diff --git a/rosidl_generator_cpp/resource/idl__builder.hpp.em b/rosidl_generator_cpp/resource/idl__builder.hpp.em
index 3e02ad581..7259d695f 100644
--- a/rosidl_generator_cpp/resource/idl__builder.hpp.em
+++ b/rosidl_generator_cpp/resource/idl__builder.hpp.em
@@ -25,7 +25,7 @@ include_directives = set()
 #define @(header_guard_variable)
 
 #include "@(include_base)__struct.hpp"
-#include <rosidl_generator_cpp/message_initialization.hpp>
+#include <rosidl_runtime_cpp/message_initialization.hpp>
 #include <algorithm>
 #include <utility>
 
diff --git a/rosidl_generator_cpp/resource/idl__struct.hpp.em b/rosidl_generator_cpp/resource/idl__struct.hpp.em
index e8d1edc54..7cde12c9c 100644
--- a/rosidl_generator_cpp/resource/idl__struct.hpp.em
+++ b/rosidl_generator_cpp/resource/idl__struct.hpp.em
@@ -23,8 +23,8 @@ include_directives = set()
 #ifndef @(header_guard_variable)
 #define @(header_guard_variable)
 
-#include <rosidl_generator_cpp/bounded_vector.hpp>
-#include <rosidl_generator_cpp/message_initialization.hpp>
+#include <rosidl_runtime_cpp/bounded_vector.hpp>
+#include <rosidl_runtime_cpp/message_initialization.hpp>
 #include <algorithm>
 #include <array>
 #include <memory>
diff --git a/rosidl_generator_cpp/resource/idl__traits.hpp.em b/rosidl_generator_cpp/resource/idl__traits.hpp.em
index 25ffc2a93..345d0f227 100644
--- a/rosidl_generator_cpp/resource/idl__traits.hpp.em
+++ b/rosidl_generator_cpp/resource/idl__traits.hpp.em
@@ -25,7 +25,7 @@ include_directives = set()
 #define @(header_guard_variable)
 
 #include "@(include_base)__struct.hpp"
-#include <rosidl_generator_cpp/traits.hpp>
+#include <rosidl_runtime_cpp/traits.hpp>
 #include <stdint.h>
 #include <type_traits>
 
