diff --git a/source/Concepts/Advanced/About-Internal-Interfaces.rst b/source/Concepts/Advanced/About-Internal-Interfaces.rst
index a80cb2b83e..8bd9713e22 100644
--- a/source/Concepts/Advanced/About-Internal-Interfaces.rst
+++ b/source/Concepts/Advanced/About-Internal-Interfaces.rst
@@ -57,7 +57,7 @@ The following diagram layouts the path from user defined ``rosidl`` files, e.g.
 
 The right hand side of the diagram shows how the ``.msg`` files are passed directly to language specific code generators, e.g. ``rosidl_generator_cpp`` or ``rosidl_generator_py``.
 These generators are responsible for creating the code that the user will include (or import) and use as the in-memory representation of the messages that were defined in the ``.msg`` files.
-For example, consider the message ``std_msgs/String``, a user might use this file in C++ with the statement ``#include <std_msgs/msg/string.hpp>``, or they might use the statement ``from std_msgs.msg import String`` in Python.
+For example, consider the message ``example_interfaces/String``, a user might use this file in C++ with the statement ``#include <example_interfaces/msg/string.hpp>``, or they might use the statement ``from example_interfaces.msg import String`` in Python.
 These statements work because of the files generated by these language specific (but middleware agnostic) generator packages.
 
 Separately, the ``.msg`` files are used to generate type support code for each type.
diff --git a/source/Concepts/Basic/About-Command-Line-Tools.rst b/source/Concepts/Basic/About-Command-Line-Tools.rst
index 2b0b7c71c4..09d4be0714 100644
--- a/source/Concepts/Basic/About-Command-Line-Tools.rst
+++ b/source/Concepts/Basic/About-Command-Line-Tools.rst
@@ -54,11 +54,11 @@ Publish messages in one terminal with:
 
 .. code-block:: bash
 
-   $ ros2 topic pub /chatter std_msgs/msg/String "data: Hello world"
+   $ ros2 topic pub /chatter example_interfaces/msg/String "data: Hello world"
    publisher: beginning loop
-   publishing #1: std_msgs.msg.String(data='Hello world')
+   publishing #1: example_interfaces.msg.String(data='Hello world')
 
-   publishing #2: std_msgs.msg.String(data='Hello world')
+   publishing #2: example_interfaces.msg.String(data='Hello world')
 
 Echo messages received in another terminal with:
 
diff --git a/source/How-To-Guides/Migrating-from-ROS1/Migrating-CPP-Packages.rst b/source/How-To-Guides/Migrating-from-ROS1/Migrating-CPP-Packages.rst
index ef3083e9e6..24f7532b2c 100644
--- a/source/How-To-Guides/Migrating-from-ROS1/Migrating-CPP-Packages.rst
+++ b/source/How-To-Guides/Migrating-from-ROS1/Migrating-CPP-Packages.rst
@@ -84,7 +84,7 @@ Apply the following changes to use ``ament_cmake`` instead of ``catkin``:
 
        rosidl_generate_interfaces(${PROJECT_NAME}
          ${msg_files}
-         DEPENDENCIES std_msgs
+         DEPENDENCIES example_interfaces
        )
 
 *
@@ -127,7 +127,7 @@ Replace ``catkin_add_gtest`` with ``ament_add_gtest``.
    +     ament_add_gtest(${PROJECT_NAME}-some-test src/test/test_something.cpp)
    +     ament_target_dependencies(${PROJECT_NAME)-some-test
    +       "rclcpp"
-   +       "std_msgs")
+   +       "example_interfaces")
    +     target_link_libraries(${PROJECT_NAME}-some-test
    +       ${PROJECT_NAME}_some_dependency)
    +   endif()
@@ -221,9 +221,9 @@ For usages of ``ros::Time``:
 
 * Replace all instances of ``ros::Time`` with ``rclcpp::Time``
 
-* If your messages or code makes use of std_msgs::Time:
+* If your messages or code makes use of example_interfaces::Time:
 
-  * Convert all instances of std_msgs::Time to builtin_interfaces::msg::Time
+  * Convert all instances of example_interfaces::Time to builtin_interfaces::msg::Time
 
   * Convert all ``#include "std_msgs/time.h`` to ``#include "builtin_interfaces/msg/time.hpp"``
 
@@ -320,9 +320,9 @@ Here is the content of those three files:
      <license>Apache 2.0</license>
      <buildtool_depend>catkin</buildtool_depend>
      <build_depend>roscpp</build_depend>
-     <build_depend>std_msgs</build_depend>
+     <build_depend>example_interfaces</build_depend>
      <run_depend>roscpp</run_depend>
-     <run_depend>std_msgs</run_depend>
+     <run_depend>example_interfaces</run_depend>
    </package>
 
 ``src/talker/CMakeLists.txt``:
@@ -331,7 +331,7 @@ Here is the content of those three files:
 
    cmake_minimum_required(VERSION 2.8.3)
    project(talker)
-   find_package(catkin REQUIRED COMPONENTS roscpp std_msgs)
+   find_package(catkin REQUIRED COMPONENTS roscpp example_interfaces)
    catkin_package()
    include_directories(${catkin_INCLUDE_DIRS})
    add_executable(talker talker.cpp)
@@ -345,15 +345,15 @@ Here is the content of those three files:
 
    #include <sstream>
    #include "ros/ros.h"
-   #include "std_msgs/String.h"
+   #include "example_interfaces/String.h"
    int main(int argc, char **argv)
    {
      ros::init(argc, argv, "talker");
      ros::NodeHandle n;
-     ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
+     ros::Publisher chatter_pub = n.advertise<example_interfaces::String>("chatter", 1000);
      ros::Rate loop_rate(10);
      int count = 0;
-     std_msgs::String msg;
+     example_interfaces::String msg;
      while (ros::ok())
      {
        std::stringstream ss;
@@ -435,13 +435,13 @@ library API:
    //#include "ros/ros.h"
    #include "rclcpp/rclcpp.hpp"
 
-To get the ``std_msgs/String`` message definition, in place of
-``std_msgs/String.h``, we need to include ``std_msgs/msg/string.hpp``:
+To get the ``example_interfaces/String`` message definition, in place of
+``example_interfaces/String.h``, we need to include ``example_interfaces/msg/string.hpp``:
 
 .. code-block:: cpp
 
-   //#include "std_msgs/String.h"
-   #include "std_msgs/msg/string.hpp"
+   //#include "example_interfaces/String.h"
+   #include "example_interfaces/msg/string.hpp"
 
 Changing C++ library calls
 ~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -461,9 +461,9 @@ changes to the names of namespace and methods.
 
