diff --git a/crates/hiroz-codegen/src/python_msgspec_generator.rs b/crates/hiroz-codegen/src/python_msgspec_generator.rs
index b439e070..708ab71f 100644
--- a/crates/hiroz-codegen/src/python_msgspec_generator.rs
+++ b/crates/hiroz-codegen/src/python_msgspec_generator.rs
@@ -27,6 +27,15 @@ pub fn generate_python_bindings(
             .push(msg);
     }
 
+    // Group services by package so we can emit rclpy-style grouping classes (P4).
+    let mut service_groups: HashMap<String, Vec<&ResolvedService>> = HashMap::new();
+    for srv in services {
+        service_groups
+            .entry(srv.parsed.package.clone())
+            .or_default()
+            .push(srv);
+    }
+
     // Group service Request/Response by package, and track service type hashes
     let mut service_messages: HashMap<String, Vec<&ResolvedMessage>> = HashMap::new();
     let mut service_hashes: HashMap<String, HashMap<String, String>> = HashMap::new();
@@ -65,11 +74,16 @@ pub fn generate_python_bindings(
             .get(package_name)
             .cloned()
             .unwrap_or_default();
+        let srv_groups = service_groups
+            .get(package_name)
+            .map(|v| v.as_slice())
+            .unwrap_or(&[]);
         let python_code = generate_python_package_with_services(
             package_name,
             package_msgs,
             srv_msgs,
             &svc_hashes,
+            srv_groups,
         )?;
         let output_path = python_output_dir.join(format!("{}.py", package_name));
         fs::write(output_path, python_code)?;
@@ -82,8 +96,17 @@ pub fn generate_python_bindings(
                 .get(package_name)
                 .cloned()
                 .unwrap_or_default();
-            let python_code =
-                generate_python_package_with_services(package_name, &[], srv_msgs, &svc_hashes)?;
+            let srv_groups = service_groups
+                .get(package_name)
+                .map(|v| v.as_slice())
+                .unwrap_or(&[]);
+            let python_code = generate_python_package_with_services(
+                package_name,
+                &[],
+                srv_msgs,
+                &svc_hashes,
+                srv_groups,
+            )?;
             let output_path = python_output_dir.join(format!("{}.py", package_name));
             fs::write(output_path, python_code)?;
         }
@@ -113,6 +136,7 @@ fn generate_python_package_with_services(
     messages: &[&ResolvedMessage],
     service_messages: &[&ResolvedMessage],
     service_hashes: &HashMap<String, String>,
+    service_groups: &[&ResolvedService],
 ) -> Result<String> {
     let mut code = format!(
         "\"\"\"Auto-generated ROS 2 message types for {}.\"\"\"\n\
@@ -132,9 +156,33 @@ fn generate_python_package_with_services(
         code.push_str(&generate_msgspec_struct(msg, svc_hash.map(|s| s.as_str()))?);
     }
 
+    // Emit rclpy-style service grouping classes (P4). These reference the
+    // Request/Response structs above, so they must come after them.
+    for srv in service_groups {
+        code.push_str(&generate_service_grouping_class(srv));
+    }
+
     Ok(code)
 }
 
+/// Generate a service grouping class: `AddTwoInts.Request` / `.Response` (P4).
+///
+/// Lets `create_client`/`create_server` accept a single rclpy-style type
+/// (`example_interfaces.AddTwoInts`) instead of the bare Request class.
+fn generate_service_grouping_class(srv: &ResolvedService) -> String {
+    let srv_name = &srv.parsed.name;
+    let package = &srv.parsed.package;
+    let request_struct = &srv.request.parsed.name;
+    let response_struct = &srv.response.parsed.name;
+    format!(
+        "class {srv_name}:\n    \
+         \"\"\"Service grouping type. Use {srv_name}.Request and {srv_name}.Response.\"\"\"\n    \
+         __srvtype__: ClassVar[str] = '{package}/srv/{srv_name}'\n    \
+         Request: ClassVar[type] = {request_struct}\n    \
+         Response: ClassVar[type] = {response_struct}\n\n"
+    )
+}
+
 fn rust_to_python_type(field_type: &FieldType, current_package: &str) -> Result<String> {
     // Get the base field type (without array indicators)
     let base_type = &field_type.base_type;
diff --git a/crates/hiroz-msgs/python/hiroz_msgs_py/types/action_msgs.py b/crates/hiroz-msgs/python/hiroz_msgs_py/types/action_msgs.py
index 055b55e5..c18c5164 100644
--- a/crates/hiroz-msgs/python/hiroz_msgs_py/types/action_msgs.py
+++ b/crates/hiroz-msgs/python/hiroz_msgs_py/types/action_msgs.py
@@ -2,6 +2,12 @@
 import msgspec
 from typing import ClassVar
 
+class GoalStatusArray(msgspec.Struct, frozen=True, kw_only=True):
+    status_list: list["action_msgs.GoalStatus"] = msgspec.field(default_factory=list)
+
+    __msgtype__: ClassVar[str] = 'action_msgs/msg/GoalStatusArray'
+    __hash__: ClassVar[str] = 'RIHS01_6c1684b00f177d37438febe6e709fc4e2b0d4248dca4854946f9ed8b30cda83e'
+
 class GoalInfo(msgspec.Struct, frozen=True, kw_only=True):
     goal_id: "unique_identifier_msgs.UUID | None" = None
     stamp: "builtin_interfaces.Time | None" = msgspec.field(default_factory=lambda: {'sec': 0, 'nanosec': 0})
@@ -16,12 +22,6 @@ class GoalStatus(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'action_msgs/msg/GoalStatus'
     __hash__: ClassVar[str] = 'RIHS01_32f4cfd717735d17657e1178f24431c1ce996c878c515230f6c5b3476819dbb9'
 
-class GoalStatusArray(msgspec.Struct, frozen=True, kw_only=True):
-    status_list: list["action_msgs.GoalStatus"] = msgspec.field(default_factory=list)
-
-    __msgtype__: ClassVar[str] = 'action_msgs/msg/GoalStatusArray'
-    __hash__: ClassVar[str] = 'RIHS01_6c1684b00f177d37438febe6e709fc4e2b0d4248dca4854946f9ed8b30cda83e'
-
 class CancelGoalRequest(msgspec.Struct, frozen=True, kw_only=True):
     goal_info: "action_msgs.GoalInfo | None" = None
 
@@ -35,3 +35,9 @@ class CancelGoalResponse(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'action_msgs/msg/CancelGoalResponse'
     __hash__: ClassVar[str] = 'RIHS01_c66d49f351ea4375bf3eef8569e74b7afc19305d9fa94c71b412262e411f2a8f'
 
+class CancelGoal:
+    """Service grouping type. Use CancelGoal.Request and CancelGoal.Response."""
+    __srvtype__: ClassVar[str] = 'action_msgs/srv/CancelGoal'
+    Request: ClassVar[type] = CancelGoalRequest
+    Response: ClassVar[type] = CancelGoalResponse
+
diff --git a/crates/hiroz-msgs/python/hiroz_msgs_py/types/example_interfaces.py b/crates/hiroz-msgs/python/hiroz_msgs_py/types/example_interfaces.py
index 0b93842d..fd5ec056 100644
--- a/crates/hiroz-msgs/python/hiroz_msgs_py/types/example_interfaces.py
+++ b/crates/hiroz-msgs/python/hiroz_msgs_py/types/example_interfaces.py
@@ -2,6 +2,18 @@
 import msgspec
 from typing import ClassVar
 
+class UInt8(msgspec.Struct, frozen=True, kw_only=True):
+    data: int = 0
+
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/UInt8'
+    __hash__: ClassVar[str] = 'RIHS01_9255b6d0dd98f5b573afbff223131279b788ac45cf051fb462c12dd9a30f4061'
+
+class UInt16(msgspec.Struct, frozen=True, kw_only=True):
+    data: int = 0
+
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/UInt16'
+    __hash__: ClassVar[str] = 'RIHS01_e123d0a691fa0ce58b682f1a4eee55137dd3f20c81665f0c556f53596c7fb377'
+
 class UInt64MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     layout: "example_interfaces.MultiArrayLayout | None" = None
     data: list[int] = msgspec.field(default_factory=list)
@@ -9,31 +21,45 @@ class UInt64MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'example_interfaces/msg/UInt64MultiArray'
     __hash__: ClassVar[str] = 'RIHS01_c05a348bd887aac76a947c901f67f93bf9a7fa14b28dce02eb495dadeb8842e4'
 
-class Float32(msgspec.Struct, frozen=True, kw_only=True):
-    data: float = 0.0
+class Int32MultiArray(msgspec.Struct, frozen=True, kw_only=True):
+    layout: "example_interfaces.MultiArrayLayout | None" = None
+    data: list[int] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Float32'
-    __hash__: ClassVar[str] = 'RIHS01_6a112d9235f8e8088d7a2bc77cb955341ac0d5c9870bdc592651a4186bb246f3'
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Int32MultiArray'
+    __hash__: ClassVar[str] = 'RIHS01_b347aff8e38e2ce3f7f4023db7922d2d4abb9d593b03c40b1427640c26595bfa'
 
-class Float64(msgspec.Struct, frozen=True, kw_only=True):
-    data: float = 0.0
+class MultiArrayDimension(msgspec.Struct, frozen=True, kw_only=True):
+    label: str = ""
+    size: int = 0
+    stride: int = 0
 
