diff --git a/rcl/include/rcl/service.h b/rcl/include/rcl/service.h
index 6e9c55f3b..179bcbb89 100644
--- a/rcl/include/rcl/service.h
+++ b/rcl/include/rcl/service.h
@@ -82,7 +82,7 @@ rcl_get_zero_initialized_service(void);
  * For C++, a template function is used:
  *
  * ```cpp
- * #include <rosidl_generator_cpp/service_type_support.hpp>
+ * #include <rosidl_runtime_cpp/service_type_support.hpp>
  * #include <example_interfaces/srv/add_two_ints.h>
  * using rosidl_typesupport_cpp::get_service_type_support_handle;
  * const rosidl_service_type_support_t * ts =
diff --git a/rcl/include/rcl/subscription.h b/rcl/include/rcl/subscription.h
index b6e85c969..d94d1433b 100644
--- a/rcl/include/rcl/subscription.h
+++ b/rcl/include/rcl/subscription.h
@@ -82,7 +82,7 @@ rcl_get_zero_initialized_subscription(void);
  * For C++ a template function is used:
  *
  * ```cpp
- * #include <rosidl_generator_cpp/message_type_support.hpp>
+ * #include <rosidl_runtime_cpp/message_type_support.hpp>
  * #include <std_msgs/msgs/string.hpp>
  * using rosidl_typesupport_cpp::get_message_type_support_handle;
  * const rosidl_message_type_support_t * string_ts =
diff --git a/rcl_action/include/rcl_action/action_client.h b/rcl_action/include/rcl_action/action_client.h
index 2a6b8fa0e..f5f46f9b6 100644
--- a/rcl_action/include/rcl_action/action_client.h
+++ b/rcl_action/include/rcl_action/action_client.h
@@ -103,7 +103,7 @@ rcl_action_get_zero_initialized_client(void);
  * For C++, a template function is used:
  *
  * ```cpp
- * #include <rosidl_generator_cpp/action_type_support.hpp>
+ * #include <rosidl_runtime_cpp/action_type_support.hpp>
  * #include <example_interfaces/action/fibonacci.h>
  * using rosidl_typesupport_cpp::get_action_type_support_handle;
  * const rosidl_action_type_support_t * ts =
diff --git a/rcl_action/include/rcl_action/action_server.h b/rcl_action/include/rcl_action/action_server.h
index 64c122fa3..f3359afa1 100644
--- a/rcl_action/include/rcl_action/action_server.h
+++ b/rcl_action/include/rcl_action/action_server.h
@@ -100,7 +100,7 @@ rcl_action_get_zero_initialized_server(void);
  * For C++, a template function is used:
  *
  * ```cpp
- * #include <rosidl_generator_cpp/action_type_support.hpp>
+ * #include <rosidl_runtime_cpp/action_type_support.hpp>
  * #include <example_interfaces/action/fibonacci.h>
  * using rosidl_typesupport_cpp::get_action_type_support_handle;
  * const rosidl_action_type_support_t * ts =