 .. code-block:: cpp
 
-   //  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
+   //  ros::Publisher chatter_pub = n.advertise<example_interfaces::String>("chatter", 1000);
    //  ros::Rate loop_rate(10);
-     auto chatter_pub = node->create_publisher<std_msgs::msg::String>("chatter",
+     auto chatter_pub = node->create_publisher<example_interfaces::msg::String>("chatter",
        1000);
      rclcpp::Rate loop_rate(10);
 
@@ -478,8 +478,8 @@ The creation of the outgoing message is different in the namespace:
 
 .. code-block:: cpp
 
-   //  std_msgs::String msg;
-     std_msgs::msg::String msg;
+   //  example_interfaces::String msg;
+     example_interfaces::msg::String msg;
 
 In place of ``ros::ok()``, we call ``rclcpp::ok()``:
 
@@ -528,21 +528,21 @@ Putting it all together, the new ``talker.cpp`` looks like this:
    #include <sstream>
    // #include "ros/ros.h"
    #include "rclcpp/rclcpp.hpp"
-   // #include "std_msgs/String.h"
-   #include "std_msgs/msg/string.hpp"
+   // #include "example_interfaces/String.h"
+   #include "example_interfaces/msg/string.hpp"
    int main(int argc, char **argv)
    {
    //  ros::init(argc, argv, "talker");
    //  ros::NodeHandle n;
      rclcpp::init(argc, argv);
      auto node = rclcpp::Node::make_shared("talker");
-   //  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
+   //  ros::Publisher chatter_pub = n.advertise<example_interfaces::String>("chatter", 1000);
    //  ros::Rate loop_rate(10);
-     auto chatter_pub = node->create_publisher<std_msgs::msg::String>("chatter", 1000);
+     auto chatter_pub = node->create_publisher<example_interfaces::msg::String>("chatter", 1000);
      rclcpp::Rate loop_rate(10);
      int count = 0;
-   //  std_msgs::String msg;
-     std_msgs::msg::String msg;
+   //  example_interfaces::String msg;
+     example_interfaces::msg::String msg;
    //  while (ros::ok())
      while (rclcpp::ok())
      {
@@ -584,8 +584,8 @@ We make the same addition in the run dependencies and also update from the
 
    <!--  <run_depend>roscpp</run_depend> -->
      <exec_depend>rclcpp</exec_depend>
-   <!--  <run_depend>std_msgs</run_depend> -->
-     <exec_depend>std_msgs</exec_depend>
+   <!--  <run_depend>example_interfaces</run_depend> -->
+     <exec_depend>example_interfaces</exec_depend>
 
 In ROS 1, we use ``<depend>`` to simplify specifying dependencies for both
 compile-time and runtime.
@@ -594,7 +594,7 @@ We can do the same in ROS 2:
 .. code-block:: xml
 
      <depend>rclcpp</depend>
-     <depend>std_msgs</depend>
+     <depend>example_interfaces</depend>
 
 We also need to tell the build tool what *kind* of package we are, so that it knows how
 to build us.
@@ -622,9 +622,9 @@ Putting it all together, our ``package.xml`` now looks like this:
      <buildtool_depend>ament_cmake</buildtool_depend>
    <!--  <build_depend>roscpp</build_depend> -->
    <!--  <run_depend>roscpp</run_depend> -->
-   <!--  <run_depend>std_msgs</run_depend> -->
+   <!--  <run_depend>example_interfaces</run_depend> -->
      <depend>rclcpp</depend>
-     <depend>std_msgs</depend>
+     <depend>example_interfaces</depend>
      <export>
        <build_type>ament_cmake</build_type>
      </export>
@@ -666,10 +666,10 @@ With ``ament_cmake``, we find each package individually, starting with ``ament_c
 
 .. code-block:: cmake
 
-   #find_package(catkin REQUIRED COMPONENTS roscpp std_msgs)
+   #find_package(catkin REQUIRED COMPONENTS roscpp example_interfaces)
    find_package(ament_cmake REQUIRED)
    find_package(rclcpp REQUIRED)
-   find_package(std_msgs REQUIRED)
+   find_package(example_interfaces REQUIRED)
 
 System dependencies can be found as before:
 
@@ -716,7 +716,7 @@ It automatically handles both the include directories defined in
    #target_link_libraries(talker ${catkin_LIBRARIES})
    ament_target_dependencies(talker
      rclcpp
-     std_msgs)
+     example_interfaces)
 
 To link with packages that are not ament packages, such as system dependencies
 like ``Boost``, or a library being built in the same ``CMakeLists.txt``, use
@@ -748,7 +748,7 @@ Optionally, we can export dependencies for downstream packages:
 
 .. code-block:: cmake
 
-   ament_export_dependencies(std_msgs)
+   ament_export_dependencies(example_interfaces)
 
 Putting it all together, the new ``CMakeLists.txt`` looks like this:
 
@@ -763,10 +763,10 @@ Putting it all together, the new ``CMakeLists.txt`` looks like this:
    if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
      add_compile_options(-Wall -Wextra -Wpedantic)
    endif()
-   #find_package(catkin REQUIRED COMPONENTS roscpp std_msgs)
+   #find_package(catkin REQUIRED COMPONENTS roscpp example_interfaces)
    find_package(ament_cmake REQUIRED)
    find_package(rclcpp REQUIRED)
-   find_package(std_msgs REQUIRED)
+   find_package(example_interfaces REQUIRED)
    #catkin_package()
    #include_directories(${catkin_INCLUDE_DIRS})
    include_directories(include)
@@ -774,7 +774,7 @@ Putting it all together, the new ``CMakeLists.txt`` looks like this:
    #target_link_libraries(talker ${catkin_LIBRARIES})
    ament_target_dependencies(talker
      rclcpp
-     std_msgs)
+     example_interfaces)
    #install(TARGETS talker
    #  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
    install(TARGETS talker
@@ -782,7 +782,7 @@ Putting it all together, the new ``CMakeLists.txt`` looks like this:
    install(DIRECTORY include/
      DESTINATION include)
    ament_export_include_directories(include)
-   ament_export_dependencies(std_msgs)
+   ament_export_dependencies(example_interfaces)
    ament_package()
 
 Building the ROS 2 code
diff --git a/source/How-To-Guides/Overriding-QoS-Policies-For-Recording-And-Playback.rst b/source/How-To-Guides/Overriding-QoS-Policies-For-Recording-And-Playback.rst
index 114baf5951..d241cc39be 100644
--- a/source/How-To-Guides/Overriding-QoS-Policies-For-Recording-And-Playback.rst
+++ b/source/How-To-Guides/Overriding-QoS-Policies-For-Recording-And-Playback.rst
@@ -72,7 +72,7 @@ ROS 2 publishers by default request ``volatile`` Durability.
 