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Float64'
-    __hash__: ClassVar[str] = 'RIHS01_74c137b7930c26339425a95fcfab441199bc41e0e572d3a0c9e95badd72b50da'
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/MultiArrayDimension'
+    __hash__: ClassVar[str] = 'RIHS01_a785cb9839e177e3eb760260139a919fec87821edc3314c592f2725abbf0bfcd'
 
-class UInt8MultiArray(msgspec.Struct, frozen=True, kw_only=True):
-    layout: "example_interfaces.MultiArrayLayout | None" = None
-    data: bytes = b""
+class UInt64(msgspec.Struct, frozen=True, kw_only=True):
+    data: int = 0
 
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/UInt8MultiArray'
-    __hash__: ClassVar[str] = 'RIHS01_7a49ef5ed9b7182488303b4027d54719ba7266e776bd446dac30e79b56fb0a71'
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/UInt64'
+    __hash__: ClassVar[str] = 'RIHS01_6a3f8548c5818b7add62dd6cbbd840fd1ab17fbf9d73cad6690557b7326d8908'
 
-class ByteMultiArray(msgspec.Struct, frozen=True, kw_only=True):
+class Char(msgspec.Struct, frozen=True, kw_only=True):
+    data: int = 0
+
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Char'
+    __hash__: ClassVar[str] = 'RIHS01_320dcd57e1183fb08463cc3ab50bf7e5ce0ecee39f64d15a9e9eeca3384c91a5'
+
+class UInt16MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     layout: "example_interfaces.MultiArrayLayout | None" = None
-    data: bytes = b""
+    data: list[int] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/ByteMultiArray'
-    __hash__: ClassVar[str] = 'RIHS01_257fc3429b3c4dd0aea678c234f543665d1144b396f82c7ee60fed151e1dace3'
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/UInt16MultiArray'
+    __hash__: ClassVar[str] = 'RIHS01_507f6456c1965ef6eab8a9cfa8860bd484e1b7039b4c4ea2c75c648182fceade'
+
+class Int32(msgspec.Struct, frozen=True, kw_only=True):
+    data: int = 0
+
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Int32'
+    __hash__: ClassVar[str] = 'RIHS01_5cd04cd7f3adb9d6c6064c316047b24c76622eb89144f300b536d657fd55e652'
 
 class Int16(msgspec.Struct, frozen=True, kw_only=True):
     data: int = 0
@@ -41,25 +67,24 @@ class Int16(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'example_interfaces/msg/Int16'
     __hash__: ClassVar[str] = 'RIHS01_332d94306732e4e35da38e5ae744ff35bbdaeca300908dc43488d3a844687cd6'
 
-class Float64MultiArray(msgspec.Struct, frozen=True, kw_only=True):
-    layout: "example_interfaces.MultiArrayLayout | None" = None
-    data: list[float] = msgspec.field(default_factory=list)
+class Bool(msgspec.Struct, frozen=True, kw_only=True):
+    data: bool = False
 
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Float64MultiArray'
-    __hash__: ClassVar[str] = 'RIHS01_62a0985e7920b7bc489d1392f08c06ba0080fff5b8eaa09b27dcac122f50ad95'
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Bool'
+    __hash__: ClassVar[str] = 'RIHS01_4765c142500f8fd4e1a32fb3edd7b7d9d822a16ec270445f5120e772c5f9aed5'
 
-class Char(msgspec.Struct, frozen=True, kw_only=True):
-    data: int = 0
+class Float32(msgspec.Struct, frozen=True, kw_only=True):
+    data: float = 0.0
 
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Char'
-    __hash__: ClassVar[str] = 'RIHS01_320dcd57e1183fb08463cc3ab50bf7e5ce0ecee39f64d15a9e9eeca3384c91a5'
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Float32'
+    __hash__: ClassVar[str] = 'RIHS01_6a112d9235f8e8088d7a2bc77cb955341ac0d5c9870bdc592651a4186bb246f3'
 
-class MultiArrayLayout(msgspec.Struct, frozen=True, kw_only=True):
-    dim: list["example_interfaces.MultiArrayDimension"] = msgspec.field(default_factory=list)
-    data_offset: int = 0
+class Int16MultiArray(msgspec.Struct, frozen=True, kw_only=True):
+    layout: "example_interfaces.MultiArrayLayout | None" = None
+    data: list[int] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/MultiArrayLayout'
-    __hash__: ClassVar[str] = 'RIHS01_ba42ea30074e5826a1e91f70f3660dda2996937169487f877fc20a8a402e2c27'
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Int16MultiArray'
+    __hash__: ClassVar[str] = 'RIHS01_d663e739410479619bfb7b9b94b0a764998acffadb8b7f5b200affa87b7ffdd2'
 
 class Int64MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     layout: "example_interfaces.MultiArrayLayout | None" = None
@@ -68,17 +93,18 @@ class Int64MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'example_interfaces/msg/Int64MultiArray'
     __hash__: ClassVar[str] = 'RIHS01_ebce42c0d2b81bc5309deb0b2d83e30236aeb4899aea3cc7ddd18787af39c94a'
 
-class Bool(msgspec.Struct, frozen=True, kw_only=True):
-    data: bool = False
+class Float64(msgspec.Struct, frozen=True, kw_only=True):
+    data: float = 0.0
 
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Bool'
-    __hash__: ClassVar[str] = 'RIHS01_4765c142500f8fd4e1a32fb3edd7b7d9d822a16ec270445f5120e772c5f9aed5'
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Float64'
+    __hash__: ClassVar[str] = 'RIHS01_74c137b7930c26339425a95fcfab441199bc41e0e572d3a0c9e95badd72b50da'
 
-class String(msgspec.Struct, frozen=True, kw_only=True):
-    data: str = ""
+class UInt32MultiArray(msgspec.Struct, frozen=True, kw_only=True):
+    layout: "example_interfaces.MultiArrayLayout | None" = None
+    data: list[int] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/String'
-    __hash__: ClassVar[str] = 'RIHS01_5509d866a579951f2fc6c19577c32605ba16f308cae7b498341d79536d4eb06b'
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/UInt32MultiArray'
+    __hash__: ClassVar[str] = 'RIHS01_0683176c523a116c76141c6d4abd150dbff492b72185f1260ce38a18a35aafcf'
 
 class Int8MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     layout: "example_interfaces.MultiArrayLayout | None" = None
@@ -87,46 +113,44 @@ class Int8MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'example_interfaces/msg/Int8MultiArray'
     __hash__: ClassVar[str] = 'RIHS01_6d26932aefc0e5c0c473613376338609bac9925e3527dc4e8fab6b6783b6d680'
 
-class MultiArrayDimension(msgspec.Struct, frozen=True, kw_only=True):
-    label: str = ""
-    size: int = 0
-    stride: int = 0
-
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/MultiArrayDimension'
-    __hash__: ClassVar[str] = 'RIHS01_a785cb9839e177e3eb760260139a919fec87821edc3314c592f2725abbf0bfcd'
-
-class Byte(msgspec.Struct, frozen=True, kw_only=True):
+class Int64(msgspec.Struct, frozen=True, kw_only=True):
     data: int = 0
 
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Byte'
-    __hash__: ClassVar[str] = 'RIHS01_f014e0424be54b8ba7c35490aea4198be92df1de4e88f4e19a2fbbce2e020bb9'
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Int64'
+    __hash__: ClassVar[str] = 'RIHS01_1b3b9a6502f560d079520c73c685a9550e5a1838d2cefd537fe0aba75a3639a0'
 
-class Int32MultiArray(msgspec.Struct, frozen=True, kw_only=True):
+class UInt8MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     layout: "example_interfaces.MultiArrayLayout | None" = None
-    data: list[int] = msgspec.field(default_factory=list)
+    data: bytes = b""
 
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Int32MultiArray'
-    __hash__: ClassVar[str] = 'RIHS01_b347aff8e38e2ce3f7f4023db7922d2d4abb9d593b03c40b1427640c26595bfa'
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/UInt8MultiArray'
+    __hash__: ClassVar[str] = 'RIHS01_7a49ef5ed9b7182488303b4027d54719ba7266e776bd446dac30e79b56fb0a71'
 
-class UInt16MultiArray(msgspec.Struct, frozen=True, kw_only=True):
-    layout: "example_interfaces.MultiArrayLayout | None" = None
-    data: list[int] = msgspec.field(default_factory=list)
+class Int8(msgspec.Struct, frozen=True, kw_only=True):
+    data: int = 0
 
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/UInt16MultiArray'
-    __hash__: ClassVar[str] = 'RIHS01_507f6456c1965ef6eab8a9cfa8860bd484e1b7039b4c4ea2c75c648182fceade'
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Int8'
+    __hash__: ClassVar[str] = 'RIHS01_2e9ef643d84ff37840fe787d1269aa06268960e294f4a0f5eb1e9d4eb21cbb57'
 
-class UInt32MultiArray(msgspec.Struct, frozen=True, kw_only=True):
-    layout: "example_interfaces.MultiArrayLayout | None" = None
-    data: list[int] = msgspec.field(default_factory=list)
+class MultiArrayLayout(msgspec.Struct, frozen=True, kw_only=True):
+    dim: list["example_interfaces.MultiArrayDimension"] = msgspec.field(default_factory=list)
+    data_offset: int = 0
 
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/UInt32MultiArray'
-    __hash__: ClassVar[str] = 'RIHS01_0683176c523a116c76141c6d4abd150dbff492b72185f1260ce38a18a35aafcf'
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/MultiArrayLayout'
+    __hash__: ClassVar[str] = 'RIHS01_ba42ea30074e5826a1e91f70f3660dda2996937169487f877fc20a8a402e2c27'
 