diff --git a/rosidl_generator_cpp/resource/msg__builder.hpp.em b/rosidl_generator_cpp/resource/msg__builder.hpp.em
index 23fc14d17..d8483b181 100644
--- a/rosidl_generator_cpp/resource/msg__builder.hpp.em
+++ b/rosidl_generator_cpp/resource/msg__builder.hpp.em
@@ -30,7 +30,7 @@ explicit @
 Init_@(message.structure.namespaced_type.name)_@(field_name)@
 @[    if index == 0]@
 ()
-  : msg_(::rosidl_generator_cpp::MessageInitialization::SKIP)
+  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
 @[    else]@
 (::@(message_typename) & msg)
   : msg_(msg)
@@ -70,7 +70,7 @@ inline
 auto build<::@(message_typename)>()
 {
 @[    if len(message.structure.members) == 1 and message.structure.members[0].name == EMPTY_STRUCTURE_REQUIRED_MEMBER_NAME]@
-  return ::@(message_typename)(rosidl_generator_cpp::MessageInitialization::ZERO);
+  return ::@(message_typename)(rosidl_runtime_cpp::MessageInitialization::ZERO);
 @[    else]@
   return @('::'.join(message.structure.namespaced_type.namespaces))::builder::Init_@(message.structure.namespaced_type.name)_@(message.structure.members[0].name)();
 @[    end if]@
diff --git a/rosidl_generator_cpp/resource/msg__struct.hpp.em b/rosidl_generator_cpp/resource/msg__struct.hpp.em
index c4cb7688b..7c999d3df 100644
--- a/rosidl_generator_cpp/resource/msg__struct.hpp.em
+++ b/rosidl_generator_cpp/resource/msg__struct.hpp.em
@@ -141,7 +141,7 @@ def generate_zero_string(membset, fill_args):
             strlist.append('this->%s = %s;' % (member.name, member.zero_value))
     return strlist
 }@
-  explicit @(message.structure.namespaced_type.name)_(rosidl_generator_cpp::MessageInitialization _init = rosidl_generator_cpp::MessageInitialization::ALL)
+  explicit @(message.structure.namespaced_type.name)_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
 @[if init_list]@
   : @(',\n    '.join(init_list))
 @[end if]@
@@ -158,8 +158,8 @@ non_defaulted_zero_initialized_members = [
 ]
 }@
 @[if default_value_members]@
-    if (rosidl_generator_cpp::MessageInitialization::ALL == _init ||
-      rosidl_generator_cpp::MessageInitialization::DEFAULTS_ONLY == _init)
+    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
+      rosidl_runtime_cpp::MessageInitialization::DEFAULTS_ONLY == _init)
     {
 @[  for membset in default_value_members]@
 @[    for line in generate_default_string(membset)]@
@@ -167,7 +167,7 @@ non_defaulted_zero_initialized_members = [
 @[    end for]@
 @[  end for]@
 @[  if zero_value_members]@
-    } else if (rosidl_generator_cpp::MessageInitialization::ZERO == _init) {
+    } else if (rosidl_runtime_cpp::MessageInitialization::ZERO == _init) {
 @[    for membset in zero_value_members]@
 @[      for line in generate_zero_string(membset, '_init')]@
       @(line)
@@ -177,8 +177,8 @@ non_defaulted_zero_initialized_members = [
     }
 @[  end if]@
 @[  if non_defaulted_zero_initialized_members]@
-    if (rosidl_generator_cpp::MessageInitialization::ALL == _init ||
-      rosidl_generator_cpp::MessageInitialization::ZERO == _init)
+    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
+      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
     {
 @[  for membset in non_defaulted_zero_initialized_members]@
 @[    for line in generate_zero_string(membset, '_init')]@
@@ -191,7 +191,7 @@ non_defaulted_zero_initialized_members = [
 @[end if]@
   }
 
-  explicit @(message.structure.namespaced_type.name)_(const ContainerAllocator & _alloc, rosidl_generator_cpp::MessageInitialization _init = rosidl_generator_cpp::MessageInitialization::ALL)
+  explicit @(message.structure.namespaced_type.name)_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
 @[if alloc_list]@
   : @(',\n    '.join(alloc_list))
 @[end if]@
@@ -203,8 +203,8 @@ non_defaulted_zero_initialized_members = [
     (void)_alloc;
 @[end if]@
 @[if default_value_members]@
-    if (rosidl_generator_cpp::MessageInitialization::ALL == _init ||
-      rosidl_generator_cpp::MessageInitialization::DEFAULTS_ONLY == _init)
+    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
+      rosidl_runtime_cpp::MessageInitialization::DEFAULTS_ONLY == _init)
     {
 @[  for membset in default_value_members]@
 @[    for line in generate_default_string(membset)]@
@@ -212,7 +212,7 @@ non_defaulted_zero_initialized_members = [
 @[    end for]@
 @[  end for]@
 @[  if zero_value_members]@
-    } else if (rosidl_generator_cpp::MessageInitialization::ZERO == _init) {
+    } else if (rosidl_runtime_cpp::MessageInitialization::ZERO == _init) {
 @[    for membset in zero_value_members]@
 @[      for line in generate_zero_string(membset, '_alloc, _init')]@
       @(line)
@@ -222,8 +222,8 @@ non_defaulted_zero_initialized_members = [
     }
 @[end if]@
 @[if non_defaulted_zero_initialized_members]@
-    if (rosidl_generator_cpp::MessageInitialization::ALL == _init ||
-      rosidl_generator_cpp::MessageInitialization::ZERO == _init)
+    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
+      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
     {
 @[  for membset in non_defaulted_zero_initialized_members]@
 @[    for line in generate_zero_string(membset, '_alloc, _init')]@
diff --git a/rosidl_generator_cpp/rosidl_generator_cpp/__init__.py b/rosidl_generator_cpp/rosidl_generator_cpp/__init__.py
index 696dab79a..9720244d7 100644
--- a/rosidl_generator_cpp/rosidl_generator_cpp/__init__.py
+++ b/rosidl_generator_cpp/rosidl_generator_cpp/__init__.py
@@ -121,7 +121,7 @@ def msg_type_to_cpp(type_):
                  'rebind<%s>::other>') % (cpp_type, cpp_type)
         elif isinstance(type_, BoundedSequence):
             return \
-                ('rosidl_generator_cpp::BoundedVector<%s, %u, typename ContainerAllocator::' +
+                ('rosidl_runtime_cpp::BoundedVector<%s, %u, typename ContainerAllocator::' +
                  'template rebind<%s>::other>') % (cpp_type, type_.maximum_size, cpp_type)
         else:
             assert isinstance(type_, Array)
diff --git a/rosidl_generator_cpp/test/test_bounded_vector.cpp b/rosidl_generator_cpp/test/test_bounded_vector.cpp
index de6fc00bf..01a2b53c3 100644
--- a/rosidl_generator_cpp/test/test_bounded_vector.cpp
+++ b/rosidl_generator_cpp/test/test_bounded_vector.cpp
@@ -15,11 +15,11 @@
 #include <gtest/gtest.h>
 #include <utility>
 