 .. code-block:: console
 
-    ros2 topic pub -r 0.1 --qos-durability transient_local /talker std_msgs/String "data: Hello World"
+    ros2 topic pub -r 0.1 --qos-durability transient_local /talker example_interfaces/String "data: Hello World"
 
 In order for Ros2Bag to record the data, we would want to override the recording policy for that specific topic like so:
 
@@ -108,4 +108,4 @@ We can see the results with ``ros2 topic``
 
 .. code-block:: console
 
-    ros2 topic echo --qos-reliability best_effort /talker std_msgs/String
+    ros2 topic echo --qos-reliability best_effort /talker example_interfaces/String
diff --git a/source/Tutorials/Advanced/Allocator-Template-Tutorial.rst b/source/Tutorials/Advanced/Allocator-Template-Tutorial.rst
index 79376086ff..bfc8347f1d 100644
--- a/source/Tutorials/Advanced/Allocator-Template-Tutorial.rst
+++ b/source/Tutorials/Advanced/Allocator-Template-Tutorial.rst
@@ -72,10 +72,10 @@ But first, we'll declare a few aliases to shorten the names.
      using rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy;
      using Alloc = std::pmr::polymorphic_allocator<void>;
      using MessageAllocTraits =
-       rclcpp::allocator::AllocRebind<std_msgs::msg::UInt32, Alloc>;
+       rclcpp::allocator::AllocRebind<example_interfaces::msg::UInt32, Alloc>;
      using MessageAlloc = MessageAllocTraits::allocator_type;
-     using MessageDeleter = rclcpp::allocator::Deleter<MessageAlloc, std_msgs::msg::UInt32>;
-     using MessageUniquePtr = std::unique_ptr<std_msgs::msg::UInt32, MessageDeleter>;
+     using MessageDeleter = rclcpp::allocator::Deleter<MessageAlloc, example_interfaces::msg::UInt32>;
+     using MessageUniquePtr = std::unique_ptr<example_interfaces::msg::UInt32, MessageDeleter>;
 
 Now we can create our resources with the custom allocator:
 
@@ -85,15 +85,15 @@ Now we can create our resources with the custom allocator:
      auto alloc = std::make_shared<Alloc>(&mem_resource);
      rclcpp::PublisherOptionsWithAllocator<Alloc> publisher_options;
      publisher_options.allocator = alloc;
-     auto publisher = node->create_publisher<std_msgs::msg::UInt32>(
+     auto publisher = node->create_publisher<example_interfaces::msg::UInt32>(
        "allocator_tutorial", 10, publisher_options);
 
      rclcpp::SubscriptionOptionsWithAllocator<Alloc> subscription_options;
      subscription_options.allocator = alloc;
      auto msg_mem_strat = std::make_shared<
        rclcpp::message_memory_strategy::MessageMemoryStrategy<
-         std_msgs::msg::UInt32, Alloc>>(alloc);
-     auto subscriber = node->create_subscription<std_msgs::msg::UInt32>(
+         example_interfaces::msg::UInt32, Alloc>>(alloc);
+     auto subscriber = node->create_subscription<example_interfaces::msg::UInt32>(
        "allocator_tutorial", 10, callback, subscription_options, msg_mem_strat);
 
      std::shared_ptr<rclcpp::memory_strategy::MemoryStrategy> memory_strategy =
diff --git a/source/Tutorials/Advanced/FastDDS-Configuration.rst b/source/Tutorials/Advanced/FastDDS-Configuration.rst
index 833699d6c0..999f8d2ab2 100644
--- a/source/Tutorials/Advanced/FastDDS-Configuration.rst
+++ b/source/Tutorials/Advanced/FastDDS-Configuration.rst
@@ -66,7 +66,7 @@ First, create a new package named ``sync_async_node_example_cpp`` on a new works
 
          mkdir -p ~/ros2_ws/src
          cd ~/ros2_ws/src
-         ros2 pkg create --build-type ament_cmake --license Apache-2.0 --dependencies rclcpp std_msgs -- sync_async_node_example_cpp
+         ros2 pkg create --build-type ament_cmake --license Apache-2.0 --dependencies rclcpp example_interfaces -- sync_async_node_example_cpp
 
     .. group-tab:: macOS
 
@@ -74,7 +74,7 @@ First, create a new package named ``sync_async_node_example_cpp`` on a new works
 
         mkdir -p ~/ros2_ws/src
         cd ~/ros2_ws/src
-        ros2 pkg create --build-type ament_cmake --license Apache-2.0 --dependencies rclcpp std_msgs -- sync_async_node_example_cpp
+        ros2 pkg create --build-type ament_cmake --license Apache-2.0 --dependencies rclcpp example_interfaces -- sync_async_node_example_cpp
 
     .. group-tab:: Windows
 
@@ -82,7 +82,7 @@ First, create a new package named ``sync_async_node_example_cpp`` on a new works
 
         md \ros2_ws\src
         cd \ros2_ws\src
-        ros2 pkg create --build-type ament_cmake --license Apache-2.0 --dependencies rclcpp std_msgs -- sync_async_node_example_cpp
+        ros2 pkg create --build-type ament_cmake --license Apache-2.0 --dependencies rclcpp example_interfaces -- sync_async_node_example_cpp
 
 
 Then, add a file named ``src/sync_async_writer.cpp`` to the package, with the following content.
@@ -96,7 +96,7 @@ Note that the synchronous publisher will be publishing on topic ``sync_topic``,
     #include <string>
 
     #include "rclcpp/rclcpp.hpp"
-    #include "std_msgs/msg/string.hpp"
+    #include "example_interfaces/msg/string.hpp"
 
     using namespace std::chrono_literals;
 
@@ -107,16 +107,16 @@ Note that the synchronous publisher will be publishing on topic ``sync_topic``,
             : Node("sync_async_publisher"), count_(0)
         {
             // Create the synchronous publisher on topic 'sync_topic'
-            sync_publisher_ = this->create_publisher<std_msgs::msg::String>("sync_topic", 10);
+            sync_publisher_ = this->create_publisher<example_interfaces::msg::String>("sync_topic", 10);
 
             // Create the asynchronous publisher on topic 'async_topic'
-            async_publisher_ = this->create_publisher<std_msgs::msg::String>("async_topic", 10);
+            async_publisher_ = this->create_publisher<example_interfaces::msg::String>("async_topic", 10);
 
             // Actions to run every time the timer expires
             auto timer_callback = [this](){
 
                 // Create a new message to be sent
-                auto sync_message = std_msgs::msg::String();
+                auto sync_message = example_interfaces::msg::String();
                 sync_message.data = "SYNC: Hello, world! " + std::to_string(count_);
 
                 // Log the message to the console to show progress
@@ -126,7 +126,7 @@ Note that the synchronous publisher will be publishing on topic ``sync_topic``,
                 sync_publisher_->publish(sync_message);
 
                 // Create a new message to be sent
-                auto async_message = std_msgs::msg::String();
+                auto async_message = example_interfaces::msg::String();
                 async_message.data = "ASYNC: Hello, world! " + std::to_string(count_);
 
                 // Log the message to the console to show progress
@@ -148,10 +148,10 @@ Note that the synchronous publisher will be publishing on topic ``sync_topic``,
         rclcpp::TimerBase::SharedPtr timer_;
 
         // A publisher that publishes asynchronously
-        rclcpp::Publisher<std_msgs::msg::String>::SharedPtr async_publisher_;
+        rclcpp::Publisher<example_interfaces::msg::String>::SharedPtr async_publisher_;
 
         // A publisher that publishes synchronously
-        rclcpp::Publisher<std_msgs::msg::String>::SharedPtr sync_publisher_;
+        rclcpp::Publisher<example_interfaces::msg::String>::SharedPtr sync_publisher_;
 