-class Int32(msgspec.Struct, frozen=True, kw_only=True):
-    data: int = 0
+class String(msgspec.Struct, frozen=True, kw_only=True):
+    data: str = ""
 
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Int32'
-    __hash__: ClassVar[str] = 'RIHS01_5cd04cd7f3adb9d6c6064c316047b24c76622eb89144f300b536d657fd55e652'
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/String'
+    __hash__: ClassVar[str] = 'RIHS01_5509d866a579951f2fc6c19577c32605ba16f308cae7b498341d79536d4eb06b'
+
+class Float64MultiArray(msgspec.Struct, frozen=True, kw_only=True):
+    layout: "example_interfaces.MultiArrayLayout | None" = None
+    data: list[float] = msgspec.field(default_factory=list)
+
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Float64MultiArray'
+    __hash__: ClassVar[str] = 'RIHS01_62a0985e7920b7bc489d1392f08c06ba0080fff5b8eaa09b27dcac122f50ad95'
 
 class UInt32(msgspec.Struct, frozen=True, kw_only=True):
     data: int = 0
@@ -134,6 +158,13 @@ class UInt32(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'example_interfaces/msg/UInt32'
     __hash__: ClassVar[str] = 'RIHS01_e86cccba586f30c16498f3ccd3550a764b255239a6142be3a4d7a2fa9a43515c'
 
+class ByteMultiArray(msgspec.Struct, frozen=True, kw_only=True):
+    layout: "example_interfaces.MultiArrayLayout | None" = None
+    data: bytes = b""
+
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/ByteMultiArray'
+    __hash__: ClassVar[str] = 'RIHS01_257fc3429b3c4dd0aea678c234f543665d1144b396f82c7ee60fed151e1dace3'
+
 class Float32MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     layout: "example_interfaces.MultiArrayLayout | None" = None
     data: list[float] = msgspec.field(default_factory=list)
@@ -141,48 +172,17 @@ class Float32MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'example_interfaces/msg/Float32MultiArray'
     __hash__: ClassVar[str] = 'RIHS01_8705278e8d206a9711133794ce6466281e9698138331c4b3d91e6cc9e9dfee26'
 
-class UInt8(msgspec.Struct, frozen=True, kw_only=True):
-    data: int = 0
-
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/UInt8'
-    __hash__: ClassVar[str] = 'RIHS01_9255b6d0dd98f5b573afbff223131279b788ac45cf051fb462c12dd9a30f4061'
-
-class UInt16(msgspec.Struct, frozen=True, kw_only=True):
+class Byte(msgspec.Struct, frozen=True, kw_only=True):
     data: int = 0
 
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/UInt16'
-    __hash__: ClassVar[str] = 'RIHS01_e123d0a691fa0ce58b682f1a4eee55137dd3f20c81665f0c556f53596c7fb377'
+    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Byte'
+    __hash__: ClassVar[str] = 'RIHS01_f014e0424be54b8ba7c35490aea4198be92df1de4e88f4e19a2fbbce2e020bb9'
 
 class Empty(msgspec.Struct, frozen=True, kw_only=True):
 
     __msgtype__: ClassVar[str] = 'example_interfaces/msg/Empty'
     __hash__: ClassVar[str] = 'RIHS01_73c22a7341eeccf8ef504a991e60d4078223f0931a5d5d212800e7c978903c58'
 
-class Int8(msgspec.Struct, frozen=True, kw_only=True):
-    data: int = 0
-
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Int8'
-    __hash__: ClassVar[str] = 'RIHS01_2e9ef643d84ff37840fe787d1269aa06268960e294f4a0f5eb1e9d4eb21cbb57'
-
-class Int64(msgspec.Struct, frozen=True, kw_only=True):
-    data: int = 0
-
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Int64'
-    __hash__: ClassVar[str] = 'RIHS01_1b3b9a6502f560d079520c73c685a9550e5a1838d2cefd537fe0aba75a3639a0'
-
-class Int16MultiArray(msgspec.Struct, frozen=True, kw_only=True):
-    layout: "example_interfaces.MultiArrayLayout | None" = None
-    data: list[int] = msgspec.field(default_factory=list)
-
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/Int16MultiArray'
-    __hash__: ClassVar[str] = 'RIHS01_d663e739410479619bfb7b9b94b0a764998acffadb8b7f5b200affa87b7ffdd2'
-
-class UInt64(msgspec.Struct, frozen=True, kw_only=True):
-    data: int = 0
-
-    __msgtype__: ClassVar[str] = 'example_interfaces/msg/UInt64'
-    __hash__: ClassVar[str] = 'RIHS01_6a3f8548c5818b7add62dd6cbbd840fd1ab17fbf9d73cad6690557b7326d8908'
-
 class AddTwoIntsRequest(msgspec.Struct, frozen=True, kw_only=True):
     a: int = 0
     b: int = 0
@@ -221,3 +221,21 @@ class TriggerResponse(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'example_interfaces/msg/TriggerResponse'
     __hash__: ClassVar[str] = 'RIHS01_cfeeee47f8105dd7685e4c92d46d4074669cb1c477402be1dea37486542a69e0'
 
+class AddTwoInts:
+    """Service grouping type. Use AddTwoInts.Request and AddTwoInts.Response."""
+    __srvtype__: ClassVar[str] = 'example_interfaces/srv/AddTwoInts'
+    Request: ClassVar[type] = AddTwoIntsRequest
+    Response: ClassVar[type] = AddTwoIntsResponse
+
+class SetBool:
+    """Service grouping type. Use SetBool.Request and SetBool.Response."""
+    __srvtype__: ClassVar[str] = 'example_interfaces/srv/SetBool'
+    Request: ClassVar[type] = SetBoolRequest
+    Response: ClassVar[type] = SetBoolResponse
+
+class Trigger:
+    """Service grouping type. Use Trigger.Request and Trigger.Response."""
+    __srvtype__: ClassVar[str] = 'example_interfaces/srv/Trigger'
+    Request: ClassVar[type] = TriggerRequest
+    Response: ClassVar[type] = TriggerResponse
+
diff --git a/crates/hiroz-msgs/python/hiroz_msgs_py/types/geometry_msgs.py b/crates/hiroz-msgs/python/hiroz_msgs_py/types/geometry_msgs.py
index f9015942..d5d94d88 100644
--- a/crates/hiroz-msgs/python/hiroz_msgs_py/types/geometry_msgs.py
+++ b/crates/hiroz-msgs/python/hiroz_msgs_py/types/geometry_msgs.py
@@ -2,26 +2,12 @@
 import msgspec
 from typing import ClassVar
 
-class InertiaStamped(msgspec.Struct, frozen=True, kw_only=True):
-    header: "std_msgs.Header | None" = None
-    inertia: "geometry_msgs.Inertia | None" = None
-
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/InertiaStamped'
-    __hash__: ClassVar[str] = 'RIHS01_766be45976252babf7f9d8ac4ae7c912a7ceccf71035622529f27518b695aa09'
-
-class PoseStamped(msgspec.Struct, frozen=True, kw_only=True):
-    header: "std_msgs.Header | None" = None
-    pose: "geometry_msgs.Pose | None" = None
-
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/PoseStamped'
-    __hash__: ClassVar[str] = 'RIHS01_10f3786d7d40fd2b54367835614bff85d4ad3b5dab62bf8bca0cc232d73b4cd8'
-
-class PoseWithCovarianceStamped(msgspec.Struct, frozen=True, kw_only=True):
+class PolygonStamped(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
-    pose: "geometry_msgs.PoseWithCovariance | None" = None
+    polygon: "geometry_msgs.Polygon | None" = None
 
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/PoseWithCovarianceStamped'
-    __hash__: ClassVar[str] = 'RIHS01_26432f9803e43727d3c8f668d1fdb3c630f548af631e2f4e31382371bfea3b6e'
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/PolygonStamped'
+    __hash__: ClassVar[str] = 'RIHS01_b7cf07932f1523d4b4088075945c1a0141f7cd21da87cc940fc61652e9138b46'
 
 class VelocityStamped(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
@@ -32,12 +18,12 @@ class VelocityStamped(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'geometry_msgs/msg/VelocityStamped'
     __hash__: ClassVar[str] = 'RIHS01_55e7196186c8dbe4375278d7f1ac050dd8c9bacade1cf3eef8460fa667bd2457'
 
-class AccelWithCovarianceStamped(msgspec.Struct, frozen=True, kw_only=True):
+class WrenchStamped(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
-    accel: "geometry_msgs.AccelWithCovariance | None" = None
+    wrench: "geometry_msgs.Wrench | None" = None
 
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/AccelWithCovarianceStamped'
-    __hash__: ClassVar[str] = 'RIHS01_61c9ad8928e71dd95ce791b2f02809ee2a0bbcc42cd0e4047fd00a822a08e444'
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/WrenchStamped'
+    __hash__: ClassVar[str] = 'RIHS01_8dc3deaf06b2ab281f9f9a742a8961c328ca7cec16e3fd6586d3a5c83fa78f77'
 
 class PointStamped(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
@@ -53,19 +39,35 @@ class AccelStamped(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'geometry_msgs/msg/AccelStamped'
     __hash__: ClassVar[str] = 'RIHS01_ef1df9eabae0a708cc049a061ebcddc4e2a5f745730100ba680e086a9698b165'
 
