diff --git a/README.md b/README.md
index 09e019b..d2ae80c 100644
--- a/README.md
+++ b/README.md
@@ -20,10 +20,10 @@ Run a client node (activated on space bar press):
 ros2 run whisper_demos whisper_on_key
 ```
 
-Configure `whisper` parameters in [whisper.yaml](whisper_server/config//whisper.yaml).
+Configure `whisper` parameters in [whisper.yaml](whisper_server/config/whisper.yaml).
 
 ## Available Actions
-Action server under topic `inference` of type [Inference.action](whisper_msgs/action/Inference.action).
+Action server under topic `inference` of type [Inference.action](whisper_idl/action/Inference.action).
 
 ## Troubleshoot
 - Encoder inference time: https://github.com/ggerganov/whisper.cpp/issues/10#issuecomment-1302462960
diff --git a/audio_listener/package.xml b/audio_listener/package.xml
index 99fe7d9..d830bf3 100644
--- a/audio_listener/package.xml
+++ b/audio_listener/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>audio_listener</name>
-  <version>1.3.0</version>
+  <version>1.3.1</version>
   <description>Audio common replica.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>MIT</license>
diff --git a/audio_listener/setup.py b/audio_listener/setup.py
index dd0ddcf..37cc54d 100644
--- a/audio_listener/setup.py
+++ b/audio_listener/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version="1.3.0",
+    version="1.3.1",
     packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
diff --git a/whisper_bringup/package.xml b/whisper_bringup/package.xml
index 3ba7e34..2d9d12f 100644
--- a/whisper_bringup/package.xml
+++ b/whisper_bringup/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>whisper_bringup</name>
-  <version>1.3.0</version>
+  <version>1.3.1</version>
   <description>TODO: Package description</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>MIT</license>
@@ -11,7 +11,7 @@
 
   <exec_depend>rclcpp_components</exec_depend>
   <exec_depend>whisper_cpp_vendor</exec_depend>
-  <exec_depend>whisper_msgs</exec_depend>
+  <exec_depend>whisper_idl</exec_depend>
   <exec_depend>whisper_server</exec_depend>
   <exec_depend>whisper_util</exec_depend>
 
diff --git a/whisper_cpp_vendor/package.xml b/whisper_cpp_vendor/package.xml
index 53f56b1..b5d90b2 100644
--- a/whisper_cpp_vendor/package.xml
+++ b/whisper_cpp_vendor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>whisper_cpp_vendor</name>
-  <version>1.3.0</version>
+  <version>1.3.1</version>
   <description>Vendor package for whisper.cpp.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>MIT</license>
diff --git a/whisper_demos/package.xml b/whisper_demos/package.xml
index b789c1e..aa8b19e 100644
--- a/whisper_demos/package.xml
+++ b/whisper_demos/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>whisper_demos</name>
-  <version>1.3.0</version>
+  <version>1.3.1</version>
   <description>Demos for using the ROS 2 whisper package.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>MIT</license>
@@ -10,8 +10,8 @@
   <exec_depend>audio_listener</exec_depend>
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rclpy</exec_depend>
+  <exec_depend>whisper_idl</exec_depend>
   <exec_depend>whisper_server</exec_depend>
-  <exec_depend>whisper_msgs</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
diff --git a/whisper_demos/setup.py b/whisper_demos/setup.py
index 9b8b458..5b59fb3 100644
--- a/whisper_demos/setup.py
+++ b/whisper_demos/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version="1.3.0",
+    version="1.3.1",
     packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
diff --git a/whisper_demos/whisper_demos/whisper_on_key.py b/whisper_demos/whisper_demos/whisper_on_key.py
index f1849d3..5dfaf1a 100644
--- a/whisper_demos/whisper_demos/whisper_on_key.py
+++ b/whisper_demos/whisper_demos/whisper_on_key.py