         // Number of messages sent so far
         size_t count_;
@@ -170,7 +170,7 @@ Now open the ``CMakeLists.txt`` file and add a new executable and name it ``Sync
 .. code-block:: cmake
 
     add_executable(SyncAsyncWriter src/sync_async_writer.cpp)
-    ament_target_dependencies(SyncAsyncWriter rclcpp std_msgs)
+    ament_target_dependencies(SyncAsyncWriter rclcpp example_interfaces)
 
 Finally, add the ``install(TARGETS…)`` section so ``ros2 run`` can find your executable:
 
@@ -198,10 +198,10 @@ You can clean up your ``CMakeLists.txt`` by removing some unnecessary sections a
 
     find_package(ament_cmake REQUIRED)
     find_package(rclcpp REQUIRED)
-    find_package(std_msgs REQUIRED)
+    find_package(example_interfaces REQUIRED)
 
     add_executable(SyncAsyncWriter src/sync_async_writer.cpp)
-    ament_target_dependencies(SyncAsyncWriter rclcpp std_msgs)
+    ament_target_dependencies(SyncAsyncWriter rclcpp example_interfaces)
 
     install(TARGETS
         SyncAsyncWriter
@@ -322,7 +322,7 @@ In a new source file named ``src/sync_async_reader.cpp`` write the following con
     #include <memory>
 
     #include "rclcpp/rclcpp.hpp"
-    #include "std_msgs/msg/string.hpp"
+    #include "example_interfaces/msg/string.hpp"
 
     class SyncAsyncSubscriber : public rclcpp::Node
     {
@@ -332,28 +332,28 @@ In a new source file named ``src/sync_async_reader.cpp`` write the following con
             : Node("sync_async_subscriber")
         {
             // Lambda function to run every time a new message is received
-            auto topic_callback = [this](const std_msgs::msg::String & msg){
+            auto topic_callback = [this](const example_interfaces::msg::String & msg){
                 RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg.data.c_str());
             };
 
             // Create the synchronous subscriber on topic 'sync_topic'
             // and tie it to the topic_callback
-            sync_subscription_ = this->create_subscription<std_msgs::msg::String>(
+            sync_subscription_ = this->create_subscription<example_interfaces::msg::String>(
                 "sync_topic", 10, topic_callback);
 
             // Create the asynchronous subscriber on topic 'async_topic'
             // and tie it to the topic_callback
-            async_subscription_ = this->create_subscription<std_msgs::msg::String>(
+            async_subscription_ = this->create_subscription<example_interfaces::msg::String>(
                 "async_topic", 10, topic_callback);
         }
 
     private:
 
         // A subscriber that listens to topic 'sync_topic'
-        rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sync_subscription_;
+        rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr sync_subscription_;
 
         // A subscriber that listens to topic 'async_topic'
-        rclcpp::Subscription<std_msgs::msg::String>::SharedPtr async_subscription_;
+        rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr async_subscription_;
     };
 
     int main(int argc, char * argv[])
@@ -370,7 +370,7 @@ Open the ``CMakeLists.txt`` file and add a new executable and name it ``SyncAsyn
 .. code-block:: cmake
 
     add_executable(SyncAsyncReader src/sync_async_reader.cpp)
-    ament_target_dependencies(SyncAsyncReader rclcpp std_msgs)
+    ament_target_dependencies(SyncAsyncReader rclcpp example_interfaces)
 
     install(TARGETS
         SyncAsyncReader
diff --git a/source/Tutorials/Advanced/Recording-A-Bag-From-Your-Own-Node-CPP.rst b/source/Tutorials/Advanced/Recording-A-Bag-From-Your-Own-Node-CPP.rst
index b17e6a7139..898e854f30 100644
--- a/source/Tutorials/Advanced/Recording-A-Bag-From-Your-Own-Node-CPP.rst
+++ b/source/Tutorials/Advanced/Recording-A-Bag-From-Your-Own-Node-CPP.rst
@@ -52,7 +52,7 @@ Navigate into the ``ros2_ws/src`` directory and create a new package:
 
 .. code-block:: console
 
-  ros2 pkg create --build-type ament_cmake --license Apache-2.0 bag_recorder_nodes --dependencies example_interfaces rclcpp rosbag2_cpp std_msgs
+  ros2 pkg create --build-type ament_cmake --license Apache-2.0 bag_recorder_nodes --dependencies example_interfaces rclcpp rosbag2_cpp example_interfaces
 
 Your terminal will return a message verifying the creation of your package ``bag_recorder_nodes`` and all its necessary files and folders.
 The ``--dependencies`` argument will automatically add the necessary dependency lines to ``package.xml`` and ``CMakeLists.txt``.
@@ -80,7 +80,7 @@ Inside the ``ros2_ws/src/bag_recorder_nodes/src`` directory, create a new file c
 
 
     #include <rclcpp/rclcpp.hpp>
-    #include <std_msgs/msg/string.hpp>
+    #include <example_interfaces/msg/string.hpp>
 
     #include <rosbag2_cpp/writer.hpp>
 
@@ -97,16 +97,16 @@ Inside the ``ros2_ws/src/bag_recorder_nodes/src`` directory, create a new file c
         auto subscription_callback_lambda = [this](std::shared_ptr<rclcpp::SerializedMessage> msg){
           rclcpp::Time time_stamp = this->now();
 
-          writer_->write(msg, "chatter", "std_msgs/msg/String", time_stamp);
+          writer_->write(msg, "chatter", "example_interfaces/msg/String", time_stamp);
         };
 
-        subscription_ = create_subscription<std_msgs::msg::String>(
+        subscription_ = create_subscription<example_interfaces::msg::String>(
           "chatter", 10, subscription_callback_lambda);
       }
 
     private:
 
-      rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
+      rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr subscription_;
       std::unique_ptr<rosbag2_cpp::Writer> writer_;
     };
 
@@ -147,10 +147,10 @@ We will write data to the bag in the callback.
         auto subscription_callback_lambda = [this](std::shared_ptr<rclcpp::SerializedMessage> msg){
           rclcpp::Time time_stamp = this->now();
 
-          writer_->write(msg, "chatter", "std_msgs/msg/String", time_stamp);
+          writer_->write(msg, "chatter", "example_interfaces/msg/String", time_stamp);
         };
 
-        subscription_ = create_subscription<std_msgs::msg::String>(
+        subscription_ = create_subscription<example_interfaces::msg::String>(
           "chatter", 10, subscription_callback_lambda);
 
 The callback itself is different from a typical callback.
@@ -178,7 +178,7 @@ This is why we pass in the topic name and the topic type.
 
 .. code-block:: C++
 
-        writer_->write(msg, "chatter", "std_msgs/msg/String", time_stamp);
+        writer_->write(msg, "chatter", "example_interfaces/msg/String", time_stamp);
 
 The class contains two member variables.
 
@@ -189,7 +189,7 @@ The class contains two member variables.
 