-class PolygonStamped(msgspec.Struct, frozen=True, kw_only=True):
+class Vector3Stamped(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
-    polygon: "geometry_msgs.Polygon | None" = None
+    vector: "geometry_msgs.Vector3 | None" = None
 
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/PolygonStamped'
-    __hash__: ClassVar[str] = 'RIHS01_b7cf07932f1523d4b4088075945c1a0141f7cd21da87cc940fc61652e9138b46'
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Vector3Stamped'
+    __hash__: ClassVar[str] = 'RIHS01_d4829622288cbb443886e7ea94ea5671a3b1be6bab4ad04224432a65f7d7887a'
 
-class WrenchStamped(msgspec.Struct, frozen=True, kw_only=True):
+class Point32(msgspec.Struct, frozen=True, kw_only=True):
+    x: float = 0.0
+    y: float = 0.0
+    z: float = 0.0
+
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Point32'
+    __hash__: ClassVar[str] = 'RIHS01_2fc4db7cae16a4582c79a56b66173a8d48d52c7dc520ddc55a0d4bcf2a4bfdbc'
+
+class TransformStamped(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
-    wrench: "geometry_msgs.Wrench | None" = None
+    child_frame_id: str = ""
+    transform: "geometry_msgs.Transform | None" = None
 
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/WrenchStamped'
-    __hash__: ClassVar[str] = 'RIHS01_8dc3deaf06b2ab281f9f9a742a8961c328ca7cec16e3fd6586d3a5c83fa78f77'
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/TransformStamped'
+    __hash__: ClassVar[str] = 'RIHS01_0a241f87d04668d94099cbb5ba11691d5ad32c2f29682e4eb5653424bd275206'
+
+class AccelWithCovarianceStamped(msgspec.Struct, frozen=True, kw_only=True):
+    header: "std_msgs.Header | None" = None
+    accel: "geometry_msgs.AccelWithCovariance | None" = None
+
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/AccelWithCovarianceStamped'
+    __hash__: ClassVar[str] = 'RIHS01_61c9ad8928e71dd95ce791b2f02809ee2a0bbcc42cd0e4047fd00a822a08e444'
 
 class QuaternionStamped(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
@@ -74,19 +76,12 @@ class QuaternionStamped(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'geometry_msgs/msg/QuaternionStamped'
     __hash__: ClassVar[str] = 'RIHS01_381add86c6c3160644d228ca342182c7fd6c7fab11c7a85ad817a9cc22dbac6e'
 
-class Wrench(msgspec.Struct, frozen=True, kw_only=True):
-    force: "geometry_msgs.Vector3 | None" = None
-    torque: "geometry_msgs.Vector3 | None" = None
-
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Wrench'
-    __hash__: ClassVar[str] = 'RIHS01_018e8519d57c16adbe97c9fe1460ef21fec7e31bc541de3d653a35895677ce52'
-
-class PolygonInstanceStamped(msgspec.Struct, frozen=True, kw_only=True):
-    header: "std_msgs.Header | None" = None
-    polygon: "geometry_msgs.PolygonInstance | None" = None
+class PolygonInstance(msgspec.Struct, frozen=True, kw_only=True):
+    polygon: "geometry_msgs.Polygon | None" = None
+    id: int = 0
 
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/PolygonInstanceStamped'
-    __hash__: ClassVar[str] = 'RIHS01_802f37ea4398d7ce547936aab1fd278923716a13c63373887cd896957434ce2f'
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/PolygonInstance'
+    __hash__: ClassVar[str] = 'RIHS01_fa1cb3dc774329865258afef74f65b0553d487510c6d0f93ba38cc32d62ac0e5'
 
 class Inertia(msgspec.Struct, frozen=True, kw_only=True):
     m: float = 0.0
@@ -101,13 +96,13 @@ class Inertia(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Inertia'
     __hash__: ClassVar[str] = 'RIHS01_2ddd5dab5c347825ba2e56c895ddccfd0b8efe53ae931bf67f905529930b4bd7'
 
-class Point(msgspec.Struct, frozen=True, kw_only=True):
+class Vector3(msgspec.Struct, frozen=True, kw_only=True):
     x: float = 0.0
     y: float = 0.0
     z: float = 0.0
 
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Point'
-    __hash__: ClassVar[str] = 'RIHS01_6963084842a9b04494d6b2941d11444708d892da2f4b09843b9c43f42a7f6881'
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Vector3'
+    __hash__: ClassVar[str] = 'RIHS01_cc12fe83e4c02719f1ce8070bfd14aecd40f75a96696a67a2a1f37f7dbb0765d'
 
 class Quaternion(msgspec.Struct, frozen=True, kw_only=True):
     x: float = 0.0
@@ -118,6 +113,13 @@ class Quaternion(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Quaternion'
     __hash__: ClassVar[str] = 'RIHS01_8a765f66778c8ff7c8ab94afcc590a2ed5325a1d9a076ffff38fbce36f458684'
 
+class Twist(msgspec.Struct, frozen=True, kw_only=True):
+    linear: "geometry_msgs.Vector3 | None" = None
+    angular: "geometry_msgs.Vector3 | None" = None
+
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Twist'
+    __hash__: ClassVar[str] = 'RIHS01_9c45bf16fe0983d80e3cfe750d6835843d265a9a6c46bd2e609fcddde6fb8d2a'
+
 class Pose(msgspec.Struct, frozen=True, kw_only=True):
     position: "geometry_msgs.Point | None" = None
     orientation: "geometry_msgs.Quaternion | None" = None
@@ -125,12 +127,19 @@ class Pose(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Pose'
     __hash__: ClassVar[str] = 'RIHS01_d501954e9476cea2996984e812054b68026ae0bfae789d9a10b23daf35cc90fa'
 
-class PolygonInstance(msgspec.Struct, frozen=True, kw_only=True):
-    polygon: "geometry_msgs.Polygon | None" = None
-    id: int = 0
+class AccelWithCovariance(msgspec.Struct, frozen=True, kw_only=True):
+    accel: "geometry_msgs.Accel | None" = None
+    covariance: list[float] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/PolygonInstance'
-    __hash__: ClassVar[str] = 'RIHS01_fa1cb3dc774329865258afef74f65b0553d487510c6d0f93ba38cc32d62ac0e5'
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/AccelWithCovariance'
+    __hash__: ClassVar[str] = 'RIHS01_230d51bd53bc36f260574e73b42941cefe44684753480b6fc330c032c5db5997'
+
+class Wrench(msgspec.Struct, frozen=True, kw_only=True):
+    force: "geometry_msgs.Vector3 | None" = None
+    torque: "geometry_msgs.Vector3 | None" = None
+
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Wrench'
+    __hash__: ClassVar[str] = 'RIHS01_018e8519d57c16adbe97c9fe1460ef21fec7e31bc541de3d653a35895677ce52'
 
 class PoseArray(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
@@ -139,49 +148,34 @@ class PoseArray(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'geometry_msgs/msg/PoseArray'
     __hash__: ClassVar[str] = 'RIHS01_af0cc36d190e104d546d168d6b39df04fa4b4ccecf59cb4c9ed328d3d5004aa0'
 
-class TwistStamped(msgspec.Struct, frozen=True, kw_only=True):
+class PoseWithCovarianceStamped(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
-    twist: "geometry_msgs.Twist | None" = None
-
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/TwistStamped'
-    __hash__: ClassVar[str] = 'RIHS01_5f0fcd4f81d5d06ad9b4c4c63e3ea51b82d6ae4d0558f1d475229b1121db6f64'
-
-class Vector3(msgspec.Struct, frozen=True, kw_only=True):
-    x: float = 0.0
-    y: float = 0.0
-    z: float = 0.0
+    pose: "geometry_msgs.PoseWithCovariance | None" = None
 
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Vector3'
-    __hash__: ClassVar[str] = 'RIHS01_cc12fe83e4c02719f1ce8070bfd14aecd40f75a96696a67a2a1f37f7dbb0765d'
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/PoseWithCovarianceStamped'
+    __hash__: ClassVar[str] = 'RIHS01_26432f9803e43727d3c8f668d1fdb3c630f548af631e2f4e31382371bfea3b6e'
 
-class Twist(msgspec.Struct, frozen=True, kw_only=True):
-    linear: "geometry_msgs.Vector3 | None" = None
-    angular: "geometry_msgs.Vector3 | None" = None
+class PolygonInstanceStamped(msgspec.Struct, frozen=True, kw_only=True):
+    header: "std_msgs.Header | None" = None
+    polygon: "geometry_msgs.PolygonInstance | None" = None
 
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Twist'
-    __hash__: ClassVar[str] = 'RIHS01_9c45bf16fe0983d80e3cfe750d6835843d265a9a6c46bd2e609fcddde6fb8d2a'
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/PolygonInstanceStamped'
+    __hash__: ClassVar[str] = 'RIHS01_802f37ea4398d7ce547936aab1fd278923716a13c63373887cd896957434ce2f'
 
-class Point32(msgspec.Struct, frozen=True, kw_only=True):
+class Point(msgspec.Struct, frozen=True, kw_only=True):
     x: float = 0.0
     y: float = 0.0
     z: float = 0.0
 
