diff --git a/rclrs/src/vendor/action_msgs/mod.rs b/rclrs/src/vendor/action_msgs/mod.rs
new file mode 100644
index 000000000..f43deda46
--- /dev/null
+++ b/rclrs/src/vendor/action_msgs/mod.rs
@@ -0,0 +1,7 @@
+#![allow(non_camel_case_types)]
+#![allow(clippy::derive_partial_eq_without_eq)]
+#![allow(clippy::upper_case_acronyms)]
+
+pub mod msg;
+
+pub mod srv;
diff --git a/rclrs/src/vendor/action_msgs/msg.rs b/rclrs/src/vendor/action_msgs/msg.rs
new file mode 100644
index 000000000..32c7b7089
--- /dev/null
+++ b/rclrs/src/vendor/action_msgs/msg.rs
@@ -0,0 +1,457 @@
+pub mod rmw {
+    #[cfg(feature = "serde")]
+    use serde::{Deserialize, Serialize};
+
+    #[link(name = "action_msgs__rosidl_typesupport_c")]
+    extern "C" {
+        fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalInfo(
+        ) -> *const std::ffi::c_void;
+    }
+
+    #[link(name = "action_msgs__rosidl_generator_c")]
+    extern "C" {
+        fn action_msgs__msg__GoalInfo__init(msg: *mut GoalInfo) -> bool;
+        fn action_msgs__msg__GoalInfo__Sequence__init(
+            seq: *mut rosidl_runtime_rs::Sequence<GoalInfo>,
+            size: usize,
+        ) -> bool;
+        fn action_msgs__msg__GoalInfo__Sequence__fini(
+            seq: *mut rosidl_runtime_rs::Sequence<GoalInfo>,
+        );
+        fn action_msgs__msg__GoalInfo__Sequence__copy(
+            in_seq: &rosidl_runtime_rs::Sequence<GoalInfo>,
+            out_seq: *mut rosidl_runtime_rs::Sequence<GoalInfo>,
+        ) -> bool;
+    }
+
+    // Corresponds to action_msgs__msg__GoalInfo
+    #[repr(C)]
+    #[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+    #[derive(Clone, Debug, PartialEq, PartialOrd)]
+    pub struct GoalInfo {
+        pub goal_id: crate::vendor::unique_identifier_msgs::msg::rmw::UUID,
+        pub stamp: crate::vendor::builtin_interfaces::msg::rmw::Time,
+    }
+
+    impl Default for GoalInfo {
+        fn default() -> Self {
+            unsafe {
+                let mut msg = std::mem::zeroed();
+                if !action_msgs__msg__GoalInfo__init(&mut msg as *mut _) {
+                    panic!("Call to action_msgs__msg__GoalInfo__init() failed");
+                }
+                msg
+            }
+        }
+    }
+
+    impl rosidl_runtime_rs::SequenceAlloc for GoalInfo {
+        fn sequence_init(seq: &mut rosidl_runtime_rs::Sequence<Self>, size: usize) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { action_msgs__msg__GoalInfo__Sequence__init(seq as *mut _, size) }
+        }
+        fn sequence_fini(seq: &mut rosidl_runtime_rs::Sequence<Self>) {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { action_msgs__msg__GoalInfo__Sequence__fini(seq as *mut _) }
+        }
+        fn sequence_copy(
+            in_seq: &rosidl_runtime_rs::Sequence<Self>,
+            out_seq: &mut rosidl_runtime_rs::Sequence<Self>,
+        ) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { action_msgs__msg__GoalInfo__Sequence__copy(in_seq, out_seq as *mut _) }
+        }
+    }
+
+    impl rosidl_runtime_rs::Message for GoalInfo {
+        type RmwMsg = Self;
+        fn into_rmw_message(
+            msg_cow: std::borrow::Cow<'_, Self>,
+        ) -> std::borrow::Cow<'_, Self::RmwMsg> {
+            msg_cow
+        }
+        fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+            msg
+        }
+    }
+
+    impl rosidl_runtime_rs::RmwMessage for GoalInfo
+    where
+        Self: Sized,
+    {
+        const TYPE_NAME: &'static str = "action_msgs/msg/GoalInfo";
+        fn get_type_support() -> *const std::ffi::c_void {
+            // SAFETY: No preconditions for this function.
+            unsafe {
+                rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalInfo()
+            }
+        }
+    }
+
+    #[link(name = "action_msgs__rosidl_typesupport_c")]
+    extern "C" {
+        fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalStatus(
+        ) -> *const std::ffi::c_void;
+    }
+
+    #[link(name = "action_msgs__rosidl_generator_c")]
+    extern "C" {
+        fn action_msgs__msg__GoalStatus__init(msg: *mut GoalStatus) -> bool;
+        fn action_msgs__msg__GoalStatus__Sequence__init(
+            seq: *mut rosidl_runtime_rs::Sequence<GoalStatus>,
+            size: usize,
+        ) -> bool;
+        fn action_msgs__msg__GoalStatus__Sequence__fini(
+            seq: *mut rosidl_runtime_rs::Sequence<GoalStatus>,
+        );
+        fn action_msgs__msg__GoalStatus__Sequence__copy(
+            in_seq: &rosidl_runtime_rs::Sequence<GoalStatus>,
+            out_seq: *mut rosidl_runtime_rs::Sequence<GoalStatus>,
+        ) -> bool;
+    }
+
+    // Corresponds to action_msgs__msg__GoalStatus
+    #[repr(C)]
+    #[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+    #[derive(Clone, Debug, PartialEq, PartialOrd)]
+    pub struct GoalStatus {
+        pub goal_info: crate::vendor::action_msgs::msg::rmw::GoalInfo,
+        pub status: i8,
+    }
+
+    impl GoalStatus {
+        /// Indicates status has not been properly set.
+        pub const STATUS_UNKNOWN: i8 = 0;
+        /// The goal has been accepted and is awaiting execution.
+        pub const STATUS_ACCEPTED: i8 = 1;
+        /// The goal is currently being executed by the action server.
+        pub const STATUS_EXECUTING: i8 = 2;
+        /// The client has requested that the goal be canceled and the action server has
+        /// accepted the cancel request.
+        pub const STATUS_CANCELING: i8 = 3;
+        /// The goal was achieved successfully by the action server.
+        pub const STATUS_SUCCEEDED: i8 = 4;
+        /// The goal was canceled after an external request from an action client.
+        pub const STATUS_CANCELED: i8 = 5;
+        /// The goal was terminated by the action server without an external request.
+        pub const STATUS_ABORTED: i8 = 6;
+    }
+
+    impl Default for GoalStatus {
+        fn default() -> Self {
+            unsafe {
+                let mut msg = std::mem::zeroed();
+                if !action_msgs__msg__GoalStatus__init(&mut msg as *mut _) {
+                    panic!("Call to action_msgs__msg__GoalStatus__init() failed");
+                }
+                msg
+            }
+        }
+    }
+
+    impl rosidl_runtime_rs::SequenceAlloc for GoalStatus {
+        fn sequence_init(seq: &mut rosidl_runtime_rs::Sequence<Self>, size: usize) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { action_msgs__msg__GoalStatus__Sequence__init(seq as *mut _, size) }
+        }
+        fn sequence_fini(seq: &mut rosidl_runtime_rs::Sequence<Self>) {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { action_msgs__msg__GoalStatus__Sequence__fini(seq as *mut _) }
+        }
+        fn sequence_copy(
+            in_seq: &rosidl_runtime_rs::Sequence<Self>,
+            out_seq: &mut rosidl_runtime_rs::Sequence<Self>,
+        ) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { action_msgs__msg__GoalStatus__Sequence__copy(in_seq, out_seq as *mut _) }
+        }
+    }
+
+    impl rosidl_runtime_rs::Message for GoalStatus {
+        type RmwMsg = Self;
+        fn into_rmw_message(
+            msg_cow: std::borrow::Cow<'_, Self>,
+        ) -> std::borrow::Cow<'_, Self::RmwMsg> {
+            msg_cow
+        }
+        fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+            msg
+        }
+    }
+
+    impl rosidl_runtime_rs::RmwMessage for GoalStatus
+    where
+        Self: Sized,
+    {
+        const TYPE_NAME: &'static str = "action_msgs/msg/GoalStatus";
+        fn get_type_support() -> *const std::ffi::c_void {
+            // SAFETY: No preconditions for this function.
+            unsafe {
+                rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalStatus(
+                )
+            }
+        }
+    }
+
+    #[link(name = "action_msgs__rosidl_typesupport_c")]
+    extern "C" {
+        fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalStatusArray(
+        ) -> *const std::ffi::c_void;
+    }
+
+    #[link(name = "action_msgs__rosidl_generator_c")]
+    extern "C" {
+        fn action_msgs__msg__GoalStatusArray__init(msg: *mut GoalStatusArray) -> bool;
+        fn action_msgs__msg__GoalStatusArray__Sequence__init(
+            seq: *mut rosidl_runtime_rs::Sequence<GoalStatusArray>,
+            size: usize,
+        ) -> bool;
+        fn action_msgs__msg__GoalStatusArray__Sequence__fini(
+            seq: *mut rosidl_runtime_rs::Sequence<GoalStatusArray>,
+        );
+        fn action_msgs__msg__GoalStatusArray__Sequence__copy(
+            in_seq: &rosidl_runtime_rs::Sequence<GoalStatusArray>,
+            out_seq: *mut rosidl_runtime_rs::Sequence<GoalStatusArray>,
+        ) -> bool;
+    }
+
+    // Corresponds to action_msgs__msg__GoalStatusArray
+    #[repr(C)]
+    #[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+    #[derive(Clone, Debug, PartialEq, PartialOrd)]
+    pub struct GoalStatusArray {
+        pub status_list:
+            rosidl_runtime_rs::Sequence<crate::vendor::action_msgs::msg::rmw::GoalStatus>,
+    }
+
+    impl Default for GoalStatusArray {
+        fn default() -> Self {
+            unsafe {
+                let mut msg = std::mem::zeroed();
+                if !action_msgs__msg__GoalStatusArray__init(&mut msg as *mut _) {
+                    panic!("Call to action_msgs__msg__GoalStatusArray__init() failed");
+                }
+                msg
+            }
+        }
+    }
+
+    impl rosidl_runtime_rs::SequenceAlloc for GoalStatusArray {
+        fn sequence_init(seq: &mut rosidl_runtime_rs::Sequence<Self>, size: usize) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { action_msgs__msg__GoalStatusArray__Sequence__init(seq as *mut _, size) }
+        }
+        fn sequence_fini(seq: &mut rosidl_runtime_rs::Sequence<Self>) {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { action_msgs__msg__GoalStatusArray__Sequence__fini(seq as *mut _) }
+        }
+        fn sequence_copy(
+            in_seq: &rosidl_runtime_rs::Sequence<Self>,
+            out_seq: &mut rosidl_runtime_rs::Sequence<Self>,
+        ) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { action_msgs__msg__GoalStatusArray__Sequence__copy(in_seq, out_seq as *mut _) }
+        }
+    }
+
+    impl rosidl_runtime_rs::Message for GoalStatusArray {
+        type RmwMsg = Self;
+        fn into_rmw_message(
+            msg_cow: std::borrow::Cow<'_, Self>,
+        ) -> std::borrow::Cow<'_, Self::RmwMsg> {
+            msg_cow
+        }
+        fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+            msg
+        }
+    }
+
+    impl rosidl_runtime_rs::RmwMessage for GoalStatusArray
+    where
+        Self: Sized,
+    {
+        const TYPE_NAME: &'static str = "action_msgs/msg/GoalStatusArray";
+        fn get_type_support() -> *const std::ffi::c_void {