@@ -6,9 +6,9 @@
 from rclpy.action import ActionClient
 from rclpy.node import Node
 from rclpy.task import Future
-from whisper_msgs.action._inference import Inference_FeedbackMessage
+from whisper_idl.action._inference import Inference_FeedbackMessage
 
-from whisper_msgs.action import Inference
+from whisper_idl.action import Inference
 
 
 class WhisperOnKey(Node):
diff --git a/whisper_msgs/CMakeLists.txt b/whisper_idl/CMakeLists.txt
similarity index 95%
rename from whisper_msgs/CMakeLists.txt
rename to whisper_idl/CMakeLists.txt
index 46708f5..0a2c1af 100644
--- a/whisper_msgs/CMakeLists.txt
+++ b/whisper_idl/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(whisper_msgs)
+project(whisper_idl)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
diff --git a/whisper_msgs/LICENSE b/whisper_idl/LICENSE
similarity index 100%
rename from whisper_msgs/LICENSE
rename to whisper_idl/LICENSE
diff --git a/whisper_msgs/action/Inference.action b/whisper_idl/action/Inference.action
similarity index 100%
rename from whisper_msgs/action/Inference.action
rename to whisper_idl/action/Inference.action
diff --git a/whisper_msgs/package.xml b/whisper_idl/package.xml
similarity index 93%
rename from whisper_msgs/package.xml
rename to whisper_idl/package.xml
index 40b0031..79a0331 100644
--- a/whisper_msgs/package.xml
+++ b/whisper_idl/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>whisper_msgs</name>
-  <version>1.3.0</version>
+  <name>whisper_idl</name>
+  <version>1.3.1</version>
   <description>Messages for the ROS 2 whisper package</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>MIT</license>
diff --git a/whisper_server/CMakeLists.txt b/whisper_server/CMakeLists.txt
index 3ea8592..15928bc 100644
--- a/whisper_server/CMakeLists.txt
+++ b/whisper_server/CMakeLists.txt
@@ -20,7 +20,7 @@ set(WHISPER_NODES_DEPENDENCIES
   rclcpp_action
   std_msgs
   std_srvs
-  whisper_msgs
+  whisper_idl
   whisper_util
 )
 
diff --git a/whisper_server/include/whisper_server/inference_node.hpp b/whisper_server/include/whisper_server/inference_node.hpp
index 5d1594a..36a0819 100644
--- a/whisper_server/include/whisper_server/inference_node.hpp
+++ b/whisper_server/include/whisper_server/inference_node.hpp
@@ -12,14 +12,14 @@
 #include "rclcpp_action/rclcpp_action.hpp"
 #include "std_msgs/msg/int16_multi_array.hpp"
 
-#include "whisper_msgs/action/inference.hpp"
+#include "whisper_idl/action/inference.hpp"
 #include "whisper_util/audio_buffers.hpp"
 #include "whisper_util/model_manager.hpp"
 #include "whisper_util/whisper.hpp"
 
 namespace whisper {
 class InferenceNode {
-  using Inference = whisper_msgs::action::Inference;
+  using Inference = whisper_idl::action::Inference;
   using GoalHandleInference = rclcpp_action::ServerGoalHandle<Inference>;
 
 public:
diff --git a/whisper_server/package.xml b/whisper_server/package.xml
index 8c08a8d..27fdefa 100644
--- a/whisper_server/package.xml
+++ b/whisper_server/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>whisper_server</name>
-  <version>1.3.0</version>
+  <version>1.3.1</version>
   <description>ROS 2 whisper.cpp inference server.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>MIT</license>
@@ -16,7 +16,7 @@
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
-  <depend>whisper_msgs</depend>
+  <depend>whisper_idl</depend>
   <depend>whisper_util</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/whisper_util/package.xml b/whisper_util/package.xml
index ccc6cfb..bb5d697 100644
--- a/whisper_util/package.xml
+++ b/whisper_util/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>whisper_util</name>
-  <version>1.3.0</version>
+  <version>1.3.1</version>
   <description>ROS 2 wrapper for whisper.cpp.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>MIT</license>