 .. code-block:: C++
 
-      rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
+      rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr subscription_;
       std::unique_ptr<rosbag2_cpp::Writer> writer_;
 
 The file finishes with the ``main`` function used to create an instance of the node and start ROS processing it.
@@ -223,7 +223,7 @@ Below the dependencies block, which contains ``find_package(rosbag2_cpp REQUIRED
 .. code-block:: console
 
     add_executable(simple_bag_recorder src/simple_bag_recorder.cpp)
-    ament_target_dependencies(simple_bag_recorder rclcpp rosbag2_cpp std_msgs)
+    ament_target_dependencies(simple_bag_recorder rclcpp rosbag2_cpp example_interfaces)
 
     install(TARGETS
       simple_bag_recorder
diff --git a/source/Tutorials/Advanced/Recording-A-Bag-From-Your-Own-Node-Py.rst b/source/Tutorials/Advanced/Recording-A-Bag-From-Your-Own-Node-Py.rst
index 9ad49bd32b..7724c20efb 100644
--- a/source/Tutorials/Advanced/Recording-A-Bag-From-Your-Own-Node-Py.rst
+++ b/source/Tutorials/Advanced/Recording-A-Bag-From-Your-Own-Node-Py.rst
@@ -56,7 +56,7 @@ Navigate into the ``ros2_ws/src`` directory and create a new package:
 
 .. code-block:: console
 
-  ros2 pkg create --build-type ament_python --license Apache-2.0 bag_recorder_nodes_py --dependencies rclpy rosbag2_py example_interfaces std_msgs
+  ros2 pkg create --build-type ament_python --license Apache-2.0 bag_recorder_nodes_py --dependencies rclpy rosbag2_py example_interfaces example_interfaces
 
 Your terminal will return a message verifying the creation of your package ``bag_recorder_nodes_py`` and all its necessary files and folders.
 The ``--dependencies`` argument will automatically add the necessary dependency lines to the ``package.xml``.
@@ -94,7 +94,7 @@ Inside the ``ros2_ws/src/bag_recorder_nodes_py/bag_recorder_nodes_py`` directory
    import rclpy
    from rclpy.node import Node
    from rclpy.serialization import serialize_message
-   from std_msgs.msg import String
+   from example_interfaces.msg import String
 
    import rosbag2_py
 
@@ -111,7 +111,7 @@ Inside the ``ros2_ws/src/bag_recorder_nodes_py/bag_recorder_nodes_py`` directory
 
            topic_info = rosbag2_py._storage.TopicMetadata(
                name='chatter',
-               type='std_msgs/msg/String',
+               type='example_interfaces/msg/String',
                serialization_format='cdr')
            self.writer.create_topic(topic_info)
 
@@ -173,7 +173,7 @@ This object specifies the topic name, topic data type, and serialization format
 
    topic_info = rosbag2_py._storage.TopicMetadata(
        name='chatter',
-       type='std_msgs/msg/String',
+       type='example_interfaces/msg/String',
        serialization_format='cdr')
    self.writer.create_topic(topic_info)
 
diff --git a/source/Tutorials/Advanced/Simulators/Webots/Code/CMakeLists.txt b/source/Tutorials/Advanced/Simulators/Webots/Code/CMakeLists.txt
index 60de84971a..06fb8b8513 100644
--- a/source/Tutorials/Advanced/Simulators/Webots/Code/CMakeLists.txt
+++ b/source/Tutorials/Advanced/Simulators/Webots/Code/CMakeLists.txt
@@ -8,7 +8,7 @@ endif()
 # Besides the package specific dependencies we also need the `pluginlib` and `webots_ros2_driver`
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(std_msgs REQUIRED)
+find_package(example_interfaces REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(webots_ros2_driver REQUIRED)
diff --git a/source/Tutorials/Advanced/Simulators/Webots/Code/CMakeLists_sensor.txt b/source/Tutorials/Advanced/Simulators/Webots/Code/CMakeLists_sensor.txt
index 1108a474d1..8bffc4ae0a 100644
--- a/source/Tutorials/Advanced/Simulators/Webots/Code/CMakeLists_sensor.txt
+++ b/source/Tutorials/Advanced/Simulators/Webots/Code/CMakeLists_sensor.txt
@@ -8,7 +8,7 @@ endif()
 # Besides the package specific dependencies we also need the `pluginlib` and `webots_ros2_driver`
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(std_msgs REQUIRED)
+find_package(example_interfaces REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(webots_ros2_driver REQUIRED)
diff --git a/source/Tutorials/Advanced/Simulators/Webots/Simulation-Supervisor.rst b/source/Tutorials/Advanced/Simulators/Webots/Simulation-Supervisor.rst
index d16b4980b6..96d8af6c05 100644
--- a/source/Tutorials/Advanced/Simulators/Webots/Simulation-Supervisor.rst
+++ b/source/Tutorials/Advanced/Simulators/Webots/Simulation-Supervisor.rst
@@ -104,7 +104,7 @@ Remove a Webots imported node
 
 Once a node has been imported with the ``/Ros2Supervisor/spawn_node_from_string`` service, it can also be removed.
 
-This can be achieved by sending the name of the node to the topic named ``/Ros2Supervisor/remove_node`` of type ``std_msgs/msg/String``.
+This can be achieved by sending the name of the node to the topic named ``/Ros2Supervisor/remove_node`` of type ``example_interfaces/msg/String``.
 
 If the node is indeed in the imported list, it is removed with the ``remove()`` `API method <https://cyberbotics.com/doc/reference/supervisor?tab-language=python#wb_supervisor_node_remove>`_.
 
@@ -112,7 +112,7 @@ Here is an example on how to remove the ``imported_robot`` Robot:
 
 .. code-block:: bash
 
-    ros2 topic pub --once /Ros2Supervisor/remove_node std_msgs/msg/String "{data: imported_robot}"
+    ros2 topic pub --once /Ros2Supervisor/remove_node example_interfaces/msg/String "{data: imported_robot}"
 
 Record animations
 -----------------
diff --git a/source/Tutorials/Advanced/Topic-Statistics-Tutorial/Topic-Statistics-Tutorial.rst b/source/Tutorials/Advanced/Topic-Statistics-Tutorial/Topic-Statistics-Tutorial.rst
index 9fc850fc95..c3a876f63b 100644
--- a/source/Tutorials/Advanced/Topic-Statistics-Tutorial/Topic-Statistics-Tutorial.rst
+++ b/source/Tutorials/Advanced/Topic-Statistics-Tutorial/Topic-Statistics-Tutorial.rst
@@ -77,7 +77,7 @@ Open the file using your preferred text editor.
     #include "rclcpp/rclcpp.hpp"
     #include "rclcpp/subscription_options.hpp"
 
-    #include "std_msgs/msg/string.hpp"
+    #include "example_interfaces/msg/string.hpp"
 
     class MinimalSubscriberWithTopicStatistics : public rclcpp::Node
     {
@@ -95,20 +95,20 @@ Open the file using your preferred text editor.
         // configure the topic name (default '/statistics')
         // options.topic_stats_options.publish_topic = "/topic_statistics"
 