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Point32'
-    __hash__: ClassVar[str] = 'RIHS01_2fc4db7cae16a4582c79a56b66173a8d48d52c7dc520ddc55a0d4bcf2a4bfdbc'
-
-class Transform(msgspec.Struct, frozen=True, kw_only=True):
-    translation: "geometry_msgs.Vector3 | None" = None
-    rotation: "geometry_msgs.Quaternion | None" = None
-
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Transform'
-    __hash__: ClassVar[str] = 'RIHS01_beb83fbe698636351461f6f35d1abb20010c43d55374d81bd041f1ba2581fddc'
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Point'
+    __hash__: ClassVar[str] = 'RIHS01_6963084842a9b04494d6b2941d11444708d892da2f4b09843b9c43f42a7f6881'
 
-class Vector3Stamped(msgspec.Struct, frozen=True, kw_only=True):
-    header: "std_msgs.Header | None" = None
-    vector: "geometry_msgs.Vector3 | None" = None
+class Accel(msgspec.Struct, frozen=True, kw_only=True):
+    linear: "geometry_msgs.Vector3 | None" = None
+    angular: "geometry_msgs.Vector3 | None" = None
 
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Vector3Stamped'
-    __hash__: ClassVar[str] = 'RIHS01_d4829622288cbb443886e7ea94ea5671a3b1be6bab4ad04224432a65f7d7887a'
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Accel'
+    __hash__: ClassVar[str] = 'RIHS01_dc448243ded9b1fcbcca24aba0c22f013dae06c354ba2d849571c0a2a3f57ca0'
 
 class Polygon(msgspec.Struct, frozen=True, kw_only=True):
     points: list["geometry_msgs.Point32"] = msgspec.field(default_factory=list)
@@ -189,28 +183,26 @@ class Polygon(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Polygon'
     __hash__: ClassVar[str] = 'RIHS01_3782f9f0bf044964d692d6c017d705e37611afb1f0bf6a9dee248a7dda0f784a'
 
-class Pose2D(msgspec.Struct, frozen=True, kw_only=True):
-    x: float = 0.0
-    y: float = 0.0
-    theta: float = 0.0
+class InertiaStamped(msgspec.Struct, frozen=True, kw_only=True):
+    header: "std_msgs.Header | None" = None
+    inertia: "geometry_msgs.Inertia | None" = None
 
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Pose2D'
-    __hash__: ClassVar[str] = 'RIHS01_d68efa5b46e70f7b16ca23085474fdac5a44b638783ec42f661da64da4724ccc'
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/InertiaStamped'
+    __hash__: ClassVar[str] = 'RIHS01_766be45976252babf7f9d8ac4ae7c912a7ceccf71035622529f27518b695aa09'
 
-class TransformStamped(msgspec.Struct, frozen=True, kw_only=True):
-    header: "std_msgs.Header | None" = None
-    child_frame_id: str = ""
-    transform: "geometry_msgs.Transform | None" = None
+class Transform(msgspec.Struct, frozen=True, kw_only=True):
+    translation: "geometry_msgs.Vector3 | None" = None
+    rotation: "geometry_msgs.Quaternion | None" = None
 
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/TransformStamped'
-    __hash__: ClassVar[str] = 'RIHS01_0a241f87d04668d94099cbb5ba11691d5ad32c2f29682e4eb5653424bd275206'
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Transform'
+    __hash__: ClassVar[str] = 'RIHS01_beb83fbe698636351461f6f35d1abb20010c43d55374d81bd041f1ba2581fddc'
 
-class AccelWithCovariance(msgspec.Struct, frozen=True, kw_only=True):
-    accel: "geometry_msgs.Accel | None" = None
-    covariance: list[float] = msgspec.field(default_factory=list)
+class TwistWithCovarianceStamped(msgspec.Struct, frozen=True, kw_only=True):
+    header: "std_msgs.Header | None" = None
+    twist: "geometry_msgs.TwistWithCovariance | None" = None
 
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/AccelWithCovariance'
-    __hash__: ClassVar[str] = 'RIHS01_230d51bd53bc36f260574e73b42941cefe44684753480b6fc330c032c5db5997'
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/TwistWithCovarianceStamped'
+    __hash__: ClassVar[str] = 'RIHS01_77b67434531e6529b7a0091357b186b6ebdb17fd9ffd3e0c7ce9d3fb11a44563'
 
 class TwistWithCovariance(msgspec.Struct, frozen=True, kw_only=True):
     twist: "geometry_msgs.Twist | None" = None
@@ -219,19 +211,20 @@ class TwistWithCovariance(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'geometry_msgs/msg/TwistWithCovariance'
     __hash__: ClassVar[str] = 'RIHS01_49f574f033f095d8b6cd1beaca5ca7925e296e84af1716d16c89d38b059c8c18'
 
-class Accel(msgspec.Struct, frozen=True, kw_only=True):
-    linear: "geometry_msgs.Vector3 | None" = None
-    angular: "geometry_msgs.Vector3 | None" = None
+class PoseStamped(msgspec.Struct, frozen=True, kw_only=True):
+    header: "std_msgs.Header | None" = None
+    pose: "geometry_msgs.Pose | None" = None
 
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Accel'
-    __hash__: ClassVar[str] = 'RIHS01_dc448243ded9b1fcbcca24aba0c22f013dae06c354ba2d849571c0a2a3f57ca0'
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/PoseStamped'
+    __hash__: ClassVar[str] = 'RIHS01_10f3786d7d40fd2b54367835614bff85d4ad3b5dab62bf8bca0cc232d73b4cd8'
 
-class TwistWithCovarianceStamped(msgspec.Struct, frozen=True, kw_only=True):
-    header: "std_msgs.Header | None" = None
-    twist: "geometry_msgs.TwistWithCovariance | None" = None
+class Pose2D(msgspec.Struct, frozen=True, kw_only=True):
+    x: float = 0.0
+    y: float = 0.0
+    theta: float = 0.0
 
-    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/TwistWithCovarianceStamped'
-    __hash__: ClassVar[str] = 'RIHS01_77b67434531e6529b7a0091357b186b6ebdb17fd9ffd3e0c7ce9d3fb11a44563'
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/Pose2D'
+    __hash__: ClassVar[str] = 'RIHS01_d68efa5b46e70f7b16ca23085474fdac5a44b638783ec42f661da64da4724ccc'
 
 class PoseWithCovariance(msgspec.Struct, frozen=True, kw_only=True):
     pose: "geometry_msgs.Pose | None" = None
@@ -240,3 +233,10 @@ class PoseWithCovariance(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'geometry_msgs/msg/PoseWithCovariance'
     __hash__: ClassVar[str] = 'RIHS01_9a7c0fd234b7f45c6098745ecccd773ca1085670e64107135397aee31c02e1bb'
 
+class TwistStamped(msgspec.Struct, frozen=True, kw_only=True):
+    header: "std_msgs.Header | None" = None
+    twist: "geometry_msgs.Twist | None" = None
+
+    __msgtype__: ClassVar[str] = 'geometry_msgs/msg/TwistStamped'
+    __hash__: ClassVar[str] = 'RIHS01_5f0fcd4f81d5d06ad9b4c4c63e3ea51b82d6ae4d0558f1d475229b1121db6f64'
+
diff --git a/crates/hiroz-msgs/python/hiroz_msgs_py/types/lifecycle_msgs.py b/crates/hiroz-msgs/python/hiroz_msgs_py/types/lifecycle_msgs.py
index 90ccde3d..aa13e250 100644
--- a/crates/hiroz-msgs/python/hiroz_msgs_py/types/lifecycle_msgs.py
+++ b/crates/hiroz-msgs/python/hiroz_msgs_py/types/lifecycle_msgs.py
@@ -2,14 +2,6 @@
 import msgspec
 from typing import ClassVar
 
-class TransitionDescription(msgspec.Struct, frozen=True, kw_only=True):
-    transition: "lifecycle_msgs.Transition | None" = None
-    start_state: "lifecycle_msgs.State | None" = None
-    goal_state: "lifecycle_msgs.State | None" = None
-
-    __msgtype__: ClassVar[str] = 'lifecycle_msgs/msg/TransitionDescription'
-    __hash__: ClassVar[str] = 'RIHS01_c5f1cd4bb1ad2ba0e3329d4ac7015c52a674a72c1faf7974c37a33f4f6048b28'
-
 class Transition(msgspec.Struct, frozen=True, kw_only=True):
     id: int = 0
     label: str = ""
@@ -26,6 +18,14 @@ class TransitionEvent(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'lifecycle_msgs/msg/TransitionEvent'
     __hash__: ClassVar[str] = 'RIHS01_f90405bf3073265eec4847f23ac63298cf2dd3933a6d541be11a9232dd840c32'
 
+class TransitionDescription(msgspec.Struct, frozen=True, kw_only=True):
+    transition: "lifecycle_msgs.Transition | None" = None
+    start_state: "lifecycle_msgs.State | None" = None
+    goal_state: "lifecycle_msgs.State | None" = None
+
+    __msgtype__: ClassVar[str] = 'lifecycle_msgs/msg/TransitionDescription'
+    __hash__: ClassVar[str] = 'RIHS01_c5f1cd4bb1ad2ba0e3329d4ac7015c52a674a72c1faf7974c37a33f4f6048b28'
+
 class State(msgspec.Struct, frozen=True, kw_only=True):
     id: int = 0
     label: str = ""
@@ -78,3 +78,27 @@ class GetStateResponse(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'lifecycle_msgs/msg/GetStateResponse'
     __hash__: ClassVar[str] = 'RIHS01_800a0a5aae599782b02932de0caf563f6dc4e7e94b794eadde075ba2cbef9795'
 