+            // SAFETY: No preconditions for this function.
+            unsafe {
+                rosidl_typesupport_c__get_message_type_support_handle__action_msgs__msg__GoalStatusArray()
+            }
+        }
+    }
+} // mod rmw
+
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
+#[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+#[derive(Clone, Debug, PartialEq, PartialOrd)]
+pub struct GoalInfo {
+    pub goal_id: crate::vendor::unique_identifier_msgs::msg::UUID,
+    pub stamp: crate::vendor::builtin_interfaces::msg::Time,
+}
+
+impl Default for GoalInfo {
+    fn default() -> Self {
+        <Self as rosidl_runtime_rs::Message>::from_rmw_message(
+            crate::vendor::action_msgs::msg::rmw::GoalInfo::default(),
+        )
+    }
+}
+
+impl rosidl_runtime_rs::Message for GoalInfo {
+    type RmwMsg = crate::vendor::action_msgs::msg::rmw::GoalInfo;
+
+    fn into_rmw_message(msg_cow: std::borrow::Cow<'_, Self>) -> std::borrow::Cow<'_, Self::RmwMsg> {
+        match msg_cow {
+            std::borrow::Cow::Owned(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+                goal_id: crate::vendor::unique_identifier_msgs::msg::UUID::into_rmw_message(
+                    std::borrow::Cow::Owned(msg.goal_id),
+                )
+                .into_owned(),
+                stamp: crate::vendor::builtin_interfaces::msg::Time::into_rmw_message(
+                    std::borrow::Cow::Owned(msg.stamp),
+                )
+                .into_owned(),
+            }),
+            std::borrow::Cow::Borrowed(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+                goal_id: crate::vendor::unique_identifier_msgs::msg::UUID::into_rmw_message(
+                    std::borrow::Cow::Borrowed(&msg.goal_id),
+                )
+                .into_owned(),
+                stamp: crate::vendor::builtin_interfaces::msg::Time::into_rmw_message(
+                    std::borrow::Cow::Borrowed(&msg.stamp),
+                )
+                .into_owned(),
+            }),
+        }
+    }
+
+    fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+        Self {
+            goal_id: crate::vendor::unique_identifier_msgs::msg::UUID::from_rmw_message(
+                msg.goal_id,
+            ),
+            stamp: crate::vendor::builtin_interfaces::msg::Time::from_rmw_message(msg.stamp),
+        }
+    }
+}
+
+#[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+#[derive(Clone, Debug, PartialEq, PartialOrd)]
+pub struct GoalStatus {
+    pub goal_info: crate::vendor::action_msgs::msg::GoalInfo,
+    pub status: i8,
+}
+
+impl GoalStatus {
+    /// Indicates status has not been properly set.
+    pub const STATUS_UNKNOWN: i8 = 0;
+    /// The goal has been accepted and is awaiting execution.
+    pub const STATUS_ACCEPTED: i8 = 1;
+    /// The goal is currently being executed by the action server.
+    pub const STATUS_EXECUTING: i8 = 2;
+    /// The client has requested that the goal be canceled and the action server has
+    /// accepted the cancel request.
+    pub const STATUS_CANCELING: i8 = 3;
+    /// The goal was achieved successfully by the action server.
+    pub const STATUS_SUCCEEDED: i8 = 4;
+    /// The goal was canceled after an external request from an action client.
+    pub const STATUS_CANCELED: i8 = 5;
+    /// The goal was terminated by the action server without an external request.
+    pub const STATUS_ABORTED: i8 = 6;
+}
+
+impl Default for GoalStatus {
+    fn default() -> Self {
+        <Self as rosidl_runtime_rs::Message>::from_rmw_message(
+            crate::vendor::action_msgs::msg::rmw::GoalStatus::default(),
+        )
+    }
+}
+
+impl rosidl_runtime_rs::Message for GoalStatus {
+    type RmwMsg = crate::vendor::action_msgs::msg::rmw::GoalStatus;
+
+    fn into_rmw_message(msg_cow: std::borrow::Cow<'_, Self>) -> std::borrow::Cow<'_, Self::RmwMsg> {
+        match msg_cow {
+            std::borrow::Cow::Owned(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+                goal_info: crate::vendor::action_msgs::msg::GoalInfo::into_rmw_message(
+                    std::borrow::Cow::Owned(msg.goal_info),
+                )
+                .into_owned(),
+                status: msg.status,
+            }),
+            std::borrow::Cow::Borrowed(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+                goal_info: crate::vendor::action_msgs::msg::GoalInfo::into_rmw_message(
+                    std::borrow::Cow::Borrowed(&msg.goal_info),
+                )
+                .into_owned(),
+                status: msg.status,
+            }),
+        }
+    }
+
+    fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+        Self {
+            goal_info: crate::vendor::action_msgs::msg::GoalInfo::from_rmw_message(msg.goal_info),
+            status: msg.status,
+        }
+    }
+}
+
+#[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+#[derive(Clone, Debug, PartialEq, PartialOrd)]
+pub struct GoalStatusArray {
+    pub status_list: Vec<crate::vendor::action_msgs::msg::GoalStatus>,
+}
+
+impl Default for GoalStatusArray {
+    fn default() -> Self {
+        <Self as rosidl_runtime_rs::Message>::from_rmw_message(
+            crate::vendor::action_msgs::msg::rmw::GoalStatusArray::default(),
+        )
+    }
+}
+
+impl rosidl_runtime_rs::Message for GoalStatusArray {
+    type RmwMsg = crate::vendor::action_msgs::msg::rmw::GoalStatusArray;
+
+    fn into_rmw_message(msg_cow: std::borrow::Cow<'_, Self>) -> std::borrow::Cow<'_, Self::RmwMsg> {
+        match msg_cow {
+            std::borrow::Cow::Owned(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+                status_list: msg
+                    .status_list
+                    .into_iter()
+                    .map(|elem| {
+                        crate::vendor::action_msgs::msg::GoalStatus::into_rmw_message(
+                            std::borrow::Cow::Owned(elem),
+                        )
+                        .into_owned()
+                    })
+                    .collect(),
+            }),
+            std::borrow::Cow::Borrowed(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+                status_list: msg
+                    .status_list
+                    .iter()
+                    .map(|elem| {
+                        crate::vendor::action_msgs::msg::GoalStatus::into_rmw_message(
+                            std::borrow::Cow::Borrowed(elem),
+                        )
+                        .into_owned()
+                    })
+                    .collect(),
+            }),
+        }
+    }
+
+    fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+        Self {
+            status_list: msg
+                .status_list
+                .into_iter()
+                .map(crate::vendor::action_msgs::msg::GoalStatus::from_rmw_message)
+                .collect(),
+        }
+    }
+}
diff --git a/rclrs/src/vendor/action_msgs/srv.rs b/rclrs/src/vendor/action_msgs/srv.rs
new file mode 100644
index 000000000..f4cf6fe53
--- /dev/null
+++ b/rclrs/src/vendor/action_msgs/srv.rs
@@ -0,0 +1,375 @@
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
+#[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+#[derive(Clone, Debug, PartialEq, PartialOrd)]
+pub struct CancelGoal_Request {
+    pub goal_info: crate::vendor::action_msgs::msg::GoalInfo,
+}
+
+impl Default for CancelGoal_Request {
+    fn default() -> Self {
+        <Self as rosidl_runtime_rs::Message>::from_rmw_message(
+            crate::vendor::action_msgs::srv::rmw::CancelGoal_Request::default(),
+        )
+    }
+}
+
+impl rosidl_runtime_rs::Message for CancelGoal_Request {
+    type RmwMsg = crate::vendor::action_msgs::srv::rmw::CancelGoal_Request;
+
+    fn into_rmw_message(msg_cow: std::borrow::Cow<'_, Self>) -> std::borrow::Cow<'_, Self::RmwMsg> {
+        match msg_cow {
+            std::borrow::Cow::Owned(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+                goal_info: crate::vendor::action_msgs::msg::GoalInfo::into_rmw_message(
+                    std::borrow::Cow::Owned(msg.goal_info),
+                )
+                .into_owned(),
+            }),
+            std::borrow::Cow::Borrowed(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+                goal_info: crate::vendor::action_msgs::msg::GoalInfo::into_rmw_message(
+                    std::borrow::Cow::Borrowed(&msg.goal_info),
+                )
+                .into_owned(),
+            }),
+        }
+    }
+
+    fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+        Self {
+            goal_info: crate::vendor::action_msgs::msg::GoalInfo::from_rmw_message(msg.goal_info),
+        }
+    }
+}
+
+#[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+#[derive(Clone, Debug, PartialEq, PartialOrd)]
+pub struct CancelGoal_Response {
+    pub return_code: i8,
+    pub goals_canceling: Vec<crate::vendor::action_msgs::msg::GoalInfo>,
+}
+
+impl CancelGoal_Response {
+    /// Indicates the request was accepted without any errors.
+    ///
+    /// One or more goals have transitioned to the CANCELING state. The
+    /// goals_canceling list is not empty.
+    pub const ERROR_NONE: i8 = 0;
+    /// Indicates the request was rejected.
+    ///
+    /// No goals have transitioned to the CANCELING state. The goals_canceling list is
+    /// empty.
+    pub const ERROR_REJECTED: i8 = 1;
+    /// Indicates the requested goal ID does not exist.
+    ///
+    /// No goals have transitioned to the CANCELING state. The goals_canceling list is
+    /// empty.
+    pub const ERROR_UNKNOWN_GOAL_ID: i8 = 2;
+    /// Indicates the goal is not cancelable because it is already in a terminal state.
+    ///
+    /// No goals have transitioned to the CANCELING state. The goals_canceling list is
+    /// empty.
+    pub const ERROR_GOAL_TERMINATED: i8 = 3;
+}
+
+impl Default for CancelGoal_Response {
+    fn default() -> Self {
+        <Self as rosidl_runtime_rs::Message>::from_rmw_message(
+            crate::vendor::action_msgs::srv::rmw::CancelGoal_Response::default(),
+        )
+    }
+}
+
+impl rosidl_runtime_rs::Message for CancelGoal_Response {
+    type RmwMsg = crate::vendor::action_msgs::srv::rmw::CancelGoal_Response;
+
+    fn into_rmw_message(msg_cow: std::borrow::Cow<'_, Self>) -> std::borrow::Cow<'_, Self::RmwMsg> {
+        match msg_cow {
+            std::borrow::Cow::Owned(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+                return_code: msg.return_code,
+                goals_canceling: msg
+                    .goals_canceling
+                    .into_iter()
+                    .map(|elem| {
+                        crate::vendor::action_msgs::msg::GoalInfo::into_rmw_message(
+                            std::borrow::Cow::Owned(elem),
+                        )