-        auto callback = [this](std_msgs::msg::String::SharedPtr msg) {
+        auto callback = [this](example_interfaces::msg::String::SharedPtr msg) {
             this->topic_callback(msg);
           };
 
-        subscription_ = this->create_subscription<std_msgs::msg::String>(
+        subscription_ = this->create_subscription<example_interfaces::msg::String>(
           "topic", 10, callback, options);
       }
 
     private:
-      void topic_callback(const std_msgs::msg::String::ConstSharedPtr msg) const
+      void topic_callback(const example_interfaces::msg::String::ConstSharedPtr msg) const
       {
         RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
       }
-      rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
+      rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr subscription_;
     };
 
     int main(int argc, char * argv[])
@@ -164,7 +164,7 @@ Add the executable and name it ``listener_with_topic_statistics`` so you can run
 .. code-block:: console
 
     add_executable(listener_with_topic_statistics src/member_function_with_topic_statistics.cpp)
-    ament_target_dependencies(listener_with_topic_statistics rclcpp std_msgs)
+    ament_target_dependencies(listener_with_topic_statistics rclcpp example_interfaces)
 
     install(TARGETS
       talker
@@ -313,9 +313,9 @@ data_type value     statistics
 5                   sample count
 ===============    ===================
 
-Here we see the two currently possible calculated statistics for the ``std_msgs::msg::String`` message published
+Here we see the two currently possible calculated statistics for the ``example_interfaces::msg::String`` message published
 to ``/topic`` by the ``minimal_publisher``.
-Because the ``std_msgs::msg::String`` does not have a message header, the ``message_age`` calculation cannot be performed,
+Because the ``example_interfaces::msg::String`` does not have a message header, the ``message_age`` calculation cannot be performed,
 so NaNs are returned.
 However, the ``message_period`` can be calculated and we see the statistics populated
 in the message above.
diff --git a/source/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.rst b/source/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.rst
index 53858fb8d0..26531be489 100644
--- a/source/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.rst
+++ b/source/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.rst
@@ -97,7 +97,7 @@ Open the file using your preferred text editor.
     #include <string>
 
     #include "rclcpp/rclcpp.hpp"
-    #include "std_msgs/msg/string.hpp"
+    #include "example_interfaces/msg/string.hpp"
 
     using namespace std::chrono_literals;
 
@@ -111,10 +111,10 @@ Open the file using your preferred text editor.
       MinimalPublisher()
       : Node("minimal_publisher"), count_(0)
       {
-        publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
+        publisher_ = this->create_publisher<example_interfaces::msg::String>("topic", 10);
         auto timer_callback =
           [this]() -> void {
-            auto message = std_msgs::msg::String();
+            auto message = example_interfaces::msg::String();
             message.data = "Hello, world! " + std::to_string(this->count_++);
             RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
             this->publisher_->publish(message);
@@ -124,7 +124,7 @@ Open the file using your preferred text editor.
 
     private:
       rclcpp::TimerBase::SharedPtr timer_;
-      rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+      rclcpp::Publisher<example_interfaces::msg::String>::SharedPtr publisher_;
       size_t count_;
     };
 
@@ -141,7 +141,7 @@ Open the file using your preferred text editor.
 
 The top of the code includes the standard C++ headers you will be using.
 After the standard C++ headers is the ``rclcpp/rclcpp.hpp`` include which allows you to use the most common pieces of the ROS 2 system.
-Last is ``std_msgs/msg/string.hpp``, which includes the built-in message type you will use to publish data.
+Last is ``example_interfaces/msg/string.hpp``, which includes the built-in message type you will use to publish data.
 
 .. code-block:: C++
 
@@ -150,7 +150,7 @@ Last is ``std_msgs/msg/string.hpp``, which includes the built-in message type yo
     #include <string>
 
     #include "rclcpp/rclcpp.hpp"
-    #include "std_msgs/msg/string.hpp"
+    #include "example_interfaces/msg/string.hpp"
 
     using namespace std::chrono_literals;
 
@@ -178,10 +178,10 @@ At last, ``timer_`` is initialized, which causes the ``timer_callback`` function
       MinimalPublisher()
       : Node("minimal_publisher"), count_(0)
       {
-        publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
+        publisher_ = this->create_publisher<example_interfaces::msg::String>("topic", 10);
         auto timer_callback =
           [this]() -> void {
-            auto message = std_msgs::msg::String();
+            auto message = example_interfaces::msg::String();
             message.data = "Hello, world! " + std::to_string(this->count_++);
             RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
             this->publisher_->publish(message);
@@ -195,7 +195,7 @@ In the bottom of the class is the declaration of the timer, publisher, and count
 
     private:
       rclcpp::TimerBase::SharedPtr timer_;
-      rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+      rclcpp::Publisher<example_interfaces::msg::String>::SharedPtr publisher_;
       size_t count_;
 
 Following the ``MinimalPublisher`` class is ``main``, where the node actually executes.
@@ -231,9 +231,9 @@ Add a new line after the ``ament_cmake`` buildtool dependency and paste the foll
 .. code-block:: xml
 
     <depend>rclcpp</depend>
-    <depend>std_msgs</depend>
+    <depend>example_interfaces</depend>
 
-This declares the package needs ``rclcpp`` and ``std_msgs`` when its code is built and executed.
+This declares the package needs ``rclcpp`` and ``example_interfaces`` when its code is built and executed.
 
 Make sure to save the file.
 
@@ -246,14 +246,14 @@ Below the existing dependency ``find_package(ament_cmake REQUIRED)``, add the li
 .. code-block:: console
 
     find_package(rclcpp REQUIRED)
-    find_package(std_msgs REQUIRED)
+    find_package(example_interfaces REQUIRED)
 
 After that, add the executable and name it ``talker`` so you can run your node using ``ros2 run``:
 
 .. code-block:: console
 
     add_executable(talker src/publisher_lambda_function.cpp)
-    ament_target_dependencies(talker rclcpp std_msgs)
+    ament_target_dependencies(talker rclcpp example_interfaces)
 
 Finally, add the ``install(TARGETS...)`` section so ``ros2 run`` can find your executable:
 
@@ -281,10 +281,10 @@ You can clean up your ``CMakeLists.txt`` by removing some unnecessary sections a
 
   find_package(ament_cmake REQUIRED)
   find_package(rclcpp REQUIRED)
-  find_package(std_msgs REQUIRED)
+  find_package(example_interfaces REQUIRED)
 
   add_executable(talker src/publisher_lambda_function.cpp)
-  ament_target_dependencies(talker rclcpp std_msgs)
+  ament_target_dependencies(talker rclcpp example_interfaces)
 
   install(TARGETS
     talker
@@ -341,7 +341,7 @@ Open the ``subscriber_lambda_function.cpp`` with your text editor.
     #include <memory>
 