-#include "rosidl_generator_cpp/bounded_vector.hpp"
+#include "rosidl_runtime_cpp/bounded_vector.hpp"
 
 
 TEST(rosidl_generator_cpp, bounded_vector) {
-  rosidl_generator_cpp::BoundedVector<int, 2> v;
+  rosidl_runtime_cpp::BoundedVector<int, 2> v;
   ASSERT_EQ(v.size(), 0u);
   ASSERT_EQ(v.max_size(), 2u);
   v.push_back(1);
@@ -35,7 +35,7 @@ TEST(rosidl_generator_cpp, bounded_vector) {
 }
 
 TEST(rosidl_generator_cpp, bounded_vector_rvalue) {
-  rosidl_generator_cpp::BoundedVector<int, 2> v;
+  rosidl_runtime_cpp::BoundedVector<int, 2> v;
   // emplace back
   ASSERT_EQ(v.size(), 0u);
   ASSERT_EQ(v.max_size(), 2u);
diff --git a/rosidl_generator_cpp/test/test_interfaces.cpp b/rosidl_generator_cpp/test/test_interfaces.cpp
index 992921888..7fb2ca921 100644
--- a/rosidl_generator_cpp/test/test_interfaces.cpp
+++ b/rosidl_generator_cpp/test/test_interfaces.cpp
@@ -175,7 +175,7 @@ void test_message_basic_types(rosidl_generator_cpp::msg::BasicTypes message)
 
 #define TEST_BOUNDED_SEQUENCE_TYPES( \
     Message, FieldName, BasicType, ArraySize, MinVal, MaxVal) \
-  rosidl_generator_cpp::BoundedVector<BasicType, ArraySize> pattern_ ## FieldName; \
+  rosidl_runtime_cpp::BoundedVector<BasicType, ArraySize> pattern_ ## FieldName; \
   Message.FieldName.resize(ArraySize); \
   pattern_ ## FieldName.resize(ArraySize); \
   test_vector_fill<decltype(pattern_ ## FieldName)>( \
@@ -185,7 +185,7 @@ void test_message_basic_types(rosidl_generator_cpp::msg::BasicTypes message)
 
 #define TEST_BOUNDED_SEQUENCE_STRING( \
     Message, FieldName, BasicType, ArraySize, MinVal, MaxVal, MinLength, MaxLength) \
-  rosidl_generator_cpp::BoundedVector<BasicType, ArraySize> pattern_ ## FieldName; \
+  rosidl_runtime_cpp::BoundedVector<BasicType, ArraySize> pattern_ ## FieldName; \
   Message.FieldName.resize(ArraySize); \
   pattern_ ## FieldName.resize(ArraySize); \
   test_vector_fill<decltype(pattern_ ## FieldName)>( \
diff --git a/rosidl_generator_cpp/test/test_msg_initialization.cpp b/rosidl_generator_cpp/test/test_msg_initialization.cpp
index bc87e5170..1646ab94e 100644
--- a/rosidl_generator_cpp/test/test_msg_initialization.cpp
+++ b/rosidl_generator_cpp/test/test_msg_initialization.cpp
@@ -77,7 +77,7 @@ TEST(Test_msg_initialization, no_arg_constructor) {
 