+                        .into_owned()
+                    })
+                    .collect(),
+            }),
+            std::borrow::Cow::Borrowed(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+                return_code: msg.return_code,
+                goals_canceling: msg
+                    .goals_canceling
+                    .iter()
+                    .map(|elem| {
+                        crate::vendor::action_msgs::msg::GoalInfo::into_rmw_message(
+                            std::borrow::Cow::Borrowed(elem),
+                        )
+                        .into_owned()
+                    })
+                    .collect(),
+            }),
+        }
+    }
+
+    fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+        Self {
+            return_code: msg.return_code,
+            goals_canceling: msg
+                .goals_canceling
+                .into_iter()
+                .map(crate::vendor::action_msgs::msg::GoalInfo::from_rmw_message)
+                .collect(),
+        }
+    }
+}
+
+#[link(name = "action_msgs__rosidl_typesupport_c")]
+extern "C" {
+    fn rosidl_typesupport_c__get_service_type_support_handle__action_msgs__srv__CancelGoal(
+    ) -> *const std::ffi::c_void;
+}
+
+// Corresponds to action_msgs__srv__CancelGoal
+pub struct CancelGoal;
+
+impl rosidl_runtime_rs::Service for CancelGoal {
+    type Request = crate::vendor::action_msgs::srv::CancelGoal_Request;
+    type Response = crate::vendor::action_msgs::srv::CancelGoal_Response;
+
+    fn get_type_support() -> *const std::ffi::c_void {
+        // SAFETY: No preconditions for this function.
+        unsafe {
+            rosidl_typesupport_c__get_service_type_support_handle__action_msgs__srv__CancelGoal()
+        }
+    }
+}
+
+pub mod rmw {
+
+    #[cfg(feature = "serde")]
+    use serde::{Deserialize, Serialize};
+
+    #[link(name = "action_msgs__rosidl_typesupport_c")]
+    extern "C" {
+        fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__srv__CancelGoal_Request(
+        ) -> *const std::ffi::c_void;
+    }
+
+    #[link(name = "action_msgs__rosidl_generator_c")]
+    extern "C" {
+        fn action_msgs__srv__CancelGoal_Request__init(msg: *mut CancelGoal_Request) -> bool;
+        fn action_msgs__srv__CancelGoal_Request__Sequence__init(
+            seq: *mut rosidl_runtime_rs::Sequence<CancelGoal_Request>,
+            size: usize,
+        ) -> bool;
+        fn action_msgs__srv__CancelGoal_Request__Sequence__fini(
+            seq: *mut rosidl_runtime_rs::Sequence<CancelGoal_Request>,
+        );
+        fn action_msgs__srv__CancelGoal_Request__Sequence__copy(
+            in_seq: &rosidl_runtime_rs::Sequence<CancelGoal_Request>,
+            out_seq: *mut rosidl_runtime_rs::Sequence<CancelGoal_Request>,
+        ) -> bool;
+    }
+
+    // Corresponds to action_msgs__srv__CancelGoal_Request
+    #[repr(C)]
+    #[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+    #[derive(Clone, Debug, PartialEq, PartialOrd)]
+    pub struct CancelGoal_Request {
+        pub goal_info: crate::vendor::action_msgs::msg::rmw::GoalInfo,
+    }
+
+    impl Default for CancelGoal_Request {
+        fn default() -> Self {
+            unsafe {
+                let mut msg = std::mem::zeroed();
+                if !action_msgs__srv__CancelGoal_Request__init(&mut msg as *mut _) {
+                    panic!("Call to action_msgs__srv__CancelGoal_Request__init() failed");
+                }
+                msg
+            }
+        }
+    }
+
+    impl rosidl_runtime_rs::SequenceAlloc for CancelGoal_Request {
+        fn sequence_init(seq: &mut rosidl_runtime_rs::Sequence<Self>, size: usize) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { action_msgs__srv__CancelGoal_Request__Sequence__init(seq as *mut _, size) }
+        }
+        fn sequence_fini(seq: &mut rosidl_runtime_rs::Sequence<Self>) {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { action_msgs__srv__CancelGoal_Request__Sequence__fini(seq as *mut _) }
+        }
+        fn sequence_copy(
+            in_seq: &rosidl_runtime_rs::Sequence<Self>,
+            out_seq: &mut rosidl_runtime_rs::Sequence<Self>,
+        ) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe {
+                action_msgs__srv__CancelGoal_Request__Sequence__copy(in_seq, out_seq as *mut _)
+            }
+        }
+    }
+
+    impl rosidl_runtime_rs::Message for CancelGoal_Request {
+        type RmwMsg = Self;
+        fn into_rmw_message(
+            msg_cow: std::borrow::Cow<'_, Self>,
+        ) -> std::borrow::Cow<'_, Self::RmwMsg> {
+            msg_cow
+        }
+        fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+            msg
+        }
+    }
+
+    impl rosidl_runtime_rs::RmwMessage for CancelGoal_Request
+    where
+        Self: Sized,
+    {
+        const TYPE_NAME: &'static str = "action_msgs/srv/CancelGoal_Request";
+        fn get_type_support() -> *const std::ffi::c_void {
+            // SAFETY: No preconditions for this function.
+            unsafe {
+                rosidl_typesupport_c__get_message_type_support_handle__action_msgs__srv__CancelGoal_Request()
+            }
+        }
+    }
+
+    #[link(name = "action_msgs__rosidl_typesupport_c")]
+    extern "C" {
+        fn rosidl_typesupport_c__get_message_type_support_handle__action_msgs__srv__CancelGoal_Response(
+        ) -> *const std::ffi::c_void;
+    }
+
+    #[link(name = "action_msgs__rosidl_generator_c")]
+    extern "C" {
+        fn action_msgs__srv__CancelGoal_Response__init(msg: *mut CancelGoal_Response) -> bool;
+        fn action_msgs__srv__CancelGoal_Response__Sequence__init(
+            seq: *mut rosidl_runtime_rs::Sequence<CancelGoal_Response>,
+            size: usize,
+        ) -> bool;
+        fn action_msgs__srv__CancelGoal_Response__Sequence__fini(
+            seq: *mut rosidl_runtime_rs::Sequence<CancelGoal_Response>,
+        );
+        fn action_msgs__srv__CancelGoal_Response__Sequence__copy(
+            in_seq: &rosidl_runtime_rs::Sequence<CancelGoal_Response>,
+            out_seq: *mut rosidl_runtime_rs::Sequence<CancelGoal_Response>,
+        ) -> bool;
+    }
+
+    // Corresponds to action_msgs__srv__CancelGoal_Response
+    #[repr(C)]
+    #[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+    #[derive(Clone, Debug, PartialEq, PartialOrd)]
+    pub struct CancelGoal_Response {
+        pub return_code: i8,
+        pub goals_canceling:
+            rosidl_runtime_rs::Sequence<crate::vendor::action_msgs::msg::rmw::GoalInfo>,
+    }
+
+    impl CancelGoal_Response {
+        /// Indicates the request was accepted without any errors.
+        ///
+        /// One or more goals have transitioned to the CANCELING state. The
+        /// goals_canceling list is not empty.
+        pub const ERROR_NONE: i8 = 0;
+        /// Indicates the request was rejected.
+        ///
+        /// No goals have transitioned to the CANCELING state. The goals_canceling list is
+        /// empty.
+        pub const ERROR_REJECTED: i8 = 1;
+        /// Indicates the requested goal ID does not exist.
+        ///
+        /// No goals have transitioned to the CANCELING state. The goals_canceling list is
+        /// empty.
+        pub const ERROR_UNKNOWN_GOAL_ID: i8 = 2;
+        /// Indicates the goal is not cancelable because it is already in a terminal state.
+        ///
+        /// No goals have transitioned to the CANCELING state. The goals_canceling list is
+        /// empty.
+        pub const ERROR_GOAL_TERMINATED: i8 = 3;
+    }
+
+    impl Default for CancelGoal_Response {
+        fn default() -> Self {
+            unsafe {
+                let mut msg = std::mem::zeroed();
+                if !action_msgs__srv__CancelGoal_Response__init(&mut msg as *mut _) {
+                    panic!("Call to action_msgs__srv__CancelGoal_Response__init() failed");
+                }
+                msg
+            }
+        }
+    }
+
+    impl rosidl_runtime_rs::SequenceAlloc for CancelGoal_Response {
+        fn sequence_init(seq: &mut rosidl_runtime_rs::Sequence<Self>, size: usize) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { action_msgs__srv__CancelGoal_Response__Sequence__init(seq as *mut _, size) }
+        }
+        fn sequence_fini(seq: &mut rosidl_runtime_rs::Sequence<Self>) {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { action_msgs__srv__CancelGoal_Response__Sequence__fini(seq as *mut _) }
+        }
+        fn sequence_copy(
+            in_seq: &rosidl_runtime_rs::Sequence<Self>,
+            out_seq: &mut rosidl_runtime_rs::Sequence<Self>,
+        ) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe {
+                action_msgs__srv__CancelGoal_Response__Sequence__copy(in_seq, out_seq as *mut _)
+            }
+        }
+    }
+
+    impl rosidl_runtime_rs::Message for CancelGoal_Response {
+        type RmwMsg = Self;
+        fn into_rmw_message(
+            msg_cow: std::borrow::Cow<'_, Self>,
+        ) -> std::borrow::Cow<'_, Self::RmwMsg> {
+            msg_cow
+        }
+        fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+            msg
+        }
+    }
+
+    impl rosidl_runtime_rs::RmwMessage for CancelGoal_Response
+    where
+        Self: Sized,
+    {
+        const TYPE_NAME: &'static str = "action_msgs/srv/CancelGoal_Response";
+        fn get_type_support() -> *const std::ffi::c_void {
+            // SAFETY: No preconditions for this function.
+            unsafe {
+                rosidl_typesupport_c__get_message_type_support_handle__action_msgs__srv__CancelGoal_Response()
+            }
+        }
+    }
+
+    #[link(name = "action_msgs__rosidl_typesupport_c")]
+    extern "C" {
+        fn rosidl_typesupport_c__get_service_type_support_handle__action_msgs__srv__CancelGoal(
+        ) -> *const std::ffi::c_void;
+    }
+
+    // Corresponds to action_msgs__srv__CancelGoal
+    pub struct CancelGoal;
+
+    impl rosidl_runtime_rs::Service for CancelGoal {
+        type Request = crate::vendor::action_msgs::srv::rmw::CancelGoal_Request;
+        type Response = crate::vendor::action_msgs::srv::rmw::CancelGoal_Response;
+
+        fn get_type_support() -> *const std::ffi::c_void {
+            // SAFETY: No preconditions for this function.
+            unsafe {
+                rosidl_typesupport_c__get_service_type_support_handle__action_msgs__srv__CancelGoal(
+                )
+            }
+        }
+    }
+} // mod rmw
diff --git a/rclrs/src/vendor/builtin_interfaces/mod.rs b/rclrs/src/vendor/builtin_interfaces/mod.rs
index a6365b3b8..4c61d56a1 100644
--- a/rclrs/src/vendor/builtin_interfaces/mod.rs
+++ b/rclrs/src/vendor/builtin_interfaces/mod.rs
@@ -1,3 +1,5 @@
 #![allow(non_camel_case_types)]
+#![allow(clippy::derive_partial_eq_without_eq)]
+#![allow(clippy::upper_case_acronyms)]
 
