aff..00000000
--- a/azure-pipelines.yml
+++ /dev/null
@@ -1,19 +0,0 @@
-pool:
-  vmImage: 'Ubuntu 16.04'
-
-strategy:
-  matrix:
-    xenial_android:
-      ubuntu_distro: 'xenial'
-      docker_tag: 'android'
-      script_path: 'build_android.sh'
-    xenial_java:
-      ubuntu_distro: 'xenial'
-      docker_tag: 'java'
-      script_path: 'build_java.sh'
-  maxParallel: 2
-
-steps:
-- script: |
-    docker run -v $BUILD_SOURCESDIRECTORY/ci-scripts:/ci-scripts -e ROS2_JAVA_DIR=${AGENT_BUILDDIRECTORY}/ros2_java_build -e ROS2_JAVA_CI=1 -e ROS2_JAVA_BRANCH=${BUILD_SOURCEBRANCHNAME} -i --rm esteve/ros2-ubuntu-$UBUNTU_DISTRO-travisci:$DOCKER_TAG sh /ci-scripts/$SCRIPT_PATH
-  displayName: 'Build for $(ubuntu_distro) / $(docker_tag)'
diff --git a/rcljava/include/org_ros2_rcljava_client_ClientImpl.h b/rcljava/include/org_ros2_rcljava_client_ClientImpl.h
index c59635e0..9a3b20e5 100644
--- a/rcljava/include/org_ros2_rcljava_client_ClientImpl.h
+++ b/rcljava/include/org_ros2_rcljava_client_ClientImpl.h
@@ -25,9 +25,9 @@ extern "C" {
  * Method:    nativeSendClientRequest
  * Signature: (JJJJJLorg/ros2/rcljava/interfaces/MessageDefinition;)V
  */
-JNIEXPORT void
+JNIEXPORT jlong
 JNICALL Java_org_ros2_rcljava_client_ClientImpl_nativeSendClientRequest(
-  JNIEnv *, jclass, jlong, jlong, jlong, jlong, jlong, jobject);
+  JNIEnv *, jclass, jlong, jlong, jlong, jlong, jobject);
 
 /*
  * Class:     org_ros2_rcljava_client_ClientImpl
diff --git a/rcljava/package.xml b/rcljava/package.xml
index 90da562f..340edf33 100644
--- a/rcljava/package.xml
+++ b/rcljava/package.xml
@@ -22,7 +22,7 @@
   <build_export_depend>builtin_interfaces</build_export_depend>
   <build_export_depend>rcl_interfaces</build_export_depend>
   <build_export_depend>rmw</build_export_depend>
-  <build_export_depend>rosidl_generator_c</build_export_depend>
+  <build_export_depend>rosidl_runtime_c</build_export_depend>
   <build_export_depend>rosidl_generator_java</build_export_depend>
   <build_export_depend>rosidl_typesupport_c</build_export_depend>
 
@@ -31,7 +31,7 @@
   <exec_depend>rcl</exec_depend>
   <exec_depend>rmw_implementation_cmake</exec_depend>
   <exec_depend>rmw_implementation</exec_depend>
-  <exec_depend>rosidl_generator_c</exec_depend>
+  <exec_depend>rosidl_runtime_c</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
@@ -41,7 +41,9 @@
   <test_depend>rcljava_common</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>rmw</test_depend>
-  <test_depend>rosidl_generator_c</test_depend>
+  <test_depend>rosidl_runtime_c</test_depend>
+  <!--TODO(ivanpauno): we need this for some strange reason to make test builds-->
+  <test_depend>rosidl_generator_cpp</test_depend>
   <test_depend>rosidl_generator_java</test_depend>
   <test_depend>std_msgs</test_depend>
 
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.cpp
index 0f2ef0d4..a4f5717f 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.cpp
@@ -23,7 +23,7 @@
 #include "rcl/rcl.h"
 #include "rcl/timer.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp
index 0455c306..842b7d99 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp
@@ -23,7 +23,7 @@
 #include "rcl/node.h"
 #include "rcl/rcl.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"
@@ -34,9 +34,9 @@ using rcljava_common::exceptions::rcljava_throw_rclexception;
 using rcljava_common::signatures::convert_from_java_signature;
 using rcljava_common::signatures::destroy_ros_message_signature;
 
-JNIEXPORT void JNICALL
+JNIEXPORT jlong JNICALL
 Java_org_ros2_rcljava_client_ClientImpl_nativeSendClientRequest(
-  JNIEnv * env, jclass, jlong client_handle, jlong sequence_number,
+  JNIEnv * env, jclass, jlong client_handle,
   jlong jrequest_from_java_converter_handle, jlong jrequest_to_java_converter_handle,
   jlong jrequest_destructor_handle, jobject jrequest_msg)
 {
@@ -53,6 +53,7 @@ Java_org_ros2_rcljava_client_ClientImpl_nativeSendClientRequest(
 
   void * request_msg = convert_from_java(jrequest_msg, nullptr);
 