 TEST(Test_msg_initialization, all_constructor) {
   rosidl_generator_cpp::msg::Defaults def(
-    rosidl_generator_cpp::MessageInitialization::ALL);
+    rosidl_runtime_cpp::MessageInitialization::ALL);
   ASSERT_TRUE(def.bool_value);
   ASSERT_EQ(50, def.byte_value);
   ASSERT_EQ(100, def.char_value);
@@ -109,7 +109,7 @@ TEST(Test_msg_initialization, all_constructor) {
 
 TEST(Test_msg_initialization, zero_constructor) {
   rosidl_generator_cpp::msg::Defaults def(
-    rosidl_generator_cpp::MessageInitialization::ZERO);
+    rosidl_runtime_cpp::MessageInitialization::ZERO);
   ASSERT_FALSE(def.bool_value);
   ASSERT_EQ(0, def.byte_value);
   ASSERT_EQ(0, def.char_value);
@@ -141,7 +141,7 @@ TEST(Test_msg_initialization, zero_constructor) {
 
 TEST(Test_msg_initialization, defaults_only_constructor) {
   rosidl_generator_cpp::msg::Defaults def(
-    rosidl_generator_cpp::MessageInitialization::DEFAULTS_ONLY);
+    rosidl_runtime_cpp::MessageInitialization::DEFAULTS_ONLY);
   ASSERT_TRUE(def.bool_value);
   ASSERT_EQ(50, def.byte_value);
   ASSERT_EQ(100, def.char_value);
@@ -179,7 +179,7 @@ TEST(Test_msg_initialization, skip_constructor) {
   std::memset(memory, 0xfe, sizeof(rosidl_generator_cpp::msg::BoundedSequences));
   rosidl_generator_cpp::msg::BoundedSequences * bounded =
     new(memory) rosidl_generator_cpp::msg::BoundedSequences(
-    rosidl_generator_cpp::MessageInitialization::SKIP);
+    rosidl_runtime_cpp::MessageInitialization::SKIP);
 
   // ensures that the memory gets freed even if an ASSERT is raised
   SCOPE_EXIT(bounded->~BoundedSequences_(); delete[] memory);
diff --git a/rosidl_runtime_cpp/include/rosidl_generator_cpp/action_type_support_decl.hpp b/rosidl_runtime_cpp/include/rosidl_runtime_cpp/action_type_support_decl.hpp
similarity index 76%
rename from rosidl_runtime_cpp/include/rosidl_generator_cpp/action_type_support_decl.hpp
rename to rosidl_runtime_cpp/include/rosidl_runtime_cpp/action_type_support_decl.hpp
index cc91257d2..297fe89c7 100644
--- a/rosidl_runtime_cpp/include/rosidl_generator_cpp/action_type_support_decl.hpp
+++ b/rosidl_runtime_cpp/include/rosidl_runtime_cpp/action_type_support_decl.hpp
@@ -12,18 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROSIDL_GENERATOR_CPP__ACTION_TYPE_SUPPORT_DECL_HPP_
-#define ROSIDL_GENERATOR_CPP__ACTION_TYPE_SUPPORT_DECL_HPP_
+#ifndef ROSIDL_RUNTIME_CPP__ACTION_TYPE_SUPPORT_DECL_HPP_
+#define ROSIDL_RUNTIME_CPP__ACTION_TYPE_SUPPORT_DECL_HPP_
 
 #include <rosidl_generator_c/action_type_support_struct.h>
 #include <rosidl_generator_c/visibility_control.h>
 
-namespace rosidl_generator_cpp
+namespace rosidl_runtime_cpp
 {
 
 template<typename T>
 const rosidl_action_type_support_t * get_action_type_support_handle();
 