+class ChangeState:
+    """Service grouping type. Use ChangeState.Request and ChangeState.Response."""
+    __srvtype__: ClassVar[str] = 'lifecycle_msgs/srv/ChangeState'
+    Request: ClassVar[type] = ChangeStateRequest
+    Response: ClassVar[type] = ChangeStateResponse
+
+class GetAvailableStates:
+    """Service grouping type. Use GetAvailableStates.Request and GetAvailableStates.Response."""
+    __srvtype__: ClassVar[str] = 'lifecycle_msgs/srv/GetAvailableStates'
+    Request: ClassVar[type] = GetAvailableStatesRequest
+    Response: ClassVar[type] = GetAvailableStatesResponse
+
+class GetAvailableTransitions:
+    """Service grouping type. Use GetAvailableTransitions.Request and GetAvailableTransitions.Response."""
+    __srvtype__: ClassVar[str] = 'lifecycle_msgs/srv/GetAvailableTransitions'
+    Request: ClassVar[type] = GetAvailableTransitionsRequest
+    Response: ClassVar[type] = GetAvailableTransitionsResponse
+
+class GetState:
+    """Service grouping type. Use GetState.Request and GetState.Response."""
+    __srvtype__: ClassVar[str] = 'lifecycle_msgs/srv/GetState'
+    Request: ClassVar[type] = GetStateRequest
+    Response: ClassVar[type] = GetStateResponse
+
diff --git a/crates/hiroz-msgs/python/hiroz_msgs_py/types/nav_msgs.py b/crates/hiroz-msgs/python/hiroz_msgs_py/types/nav_msgs.py
index d370d3f0..1c67f515 100644
--- a/crates/hiroz-msgs/python/hiroz_msgs_py/types/nav_msgs.py
+++ b/crates/hiroz-msgs/python/hiroz_msgs_py/types/nav_msgs.py
@@ -2,13 +2,12 @@
 import msgspec
 from typing import ClassVar
 
-class OccupancyGrid(msgspec.Struct, frozen=True, kw_only=True):
+class Path(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
-    info: "nav_msgs.MapMetaData | None" = None
-    data: list[int] = msgspec.field(default_factory=list)
+    poses: list["geometry_msgs.PoseStamped"] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'nav_msgs/msg/OccupancyGrid'
-    __hash__: ClassVar[str] = 'RIHS01_8d348150c12913a31ee0ec170fbf25089e4745d17035792a1ba94d6f0bc0cfc7'
+    __msgtype__: ClassVar[str] = 'nav_msgs/msg/Path'
+    __hash__: ClassVar[str] = 'RIHS01_1957a5bb3cee5da65c4e52e52b65a93df227efce4c20f8458b36e73066ca334b'
 
 class GridCells(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
@@ -19,12 +18,22 @@ class GridCells(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'nav_msgs/msg/GridCells'
     __hash__: ClassVar[str] = 'RIHS01_bb99c2f5d0a04750745a81ec6a8147aa373cce5bd17c8cd6507f2413354a6933'
 
-class Goals(msgspec.Struct, frozen=True, kw_only=True):
+class OccupancyGrid(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
-    goals: list["geometry_msgs.PoseStamped"] = msgspec.field(default_factory=list)
+    info: "nav_msgs.MapMetaData | None" = None
+    data: list[int] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'nav_msgs/msg/Goals'
-    __hash__: ClassVar[str] = 'RIHS01_02305a51633b5c04d8979b878a7577cafd422f8a07465c878b17a920af3759e9'
+    __msgtype__: ClassVar[str] = 'nav_msgs/msg/OccupancyGrid'
+    __hash__: ClassVar[str] = 'RIHS01_8d348150c12913a31ee0ec170fbf25089e4745d17035792a1ba94d6f0bc0cfc7'
+
+class Odometry(msgspec.Struct, frozen=True, kw_only=True):
+    header: "std_msgs.Header | None" = None
+    child_frame_id: str = ""
+    pose: "geometry_msgs.PoseWithCovariance | None" = None
+    twist: "geometry_msgs.TwistWithCovariance | None" = None
+
+    __msgtype__: ClassVar[str] = 'nav_msgs/msg/Odometry'
+    __hash__: ClassVar[str] = 'RIHS01_3cc97dc7fb7502f8714462c526d369e35b603cfc34d946e3f2eda2766dfec6e0'
 
 class MapMetaData(msgspec.Struct, frozen=True, kw_only=True):
     map_load_time: "builtin_interfaces.Time | None" = msgspec.field(default_factory=lambda: {'sec': 0, 'nanosec': 0})
@@ -36,21 +45,12 @@ class MapMetaData(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'nav_msgs/msg/MapMetaData'
     __hash__: ClassVar[str] = 'RIHS01_2772d4b2000ef2b35dbaeb80fd3946c1369f817fb4f75677d916d27c17d763c8'
 
-class Path(msgspec.Struct, frozen=True, kw_only=True):
-    header: "std_msgs.Header | None" = None
-    poses: list["geometry_msgs.PoseStamped"] = msgspec.field(default_factory=list)
-
-    __msgtype__: ClassVar[str] = 'nav_msgs/msg/Path'
-    __hash__: ClassVar[str] = 'RIHS01_1957a5bb3cee5da65c4e52e52b65a93df227efce4c20f8458b36e73066ca334b'
-
-class Odometry(msgspec.Struct, frozen=True, kw_only=True):
+class Goals(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
-    child_frame_id: str = ""
-    pose: "geometry_msgs.PoseWithCovariance | None" = None
-    twist: "geometry_msgs.TwistWithCovariance | None" = None
+    goals: list["geometry_msgs.PoseStamped"] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'nav_msgs/msg/Odometry'
-    __hash__: ClassVar[str] = 'RIHS01_3cc97dc7fb7502f8714462c526d369e35b603cfc34d946e3f2eda2766dfec6e0'
+    __msgtype__: ClassVar[str] = 'nav_msgs/msg/Goals'
+    __hash__: ClassVar[str] = 'RIHS01_02305a51633b5c04d8979b878a7577cafd422f8a07465c878b17a920af3759e9'
 
 class GetMapRequest(msgspec.Struct, frozen=True, kw_only=True):
 
@@ -103,3 +103,27 @@ class SetMapResponse(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'nav_msgs/msg/SetMapResponse'
     __hash__: ClassVar[str] = 'RIHS01_5e11a5b2ca53d8ae85b666a019f16c9904ebc787828f1f566c4e048a1ddedfb4'
 
+class GetMap:
+    """Service grouping type. Use GetMap.Request and GetMap.Response."""
+    __srvtype__: ClassVar[str] = 'nav_msgs/srv/GetMap'
+    Request: ClassVar[type] = GetMapRequest
+    Response: ClassVar[type] = GetMapResponse
+
+class GetPlan:
+    """Service grouping type. Use GetPlan.Request and GetPlan.Response."""
+    __srvtype__: ClassVar[str] = 'nav_msgs/srv/GetPlan'
+    Request: ClassVar[type] = GetPlanRequest
+    Response: ClassVar[type] = GetPlanResponse
+
+class LoadMap:
+    """Service grouping type. Use LoadMap.Request and LoadMap.Response."""
+    __srvtype__: ClassVar[str] = 'nav_msgs/srv/LoadMap'
+    Request: ClassVar[type] = LoadMapRequest
+    Response: ClassVar[type] = LoadMapResponse
+
+class SetMap:
+    """Service grouping type. Use SetMap.Request and SetMap.Response."""
+    __srvtype__: ClassVar[str] = 'nav_msgs/srv/SetMap'
+    Request: ClassVar[type] = SetMapRequest
+    Response: ClassVar[type] = SetMapResponse
+
diff --git a/crates/hiroz-msgs/python/hiroz_msgs_py/types/rcl_interfaces.py b/crates/hiroz-msgs/python/hiroz_msgs_py/types/rcl_interfaces.py
index 21e14879..1089cbf1 100644
--- a/crates/hiroz-msgs/python/hiroz_msgs_py/types/rcl_interfaces.py
+++ b/crates/hiroz-msgs/python/hiroz_msgs_py/types/rcl_interfaces.py
@@ -2,13 +2,6 @@
 import msgspec
 from typing import ClassVar
 
-class ListParametersResult(msgspec.Struct, frozen=True, kw_only=True):
-    names: list[str] = msgspec.field(default_factory=list)
-    prefixes: list[str] = msgspec.field(default_factory=list)
-
-    __msgtype__: ClassVar[str] = 'rcl_interfaces/msg/ListParametersResult'
-    __hash__: ClassVar[str] = 'RIHS01_237ae3428413dcbcfb452b510c42355f3a2b021dc091afa3e18526d57022f1cd'
-
 class SetParametersResult(msgspec.Struct, frozen=True, kw_only=True):
     successful: bool = False
     reason: str = ""
@@ -16,21 +9,6 @@ class SetParametersResult(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'rcl_interfaces/msg/SetParametersResult'
     __hash__: ClassVar[str] = 'RIHS01_cfcc0fb0371ee5159b403960ef4300f8f9d2f1fd6117c8666b7f9654d528a9b1'
 