+  int64_t sequence_number;
   rcl_ret_t ret = rcl_send_request(client, request_msg, &sequence_number);
 
   destroy_ros_message_signature destroy_ros_message =
@@ -65,6 +66,7 @@ Java_org_ros2_rcljava_client_ClientImpl_nativeSendClientRequest(
     rcl_reset_error();
     rcljava_throw_rclexception(env, ret, msg);
   }
+  return static_cast<jlong>(sequence_number);
 }
 
 JNIEXPORT void JNICALL
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp
index e87daaa4..ad515de5 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp
@@ -23,7 +23,7 @@
 #include "rcl/rcl.h"
 #include "rcl/timer.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp
index 618c8c03..16b6ed4c 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp
@@ -22,7 +22,7 @@
 #include "rcl/node.h"
 #include "rcl/rcl.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp
index f4708f6c..bfec845c 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp
@@ -22,7 +22,7 @@
 #include "rcl/node.h"
 #include "rcl/rcl.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"
diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp
index eedb9242..151bc0a0 100644
--- a/rcljava/src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp
+++ b/rcljava/src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp
@@ -22,7 +22,7 @@
 #include "rcl/node.h"
 #include "rcl/rcl.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"
diff --git a/rcljava/src/main/java/org/ros2/rcljava/client/ClientImpl.java b/rcljava/src/main/java/org/ros2/rcljava/client/ClientImpl.java
index 076b99cc..70ff3074 100644
--- a/rcljava/src/main/java/org/ros2/rcljava/client/ClientImpl.java
+++ b/rcljava/src/main/java/org/ros2/rcljava/client/ClientImpl.java
@@ -17,6 +17,7 @@
 
 import java.time.Duration;
 import java.lang.ref.WeakReference;
+import java.lang.IllegalStateException;
 import java.lang.InterruptedException;
 import java.lang.Long;
 import java.util.AbstractMap;
@@ -52,7 +53,6 @@ public class ClientImpl<T extends ServiceDefinition> implements Client<T> {
   private final WeakReference<Node> nodeReference;
   private long handle;
   private final String serviceName;
-  private long sequenceNumber = 0;
   private Map<Long, Map.Entry<Consumer, RCLFuture>> pendingRequests;
 
   private final Class<MessageDefinition> requestType;
@@ -79,8 +79,8 @@ public void accept(Future<V> input) {}
   public final <U extends MessageDefinition, V extends MessageDefinition> Future<V>
   asyncSendRequest(final U request, final Consumer<Future<V>> callback) {
     synchronized (pendingRequests) {
-      sequenceNumber++;
-      nativeSendClientRequest(handle, sequenceNumber, request.getFromJavaConverterInstance(),
+      long sequenceNumber = nativeSendClientRequest(
+          handle, request.getFromJavaConverterInstance(),
           request.getToJavaConverterInstance(), request.getDestructorInstance(), request);
       RCLFuture<V> future = new RCLFuture<V>(this.nodeReference);
 
@@ -96,15 +96,20 @@ public final <U extends MessageDefinition> void handleResponse(
     synchronized (pendingRequests) {
       long sequenceNumber = header.sequenceNumber;
       Map.Entry<Consumer, RCLFuture> entry = pendingRequests.remove(sequenceNumber);
-      Consumer<Future> callback = entry.getKey();
-      RCLFuture<U> future = entry.getValue();
-      future.set(response);
-      callback.accept(future);
+      if (entry != null) {
+        Consumer<Future> callback = entry.getKey();
+        RCLFuture<U> future = entry.getValue();
+        future.set(response);
+        callback.accept(future);
+        return;
+      }
+      throw new IllegalStateException(
+          "No request made with the given sequence number: " + sequenceNumber);
     }
   }
 
-  private static native void nativeSendClientRequest(long handle, long sequenceNumber,
-      long requestFromJavaConverterHandle, long requestToJavaConverterHandle,
+  private static native long nativeSendClientRequest(
+      long handle, long requestFromJavaConverterHandle, long requestToJavaConverterHandle,
       long requestDestructorHandle, MessageDefinition requestMessage);
 
   public final Class<MessageDefinition> getRequestType() {
diff --git a/rcljava_common/cmake/Modules/JavaExtra.cmake b/rcljava_common/cmake/Modules/JavaExtra.cmake
index 461aa667..0ab52441 100644
--- a/rcljava_common/cmake/Modules/JavaExtra.cmake
+++ b/rcljava_common/cmake/Modules/JavaExtra.cmake
@@ -106,11 +106,11 @@ function(ament_add_junit_tests TARGET_NAME)
   set(${TARGET_NAME}_jar_dependencies "${JUNIT_JAR}${SEPARATOR}${HAMCREST_JAR}")
 
