diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
index 45557ec517..98d9079ed6 100644
--- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -35,7 +35,7 @@ extern "C"
 rmw_ret_t
 rmw_init_publisher_allocation(
   const rosidl_message_type_support_t * type_support,
-  const rosidl_message_bounds_t * message_bounds,
+  const rosidl_runtime_c__Sequence__bound * message_bounds,
   rmw_publisher_allocation_t * allocation)
 {
   // Unused in current implementation.
diff --git a/rmw_fastrtps_cpp/src/rmw_serialize.cpp b/rmw_fastrtps_cpp/src/rmw_serialize.cpp
index 6714377df0..76c34e09fb 100644
--- a/rmw_fastrtps_cpp/src/rmw_serialize.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_serialize.cpp
@@ -93,7 +93,7 @@ rmw_deserialize(
 rmw_ret_t
 rmw_get_serialized_message_size(
   const rosidl_message_type_support_t * /*type_support*/,
-  const rosidl_message_bounds_t * /*message_bounds*/,
+  const rosidl_runtime_c__Sequence__bound * /*message_bounds*/,
   size_t * /*size*/)
 {
   RMW_SET_ERROR_MSG("unimplemented");
diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
index 3a1d884ee9..738c6493fc 100644
--- a/rmw_fastrtps_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -33,7 +33,7 @@ extern "C"
 rmw_ret_t
 rmw_init_subscription_allocation(
   const rosidl_message_type_support_t * type_support,
-  const rosidl_message_bounds_t * message_bounds,
+  const rosidl_runtime_c__Sequence__bound * message_bounds,
   rmw_subscription_allocation_t * allocation)
 {
   // Unused in current implementation.
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
index 6dbd0786c7..45e2ce1356 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
@@ -37,7 +37,7 @@ extern "C"
 rmw_ret_t
 rmw_init_publisher_allocation(
   const rosidl_message_type_support_t * type_support,
-  const rosidl_message_bounds_t * message_bounds,
+  const rosidl_runtime_c__Sequence__bound * message_bounds,
   rmw_publisher_allocation_t * allocation)
 {
   // Unused in current implementation.
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_serialize.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_serialize.cpp
index b1124edcf7..dbe8442c38 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_serialize.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_serialize.cpp
@@ -96,7 +96,7 @@ rmw_deserialize(
 rmw_ret_t
 rmw_get_serialized_message_size(
   const rosidl_message_type_support_t * /*type_support*/,
-  const rosidl_message_bounds_t * /*message_bounds*/,
+  const rosidl_runtime_c__Sequence__bound * /*message_bounds*/,
   size_t * /*size*/)
 {
   RMW_SET_ERROR_MSG("unimplemented");
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
index 67d0583a00..a27e31ce7d 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
@@ -35,7 +35,7 @@ extern "C"
 rmw_ret_t
 rmw_init_subscription_allocation(
   const rosidl_message_type_support_t * type_support,
-  const rosidl_message_bounds_t * message_bounds,
+  const rosidl_runtime_c__Sequence__bound * message_bounds,
   rmw_subscription_allocation_t * allocation)
 {
   // Unused in current implementation.