diff --git a/turtle_tf2_cpp/CMakeLists.txt b/turtle_tf2_cpp/CMakeLists.txt
index 6107836..8b537b7 100644
--- a/turtle_tf2_cpp/CMakeLists.txt
+++ b/turtle_tf2_cpp/CMakeLists.txt
@@ -21,7 +21,7 @@ find_package(rclcpp REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
-find_package(turtlesim REQUIRED)
+find_package(turtlesim_msgs REQUIRED)
 
 if(TARGET tf2_geometry_msgs::tf2_geometry_msgs)
   get_target_property(_include_dirs tf2_geometry_msgs::tf2_geometry_msgs INTERFACE_INCLUDE_DIRECTORIES)
@@ -52,7 +52,7 @@ ament_target_dependencies(
   rclcpp
   tf2
   tf2_ros
-  turtlesim
+  turtlesim_msgs
 )
 
 add_executable(turtle_tf2_listener src/turtle_tf2_listener.cpp)
@@ -62,7 +62,7 @@ ament_target_dependencies(
   rclcpp
   tf2
   tf2_ros
-  turtlesim
+  turtlesim_msgs
 )
 
 add_executable(fixed_frame_tf2_broadcaster src/fixed_frame_tf2_broadcaster.cpp)
diff --git a/turtle_tf2_cpp/package.xml b/turtle_tf2_cpp/package.xml
index 8d6f07a..738b412 100644
--- a/turtle_tf2_cpp/package.xml
+++ b/turtle_tf2_cpp/package.xml
@@ -13,7 +13,7 @@
   <author email="abilkasov@gmail.com">Shyngyskhan Abilkassov</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  
+
   <depend>geometry_msgs</depend>
   <depend>launch</depend>
   <depend>launch_ros</depend>
@@ -22,7 +22,7 @@
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>turtlesim</depend>
+  <depend>turtlesim_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/turtle_tf2_cpp/src/turtle_tf2_broadcaster.cpp b/turtle_tf2_cpp/src/turtle_tf2_broadcaster.cpp
index 858a5ec..032baba 100644
--- a/turtle_tf2_cpp/src/turtle_tf2_broadcaster.cpp
+++ b/turtle_tf2_cpp/src/turtle_tf2_broadcaster.cpp
@@ -21,7 +21,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/LinearMath/Quaternion.h"
 #include "tf2_ros/transform_broadcaster.h"
-#include "turtlesim/msg/pose.hpp"
+#include "turtlesim_msgs/msg/pose.hpp"
 
 class FramePublisher : public rclcpp::Node
 {
@@ -42,7 +42,7 @@ class FramePublisher : public rclcpp::Node
     stream << "/" << turtlename_.c_str() << "/pose";
     std::string topic_name = stream.str();
 
-    auto handle_turtle_pose = [this](const std::shared_ptr<turtlesim::msg::Pose> msg) {
+    auto handle_turtle_pose = [this](const std::shared_ptr<turtlesim_msgs::msg::Pose> msg) {
         geometry_msgs::msg::TransformStamped t;
 
         // Read message content and assign it to
@@ -70,13 +70,13 @@ class FramePublisher : public rclcpp::Node
         // Send the transformation
         tf_broadcaster_->sendTransform(t);
       };
-    subscription_ = this->create_subscription<turtlesim::msg::Pose>(
+    subscription_ = this->create_subscription<turtlesim_msgs::msg::Pose>(
       topic_name, 10,
       handle_turtle_pose);
   }
 
 private:
-  rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr subscription_;
+  rclcpp::Subscription<turtlesim_msgs::msg::Pose>::SharedPtr subscription_;
   std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
   std::string turtlename_;
 };
diff --git a/turtle_tf2_cpp/src/turtle_tf2_listener.cpp b/turtle_tf2_cpp/src/turtle_tf2_listener.cpp
index c83f5c5..92e3eb6 100644
--- a/turtle_tf2_cpp/src/turtle_tf2_listener.cpp
+++ b/turtle_tf2_cpp/src/turtle_tf2_listener.cpp
@@ -23,7 +23,7 @@
 #include "tf2/exceptions.h"
 #include "tf2_ros/transform_listener.h"
 #include "tf2_ros/buffer.h"
-#include "turtlesim/srv/spawn.hpp"
+#include "turtlesim_msgs/srv/spawn.hpp"
 
 using namespace std::chrono_literals;
 
@@ -45,7 +45,7 @@ class FrameListener : public rclcpp::Node
 
     // Create a client to spawn a turtle
     spawner_ =
-      this->create_client<turtlesim::srv::Spawn>("spawn");
+      this->create_client<turtlesim_msgs::srv::Spawn>("spawn");
 
     // Create turtle2 velocity publisher
     publisher_ =
@@ -102,8 +102,8 @@ class FrameListener : public rclcpp::Node
       // Check if the service is ready
       if (spawner_->service_is_ready()) {
         // Initialize request with turtle name and coordinates
-        // Note that x, y and theta are defined as floats in turtlesim/srv/Spawn
-        auto request = std::make_shared<turtlesim::srv::Spawn::Request>();
+        // Note that x, y and theta are defined as floats in turtlesim_msgs/srv/Spawn
+        auto request = std::make_shared<turtlesim_msgs::srv::Spawn::Request>();
         request->x = 4.0;
         request->y = 2.0;
         request->theta = 0.0;
@@ -111,7 +111,7 @@ class FrameListener : public rclcpp::Node
 