   add_jar("${TARGET_NAME}_jar"
-    "${_source_files}"
+    SOURCES "${_source_files}"
     OUTPUT_NAME
     "${TARGET_NAME}"
     INCLUDE_JARS
-    "${ARG_INCLUDE_JARS}"
+    ${ARG_INCLUDE_JARS}
     "${JUNIT_JAR}"
     "${HAMCREST_JAR}"
   )
diff --git a/ros2_java_android.repos b/ros2_java_android.repos
index 6e7eb9b8..9ee3bba2 100644
--- a/ros2_java_android.repos
+++ b/ros2_java_android.repos
@@ -2,144 +2,172 @@ repositories:
   ament/ament_cmake:
     type: git
     url: https://github.com/ament/ament_cmake.git
-    version: dashing
+    version: galactic
   ament/ament_index:
     type: git
     url: https://github.com/ament/ament_index.git
-    version: dashing
+    version: galactic
   ament/ament_lint:
     type: git
     url: https://github.com/ament/ament_lint.git
-    version: dashing
+    version: galactic
   ament/ament_package:
     type: git
     url: https://github.com/ament/ament_package.git
-    version: dashing
+    version: galactic
+  ament/google_benchmark_vendor:
+    type: git
+    url: https://github.com/ament/google_benchmark_vendor.git
+    version: main
   ament/googletest:
     type: git
     url: https://github.com/ament/googletest.git
-    version: dashing
+    version: galactic
   ament/uncrustify_vendor:
     type: git
     url: https://github.com/ament/uncrustify_vendor.git
-    version: dashing
-  ament/ament_java:
-    type: git
-    url: https://github.com/ros2-java/ament_java.git
-    version: main
+    version: galactic
   eProsima/Fast-CDR:
     type: git
     url: https://github.com/eProsima/Fast-CDR.git
-    version: v1.0.11
+    version: v1.0.20
   eProsima/Fast-DDS:
     type: git
     url: https://github.com/eProsima/Fast-DDS.git
-    version: v1.8.2
+    version: 2.3.x
+  eProsima/foonathan_memory_vendor:
+    type: git
+    url: https://github.com/eProsima/foonathan_memory_vendor.git
+    version: master
   osrf/osrf_pycommon:
     type: git
     url: https://github.com/osrf/osrf_pycommon.git
-    version: dashing
+    version: master
   osrf/osrf_testing_tools_cpp:
     type: git
-    url: https://github.com/ros2-java/osrf_testing_tools_cpp.git
-    version: dashing-android
+    url: https://github.com/osrf/osrf_testing_tools_cpp.git
+    version: master
+  ros-tooling/libstatistics_collector:
+    type: git
+    url: https://github.com/ros-tooling/libstatistics_collector.git
+    version: master
+  ros-tracing/ros2_tracing:
+    type: git
+    url: https://gitlab.com/ros-tracing/ros2_tracing.git
+    version: master
   ros2/ament_cmake_ros:
     type: git
     url: https://github.com/ros2/ament_cmake_ros.git
-    version: dashing
+    version: galactic
   ros2/common_interfaces:
     type: git
     url: https://github.com/ros2/common_interfaces.git
-    version: dashing
+    version: galactic
   ros2/example_interfaces:
     type: git
     url: https://github.com/ros2/example_interfaces.git
-    version: dashing
+    version: galactic
   ros2/launch:
     type: git
     url: https://github.com/ros2/launch.git
-    version: dashing
-  ros2/poco_vendor:
+    version: galactic
+  ros2/libyaml_vendor:
+    type: git
+    url: https://github.com/ros2/libyaml_vendor.git
+    version: galactic
+  ros2/performance_test_fixture:
     type: git
-    url: https://github.com/ros2/poco_vendor.git
-    version: dashing
+    url: https://github.com/ros2/performance_test_fixture.git
+    version: main
+  ros2/python_cmake_module:
+    type: git
+    url: https://github.com/ros2/python_cmake_module.git
+    version: galactic
   ros2/rcl:
     type: git
     url: https://github.com/ros2/rcl.git
-    version: dashing
+    version: galactic
   ros2/rcl_interfaces:
     type: git
     url: https://github.com/ros2/rcl_interfaces.git
-    version: dashing
+    version: galactic
   ros2/rcl_logging:
     type: git
     url: https://github.com/ros2/rcl_logging.git
-    version: dashing
+    version: galactic
   ros2/rcpputils:
     type: git
     url: https://github.com/ros2/rcpputils.git
-    version: dashing
+    version: galactic
   ros2/rcutils:
     type: git
     url: https://github.com/ros2/rcutils.git
-    version: dashing
+    version: galactic
   ros2/rmw:
     type: git
     url: https://github.com/ros2/rmw.git
-    version: dashing
+    version: galactic
+  ros2/rmw_dds_common:
+    type: git
+    url: https://github.com/ros2/rmw_dds_common.git
+    version: galactic
   ros2/rmw_fastrtps:
     type: git
     url: https://github.com/ros2/rmw_fastrtps.git
-    version: dashing
+    version: galactic
   ros2/rmw_implementation:
     type: git
     url: https://github.com/ros2/rmw_implementation.git
-    version: dashing
+    version: galactic
   ros2/rosidl:
     type: git
     url: https://github.com/ros2/rosidl.git
-    version: dashing
+    version: galactic
   ros2/rosidl_dds:
     type: git
     url: https://github.com/ros2/rosidl_dds.git
-    version: dashing
+    version: galactic
   ros2/rosidl_defaults:
     type: git
     url: https://github.com/ros2/rosidl_defaults.git
-    version: dashing
+    version: galactic
   ros2/rosidl_python:
     type: git
     url: https://github.com/ros2/rosidl_python.git
-    version: dashing
+    version: galactic
   ros2/rosidl_typesupport:
     type: git
     url: https://github.com/ros2/rosidl_typesupport.git
-    version: dashing
+    version: galactic
   ros2/rosidl_typesupport_fastrtps:
     type: git
     url: https://github.com/ros2/rosidl_typesupport_fastrtps.git
-    version: dashing
+    version: galactic
+  ros2/rpyutils:
+    type: git
+    url: https://github.com/ros2/rpyutils.git
+    version: galactic
   ros2/test_interface_files:
     type: git
     url: https://github.com/ros2/test_interface_files.git
-    version: dashing
-  ros2/tinydir_vendor:
-    type: git
-    url: https://github.com/ros2/tinydir_vendor.git
-    version: dashing
+    version: galactic
   ros2/unique_identifier_msgs:
     type: git