     #include "rclcpp/rclcpp.hpp"
-    #include "std_msgs/msg/string.hpp"
+    #include "example_interfaces/msg/string.hpp"
 
     class MinimalSubscriber : public rclcpp::Node
     {
@@ -350,15 +350,15 @@ Open the ``subscriber_lambda_function.cpp`` with your text editor.
       : Node("minimal_subscriber")
       {
         auto topic_callback =
-          [this](std_msgs::msg::String::UniquePtr msg) -> void {
+          [this](example_interfaces::msg::String::UniquePtr msg) -> void {
             RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
           };
         subscription_ =
-          this->create_subscription<std_msgs::msg::String>("topic", 10, topic_callback);
+          this->create_subscription<example_interfaces::msg::String>("topic", 10, topic_callback);
       }
 
     private:
-      rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
+      rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr subscription_;
     };
 
     int main(int argc, char * argv[])
@@ -388,11 +388,11 @@ Recall from the :doc:`topic tutorial <../Beginner-CLI-Tools/Understanding-ROS2-T
       : Node("minimal_subscriber")
       {
         auto topic_callback =
-          [this](std_msgs::msg::String::UniquePtr msg) -> void {
+          [this](example_interfaces::msg::String::UniquePtr msg) -> void {
             RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
           };
         subscription_ =
-          this->create_subscription<std_msgs::msg::String>("topic", 10, topic_callback);
+          this->create_subscription<example_interfaces::msg::String>("topic", 10, topic_callback);
       }
 
 The only field declaration in this class is the subscription.
@@ -400,7 +400,7 @@ The only field declaration in this class is the subscription.
 .. code-block:: C++
 
     private:
-      rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
+      rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr subscription_;
 
 The ``main`` function is exactly the same, except now it spins the ``MinimalSubscriber`` node.
 For the publisher node, spinning meant starting the timer, but for the subscriber it simply means preparing to receive messages whenever they come.
@@ -415,7 +415,7 @@ Reopen ``CMakeLists.txt`` and add the executable and target for the subscriber n
 .. code-block:: cmake
 
   add_executable(listener src/subscriber_lambda_function.cpp)
-  ament_target_dependencies(listener rclcpp std_msgs)
+  ament_target_dependencies(listener rclcpp example_interfaces)
 
   install(TARGETS
     talker
@@ -428,7 +428,7 @@ Make sure to save the file, and then your pub/sub system should be ready.
 
 4 Build and run
 ^^^^^^^^^^^^^^^
-You likely already have the ``rclcpp`` and ``std_msgs`` packages installed as part of your ROS 2 system.
+You likely already have the ``rclcpp`` and ``example_interfaces`` packages installed as part of your ROS 2 system.
 It's good practice to run ``rosdep`` in the root of your workspace (``ros2_ws``) to check for missing dependencies before building:
 
 .. tabs::
diff --git a/source/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.rst b/source/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.rst
index ea45df288e..ef36aa71d0 100644
--- a/source/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.rst
+++ b/source/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.rst
@@ -97,7 +97,7 @@ Open the file using your preferred text editor.
   import rclpy
   from rclpy.node import Node
 
-  from std_msgs.msg import String
+  from example_interfaces.msg import String
 
 
   class MinimalPublisher(Node):
@@ -149,7 +149,7 @@ The next statement imports the built-in string message type that the node uses t
 
 .. code-block:: python
 
-  from std_msgs.msg import String
+  from example_interfaces.msg import String
 
 These lines represent the node's dependencies.
 Recall that dependencies have to be added to ``package.xml``, which you'll do in the next section.
@@ -163,7 +163,7 @@ Next, the ``MinimalPublisher`` class is created, which inherits from (or is a su
 Following is the definition of the class's constructor.
 ``super().__init__`` calls the ``Node`` class's constructor and gives it your node name, in this case ``minimal_publisher``.
 
-``create_publisher`` declares that the node publishes messages of type ``String`` (imported from the ``std_msgs.msg`` module), over a topic named ``topic``, and that the "queue size" is 10.
+``create_publisher`` declares that the node publishes messages of type ``String`` (imported from the ``example_interfaces.msg`` module), over a topic named ``topic``, and that the "queue size" is 10.
 Queue size is a required QoS (quality of service) setting that limits the amount of queued messages if a subscriber is not receiving them fast enough.
 
 Next, a timer is created with a callback to execute every 0.5 seconds.
@@ -228,9 +228,9 @@ After the lines above, add the following dependencies corresponding to your node
 .. code-block:: xml
 
   <exec_depend>rclpy</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>example_interfaces</exec_depend>
 
-This declares the package needs ``rclpy`` and ``std_msgs`` when its code is executed.
+This declares the package needs ``rclpy`` and ``example_interfaces`` when its code is executed.
 
 Make sure to save the file.
 
@@ -325,7 +325,7 @@ Open the ``subscriber_member_function.py`` with your text editor.
   import rclpy
   from rclpy.node import Node
 
-  from std_msgs.msg import String
+  from example_interfaces.msg import String
 
 
   class MinimalSubscriber(Node):
@@ -414,7 +414,7 @@ Make sure to save the file, and then your pub/sub system should be ready.
 
 4 Build and run
 ^^^^^^^^^^^^^^^
-You likely already have the ``rclpy`` and ``std_msgs`` packages installed as part of your ROS 2 system.
+You likely already have the ``rclpy`` and ``example_interfaces`` packages installed as part of your ROS 2 system.
 It's good practice to run ``rosdep`` in the root of your workspace (``ros2_ws``) to check for missing dependencies before building:
 
 .. tabs::
diff --git a/source/Tutorials/Demos/Content-Filtering-Subscription.rst b/source/Tutorials/Demos/Content-Filtering-Subscription.rst
index 6637a0abce..dabc24b6d5 100644
--- a/source/Tutorials/Demos/Content-Filtering-Subscription.rst
+++ b/source/Tutorials/Demos/Content-Filtering-Subscription.rst
@@ -71,7 +71,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/demo_nodes_cpp/src/topics
     #include "rclcpp/rclcpp.hpp"
     #include "rclcpp_components/register_node_macro.hpp"
 
-    #include "std_msgs/msg/float32.hpp"
+    #include "example_interfaces/msg/float32.hpp"
 
     #include "demo_nodes_cpp/visibility_control.h"
 
@@ -96,7 +96,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/demo_nodes_cpp/src/topics
         auto publish_message =
           [this]() -> void
           {
-            msg_ = std::make_unique<std_msgs::msg::Float32>();
+            msg_ = std::make_unique<example_interfaces::msg::Float32>();
             msg_->data = temperature_;
             temperature_ += TEMPERATURE_SETTING[2];
             if (temperature_ > TEMPERATURE_SETTING[1]) {
@@ -112,7 +112,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/demo_nodes_cpp/src/topics
         // rclcpp::KeepAll{} if the user wishes.
         // (rclcpp::KeepLast(7) -> rclcpp::KeepAll() fails to compile)
         rclcpp::QoS qos(rclcpp::KeepLast{7});
-        pub_ = this->create_publisher<std_msgs::msg::Float32>("temperature", qos);
+        pub_ = this->create_publisher<example_interfaces::msg::Float32>("temperature", qos);
 
