diff --git a/rosidl_generator_py/resource/_idl_support.c.em b/rosidl_generator_py/resource/_idl_support.c.em
index abb7536e..d46c0228 100644
--- a/rosidl_generator_py/resource/_idl_support.c.em
+++ b/rosidl_generator_py/resource/_idl_support.c.em
@@ -50,6 +50,13 @@ TEMPLATE(
     package_name=package_name, interface_path=interface_path,
     message=service.response_message, include_directives=include_directives)
 }@
+
+@{
+TEMPLATE(
+    '_msg_support.c.em',
+    package_name=package_name, interface_path=interface_path,
+    message=service.event_message, include_directives=include_directives)
+}@
 @[end for]@
 @
 @#######################################################################
@@ -97,6 +104,14 @@ TEMPLATE(
     include_directives=include_directives)
 }@
 
+@{
+TEMPLATE(
+    '_msg_support.c.em',
+    package_name=package_name, interface_path=interface_path,
+    message=action.send_goal_service.event_message,
+    include_directives=include_directives)
+}@
+
 @{
 TEMPLATE(
     '_msg_support.c.em',
@@ -113,6 +128,14 @@ TEMPLATE(
     include_directives=include_directives)
 }@
 
+@{
+TEMPLATE(
+    '_msg_support.c.em',
+    package_name=package_name, interface_path=interface_path,
+    message=action.get_result_service.event_message,
+    include_directives=include_directives)
+}@
+
 @{
 TEMPLATE(
     '_msg_support.c.em',
diff --git a/rosidl_generator_py/resource/_msg.py.em b/rosidl_generator_py/resource/_msg.py.em
index b2cc43d2..a5b9cabc 100644
--- a/rosidl_generator_py/resource/_msg.py.em
+++ b/rosidl_generator_py/resource/_msg.py.em
@@ -13,6 +13,9 @@ from rosidl_parser.definition import AbstractWString
 from rosidl_parser.definition import ACTION_FEEDBACK_SUFFIX
 from rosidl_parser.definition import ACTION_GOAL_SUFFIX
 from rosidl_parser.definition import ACTION_RESULT_SUFFIX
+from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
+from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
+from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
 from rosidl_parser.definition import Array
 from rosidl_parser.definition import BasicType
 from rosidl_parser.definition import BOOLEAN_TYPE
@@ -129,6 +132,11 @@ for member in message.structure.members:
     if isinstance(type_, AbstractNestedType):
         type_ = type_.value_type
     if isinstance(type_, NamespacedType):
+        if (
+            type_.name.endswith(SERVICE_RESPONSE_MESSAGE_SUFFIX) or
+            type_.name.endswith(SERVICE_REQUEST_MESSAGE_SUFFIX)
+        ):
+            continue
         if (
             type_.name.endswith(ACTION_GOAL_SUFFIX) or
             type_.name.endswith(ACTION_RESULT_SUFFIX) or
diff --git a/rosidl_generator_py/resource/_msg_support.c.em b/rosidl_generator_py/resource/_msg_support.c.em
index efa53a10..1afdafb6 100644
--- a/rosidl_generator_py/resource/_msg_support.c.em
+++ b/rosidl_generator_py/resource/_msg_support.c.em
@@ -11,6 +11,8 @@ from rosidl_parser.definition import Array
 from rosidl_parser.definition import BasicType
 from rosidl_parser.definition import EMPTY_STRUCTURE_REQUIRED_MEMBER_NAME
 from rosidl_parser.definition import NamespacedType
+from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
+from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
 
