diff --git a/gz_ros2_control_demos/CMakeLists.txt b/gz_ros2_control_demos/CMakeLists.txt
index 536ca06e..be77e454 100644
--- a/gz_ros2_control_demos/CMakeLists.txt
+++ b/gz_ros2_control_demos/CMakeLists.txt
@@ -17,9 +17,9 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(control_msgs REQUIRED)
+find_package(example_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
-find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 
 install(DIRECTORY
@@ -39,13 +39,13 @@ ament_target_dependencies(example_position
 add_executable(example_velocity examples/example_velocity.cpp)
 ament_target_dependencies(example_velocity
   rclcpp
-  std_msgs
+  example_interfaces
 )
 
 add_executable(example_effort examples/example_effort.cpp)
 ament_target_dependencies(example_effort
   rclcpp
-  std_msgs
+  example_interfaces
 )
 
 add_executable(example_diff_drive examples/example_diff_drive.cpp)
@@ -63,7 +63,7 @@ ament_target_dependencies(example_tricycle_drive
 add_executable(example_gripper examples/example_gripper.cpp)
 ament_target_dependencies(example_gripper
   rclcpp
-  std_msgs
+  example_interfaces
 )
 
 if(BUILD_TESTING)
diff --git a/gz_ros2_control_demos/examples/example_effort.cpp b/gz_ros2_control_demos/examples/example_effort.cpp
index d6fbaa9e..9608af45 100644
--- a/gz_ros2_control_demos/examples/example_effort.cpp
+++ b/gz_ros2_control_demos/examples/example_effort.cpp
@@ -16,7 +16,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <std_msgs/msg/float64_multi_array.hpp>
+#include <example_interfaces/msg/float64_multi_array.hpp>
 
 int main(int argc, char * argv[])
 {
@@ -25,12 +25,12 @@ int main(int argc, char * argv[])
   std::shared_ptr<rclcpp::Node> node =
     std::make_shared<rclcpp::Node>("effort_test_node");
 
-  auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>(
+  auto publisher = node->create_publisher<example_interfaces::msg::Float64MultiArray>(
     "/effort_controller/commands", 10);
 
   RCLCPP_INFO(node->get_logger(), "node created");
 
-  std_msgs::msg::Float64MultiArray commands;
+  example_interfaces::msg::Float64MultiArray commands;
 
   using namespace std::chrono_literals;
 
diff --git a/gz_ros2_control_demos/examples/example_gripper.cpp b/gz_ros2_control_demos/examples/example_gripper.cpp
index 449cf6ab..fe08b510 100644
--- a/gz_ros2_control_demos/examples/example_gripper.cpp
+++ b/gz_ros2_control_demos/examples/example_gripper.cpp
@@ -21,7 +21,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "std_msgs/msg/float64_multi_array.hpp"
+#include "example_interfaces/msg/float64_multi_array.hpp"
 
 std::shared_ptr<rclcpp::Node> node;
 
@@ -31,12 +31,12 @@ int main(int argc, char * argv[])
 
   node = std::make_shared<rclcpp::Node>("gripper_test_node");
 
-  auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>(
+  auto publisher = node->create_publisher<example_interfaces::msg::Float64MultiArray>(
     "/gripper_controller/commands", 10);
 
   RCLCPP_INFO(node->get_logger(), "node created");
 
-  std_msgs::msg::Float64MultiArray commands;
+  example_interfaces::msg::Float64MultiArray commands;
 
   using namespace std::chrono_literals;
 
diff --git a/gz_ros2_control_demos/examples/example_velocity.cpp b/gz_ros2_control_demos/examples/example_velocity.cpp
index 1b29da98..d7462301 100644
--- a/gz_ros2_control_demos/examples/example_velocity.cpp
+++ b/gz_ros2_control_demos/examples/example_velocity.cpp
@@ -16,7 +16,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <std_msgs/msg/float64_multi_array.hpp>
+#include <example_interfaces/msg/float64_multi_array.hpp>
 
 int main(int argc, char * argv[])
 {
@@ -24,12 +24,12 @@ int main(int argc, char * argv[])
 
   auto node = std::make_shared<rclcpp::Node>("velocity_test_node");
 
-  auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>(
+  auto publisher = node->create_publisher<example_interfaces::msg::Float64MultiArray>(
     "/velocity_controller/commands", 10);
 
   RCLCPP_INFO(node->get_logger(), "node created");
 
-  std_msgs::msg::Float64MultiArray commands;
+  example_interfaces::msg::Float64MultiArray commands;
 
   using namespace std::chrono_literals;
 
diff --git a/gz_ros2_control_demos/package.xml b/gz_ros2_control_demos/package.xml
index 4d78438d..7772386a 100644
--- a/gz_ros2_control_demos/package.xml
+++ b/gz_ros2_control_demos/package.xml
@@ -17,14 +17,15 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>control_msgs</build_depend>
+  <build_depend>example_interfaces</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>rclcpp</build_depend>
   <build_depend>rclcpp_action</build_depend>
-  <build_depend>std_msgs</build_depend>
 
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>control_msgs</exec_depend>
   <exec_depend>effort_controllers</exec_depend>
+  <exec_depend>example_interfaces</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>hardware_interface</exec_depend>
   <exec_depend>gz_ros2_control</exec_depend>
@@ -42,7 +43,6 @@
   <exec_depend condition="$GZ_VERSION == 'garden'">ros_gz_sim</exec_depend>
   <exec_depend condition="$GZ_VERSION == 'fortress'">ros_ign_gazebo</exec_depend>
   <exec_depend>ros2controlcli</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
   <exec_depend>velocity_controllers</exec_depend>
   <exec_depend>diff_drive_controller</exec_depend>
   <exec_depend>tricycle_controller</exec_depend>