diff --git a/action_msgs/package.xml b/action_msgs/package.xml
index 96b92b1c..8f73f69f 100644
--- a/action_msgs/package.xml
+++ b/action_msgs/package.xml
@@ -16,10 +16,13 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_core_generators</buildtool_depend>
 
+  <!-- actions define action services -->
+  <depend>service_msgs</depend>
+
   <depend>builtin_interfaces</depend>
   <depend>unique_identifier_msgs</depend>
 
-  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>rosidl_core_runtime</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/builtin_interfaces/package.xml b/builtin_interfaces/package.xml
index fe0b3659..d16bd6e5 100644
--- a/builtin_interfaces/package.xml
+++ b/builtin_interfaces/package.xml
@@ -16,7 +16,7 @@
 
   <buildtool_depend>rosidl_core_generators</buildtool_depend>
 
-  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>rosidl_core_runtime</exec_depend>
 
   <test_depend>ament_lint_common</test_depend>
 
diff --git a/service_msgs/CMakeLists.txt b/service_msgs/CMakeLists.txt
index f7758914..b7f81112 100644
--- a/service_msgs/CMakeLists.txt
+++ b/service_msgs/CMakeLists.txt
@@ -12,7 +12,7 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(builtin_interfaces REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
+find_package(rosidl_core_generators REQUIRED)
 find_package(unique_identifier_msgs REQUIRED)
 
 set(msg_files
diff --git a/service_msgs/package.xml b/service_msgs/package.xml
index 33477108..acf8fa8c 100644
--- a/service_msgs/package.xml
+++ b/service_msgs/package.xml
@@ -12,12 +12,12 @@
   <author email="brian.chen@openrobotics.org">Brian Chen</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <buildtool_depend>rosidl_core_generators</buildtool_depend>
 
   <depend>builtin_interfaces</depend>
   <depend>unique_identifier_msgs</depend>
 
-  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>rosidl_core_runtime</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>