     url: https://github.com/ros2/unique_identifier_msgs.git
-    version: dashing
-  ros2_java/ros2_java:
+    version: galactic
+  ros2-java/ament_java:
     type: git
-    url: https://github.com/ros2-java/ros2_java
-    version: dashing
-  ros2_java/ros2_android:
+    url: https://github.com/ros2-java/ament_java.git
+    version: main
+  ros2-java/ros2_java:
+    type: git
+    url: https://github.com/ros2-java/ros2_java.git
+    version: main
+  ros2-java/ros2_android:
     type: git
     url: https://github.com/ros2-java/ros2_android.git
-    version: master
-  ros2_java/ros2_android_examples:
+    version: main
+  ros2-java/ros2_android_examples:
     type: git
-    url: https://github.com/ros2-java/ros2_android_examples
-    version: master
+    url: https://github.com/ros2-java/ros2_android_examples.git
+    version: main
diff --git a/ros2_java_desktop.repos b/ros2_java_desktop.repos
index 862f0fbd..1b10ef90 100644
--- a/ros2_java_desktop.repos
+++ b/ros2_java_desktop.repos
@@ -1,33 +1,33 @@
 repositories:
-  ament/ament_java:
-    type: git
-    url: https://github.com/ros2-java/ament_java.git
-    version: main
   ros2/common_interfaces:
     type: git
     url: https://github.com/ros2/common_interfaces.git
-    version: dashing
+    version: galactic
   ros2/example_interfaces:
     type: git
     url: https://github.com/ros2/example_interfaces.git
-    version: dashing
+    version: galactic
   ros2/rcl_interfaces:
     type: git
     url: https://github.com/ros2/rcl_interfaces.git
-    version: dashing
+    version: galactic
   ros2/rosidl_defaults:
     type: git
     url: https://github.com/ros2/rosidl_defaults.git
-    version: dashing
+    version: galactic
   ros2/unique_identifier_msgs:
     type: git
     url: https://github.com/ros2/unique_identifier_msgs.git
-    version: dashing
-  ros2_java/ros2_java:
+    version: galactic
+  ros2-java/ament_java:
+    type: git
+    url: https://github.com/ros2-java/ament_java.git
+    version: main
+  ros2-java/ros2_java:
     type: git
     url: https://github.com/ros2-java/ros2_java.git
-    version: dashing
-  ros2_java/ros2_java_examples:
+    version: main
+  ros2-java/ros2_java_examples:
     type: git
     url: https://github.com/ros2-java/ros2_java_examples.git
-    version: master
+    version: main
diff --git a/ros2_java_desktop_travis.repos b/ros2_java_desktop_travis.repos
deleted file mode 100644
index 9cedbc35..00000000
--- a/ros2_java_desktop_travis.repos
+++ /dev/null
@@ -1,113 +0,0 @@
-repositories:
-  eProsima/Fast-CDR:
-    type: git
-    url: https://github.com/eProsima/Fast-CDR.git
-    version: v1.0.7
-  eProsima/Fast-RTPS:
-    type: git
-    url: https://github.com/eProsima/Fast-RTPS.git
-    version: 7a0b0fe7ca8d2c4ea41e36744c6024c263a6505a
-  ros/class_loader:
-    type: git
-    url: https://github.com/ros/class_loader.git
-    version: 1.1.0
-  ros/console_bridge:
-    type: git
-    url: https://github.com/ros/console_bridge.git
-    version: ad25f7307da76be2857545e7e5c2a20727eee542
-  ros2/console_bridge_vendor:
-    type: git
-    url: https://github.com/ros2/console_bridge_vendor.git
-    version: master
-  ros2/ament_cmake_ros:
-    type: git
-    url: https://github.com/ros2/ament_cmake_ros.git
-    version: 0.5.0
-  ros2/rcutils:
-    type: git
-    url: https://github.com/ros2/rcutils.git
-    version: 0.5.1
-  ros2/common_interfaces:
-    type: git
-    url: https://github.com/ros2/common_interfaces.git
-    version: 0.5.0
-  ros2/example_interfaces:
-    type: git
-    url: https://github.com/ros2/example_interfaces.git
-    version: 0.5.0
-  ros2/launch:
-    type: git
-    url: https://github.com/ros2/launch.git
-    version: 0.5.2
-  ros2/libyaml_vendor:
-    type: git
-    url: https://github.com/ros2/libyaml_vendor.git
-    version: 1.0.0
-  ros2/poco_vendor:
-    type: git
-    url: https://github.com/ros2/poco_vendor.git
-    version: 1.1.1
-  ros2/rcl:
-    type: git
-    url: https://github.com/ros2/rcl.git
-    version: 0.5.1
-  ros2/rcl_interfaces:
-    type: git
-    url: https://github.com/ros2/rcl_interfaces.git
-    version: master
-  ros2/rclpy:
-    type: git
-    url: https://github.com/ros2/rclpy.git
-    version: 0.5.3
-  ros2/rmw:
-    type: git
-    url: https://github.com/ros2/rmw.git
-    version: 0.5.0
-  ros2/rmw_fastrtps:
-    type: git
-    url: https://github.com/ros2/rmw_fastrtps.git
-    version: 0.5.1
-  ros2/rmw_implementation:
-    type: git
-    url: https://github.com/ros2/rmw_implementation.git
-    version: 0.5.1
-  ros2/rmw_opensplice:
-    type: git
-    url: https://github.com/ros2/rmw_opensplice.git
-    version: 0.5.2
-  ros2/rosidl_typesupport_opensplice:
-    type: git
-    url: https://github.com/ros2/rosidl_typesupport_opensplice.git
-    version: 0.5.0
-  ros2/ros2cli:
-    type: git
-    url: https://github.com/ros2/ros2cli.git
-    version: 0.5.3
-  ros2/rosidl:
-    type: git
-    url: https://github.com/ros2/rosidl.git
-    version: 0.5.1
-  ros2/rosidl_dds:
-    type: git
-    url: https://github.com/ros2/rosidl_dds.git
-    version: 0.5.0
-  ros2/rosidl_defaults:
-    type: git
-    url: https://github.com/ros2/rosidl_defaults.git
-    version: 0.5.0
-  ros2/rosidl_python:
-    type: git
-    url: https://github.com/ros2/rosidl_python.git
-    version: 0.5.2
-  ros2/rosidl_typesupport:
-    type: git
-    url: https://github.com/ros2/rosidl_typesupport.git
-    version: 0.5.0
-  ros2_java/ros2_java:
-    type: git
-    url: https://github.com/esteve/ros2_java.git
-    version: master
-  ros2_java/ros2_java_examples:
-    type: git
-    url: https://github.com/esteve/ros2_java_examples.git
-    version: master
diff --git a/rosidl_generator_java/CMakeLists.txt b/rosidl_generator_java/CMakeLists.txt
index bd4c94b4..76a31477 100644
--- a/rosidl_generator_java/CMakeLists.txt
+++ b/rosidl_generator_java/CMakeLists.txt
@@ -28,7 +28,7 @@ ament_index_register_resource("rosidl_generator_packages")
 