-class Parameter(msgspec.Struct, frozen=True, kw_only=True):
-    name: str = ""
-    value: "rcl_interfaces.ParameterValue | None" = None
-
-    __msgtype__: ClassVar[str] = 'rcl_interfaces/msg/Parameter'
-    __hash__: ClassVar[str] = 'RIHS01_ddfe6442cffc462317adb5c92536a7b6dd55858c5c3e1e328165a6b73c2831af'
-
-class FloatingPointRange(msgspec.Struct, frozen=True, kw_only=True):
-    from_value: float = 0.0
-    to_value: float = 0.0
-    step: float = 0.0
-
-    __msgtype__: ClassVar[str] = 'rcl_interfaces/msg/FloatingPointRange'
-    __hash__: ClassVar[str] = 'RIHS01_e6af23a23c177fee5f3075c8b1e435162a9b63c863d78c06017460b49684262d'
-
 class IntegerRange(msgspec.Struct, frozen=True, kw_only=True):
     from_value: int = 0
     to_value: int = 0
@@ -39,6 +17,41 @@ class IntegerRange(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'rcl_interfaces/msg/IntegerRange'
     __hash__: ClassVar[str] = 'RIHS01_f7b7fdc0f65f07702e099218e13288c3963bcb9345bde78b560e6cd19800fc5a'
 
+class ListParametersResult(msgspec.Struct, frozen=True, kw_only=True):
+    names: list[str] = msgspec.field(default_factory=list)
+    prefixes: list[str] = msgspec.field(default_factory=list)
+
+    __msgtype__: ClassVar[str] = 'rcl_interfaces/msg/ListParametersResult'
+    __hash__: ClassVar[str] = 'RIHS01_237ae3428413dcbcfb452b510c42355f3a2b021dc091afa3e18526d57022f1cd'
+
+class ParameterDescriptor(msgspec.Struct, frozen=True, kw_only=True):
+    name: str = ""
+    type: int = 0
+    description: str = ""
+    additional_constraints: str = ""
+    read_only: bool = False
+    dynamic_typing: bool = False
+    floating_point_range: list["rcl_interfaces.FloatingPointRange"] = msgspec.field(default_factory=list)
+    integer_range: list["rcl_interfaces.IntegerRange"] = msgspec.field(default_factory=list)
+
+    __msgtype__: ClassVar[str] = 'rcl_interfaces/msg/ParameterDescriptor'
+    __hash__: ClassVar[str] = 'RIHS01_52175dbfda6c51153101d33d2a9da05743f66f02d5ab2ca9ec4709b46b73d704'
+
+class ParameterValue(msgspec.Struct, frozen=True, kw_only=True):
+    type: int = 0
+    bool_value: bool = False
+    integer_value: int = 0
+    double_value: float = 0.0
+    string_value: str = ""
+    byte_array_value: bytes = b""
+    bool_array_value: list[bool] = msgspec.field(default_factory=list)
+    integer_array_value: list[int] = msgspec.field(default_factory=list)
+    double_array_value: list[float] = msgspec.field(default_factory=list)
+    string_array_value: list[str] = msgspec.field(default_factory=list)
+
+    __msgtype__: ClassVar[str] = 'rcl_interfaces/msg/ParameterValue'
+    __hash__: ClassVar[str] = 'RIHS01_115fc089a387e23c7ecd3525c9189c379109119d6ab82e8dfbde0fdf6a7f9b68'
+
 class ParameterEventDescriptors(msgspec.Struct, frozen=True, kw_only=True):
     new_parameters: list["rcl_interfaces.ParameterDescriptor"] = msgspec.field(default_factory=list)
     changed_parameters: list["rcl_interfaces.ParameterDescriptor"] = msgspec.field(default_factory=list)
@@ -52,6 +65,13 @@ class ParameterType(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'rcl_interfaces/msg/ParameterType'
     __hash__: ClassVar[str] = 'RIHS01_df29ed057a834862187be24dd187d981790ff3ea6502f4cd27b432cbc42c6d46'
 
+class Parameter(msgspec.Struct, frozen=True, kw_only=True):
+    name: str = ""
+    value: "rcl_interfaces.ParameterValue | None" = None
+
+    __msgtype__: ClassVar[str] = 'rcl_interfaces/msg/Parameter'
+    __hash__: ClassVar[str] = 'RIHS01_ddfe6442cffc462317adb5c92536a7b6dd55858c5c3e1e328165a6b73c2831af'
+
 class ParameterEvent(msgspec.Struct, frozen=True, kw_only=True):
     stamp: "builtin_interfaces.Time | None" = msgspec.field(default_factory=lambda: {'sec': 0, 'nanosec': 0})
     node: str = ""
@@ -62,33 +82,13 @@ class ParameterEvent(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'rcl_interfaces/msg/ParameterEvent'
     __hash__: ClassVar[str] = 'RIHS01_043e627780fcad87a22d225bc2a037361dba713fca6a6b9f4b869a5aa0393204'
 
-class ParameterValue(msgspec.Struct, frozen=True, kw_only=True):
-    type: int = 0
-    bool_value: bool = False
-    integer_value: int = 0
-    double_value: float = 0.0
-    string_value: str = ""
-    byte_array_value: bytes = b""
-    bool_array_value: list[bool] = msgspec.field(default_factory=list)
-    integer_array_value: list[int] = msgspec.field(default_factory=list)
-    double_array_value: list[float] = msgspec.field(default_factory=list)
-    string_array_value: list[str] = msgspec.field(default_factory=list)
-
-    __msgtype__: ClassVar[str] = 'rcl_interfaces/msg/ParameterValue'
-    __hash__: ClassVar[str] = 'RIHS01_115fc089a387e23c7ecd3525c9189c379109119d6ab82e8dfbde0fdf6a7f9b68'
-
-class ParameterDescriptor(msgspec.Struct, frozen=True, kw_only=True):
-    name: str = ""
-    type: int = 0
-    description: str = ""
-    additional_constraints: str = ""
-    read_only: bool = False
-    dynamic_typing: bool = False
-    floating_point_range: list["rcl_interfaces.FloatingPointRange"] = msgspec.field(default_factory=list)
-    integer_range: list["rcl_interfaces.IntegerRange"] = msgspec.field(default_factory=list)
+class FloatingPointRange(msgspec.Struct, frozen=True, kw_only=True):
+    from_value: float = 0.0
+    to_value: float = 0.0
+    step: float = 0.0
 
-    __msgtype__: ClassVar[str] = 'rcl_interfaces/msg/ParameterDescriptor'
-    __hash__: ClassVar[str] = 'RIHS01_52175dbfda6c51153101d33d2a9da05743f66f02d5ab2ca9ec4709b46b73d704'
+    __msgtype__: ClassVar[str] = 'rcl_interfaces/msg/FloatingPointRange'
+    __hash__: ClassVar[str] = 'RIHS01_e6af23a23c177fee5f3075c8b1e435162a9b63c863d78c06017460b49684262d'
 
 class DescribeParametersRequest(msgspec.Struct, frozen=True, kw_only=True):
     names: list[str] = msgspec.field(default_factory=list)
@@ -163,3 +163,39 @@ class SetParametersAtomicallyResponse(msgspec.Struct, frozen=True, kw_only=True)
     __msgtype__: ClassVar[str] = 'rcl_interfaces/msg/SetParametersAtomicallyResponse'
     __hash__: ClassVar[str] = 'RIHS01_0e192ef259c07fc3c07a13191d27002222e65e00ccec653ca05e856f79285fcd'
 
+class DescribeParameters:
+    """Service grouping type. Use DescribeParameters.Request and DescribeParameters.Response."""
+    __srvtype__: ClassVar[str] = 'rcl_interfaces/srv/DescribeParameters'
+    Request: ClassVar[type] = DescribeParametersRequest
+    Response: ClassVar[type] = DescribeParametersResponse
+
+class GetParameterTypes:
+    """Service grouping type. Use GetParameterTypes.Request and GetParameterTypes.Response."""
+    __srvtype__: ClassVar[str] = 'rcl_interfaces/srv/GetParameterTypes'
+    Request: ClassVar[type] = GetParameterTypesRequest
+    Response: ClassVar[type] = GetParameterTypesResponse
+
+class GetParameters:
+    """Service grouping type. Use GetParameters.Request and GetParameters.Response."""
+    __srvtype__: ClassVar[str] = 'rcl_interfaces/srv/GetParameters'
+    Request: ClassVar[type] = GetParametersRequest
+    Response: ClassVar[type] = GetParametersResponse
+
+class ListParameters:
+    """Service grouping type. Use ListParameters.Request and ListParameters.Response."""
+    __srvtype__: ClassVar[str] = 'rcl_interfaces/srv/ListParameters'
+    Request: ClassVar[type] = ListParametersRequest
+    Response: ClassVar[type] = ListParametersResponse
+
+class SetParameters:
+    """Service grouping type. Use SetParameters.Request and SetParameters.Response."""
+    __srvtype__: ClassVar[str] = 'rcl_interfaces/srv/SetParameters'
+    Request: ClassVar[type] = SetParametersRequest
+    Response: ClassVar[type] = SetParametersResponse
+
+class SetParametersAtomically:
+    """Service grouping type. Use SetParametersAtomically.Request and SetParametersAtomically.Response."""
+    __srvtype__: ClassVar[str] = 'rcl_interfaces/srv/SetParametersAtomically'
+    Request: ClassVar[type] = SetParametersAtomicallyRequest
+    Response: ClassVar[type] = SetParametersAtomicallyResponse
+
diff --git a/crates/hiroz-msgs/python/hiroz_msgs_py/types/sensor_msgs.py b/crates/hiroz-msgs/python/hiroz_msgs_py/types/sensor_msgs.py
index cde385a0..7ea07784 100644
--- a/crates/hiroz-msgs/python/hiroz_msgs_py/types/sensor_msgs.py
+++ b/crates/hiroz-msgs/python/hiroz_msgs_py/types/sensor_msgs.py
@@ -2,45 +2,46 @@
 import msgspec
 from typing import ClassVar
 