 pub mod msg;
diff --git a/rclrs/src/vendor/builtin_interfaces/msg.rs b/rclrs/src/vendor/builtin_interfaces/msg.rs
index 371803171..fd2ec47cd 100644
--- a/rclrs/src/vendor/builtin_interfaces/msg.rs
+++ b/rclrs/src/vendor/builtin_interfaces/msg.rs
@@ -5,7 +5,7 @@ pub mod rmw {
     #[link(name = "builtin_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__builtin_interfaces__msg__Duration(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "builtin_interfaces__rosidl_generator_c")]
@@ -80,7 +80,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "builtin_interfaces/msg/Duration";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__builtin_interfaces__msg__Duration()
@@ -91,7 +91,7 @@ pub mod rmw {
     #[link(name = "builtin_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__builtin_interfaces__msg__Time(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "builtin_interfaces__rosidl_generator_c")]
@@ -166,7 +166,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "builtin_interfaces/msg/Time";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__builtin_interfaces__msg__Time(
diff --git a/rclrs/src/vendor/mod.rs b/rclrs/src/vendor/mod.rs
index fe87087b1..df638ee7f 100644
--- a/rclrs/src/vendor/mod.rs
+++ b/rclrs/src/vendor/mod.rs
@@ -1,7 +1,8 @@
 //! Created by vendor_interfaces.py
 #![allow(dead_code)]
-#![allow(clippy::derive_partial_eq_without_eq)]
 