 if(BUILD_TESTING)
   find_package(rosidl_cmake REQUIRED)
-  find_package(rosidl_generator_c REQUIRED)
+  find_package(rosidl_runtime_c REQUIRED)
   find_package(test_interface_files REQUIRED)
 
   # Disable flake8 linter
diff --git a/rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake b/rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake
index 31dc1a59..0093329c 100644
--- a/rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake
+++ b/rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake
@@ -15,6 +15,7 @@
 find_package(ament_cmake_export_jars REQUIRED)
 find_package(ament_cmake_export_jni_libraries REQUIRED)
 find_package(rosidl_generator_c REQUIRED)
+find_package(rosidl_typesupport_c REQUIRED)
 find_package(rmw_implementation_cmake REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rcljava_common REQUIRED)
@@ -71,8 +72,12 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
       "${_output_path}/${_parent_folder}/${_idl_name}_Response.java"
     )
     foreach(_typesupport_impl ${_typesupport_impls})
-      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Request.ep.${_typesupport_impl}.cpp")
-      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Response.ep.${_typesupport_impl}.cpp")
+      list(APPEND _generated_extension_${_typesupport_impl}_files
+        "${_output_path}/${_parent_folder}/${_idl_name}_Request.ep.${_typesupport_impl}.cpp"
+      )
+      list(APPEND _generated_extension_${_typesupport_impl}_files
+        "${_output_path}/${_parent_folder}/${_idl_name}_Response.ep.${_typesupport_impl}.cpp"
+      )
     endforeach()
   endif()
   # Actions generate extra files
@@ -89,20 +94,24 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
       "${_output_path}/${_parent_folder}/${_idl_name}_GetResult_Response.java"
     )
     foreach(_typesupport_impl ${_typesupport_impls})
-      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Goal.ep.${_typesupport_impl}.cpp")
-      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Result.ep.${_typesupport_impl}.cpp")
-      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Feedback.ep.${_typesupport_impl}.cpp")
-      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal.ep.${_typesupport_impl}.cpp")
-      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Request.ep.${_typesupport_impl}.cpp")
-      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Response.ep.${_typesupport_impl}.cpp")
-      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_GetResult.ep.${_typesupport_impl}.cpp")
-      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_GetResult_Request.ep.${_typesupport_impl}.cpp")
-      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_GetResult_Response.ep.${_typesupport_impl}.cpp")
+      list(APPEND _generated_extension_${_typesupport_impl}_files
+        "${_output_path}/${_parent_folder}/${_idl_name}_Goal.ep.${_typesupport_impl}.cpp"
+        "${_output_path}/${_parent_folder}/${_idl_name}_Result.ep.${_typesupport_impl}.cpp"
+        "${_output_path}/${_parent_folder}/${_idl_name}_Feedback.ep.${_typesupport_impl}.cpp"
+        "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal.ep.${_typesupport_impl}.cpp"
+        "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Request.ep.${_typesupport_impl}.cpp"
+        "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Response.ep.${_typesupport_impl}.cpp"
+        "${_output_path}/${_parent_folder}/${_idl_name}_GetResult.ep.${_typesupport_impl}.cpp"
+        "${_output_path}/${_parent_folder}/${_idl_name}_GetResult_Request.ep.${_typesupport_impl}.cpp"
+        "${_output_path}/${_parent_folder}/${_idl_name}_GetResult_Response.ep.${_typesupport_impl}.cpp"
+      )
     endforeach()
   endif()
 