         // Use a timer to schedule periodic message publishing.
         timer_ = this->create_wall_timer(1s, publish_message);
@@ -120,8 +120,8 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/demo_nodes_cpp/src/topics
 
     private:
       float temperature_ = TEMPERATURE_SETTING[0];
-      std::unique_ptr<std_msgs::msg::Float32> msg_;
-      rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr pub_;
+      std::unique_ptr<example_interfaces::msg::Float32> msg_;
+      rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub_;
       rclcpp::TimerBase::SharedPtr timer_;
     };
 
@@ -176,7 +176,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/demo_nodes_cpp/src/topics
     #include "rclcpp_components/register_node_macro.hpp"
     #include "rcpputils/join.hpp"
 
-    #include "std_msgs/msg/float32.hpp"
+    #include "example_interfaces/msg/float32.hpp"
 
     #include "demo_nodes_cpp/visibility_control.h"
 
@@ -197,7 +197,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/demo_nodes_cpp/src/topics
         setvbuf(stdout, NULL, _IONBF, BUFSIZ);
         // Create a callback function for when messages are received.
         auto callback =
-          [this](const std_msgs::msg::Float32 & msg) -> void
+          [this](const example_interfaces::msg::Float32 & msg) -> void
           {
             if (msg.data < EMERGENCY_TEMPERATURE[0] || msg.data > EMERGENCY_TEMPERATURE[1]) {
               RCLCPP_INFO(
@@ -217,7 +217,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/demo_nodes_cpp/src/topics
           std::to_string(EMERGENCY_TEMPERATURE[1])
         };
 
-        sub_ = create_subscription<std_msgs::msg::Float32>("temperature", 10, callback, sub_options);
+        sub_ = create_subscription<example_interfaces::msg::Float32>("temperature", 10, callback, sub_options);
 
         if (!sub_->is_cft_enabled()) {
           RCLCPP_WARN(
@@ -233,7 +233,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/demo_nodes_cpp/src/topics
       }
 
     private:
-      rclcpp::Subscription<std_msgs::msg::Float32>::SharedPtr sub_;
+      rclcpp::Subscription<example_interfaces::msg::Float32>::SharedPtr sub_;
     };
 
     }  // namespace demo_nodes_cpp
diff --git a/source/Tutorials/Demos/Intra-Process-Communication.rst b/source/Tutorials/Demos/Intra-Process-Communication.rst
index 50a5217c4a..ee02bf7b1d 100644
--- a/source/Tutorials/Demos/Intra-Process-Communication.rst
+++ b/source/Tutorials/Demos/Intra-Process-Communication.rst
@@ -52,7 +52,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/tw
    #include <utility>
 
    #include "rclcpp/rclcpp.hpp"
-   #include "std_msgs/msg/int32.hpp"
+   #include "example_interfaces/msg/int32.hpp"
 
    using namespace std::chrono_literals;
 
@@ -63,7 +63,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/tw
      : Node(name, rclcpp::NodeOptions().use_intra_process_comms(true))
      {
        // Create a publisher on the output topic.
-       pub_ = this->create_publisher<std_msgs::msg::Int32>(output, 10);
+       pub_ = this->create_publisher<example_interfaces::msg::Int32>(output, 10);
        std::weak_ptr<std::remove_pointer<decltype(pub_.get())>::type> captured_pub = pub_;
        // Create a timer which publishes on the output topic at ~1Hz.
        auto callback = [captured_pub]() -> void {
@@ -72,7 +72,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/tw
              return;
            }
            static int32_t count = 0;
-           std_msgs::msg::Int32::UniquePtr msg(new std_msgs::msg::Int32());
+           example_interfaces::msg::Int32::UniquePtr msg(new example_interfaces::msg::Int32());
            msg->data = count++;
            printf(
              "Published message with value: %d, and address: 0x%" PRIXPTR "\n", msg->data,
@@ -82,7 +82,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/tw
        timer_ = this->create_wall_timer(1s, callback);
      }
 
-     rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr pub_;
+     rclcpp::Publisher<example_interfaces::msg::Int32>::SharedPtr pub_;
      rclcpp::TimerBase::SharedPtr timer_;
    };
 
@@ -93,17 +93,17 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/tw
      : Node(name, rclcpp::NodeOptions().use_intra_process_comms(true))
      {
        // Create a subscription on the input topic which prints on receipt of new messages.
-       sub_ = this->create_subscription<std_msgs::msg::Int32>(
+       sub_ = this->create_subscription<example_interfaces::msg::Int32>(
          input,
          10,
-         [](std_msgs::msg::Int32::UniquePtr msg) {
+         [](example_interfaces::msg::Int32::UniquePtr msg) {
            printf(
              " Received message with value: %d, and address: 0x%" PRIXPTR "\n", msg->data,
              reinterpret_cast<std::uintptr_t>(msg.get()));
          });
      }
 
-     rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr sub_;
+     rclcpp::Subscription<example_interfaces::msg::Int32>::SharedPtr sub_;
    };
 
    int main(int argc, char * argv[])
@@ -183,7 +183,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/cy
    #include <utility>
 
    #include "rclcpp/rclcpp.hpp"
-   #include "std_msgs/msg/int32.hpp"
+   #include "example_interfaces/msg/int32.hpp"
 
    using namespace std::chrono_literals;
 
@@ -194,13 +194,13 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/cy
      : Node(name, rclcpp::NodeOptions().use_intra_process_comms(true))
      {
        // Create a publisher on the output topic.
-       pub = this->create_publisher<std_msgs::msg::Int32>(out, 10);
+       pub = this->create_publisher<example_interfaces::msg::Int32>(out, 10);
        std::weak_ptr<std::remove_pointer<decltype(pub.get())>::type> captured_pub = pub;
        // Create a subscription on the input topic.
-       sub = this->create_subscription<std_msgs::msg::Int32>(
+       sub = this->create_subscription<example_interfaces::msg::Int32>(
          in,
          10,
-         [captured_pub](std_msgs::msg::Int32::UniquePtr msg) {
+         [captured_pub](example_interfaces::msg::Int32::UniquePtr msg) {
            auto pub_ptr = captured_pub.lock();
            if (!pub_ptr) {
              return;
@@ -221,8 +221,8 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/cy
          });
      }
 
-     rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr pub;
-     rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr sub;
+     rclcpp::Publisher<example_interfaces::msg::Int32>::SharedPtr pub;
+     rclcpp::Subscription<example_interfaces::msg::Int32>::SharedPtr sub;
    };
 
    int main(int argc, char * argv[])
@@ -237,7 +237,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/cy
      auto pipe2 = std::make_shared<IncrementerPipe>("pipe2", "topic2", "topic1");
      rclcpp::sleep_for(1s);  // Wait for subscriptions to be established to avoid race conditions.
      // Publish the first message (kicking off the cycle).
-     std::unique_ptr<std_msgs::msg::Int32> msg(new std_msgs::msg::Int32());
+     std::unique_ptr<example_interfaces::msg::Int32> msg(new example_interfaces::msg::Int32());
      msg->data = 42;
      printf(
        "Published first message with value:  %d, and address: 0x%" PRIXPTR "\n", msg->data,