+pub mod action_msgs;
 pub mod builtin_interfaces;
 pub mod rcl_interfaces;
 pub mod rosgraph_msgs;
+pub mod unique_identifier_msgs;
diff --git a/rclrs/src/vendor/rcl_interfaces/mod.rs b/rclrs/src/vendor/rcl_interfaces/mod.rs
index ff96b59a9..f43deda46 100644
--- a/rclrs/src/vendor/rcl_interfaces/mod.rs
+++ b/rclrs/src/vendor/rcl_interfaces/mod.rs
@@ -1,4 +1,6 @@
 #![allow(non_camel_case_types)]
+#![allow(clippy::derive_partial_eq_without_eq)]
+#![allow(clippy::upper_case_acronyms)]
 
 pub mod msg;
 
diff --git a/rclrs/src/vendor/rcl_interfaces/msg.rs b/rclrs/src/vendor/rcl_interfaces/msg.rs
index 39c029ae1..7f6dbcc58 100644
--- a/rclrs/src/vendor/rcl_interfaces/msg.rs
+++ b/rclrs/src/vendor/rcl_interfaces/msg.rs
@@ -5,7 +5,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__FloatingPointRange(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -83,7 +83,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/msg/FloatingPointRange";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__FloatingPointRange()
@@ -94,7 +94,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__IntegerRange(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -170,7 +170,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/msg/IntegerRange";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__IntegerRange()
@@ -181,7 +181,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__ListParametersResult(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -260,7 +260,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/msg/ListParametersResult";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__ListParametersResult()
@@ -271,7 +271,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__Log(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -364,7 +364,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/msg/Log";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__Log()
@@ -375,7 +375,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__ParameterDescriptor(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -464,7 +464,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/msg/ParameterDescriptor";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__ParameterDescriptor()
@@ -475,7 +475,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__ParameterEventDescriptors(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -566,7 +566,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/msg/ParameterEventDescriptors";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__ParameterEventDescriptors()
@@ -577,7 +577,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__ParameterEvent(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -660,7 +660,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/msg/ParameterEvent";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__ParameterEvent()
@@ -671,7 +671,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__Parameter(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -746,7 +746,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/msg/Parameter";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__Parameter()
@@ -757,7 +757,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__ParameterType(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -845,7 +845,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/msg/ParameterType";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__ParameterType()
@@ -856,7 +856,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__ParameterValue(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -941,7 +941,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/msg/ParameterValue";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__ParameterValue()
@@ -952,7 +952,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__SetParametersResult(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -1029,7 +1029,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/msg/SetParametersResult";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__SetParametersResult()
diff --git a/rclrs/src/vendor/rcl_interfaces/srv.rs b/rclrs/src/vendor/rcl_interfaces/srv.rs
index 221d7eac1..3f43398a1 100644
--- a/rclrs/src/vendor/rcl_interfaces/srv.rs
+++ b/rclrs/src/vendor/rcl_interfaces/srv.rs
@@ -582,7 +582,7 @@ impl rosidl_runtime_rs::Message for SetParameters_Response {
 #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
 extern "C" {
     fn rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__DescribeParameters(
-    ) -> *const std::os::raw::c_void;
+    ) -> *const std::ffi::c_void;
 }
 