   foreach(_typesupport_impl ${_typesupport_impls})
-    list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}.ep.${_typesupport_impl}.cpp")
+    list(APPEND _generated_extension_${_typesupport_impl}_files
+      "${_output_path}/${_parent_folder}/${_idl_name}.ep.${_typesupport_impl}.cpp"
+    )
   endforeach()
 endforeach()
 
@@ -244,6 +253,7 @@ foreach(_generated_cpp_file ${_generated_extension_files})
   target_link_libraries(
     ${_library_name}
     ${PROJECT_NAME}__${_typesupport_impl}
+    ${rosidl_generate_interfaces_TARGET}__rosidl_generator_c
     ${_extension_link_flags}
   )
   rosidl_target_interfaces(${_library_name}
diff --git a/rosidl_generator_java/cmake/rosidl_generator_java_get_typesupports.cmake b/rosidl_generator_java/cmake/rosidl_generator_java_get_typesupports.cmake
index 434bfda0..d51d1a1f 100644
--- a/rosidl_generator_java/cmake/rosidl_generator_java_get_typesupports.cmake
+++ b/rosidl_generator_java/cmake/rosidl_generator_java_get_typesupports.cmake
@@ -12,19 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-macro(accumulate_typesupports)
-  set(_typesupport_impl_tmp "")
-  get_rmw_typesupport(_typesupport_impl_tmp ${rmw_implementation} LANGUAGE "C")
-  list(APPEND _typesupport_impls_tmp ${_typesupport_impl_tmp})
-endmacro()
-
 macro(rosidl_generator_java_get_typesupports TYPESUPPORT_IMPLS)
   set(${TYPESUPPORT_IMPLS} "")
-  set(_typesupport_impls_tmp "")
-  set(_typesupport_impls_tmp_unique "")
-  call_for_each_rmw_implementation(accumulate_typesupports)
-
-  foreach(_typesupport_impl ${_typesupport_impls_tmp})
-    list_append_unique(${TYPESUPPORT_IMPLS} ${_typesupport_impl})
+  ament_index_get_resources(${TYPESUPPORT_IMPLS} "rosidl_typesupport_c")
+  list(APPEND ${TYPESUPPORT_IMPLS} "rosidl_typesupport_c")
+  foreach(_typesupport ${${TYPESUPPORT_IMPLS}})
+    find_package(${_typesupport} QUIET)
+    if(NOT ${_typesupport}_FOUND)
+      list(REMOVE_ITEM ${TYPESUPPORT_IMPLS} "${_typesupport}")
+    endif()
   endforeach()
 endmacro()
diff --git a/rosidl_generator_java/package.xml b/rosidl_generator_java/package.xml
index ebf566eb..3594eb25 100644
--- a/rosidl_generator_java/package.xml
+++ b/rosidl_generator_java/package.xml
@@ -22,18 +22,20 @@
   <buildtool_export_depend>rosidl_typesupport_c</buildtool_export_depend>
   <buildtool_export_depend>rosidl_typesupport_interface</buildtool_export_depend>
 