 
 def primitive_msg_type_to_c(type_):
@@ -119,7 +121,10 @@ if isinstance(member.type, AbstractNestedType) and isinstance(member.type.value_
 nested_header = '/'.join(type_[:-1] + ('detail', convert_camel_case_to_lower_case_underscore(type_[-1]),))
 nested_header += '__functions.h'
 }@
-@[    if nested_header in include_directives]@
+@[    if type_[-1].endswith(SERVICE_REQUEST_MESSAGE_SUFFIX) or type_[-1].endswith(SERVICE_RESPONSE_MESSAGE_SUFFIX)]
+@# Service request/response messages are included in the srv__struct
+@[continue]
+@[    elif nested_header in include_directives]@
 // already included above
 // @
 @[    else]@
diff --git a/rosidl_generator_py/resource/_srv.py.em b/rosidl_generator_py/resource/_srv.py.em
index ccd6d90d..24d4548f 100644
--- a/rosidl_generator_py/resource/_srv.py.em
+++ b/rosidl_generator_py/resource/_srv.py.em
@@ -13,6 +13,10 @@ TEMPLATE(
     '_msg.py.em',
     package_name=package_name, interface_path=interface_path,
     message=service.response_message, import_statements=import_statements)
+TEMPLATE(
+    '_msg.py.em',
+    package_name=package_name, interface_path=interface_path,
+    message=service.event_message, import_statements=import_statements)
 }@
 
 
@@ -42,11 +46,14 @@ class Metaclass_@(service.namespaced_type.name)(type):
                 @(module_name).Metaclass_@(service.request_message.structure.namespaced_type.name).__import_type_support__()
             if @(module_name).Metaclass_@(service.response_message.structure.namespaced_type.name)._TYPE_SUPPORT is None:
                 @(module_name).Metaclass_@(service.response_message.structure.namespaced_type.name).__import_type_support__()
+            if @(module_name).Metaclass_@(service.event_message.structure.namespaced_type.name)._TYPE_SUPPORT is None:
+                @(module_name).Metaclass_@(service.event_message.structure.namespaced_type.name).__import_type_support__()
 
 
 class @(service.namespaced_type.name)(metaclass=Metaclass_@(service.namespaced_type.name)):
     from @('.'.join(service.namespaced_type.namespaces)).@(module_name) import @(service.request_message.structure.namespaced_type.name) as Request
     from @('.'.join(service.namespaced_type.namespaces)).@(module_name) import @(service.response_message.structure.namespaced_type.name) as Response
+    from @('.'.join(service.namespaced_type.namespaces)).@(module_name) import @(service.event_message.structure.namespaced_type.name) as Event
 
     def __init__(self):
         raise NotImplementedError('Service classes can not be instantiated')
diff --git a/rosidl_generator_py/resource/_srv_pkg_typesupport_entry_point.c.em b/rosidl_generator_py/resource/_srv_pkg_typesupport_entry_point.c.em
index e5ab4f18..353b01f1 100644
--- a/rosidl_generator_py/resource/_srv_pkg_typesupport_entry_point.c.em
+++ b/rosidl_generator_py/resource/_srv_pkg_typesupport_entry_point.c.em
@@ -16,6 +16,15 @@ TEMPLATE(
     include_directives=include_directives,
     register_functions=register_functions)
 }@
+
+@{
+TEMPLATE(
+    '_msg_pkg_typesupport_entry_point.c.em',
+    package_name=package_name, idl_type=idl_type,
+    message=service.event_message, typesupport_impl=typesupport_impl,
+    include_directives=include_directives,
+    register_functions=register_functions)
+}@
 @
 @{
 from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
diff --git a/rosidl_generator_py/rosidl_generator_py/generate_py_impl.py b/rosidl_generator_py/rosidl_generator_py/generate_py_impl.py
index 87a9f271..0cbaaa10 100644
--- a/rosidl_generator_py/rosidl_generator_py/generate_py_impl.py
+++ b/rosidl_generator_py/rosidl_generator_py/generate_py_impl.py
@@ -131,6 +131,35 @@ def print_warning_if_reserved_keyword(member_name, interface_type, interface_nam
                 f.write(
                     f'from {package_name}.{subfolder}.{module_name} import '
                     f'{idl_stem}  # noqa: F401\n')
+                if subfolder == 'srv':
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_Event  # noqa: F401\n')
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_Request  # noqa: F401\n')
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_Response  # noqa: F401\n')
+                elif subfolder == 'action':
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_GetResult_Event  # noqa: F401\n')
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_GetResult_Request  # noqa: F401\n')
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_GetResult_Response  # noqa: F401\n')
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_SendGoal_Event  # noqa: F401\n')
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_SendGoal_Request  # noqa: F401\n')
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_SendGoal_Response  # noqa: F401\n')
 
     # expand templates per available typesupport implementation
     template_dir = args['template_dir']