 // Corresponds to rcl_interfaces__srv__DescribeParameters
@@ -592,7 +592,7 @@ impl rosidl_runtime_rs::Service for DescribeParameters {
     type Request = crate::vendor::rcl_interfaces::srv::DescribeParameters_Request;
     type Response = crate::vendor::rcl_interfaces::srv::DescribeParameters_Response;
 
-    fn get_type_support() -> *const std::os::raw::c_void {
+    fn get_type_support() -> *const std::ffi::c_void {
         // SAFETY: No preconditions for this function.
         unsafe {
             rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__DescribeParameters()
@@ -603,7 +603,7 @@ impl rosidl_runtime_rs::Service for DescribeParameters {
 #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
 extern "C" {
     fn rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__GetParameters(
-    ) -> *const std::os::raw::c_void;
+    ) -> *const std::ffi::c_void;
 }
 
 // Corresponds to rcl_interfaces__srv__GetParameters
@@ -613,7 +613,7 @@ impl rosidl_runtime_rs::Service for GetParameters {
     type Request = crate::vendor::rcl_interfaces::srv::GetParameters_Request;
     type Response = crate::vendor::rcl_interfaces::srv::GetParameters_Response;
 
-    fn get_type_support() -> *const std::os::raw::c_void {
+    fn get_type_support() -> *const std::ffi::c_void {
         // SAFETY: No preconditions for this function.
         unsafe {
             rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__GetParameters()
@@ -624,7 +624,7 @@ impl rosidl_runtime_rs::Service for GetParameters {
 #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
 extern "C" {
     fn rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__GetParameterTypes(
-    ) -> *const std::os::raw::c_void;
+    ) -> *const std::ffi::c_void;
 }
 
 // Corresponds to rcl_interfaces__srv__GetParameterTypes
@@ -634,7 +634,7 @@ impl rosidl_runtime_rs::Service for GetParameterTypes {
     type Request = crate::vendor::rcl_interfaces::srv::GetParameterTypes_Request;
     type Response = crate::vendor::rcl_interfaces::srv::GetParameterTypes_Response;
 
-    fn get_type_support() -> *const std::os::raw::c_void {
+    fn get_type_support() -> *const std::ffi::c_void {
         // SAFETY: No preconditions for this function.
         unsafe {
             rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__GetParameterTypes()
@@ -645,7 +645,7 @@ impl rosidl_runtime_rs::Service for GetParameterTypes {
 #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
 extern "C" {
     fn rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__ListParameters(
-    ) -> *const std::os::raw::c_void;
+    ) -> *const std::ffi::c_void;
 }
 
 // Corresponds to rcl_interfaces__srv__ListParameters
@@ -655,7 +655,7 @@ impl rosidl_runtime_rs::Service for ListParameters {
     type Request = crate::vendor::rcl_interfaces::srv::ListParameters_Request;
     type Response = crate::vendor::rcl_interfaces::srv::ListParameters_Response;
 
-    fn get_type_support() -> *const std::os::raw::c_void {
+    fn get_type_support() -> *const std::ffi::c_void {
         // SAFETY: No preconditions for this function.
         unsafe {
             rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__ListParameters()
@@ -666,7 +666,7 @@ impl rosidl_runtime_rs::Service for ListParameters {
 #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
 extern "C" {
     fn rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__SetParametersAtomically(
-    ) -> *const std::os::raw::c_void;
+    ) -> *const std::ffi::c_void;
 }
 
 // Corresponds to rcl_interfaces__srv__SetParametersAtomically
@@ -676,7 +676,7 @@ impl rosidl_runtime_rs::Service for SetParametersAtomically {
     type Request = crate::vendor::rcl_interfaces::srv::SetParametersAtomically_Request;
     type Response = crate::vendor::rcl_interfaces::srv::SetParametersAtomically_Response;
 
-    fn get_type_support() -> *const std::os::raw::c_void {
+    fn get_type_support() -> *const std::ffi::c_void {
         // SAFETY: No preconditions for this function.
         unsafe {
             rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__SetParametersAtomically()
@@ -687,7 +687,7 @@ impl rosidl_runtime_rs::Service for SetParametersAtomically {
 #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
 extern "C" {
     fn rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__SetParameters(
-    ) -> *const std::os::raw::c_void;
+    ) -> *const std::ffi::c_void;
 }
 
 // Corresponds to rcl_interfaces__srv__SetParameters
@@ -697,7 +697,7 @@ impl rosidl_runtime_rs::Service for SetParameters {
     type Request = crate::vendor::rcl_interfaces::srv::SetParameters_Request;
     type Response = crate::vendor::rcl_interfaces::srv::SetParameters_Response;
 
-    fn get_type_support() -> *const std::os::raw::c_void {
+    fn get_type_support() -> *const std::ffi::c_void {
         // SAFETY: No preconditions for this function.
         unsafe {
             rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__SetParameters()
@@ -706,13 +706,14 @@ impl rosidl_runtime_rs::Service for SetParameters {
 }
 
 pub mod rmw {
+
     #[cfg(feature = "serde")]
     use serde::{Deserialize, Serialize};
 
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__DescribeParameters_Request(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -799,7 +800,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/srv/DescribeParameters_Request";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__DescribeParameters_Request()
@@ -810,7 +811,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__DescribeParameters_Response(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -902,7 +903,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/srv/DescribeParameters_Response";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__DescribeParameters_Response()
@@ -913,7 +914,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__GetParameters_Request(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -996,7 +997,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/srv/GetParameters_Request";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__GetParameters_Request()
@@ -1007,7 +1008,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__GetParameters_Response(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -1091,7 +1092,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/srv/GetParameters_Response";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__GetParameters_Response()
@@ -1102,7 +1103,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__GetParameterTypes_Request(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -1185,7 +1186,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/srv/GetParameterTypes_Request";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__GetParameterTypes_Request()
@@ -1196,7 +1197,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__GetParameterTypes_Response(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -1283,7 +1284,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/srv/GetParameterTypes_Response";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__GetParameterTypes_Response()
@@ -1294,7 +1295,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__ListParameters_Request(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -1382,7 +1383,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/srv/ListParameters_Request";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__ListParameters_Request()
@@ -1393,7 +1394,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__ListParameters_Response(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -1476,7 +1477,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/srv/ListParameters_Response";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__ListParameters_Response()
@@ -1487,7 +1488,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__SetParametersAtomically_Request(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -1576,7 +1577,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/srv/SetParametersAtomically_Request";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__SetParametersAtomically_Request()
@@ -1587,7 +1588,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__SetParametersAtomically_Response(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -1676,7 +1677,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/srv/SetParametersAtomically_Response";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__SetParametersAtomically_Response()
@@ -1687,7 +1688,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__SetParameters_Request(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -1771,7 +1772,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/srv/SetParameters_Request";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__SetParameters_Request()
@@ -1782,7 +1783,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__SetParameters_Response(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rcl_interfaces__rosidl_generator_c")]
@@ -1867,7 +1868,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rcl_interfaces/srv/SetParameters_Response";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__srv__SetParameters_Response()
@@ -1878,7 +1879,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__DescribeParameters(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     // Corresponds to rcl_interfaces__srv__DescribeParameters
@@ -1888,7 +1889,7 @@ pub mod rmw {
         type Request = crate::vendor::rcl_interfaces::srv::rmw::DescribeParameters_Request;
         type Response = crate::vendor::rcl_interfaces::srv::rmw::DescribeParameters_Response;
 