-}  // namespace rosidl_generator_cpp
+}  // namespace rosidl_runtime_cpp
 
-#endif  // ROSIDL_GENERATOR_CPP__ACTION_TYPE_SUPPORT_DECL_HPP_
+#endif  // ROSIDL_RUNTIME_CPP__ACTION_TYPE_SUPPORT_DECL_HPP_
diff --git a/rosidl_runtime_cpp/include/rosidl_generator_cpp/bounded_vector.hpp b/rosidl_runtime_cpp/include/rosidl_runtime_cpp/bounded_vector.hpp
similarity index 98%
rename from rosidl_runtime_cpp/include/rosidl_generator_cpp/bounded_vector.hpp
rename to rosidl_runtime_cpp/include/rosidl_runtime_cpp/bounded_vector.hpp
index 37e48b6a6..0214a7b2b 100644
--- a/rosidl_runtime_cpp/include/rosidl_generator_cpp/bounded_vector.hpp
+++ b/rosidl_runtime_cpp/include/rosidl_runtime_cpp/bounded_vector.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROSIDL_GENERATOR_CPP__BOUNDED_VECTOR_HPP_
-#define ROSIDL_GENERATOR_CPP__BOUNDED_VECTOR_HPP_
+#ifndef ROSIDL_RUNTIME_CPP__BOUNDED_VECTOR_HPP_
+#define ROSIDL_RUNTIME_CPP__BOUNDED_VECTOR_HPP_
 
 #include <algorithm>
 #include <memory>
@@ -21,7 +21,7 @@
 #include <utility>
 #include <vector>
 
-namespace rosidl_generator_cpp
+namespace rosidl_runtime_cpp
 {
 
 /// A container based on std::vector but with an upper bound.
@@ -740,7 +740,7 @@ operator>=(
     *reinterpret_cast<const std::vector<_Tp, _Alloc> *>(&__y));
 }
 
-/// See rosidl_generator_cpp::BoundedVector::swap().
+/// See rosidl_runtime_cpp::BoundedVector::swap().
 template<typename _Tp, std::size_t _UpperBound, typename _Alloc>
 inline void
 swap(BoundedVector<_Tp, _UpperBound, _Alloc> & __x, BoundedVector<_Tp, _UpperBound, _Alloc> & __y)
@@ -748,6 +748,6 @@ swap(BoundedVector<_Tp, _UpperBound, _Alloc> & __x, BoundedVector<_Tp, _UpperBou
   __x.swap(__y);
 }
 
-}  // namespace rosidl_generator_cpp
+}  // namespace rosidl_runtime_cpp
 
-#endif  // ROSIDL_GENERATOR_CPP__BOUNDED_VECTOR_HPP_
+#endif  // ROSIDL_RUNTIME_CPP__BOUNDED_VECTOR_HPP_
diff --git a/rosidl_runtime_cpp/include/rosidl_generator_cpp/message_initialization.hpp b/rosidl_runtime_cpp/include/rosidl_runtime_cpp/message_initialization.hpp
similarity index 79%
rename from rosidl_runtime_cpp/include/rosidl_generator_cpp/message_initialization.hpp
rename to rosidl_runtime_cpp/include/rosidl_runtime_cpp/message_initialization.hpp
index 895107ae7..7a522073b 100644
--- a/rosidl_runtime_cpp/include/rosidl_generator_cpp/message_initialization.hpp
+++ b/rosidl_runtime_cpp/include/rosidl_runtime_cpp/message_initialization.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROSIDL_GENERATOR_CPP__MESSAGE_INITIALIZATION_HPP_
-#define ROSIDL_GENERATOR_CPP__MESSAGE_INITIALIZATION_HPP_
+#ifndef ROSIDL_RUNTIME_CPP__MESSAGE_INITIALIZATION_HPP_
+#define ROSIDL_RUNTIME_CPP__MESSAGE_INITIALIZATION_HPP_
 