         // Call request
         using ServiceResponseFuture =
-          rclcpp::Client<turtlesim::srv::Spawn>::SharedFuture;
+          rclcpp::Client<turtlesim_msgs::srv::Spawn>::SharedFuture;
         auto response_received_callback = [this](ServiceResponseFuture future) {
             auto result = future.get();
             if (strcmp(result->name.c_str(), "turtle2") == 0) {
@@ -132,7 +132,7 @@ class FrameListener : public rclcpp::Node
   bool turtle_spawning_service_ready_;
   // if the turtle was successfully spawned
   bool turtle_spawned_;
-  rclcpp::Client<turtlesim::srv::Spawn>::SharedPtr spawner_{nullptr};
+  rclcpp::Client<turtlesim_msgs::srv::Spawn>::SharedPtr spawner_{nullptr};
   rclcpp::TimerBase::SharedPtr timer_{nullptr};
   rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_{nullptr};
   std::shared_ptr<tf2_ros::TransformListener> tf_listener_{nullptr};
diff --git a/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp b/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp
index e21f609..2e8fbc3 100644
--- a/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp
+++ b/turtle_tf2_cpp/src/turtle_tf2_message_filter.cpp
@@ -52,7 +52,9 @@ class PoseDrawer : public rclcpp::Node
     tf2_listener_ =
       std::make_shared<tf2_ros::TransformListener>(*tf2_buffer_);
 
-    point_sub_.subscribe(this, "/turtle3/turtle_point_stamped");
+    point_sub_.subscribe(
+      this, "/turtle3/turtle_point_stamped",
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)));
     tf2_filter_ = std::make_shared<tf2_ros::MessageFilter<geometry_msgs::msg::PointStamped>>(
       point_sub_, *tf2_buffer_, target_frame_, 100, this->get_node_logging_interface(),
       this->get_node_clock_interface(), buffer_timeout);
diff --git a/turtle_tf2_py/package.xml b/turtle_tf2_py/package.xml
index e2845af..532b12e 100644
--- a/turtle_tf2_py/package.xml
+++ b/turtle_tf2_py/package.xml
@@ -19,7 +19,7 @@
   <exec_depend>python3-numpy</exec_depend>
   <exec_depend>rclpy</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>turtlesim</exec_depend>
+  <exec_depend>turtlesim_msgs</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
diff --git a/turtle_tf2_py/turtle_tf2_py/turtle_tf2_broadcaster.py b/turtle_tf2_py/turtle_tf2_py/turtle_tf2_broadcaster.py
index fe63510..797cc2b 100644
--- a/turtle_tf2_py/turtle_tf2_py/turtle_tf2_broadcaster.py
+++ b/turtle_tf2_py/turtle_tf2_py/turtle_tf2_broadcaster.py
@@ -23,7 +23,7 @@
 
 from tf2_ros import TransformBroadcaster
 
-from turtlesim.msg import Pose
+from turtlesim_msgs.msg import Pose
 
 
 # This function is a stripped down version of the code in
diff --git a/turtle_tf2_py/turtle_tf2_py/turtle_tf2_listener.py b/turtle_tf2_py/turtle_tf2_py/turtle_tf2_listener.py
index 93af18d..14e57e8 100644
--- a/turtle_tf2_py/turtle_tf2_py/turtle_tf2_listener.py
+++ b/turtle_tf2_py/turtle_tf2_py/turtle_tf2_listener.py
@@ -94,7 +94,7 @@ def on_timer(self):
         else:
             if self.spawner.service_is_ready():
                 # Initialize request with turtle name and coordinates
-                # Note that x, y and theta are defined as floats in turtlesim/srv/Spawn
+                # Note that x, y and theta are defined as floats in turtlesim_msgs/srv/Spawn
                 request = Spawn.Request()
                 request.name = 'turtle2'
                 request.x = 4.0
diff --git a/turtle_tf2_py/turtle_tf2_py/turtle_tf2_message_broadcaster.py b/turtle_tf2_py/turtle_tf2_py/turtle_tf2_message_broadcaster.py
index c2ccbe3..594c7d3 100644
--- a/turtle_tf2_py/turtle_tf2_py/turtle_tf2_message_broadcaster.py
+++ b/turtle_tf2_py/turtle_tf2_py/turtle_tf2_message_broadcaster.py
@@ -18,8 +18,8 @@
 import rclpy
 from rclpy.node import Node
 
-from turtlesim.msg import Pose
-from turtlesim.srv import Spawn
+from turtlesim_msgs.msg import Pose
+from turtlesim_msgs.srv import Spawn
 
 
 class PointPublisher(Node):
@@ -53,7 +53,7 @@ def on_timer(self):
         else:
             if self.spawner.service_is_ready():
                 # Initialize request with turtle name and coordinates
-                # Note that x, y and theta are defined as floats in turtlesim/srv/Spawn
+                # Note that x, y and theta are defined as floats in turtlesim_msgs/srv/Spawn
                 request = Spawn.Request()
                 request.name = 'turtle3'
                 request.x = 4.0