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__DescribeParameters()
@@ -1899,7 +1900,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__GetParameters(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     // Corresponds to rcl_interfaces__srv__GetParameters
@@ -1909,7 +1910,7 @@ pub mod rmw {
         type Request = crate::vendor::rcl_interfaces::srv::rmw::GetParameters_Request;
         type Response = crate::vendor::rcl_interfaces::srv::rmw::GetParameters_Response;
 
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__GetParameters()
@@ -1920,7 +1921,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__GetParameterTypes(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     // Corresponds to rcl_interfaces__srv__GetParameterTypes
@@ -1930,7 +1931,7 @@ pub mod rmw {
         type Request = crate::vendor::rcl_interfaces::srv::rmw::GetParameterTypes_Request;
         type Response = crate::vendor::rcl_interfaces::srv::rmw::GetParameterTypes_Response;
 
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__GetParameterTypes()
@@ -1941,7 +1942,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__ListParameters(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     // Corresponds to rcl_interfaces__srv__ListParameters
@@ -1951,7 +1952,7 @@ pub mod rmw {
         type Request = crate::vendor::rcl_interfaces::srv::rmw::ListParameters_Request;
         type Response = crate::vendor::rcl_interfaces::srv::rmw::ListParameters_Response;
 
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__ListParameters()
@@ -1962,7 +1963,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__SetParametersAtomically(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     // Corresponds to rcl_interfaces__srv__SetParametersAtomically
@@ -1972,7 +1973,7 @@ pub mod rmw {
         type Request = crate::vendor::rcl_interfaces::srv::rmw::SetParametersAtomically_Request;
         type Response = crate::vendor::rcl_interfaces::srv::rmw::SetParametersAtomically_Response;
 
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__SetParametersAtomically()
@@ -1983,7 +1984,7 @@ pub mod rmw {
     #[link(name = "rcl_interfaces__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__SetParameters(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     // Corresponds to rcl_interfaces__srv__SetParameters
@@ -1993,7 +1994,7 @@ pub mod rmw {
         type Request = crate::vendor::rcl_interfaces::srv::rmw::SetParameters_Request;
         type Response = crate::vendor::rcl_interfaces::srv::rmw::SetParameters_Response;
 
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_service_type_support_handle__rcl_interfaces__srv__SetParameters()
diff --git a/rclrs/src/vendor/rosgraph_msgs/mod.rs b/rclrs/src/vendor/rosgraph_msgs/mod.rs
index a6365b3b8..4c61d56a1 100644
--- a/rclrs/src/vendor/rosgraph_msgs/mod.rs
+++ b/rclrs/src/vendor/rosgraph_msgs/mod.rs
@@ -1,3 +1,5 @@
 #![allow(non_camel_case_types)]
+#![allow(clippy::derive_partial_eq_without_eq)]
+#![allow(clippy::upper_case_acronyms)]
 
 pub mod msg;
diff --git a/rclrs/src/vendor/rosgraph_msgs/msg.rs b/rclrs/src/vendor/rosgraph_msgs/msg.rs
index 1f4af8b70..6190bfe62 100644
--- a/rclrs/src/vendor/rosgraph_msgs/msg.rs
+++ b/rclrs/src/vendor/rosgraph_msgs/msg.rs
@@ -5,7 +5,7 @@ pub mod rmw {
     #[link(name = "rosgraph_msgs__rosidl_typesupport_c")]
     extern "C" {
         fn rosidl_typesupport_c__get_message_type_support_handle__rosgraph_msgs__msg__Clock(
-        ) -> *const std::os::raw::c_void;
+        ) -> *const std::ffi::c_void;
     }
 
     #[link(name = "rosgraph_msgs__rosidl_generator_c")]
@@ -77,7 +77,7 @@ pub mod rmw {
         Self: Sized,
     {
         const TYPE_NAME: &'static str = "rosgraph_msgs/msg/Clock";
-        fn get_type_support() -> *const std::os::raw::c_void {
+        fn get_type_support() -> *const std::ffi::c_void {
             // SAFETY: No preconditions for this function.
             unsafe {
                 rosidl_typesupport_c__get_message_type_support_handle__rosgraph_msgs__msg__Clock()
diff --git a/rclrs/src/vendor/unique_identifier_msgs/mod.rs b/rclrs/src/vendor/unique_identifier_msgs/mod.rs
new file mode 100644
index 000000000..4c61d56a1
--- /dev/null
+++ b/rclrs/src/vendor/unique_identifier_msgs/mod.rs
@@ -0,0 +1,5 @@
+#![allow(non_camel_case_types)]
+#![allow(clippy::derive_partial_eq_without_eq)]
+#![allow(clippy::upper_case_acronyms)]
+
+pub mod msg;
diff --git a/rclrs/src/vendor/unique_identifier_msgs/msg.rs b/rclrs/src/vendor/unique_identifier_msgs/msg.rs
new file mode 100644
index 000000000..7d6085fb1
--- /dev/null
+++ b/rclrs/src/vendor/unique_identifier_msgs/msg.rs
@@ -0,0 +1,125 @@
+pub mod rmw {
+    #[cfg(feature = "serde")]
+    use serde::{Deserialize, Serialize};
+
+    #[link(name = "unique_identifier_msgs__rosidl_typesupport_c")]
+    extern "C" {
+        fn rosidl_typesupport_c__get_message_type_support_handle__unique_identifier_msgs__msg__UUID(
+        ) -> *const std::ffi::c_void;
+    }
+
+    #[link(name = "unique_identifier_msgs__rosidl_generator_c")]
+    extern "C" {
+        fn unique_identifier_msgs__msg__UUID__init(msg: *mut UUID) -> bool;
+        fn unique_identifier_msgs__msg__UUID__Sequence__init(
+            seq: *mut rosidl_runtime_rs::Sequence<UUID>,
+            size: usize,
+        ) -> bool;
+        fn unique_identifier_msgs__msg__UUID__Sequence__fini(
+            seq: *mut rosidl_runtime_rs::Sequence<UUID>,
+        );
+        fn unique_identifier_msgs__msg__UUID__Sequence__copy(
+            in_seq: &rosidl_runtime_rs::Sequence<UUID>,
+            out_seq: *mut rosidl_runtime_rs::Sequence<UUID>,
+        ) -> bool;
+    }
+
+    // Corresponds to unique_identifier_msgs__msg__UUID
+    #[repr(C)]
+    #[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+    #[derive(Clone, Debug, PartialEq, PartialOrd)]
+    pub struct UUID {
+        pub uuid: [u8; 16],
+    }
+
+    impl Default for UUID {
+        fn default() -> Self {
+            unsafe {
+                let mut msg = std::mem::zeroed();
+                if !unique_identifier_msgs__msg__UUID__init(&mut msg as *mut _) {
+                    panic!("Call to unique_identifier_msgs__msg__UUID__init() failed");
+                }
+                msg
+            }
+        }
+    }
+
+    impl rosidl_runtime_rs::SequenceAlloc for UUID {
+        fn sequence_init(seq: &mut rosidl_runtime_rs::Sequence<Self>, size: usize) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { unique_identifier_msgs__msg__UUID__Sequence__init(seq as *mut _, size) }
+        }
+        fn sequence_fini(seq: &mut rosidl_runtime_rs::Sequence<Self>) {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { unique_identifier_msgs__msg__UUID__Sequence__fini(seq as *mut _) }
+        }
+        fn sequence_copy(
+            in_seq: &rosidl_runtime_rs::Sequence<Self>,
+            out_seq: &mut rosidl_runtime_rs::Sequence<Self>,
+        ) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { unique_identifier_msgs__msg__UUID__Sequence__copy(in_seq, out_seq as *mut _) }
+        }
+    }
+
+    impl rosidl_runtime_rs::Message for UUID {
+        type RmwMsg = Self;
+        fn into_rmw_message(
+            msg_cow: std::borrow::Cow<'_, Self>,
+        ) -> std::borrow::Cow<'_, Self::RmwMsg> {
+            msg_cow
+        }
+        fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+            msg
+        }
+    }
+
+    impl rosidl_runtime_rs::RmwMessage for UUID
+    where
+        Self: Sized,
+    {
+        const TYPE_NAME: &'static str = "unique_identifier_msgs/msg/UUID";
+        fn get_type_support() -> *const std::ffi::c_void {
+            // SAFETY: No preconditions for this function.
+            unsafe {
+                rosidl_typesupport_c__get_message_type_support_handle__unique_identifier_msgs__msg__UUID()
+            }
+        }
+    }
+} // mod rmw
+
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
+#[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+#[derive(Clone, Debug, PartialEq, PartialOrd)]
+pub struct UUID {
+    pub uuid: [u8; 16],
+}
+
+impl Default for UUID {
+    fn default() -> Self {
+        <Self as rosidl_runtime_rs::Message>::from_rmw_message(
+            crate::vendor::unique_identifier_msgs::msg::rmw::UUID::default(),
+        )
+    }
+}
+
+impl rosidl_runtime_rs::Message for UUID {
+    type RmwMsg = crate::vendor::unique_identifier_msgs::msg::rmw::UUID;
+
+    fn into_rmw_message(msg_cow: std::borrow::Cow<'_, Self>) -> std::borrow::Cow<'_, Self::RmwMsg> {
+        match msg_cow {
+            std::borrow::Cow::Owned(msg) => {
+                std::borrow::Cow::Owned(Self::RmwMsg { uuid: msg.uuid })
+            }
+            std::borrow::Cow::Borrowed(msg) => {
+                std::borrow::Cow::Owned(Self::RmwMsg { uuid: msg.uuid })
+            }
+        }
+    }
+
+    fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+        Self { uuid: msg.uuid }
+    }
+}
diff --git a/rclrs/vendor_interfaces.py b/rclrs/vendor_interfaces.py
old mode 100644
new mode 100755
index 6a0066869..8ffb4e4e0
--- a/rclrs/vendor_interfaces.py
+++ b/rclrs/vendor_interfaces.py
@@ -1,65 +1,70 @@
-# This script produces the `vendor` module inside `rclrs` by copying
-# the generated code for the `rosgraph_msgs` and `rcl_interfaces` packages and
-# its dependency `builtin_interfaces` and adjusting the submodule paths in the
-# code.
+#!/usr/bin/env python3
+# This script produces the `vendor` module inside `rclrs` by copying the
+# generated code for the `rosgraph_msgs`, `rcl_interfaces`, and `action_msgs`
+# packages and their dependencies `builtin_interfaces` and
+# `unique_identifier_msgs` and adjusting the submodule paths in the code.
 # If these packages, or the `rosidl_generator_rs`, get changed, you can
 # update the `vendor` module by running this script.
-# The purpose is to avoid an external dependency on `rcl_interfaces`, which
-# is not published on crates.io.
+# The purpose is to avoid an external dependency on these message packages,
+# which are not published on crates.io.
 