-  <exec_depend>rmw_implementation</exec_depend>
   <exec_depend>rmw_implementation_cmake</exec_depend>
-  <exec_depend>rosidl_generator_c</exec_depend>
+  <exec_depend>rosidl_runtime_c</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
-  <test_depend>rmw_implementation</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
-  <test_depend>rosidl_generator_c</test_depend>
+  <!-- It's not clear why we need to depend on rosidl_generator_cpp, but without it
+       the tests will not compile.
+       See https://github.com/ros2/rosidl_python/pull/100#issuecomment-608558735 -->
+  <test_depend>rosidl_generator_cpp</test_depend>
+  <test_depend>rosidl_runtime_c</test_depend>
 
   <test_depend>rosidl_cmake</test_depend>
   <test_depend>rosidl_parser</test_depend>
@@ -41,7 +43,6 @@
   <test_depend>rosidl_typesupport_c</test_depend>
   <test_depend>rosidl_typesupport_fastrtps_c</test_depend>
   <test_depend>rosidl_typesupport_introspection_c</test_depend>
-  <test_depend>rosidl_typesupport_opensplice_c</test_depend>
   <test_depend>test_interface_files</test_depend>
 
   <member_of_group>rosidl_generator_packages</member_of_group>
diff --git a/rosidl_generator_java/resource/action.cpp.em b/rosidl_generator_java/resource/action.cpp.em
index b093b313..0d3492e4 100644
--- a/rosidl_generator_java/resource/action.cpp.em
+++ b/rosidl_generator_java/resource/action.cpp.em
@@ -88,7 +88,7 @@ expand_template(
 
 #include <cstdint>
 
-#include "rosidl_generator_c/action_type_support_struct.h"
+#include "rosidl_runtime_c/action_type_support_struct.h"
 
 #include "@(idl_structure_type_to_c_include_prefix(action.namespaced_type)).h"
 
diff --git a/rosidl_generator_java/resource/msg.cpp.em b/rosidl_generator_java/resource/msg.cpp.em
index 681083e6..a7008a53 100644
--- a/rosidl_generator_java/resource/msg.cpp.em
+++ b/rosidl_generator_java/resource/msg.cpp.em
@@ -43,20 +43,20 @@ for member in message.structure.members:
         cache[array_list_normalized_type] = array_list_jni_type
         type_ = type_.value_type
         if isinstance(type_, BasicType):
-            member_includes.add('rosidl_generator_c/primitives_sequence.h')
-            member_includes.add('rosidl_generator_c/primitives_sequence_functions.h')
+            member_includes.add('rosidl_runtime_c/primitives_sequence.h')
+            member_includes.add('rosidl_runtime_c/primitives_sequence_functions.h')
 
     # We do not cache strings because java.lang.String behaves differently
     if not isinstance(type_, AbstractGenericString):
         cache[get_normalized_type(type_)] = get_jni_type(type_)
 
     if isinstance(type_, AbstractString):
-        member_includes.add('rosidl_generator_c/string.h')
-        member_includes.add('rosidl_generator_c/string_functions.h')
+        member_includes.add('rosidl_runtime_c/string.h')
+        member_includes.add('rosidl_runtime_c/string_functions.h')
 
     if isinstance(type_, AbstractWString):
-        member_includes.add('rosidl_generator_c/u16string.h')
-        member_includes.add('rosidl_generator_c/u16string_functions.h')
+        member_includes.add('rosidl_runtime_c/u16string.h')
+        member_includes.add('rosidl_runtime_c/u16string_functions.h')
 
     if isinstance(type_, NamespacedType):
         namespaced_types.add(get_jni_type(type_))
@@ -110,7 +110,7 @@ elif message_c_include_prefix.endswith('__get_result'):
 #include <cstdint>
 #include <string>
 