 // TODO(clalancette): this should be moved out into a separate runtime package
 
 #include <rosidl_generator_c/message_initialization.h>
 
-namespace rosidl_generator_cpp
+namespace rosidl_runtime_cpp
 {
 
 enum class MessageInitialization
@@ -30,6 +30,6 @@ enum class MessageInitialization
   DEFAULTS_ONLY = ROSIDL_RUNTIME_C_MSG_INIT_DEFAULTS_ONLY,
 };
 
-}  // namespace rosidl_generator_cpp
+}  // namespace rosidl_runtime_cpp
 
-#endif  // ROSIDL_GENERATOR_CPP__MESSAGE_INITIALIZATION_HPP_
+#endif  // ROSIDL_RUNTIME_CPP__MESSAGE_INITIALIZATION_HPP_
diff --git a/rosidl_runtime_cpp/include/rosidl_generator_cpp/message_type_support_decl.hpp b/rosidl_runtime_cpp/include/rosidl_runtime_cpp/message_type_support_decl.hpp
similarity index 76%
rename from rosidl_runtime_cpp/include/rosidl_generator_cpp/message_type_support_decl.hpp
rename to rosidl_runtime_cpp/include/rosidl_runtime_cpp/message_type_support_decl.hpp
index a9626c873..c76145afc 100644
--- a/rosidl_runtime_cpp/include/rosidl_generator_cpp/message_type_support_decl.hpp
+++ b/rosidl_runtime_cpp/include/rosidl_runtime_cpp/message_type_support_decl.hpp
@@ -12,18 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROSIDL_GENERATOR_CPP__MESSAGE_TYPE_SUPPORT_DECL_HPP_
-#define ROSIDL_GENERATOR_CPP__MESSAGE_TYPE_SUPPORT_DECL_HPP_
+#ifndef ROSIDL_RUNTIME_CPP__MESSAGE_TYPE_SUPPORT_DECL_HPP_
+#define ROSIDL_RUNTIME_CPP__MESSAGE_TYPE_SUPPORT_DECL_HPP_
 
 #include <rosidl_generator_c/message_type_support_struct.h>
 #include <rosidl_generator_c/visibility_control.h>
 
-namespace rosidl_generator_cpp
+namespace rosidl_runtime_cpp
 {
 
 template<typename T>
 const rosidl_message_type_support_t * get_message_type_support_handle();
 
-}  // namespace rosidl_generator_cpp
+}  // namespace rosidl_runtime_cpp
 
-#endif  // ROSIDL_GENERATOR_CPP__MESSAGE_TYPE_SUPPORT_DECL_HPP_
+#endif  // ROSIDL_RUNTIME_CPP__MESSAGE_TYPE_SUPPORT_DECL_HPP_
diff --git a/rosidl_runtime_cpp/include/rosidl_generator_cpp/service_type_support_decl.hpp b/rosidl_runtime_cpp/include/rosidl_runtime_cpp/service_type_support_decl.hpp
similarity index 76%
rename from rosidl_runtime_cpp/include/rosidl_generator_cpp/service_type_support_decl.hpp
rename to rosidl_runtime_cpp/include/rosidl_runtime_cpp/service_type_support_decl.hpp
index 3231447ae..c0b81db9f 100644
--- a/rosidl_runtime_cpp/include/rosidl_generator_cpp/service_type_support_decl.hpp
+++ b/rosidl_runtime_cpp/include/rosidl_runtime_cpp/service_type_support_decl.hpp
@@ -12,18 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROSIDL_GENERATOR_CPP__SERVICE_TYPE_SUPPORT_DECL_HPP_
-#define ROSIDL_GENERATOR_CPP__SERVICE_TYPE_SUPPORT_DECL_HPP_
+#ifndef ROSIDL_RUNTIME_CPP__SERVICE_TYPE_SUPPORT_DECL_HPP_
+#define ROSIDL_RUNTIME_CPP__SERVICE_TYPE_SUPPORT_DECL_HPP_
 
 #include <rosidl_generator_c/service_type_support_struct.h>
 #include <rosidl_generator_c/visibility_control.h>
 