 import argparse
 from pathlib import Path
 import shutil
 import subprocess
 
+vendored_packages = [
+  "action_msgs",
+  "builtin_interfaces",
+  "rcl_interfaces",
+  "rosgraph_msgs",
+  "unique_identifier_msgs",
+]
+
 def get_args():
-  parser = argparse.ArgumentParser(description='Vendor the rcl_interfaces, builtin_interfaces and rosgraph_msgs packages into rclrs')
+  parser = argparse.ArgumentParser(description='Vendor interface packages into rclrs')
   parser.add_argument('install_base', metavar='install_base', type=Path,
                       help='the install base (must have non-merged layout)')
   return parser.parse_args()
 
-def adjust(pkg, text):
-  text = text.replace('builtin_interfaces::', 'crate::vendor::builtin_interfaces::')
-  text = text.replace('rcl_interfaces::', 'crate::vendor::rcl_interfaces::')
-  text = text.replace('rosgraph_msgs::', 'crate::vendor::rosgraph_msgs::')
-  text = text.replace('crate::msg', f'crate::vendor::{pkg}::msg')
-  text = text.replace('crate::srv', f'crate::vendor::{pkg}::srv')
+def adjust(current_package, text):
+  for pkg in vendored_packages:
+    text = text.replace(f'{pkg}::', f'crate::vendor::{pkg}::')
+  text = text.replace('crate::msg', f'crate::vendor::{current_package}::msg')
+  text = text.replace('crate::srv', f'crate::vendor::{current_package}::srv')
+  text = text.replace('crate::action', f'crate::vendor::{current_package}::action')
   return text
 
 def copy_adjusted(pkg, src, dst):
   dst.write_text(adjust(pkg, src.read_text()))
   subprocess.check_call(['rustfmt', str(dst)])
 
-mod_contents = """//! Created by {}
-#![allow(dead_code)]
-#![allow(clippy::derive_partial_eq_without_eq)]
-
-pub mod builtin_interfaces;
-pub mod rcl_interfaces;
-pub mod rosgraph_msgs;
-""".format(Path(__file__).name)
-
 def main():
   args = get_args()
   assert args.install_base.is_dir(), "Install base does not exist"
-  assert (args.install_base / 'builtin_interfaces').is_dir(), "Install base does not contain builtin_interfaces"
-  assert (args.install_base / 'rcl_interfaces').is_dir(), "Install base does not contain rcl_interfaces"
-  assert (args.install_base / 'rosgraph_msgs').is_dir(), "Install base does not contain rosgraph_msgs"
+  for pkg in vendored_packages:
+    assert (args.install_base / pkg).is_dir(), f"Install base does not contain {pkg}"
   rclrs_root = Path(__file__).parent
   vendor_dir = rclrs_root / 'src' / 'vendor'
   if vendor_dir.exists():
     shutil.rmtree(vendor_dir)
-  for pkg in ['builtin_interfaces', 'rcl_interfaces', 'rosgraph_msgs']:
+  for pkg in vendored_packages:
     src = args.install_base / pkg / 'share' / pkg / 'rust' / 'src'
     dst = vendor_dir / pkg
     dst.mkdir(parents=True)
     copy_adjusted(pkg, src / 'msg.rs', dst / 'msg.rs')
     if (src / 'srv.rs').is_file():
       copy_adjusted(pkg, src / 'srv.rs', dst / 'srv.rs')
+    if (src / 'action.rs').is_file():
+      copy_adjusted(pkg, src / 'action.rs', dst / 'action.rs')
     copy_adjusted(pkg, src / 'lib.rs', dst / 'mod.rs')  # Rename lib.rs to mod.rs
-  (vendor_dir / 'mod.rs').write_text(mod_contents)
-    
 
+  mod_contents = "//! Created by {}\n".format(Path(__file__).name)
+  mod_contents += "#![allow(dead_code)]\n"
+  mod_contents += "\n"
+  for pkg in vendored_packages:
+    mod_contents += f"pub mod {pkg};\n"
+  (vendor_dir / 'mod.rs').write_text(mod_contents)
 
 if __name__ == '__main__':
   main()
diff --git a/rosidl_generator_rs/resource/lib.rs.em b/rosidl_generator_rs/resource/lib.rs.em
index 79a0e1def..1ef77924c 100644
--- a/rosidl_generator_rs/resource/lib.rs.em
+++ b/rosidl_generator_rs/resource/lib.rs.em
@@ -1,4 +1,6 @@
 #![allow(non_camel_case_types)]
+#![allow(clippy::derive_partial_eq_without_eq)]
+#![allow(clippy::upper_case_acronyms)]
 
 @[if len(msg_specs) > 0]@
 pub mod msg;