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"
@@ -232,16 +232,16 @@ normalized_type = get_normalized_type(member.type)
     jmethodID _jlist_@(member.name)_size_mid = env->GetMethodID(_j@(list_normalized_type)_class_global, "size", "()I");
     jint _jlist_@(member.name)_size = env->CallIntMethod(_jlist_@(member.name)_object, _jlist_@(member.name)_size_mid);
 @[      if isinstance(member.type.value_type, AbstractString)]@
-    if (!rosidl_generator_c__String__Sequence__init(&(ros_message->@(member.name)), _jlist_@(member.name)_size)) {
+    if (!rosidl_runtime_c__String__Sequence__init(&(ros_message->@(member.name)), _jlist_@(member.name)_size)) {
       rcljava_throw_exception(env, "java/lang/IllegalStateException", "unable to create String__Array ros_message");
     }
 @[      elif isinstance(member.type.value_type, AbstractWString)]@
-    if (!rosidl_generator_c__U16String__Sequence__init(&(ros_message->@(member.name)), _jlist_@(member.name)_size)) {
+    if (!rosidl_runtime_c__U16String__Sequence__init(&(ros_message->@(member.name)), _jlist_@(member.name)_size)) {
       rcljava_throw_exception(env, "java/lang/IllegalStateException", "unable to create U16String__Array ros_message");
     }
 @[      else]@
 @[        if isinstance(member.type.value_type, BasicType)]@
-    if (!rosidl_generator_c__@(member.type.value_type.typename)__Sequence__init(&(ros_message->@(member.name)), _jlist_@(member.name)_size)) {
+    if (!rosidl_runtime_c__@(member.type.value_type.typename)__Sequence__init(&(ros_message->@(member.name)), _jlist_@(member.name)_size)) {
       rcljava_throw_exception(env, "java/lang/IllegalStateException", "unable to create @(member.type.value_type)__Array ros_message");
     }
 @[        else]@
@@ -264,7 +264,7 @@ normalized_type = get_normalized_type(member.type)
       jstring _jfield_@(member.name)_value = static_cast<jstring>(element);
       if (_jfield_@(member.name)_value != nullptr) {
         const char * _str@(member.name) = env->GetStringUTFChars(_jfield_@(member.name)_value, 0);
-        rosidl_generator_c__String__assign(
+        rosidl_runtime_c__String__assign(
           &_dest_@(member.name)[i], _str@(member.name));
         env->ReleaseStringUTFChars(_jfield_@(member.name)_value, _str@(member.name));
       }
@@ -272,7 +272,7 @@ normalized_type = get_normalized_type(member.type)
       jstring _jfield_@(member.name)_value = static_cast<jstring>(element);
       if (_jfield_@(member.name)_value != nullptr) {
         const jchar * _str@(member.name) = env->GetStringChars(_jfield_@(member.name)_value, 0);
-        rosidl_generator_c__U16String__assign(
+        rosidl_runtime_c__U16String__assign(
           &_dest_@(member.name)[i], _str@(member.name));
         env->ReleaseStringChars(_jfield_@(member.name)_value, _str@(member.name));
       }
@@ -295,12 +295,12 @@ call_method_name = 'Call%sMethod' % get_java_type(member.type.value_type, use_pr
   if (_jvalue@(member.name) != nullptr) {
 @[      if isinstance(member.type, AbstractString)]@
     const char * _str@(member.name) = env->GetStringUTFChars(_jvalue@(member.name), 0);
-    rosidl_generator_c__String__assign(
+    rosidl_runtime_c__String__assign(
       &ros_message->@(member.name), _str@(member.name));
     env->ReleaseStringUTFChars(_jvalue@(member.name), _str@(member.name));
 @[      else]@
     const jchar * _str@(member.name) = env->GetStringChars(_jvalue@(member.name), 0);
-    rosidl_generator_c__U16String__assign(
+    rosidl_runtime_c__U16String__assign(
       &ros_message->@(member.name), _str@(member.name));
     env->ReleaseStringChars(_jvalue@(member.name), _str@(member.name));
 @[      end if]@
diff --git a/rosidl_generator_java/resource/srv.cpp.em b/rosidl_generator_java/resource/srv.cpp.em
index 7bf6209b..4c13f6b5 100644
--- a/rosidl_generator_java/resource/srv.cpp.em
+++ b/rosidl_generator_java/resource/srv.cpp.em
@@ -38,7 +38,7 @@ expand_template(
 
 #include <cstdint>
 
-#include "rosidl_generator_c/service_type_support_struct.h"
+#include "rosidl_runtime_c/service_type_support_struct.h"
 
 @{
 include_prefix = idl_structure_type_to_c_include_prefix(service.namespaced_type)