-namespace rosidl_generator_cpp
+namespace rosidl_runtime_cpp
 {
 
 template<typename T>
 const rosidl_service_type_support_t * get_service_type_support_handle();
 
-}  // namespace rosidl_generator_cpp
+}  // namespace rosidl_runtime_cpp
 
-#endif  // ROSIDL_GENERATOR_CPP__SERVICE_TYPE_SUPPORT_DECL_HPP_
+#endif  // ROSIDL_RUNTIME_CPP__SERVICE_TYPE_SUPPORT_DECL_HPP_
diff --git a/rosidl_runtime_cpp/include/rosidl_generator_cpp/traits.hpp b/rosidl_runtime_cpp/include/rosidl_runtime_cpp/traits.hpp
similarity index 87%
rename from rosidl_runtime_cpp/include/rosidl_generator_cpp/traits.hpp
rename to rosidl_runtime_cpp/include/rosidl_runtime_cpp/traits.hpp
index 55888ba86..edc5c034a 100644
--- a/rosidl_runtime_cpp/include/rosidl_generator_cpp/traits.hpp
+++ b/rosidl_runtime_cpp/include/rosidl_runtime_cpp/traits.hpp
@@ -12,12 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROSIDL_GENERATOR_CPP__TRAITS_HPP_
-#define ROSIDL_GENERATOR_CPP__TRAITS_HPP_
+#ifndef ROSIDL_RUNTIME_CPP__TRAITS_HPP_
+#define ROSIDL_RUNTIME_CPP__TRAITS_HPP_
 
 #include <type_traits>
 
-// TODO(dirk-thomas) this should be in the rosidl_generator_cpp namespace
 namespace rosidl_generator_traits
 {
 
@@ -56,4 +55,4 @@ struct is_action_feedback : std::false_type {};
 
 }  // namespace rosidl_generator_traits
 
-#endif  // ROSIDL_GENERATOR_CPP__TRAITS_HPP_
+#endif  // ROSIDL_RUNTIME_CPP__TRAITS_HPP_
diff --git a/rosidl_typesupport_introspection_cpp/include/rosidl_typesupport_introspection_cpp/message_introspection.hpp b/rosidl_typesupport_introspection_cpp/include/rosidl_typesupport_introspection_cpp/message_introspection.hpp
index 72b5a998a..42758d689 100644
--- a/rosidl_typesupport_introspection_cpp/include/rosidl_typesupport_introspection_cpp/message_introspection.hpp
+++ b/rosidl_typesupport_introspection_cpp/include/rosidl_typesupport_introspection_cpp/message_introspection.hpp
@@ -20,7 +20,7 @@
 
 #include "rosidl_generator_c/message_type_support_struct.h"
 
-#include "rosidl_generator_cpp/message_initialization.hpp"
+#include "rosidl_runtime_cpp/message_initialization.hpp"
 
 #include "rosidl_typesupport_introspection_cpp/visibility_control.h"
 
@@ -51,7 +51,7 @@ typedef struct ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC MessageMembers
   uint32_t member_count_;
   size_t size_of_;
   const MessageMember * members_;
-  void (* init_function)(void *, rosidl_generator_cpp::MessageInitialization);
+  void (* init_function)(void *, rosidl_runtime_cpp::MessageInitialization);
   void (* fini_function)(void *);
 } MessageMembers;
 
diff --git a/rosidl_typesupport_introspection_cpp/resource/msg__type_support.cpp.em b/rosidl_typesupport_introspection_cpp/resource/msg__type_support.cpp.em
index 6667b7ae7..f576c720b 100644
--- a/rosidl_typesupport_introspection_cpp/resource/msg__type_support.cpp.em
+++ b/rosidl_typesupport_introspection_cpp/resource/msg__type_support.cpp.em
@@ -50,7 +50,7 @@ namespace rosidl_typesupport_introspection_cpp
 {
 
 void @(message.structure.namespaced_type.name)_init_function(
-  void * message_memory, rosidl_generator_cpp::MessageInitialization _init)
+  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
 {
   new (message_memory) @('::'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))(_init);
 }