-class PointField(msgspec.Struct, frozen=True, kw_only=True):
-    name: str = ""
-    offset: int = 0
-    datatype: int = 0
-    count: int = 0
+class PointCloud(msgspec.Struct, frozen=True, kw_only=True):
+    header: "std_msgs.Header | None" = None
+    points: list["geometry_msgs.Point32"] = msgspec.field(default_factory=list)
+    channels: list["sensor_msgs.ChannelFloat32"] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/PointField'
-    __hash__: ClassVar[str] = 'RIHS01_5c6a4750728c2bcfbbf7037225b20b02d4429634732146b742dee1726637ef01'
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/PointCloud'
+    __hash__: ClassVar[str] = 'RIHS01_614593df71d3c2b9bd4604a71b750fd218f0d65c045ea988b713719455a65b3b'
 
-class LaserEcho(msgspec.Struct, frozen=True, kw_only=True):
-    echoes: list[float] = msgspec.field(default_factory=list)
+class Temperature(msgspec.Struct, frozen=True, kw_only=True):
+    header: "std_msgs.Header | None" = None
+    temperature: float = 0.0
+    variance: float = 0.0
 
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/LaserEcho'
-    __hash__: ClassVar[str] = 'RIHS01_0fbc05a0db7d37fe52c0f0375356db55da0046f7ef5bd27ca6b34bd0582bc952'
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/Temperature'
+    __hash__: ClassVar[str] = 'RIHS01_72514a14126ab9f8a9abec974c78e5610a367b59db5da355ff1fb982d5bad4b8'
 
-class JointState(msgspec.Struct, frozen=True, kw_only=True):
-    header: "std_msgs.Header | None" = None
-    name: list[str] = msgspec.field(default_factory=list)
-    position: list[float] = msgspec.field(default_factory=list)
-    velocity: list[float] = msgspec.field(default_factory=list)
-    effort: list[float] = msgspec.field(default_factory=list)
+class NavSatStatus(msgspec.Struct, frozen=True, kw_only=True):
+    status: int = 0
+    service: int = 0
 
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/JointState'
-    __hash__: ClassVar[str] = 'RIHS01_a13ee3a330e346c9d87b5aa18d24e11690752bd33a0350f11c5882bc9179260e'
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/NavSatStatus'
+    __hash__: ClassVar[str] = 'RIHS01_d1ed3befa628e09571bd273b888ba1c1fd187c9a5e0006b385d7e5e9095a3204'
 
-class LaserScan(msgspec.Struct, frozen=True, kw_only=True):
+class RegionOfInterest(msgspec.Struct, frozen=True, kw_only=True):
+    x_offset: int = 0
+    y_offset: int = 0
+    height: int = 0
+    width: int = 0
+    do_rectify: bool = False
+
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/RegionOfInterest'
+    __hash__: ClassVar[str] = 'RIHS01_ad16bcba5f9131dcdba6fbded19f726f5440e3c513b4fb586dd3027eeed8abb1'
+
+class CompressedImage(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
-    angle_min: float = 0.0
-    angle_max: float = 0.0
-    angle_increment: float = 0.0
-    time_increment: float = 0.0
-    scan_time: float = 0.0
-    range_min: float = 0.0
-    range_max: float = 0.0
-    ranges: list[float] = msgspec.field(default_factory=list)
-    intensities: list[float] = msgspec.field(default_factory=list)
+    format: str = ""
+    data: bytes = b""
 
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/LaserScan'
-    __hash__: ClassVar[str] = 'RIHS01_64c191398013af96509d518dac71d5164f9382553fce5c1f8cca5be7924bd828'
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/CompressedImage'
+    __hash__: ClassVar[str] = 'RIHS01_15640771531571185e2efc8a100baf923961a4d15d5569652e6cb6691e8e371a'
 
 class PointCloud2(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
@@ -56,19 +57,24 @@ class PointCloud2(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'sensor_msgs/msg/PointCloud2'
     __hash__: ClassVar[str] = 'RIHS01_9198cabf7da3796ae6fe19c4cb3bdd3525492988c70522628af5daa124bae2b5'
 
-class NavSatStatus(msgspec.Struct, frozen=True, kw_only=True):
-    status: int = 0
-    service: int = 0
+class JointState(msgspec.Struct, frozen=True, kw_only=True):
+    header: "std_msgs.Header | None" = None
+    name: list[str] = msgspec.field(default_factory=list)
+    position: list[float] = msgspec.field(default_factory=list)
+    velocity: list[float] = msgspec.field(default_factory=list)
+    effort: list[float] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/NavSatStatus'
-    __hash__: ClassVar[str] = 'RIHS01_d1ed3befa628e09571bd273b888ba1c1fd187c9a5e0006b385d7e5e9095a3204'
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/JointState'
+    __hash__: ClassVar[str] = 'RIHS01_a13ee3a330e346c9d87b5aa18d24e11690752bd33a0350f11c5882bc9179260e'
 
-class ChannelFloat32(msgspec.Struct, frozen=True, kw_only=True):
+class PointField(msgspec.Struct, frozen=True, kw_only=True):
     name: str = ""
-    values: list[float] = msgspec.field(default_factory=list)
+    offset: int = 0
+    datatype: int = 0
+    count: int = 0
 
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/ChannelFloat32'
-    __hash__: ClassVar[str] = 'RIHS01_92665437ddf39346f4ba39ee32e648390605b633cc077d40f4bd4d7b58af6cd4'
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/PointField'
+    __hash__: ClassVar[str] = 'RIHS01_5c6a4750728c2bcfbbf7037225b20b02d4429634732146b742dee1726637ef01'
 
 class TimeReference(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
@@ -78,51 +84,42 @@ class TimeReference(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'sensor_msgs/msg/TimeReference'
     __hash__: ClassVar[str] = 'RIHS01_dd66e84cf40bbb5d5a40472e6ecf2675a031334d4c426abdb2ad41801a8efc99'
 
-class NavSatFix(msgspec.Struct, frozen=True, kw_only=True):
-    header: "std_msgs.Header | None" = None
-    status: "sensor_msgs.NavSatStatus | None" = None
-    latitude: float = 0.0
-    longitude: float = 0.0
-    altitude: float = 0.0
-    position_covariance: list[float] = msgspec.field(default_factory=list)
-    position_covariance_type: int = 0
+class LaserEcho(msgspec.Struct, frozen=True, kw_only=True):
+    echoes: list[float] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/NavSatFix'
-    __hash__: ClassVar[str] = 'RIHS01_62223ab3fe210a15976021da7afddc9e200dc9ec75231c1b6a557fc598a65404'
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/LaserEcho'
+    __hash__: ClassVar[str] = 'RIHS01_0fbc05a0db7d37fe52c0f0375356db55da0046f7ef5bd27ca6b34bd0582bc952'
 
-class Image(msgspec.Struct, frozen=True, kw_only=True):
+class LaserScan(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
-    height: int = 0
-    width: int = 0
-    encoding: str = ""
-    is_bigendian: int = 0
-    step: int = 0
-    data: bytes = b""
+    angle_min: float = 0.0
+    angle_max: float = 0.0
+    angle_increment: float = 0.0
+    time_increment: float = 0.0
+    scan_time: float = 0.0
+    range_min: float = 0.0
+    range_max: float = 0.0
+    ranges: list[float] = msgspec.field(default_factory=list)
+    intensities: list[float] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/Image'
-    __hash__: ClassVar[str] = 'RIHS01_d31d41a9a4c4bc8eae9be757b0beed306564f7526c88ea6a4588fb9582527d47'
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/LaserScan'
+    __hash__: ClassVar[str] = 'RIHS01_64c191398013af96509d518dac71d5164f9382553fce5c1f8cca5be7924bd828'
 
-class RegionOfInterest(msgspec.Struct, frozen=True, kw_only=True):
-    x_offset: int = 0
-    y_offset: int = 0
+class CameraInfo(msgspec.Struct, frozen=True, kw_only=True):
+    header: "std_msgs.Header | None" = None
     height: int = 0
     width: int = 0
-    do_rectify: bool = False
-
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/RegionOfInterest'
-    __hash__: ClassVar[str] = 'RIHS01_ad16bcba5f9131dcdba6fbded19f726f5440e3c513b4fb586dd3027eeed8abb1'
-
-class Range(msgspec.Struct, frozen=True, kw_only=True):
-    header: "std_msgs.Header | None" = None
-    radiation_type: int = 0
-    field_of_view: float = 0.0
-    min_range: float = 0.0
-    max_range: float = 0.0
-    range: float = 0.0
-    variance: float = 0.0
+    distortion_model: str = ""
+    d: list[float] = msgspec.field(default_factory=list)
+    k: list[float] = msgspec.field(default_factory=list)
+    r: list[float] = msgspec.field(default_factory=list)
+    p: list[float] = msgspec.field(default_factory=list)
+    binning_x: int = 0
+    binning_y: int = 0
+    roi: "sensor_msgs.RegionOfInterest | None" = None
 
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/Range'
-    __hash__: ClassVar[str] = 'RIHS01_b42b62562e93cbfe9d42b82fe5994dfa3d63d7d5c90a317981703f7388adff3a'
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/CameraInfo'
+    __hash__: ClassVar[str] = 'RIHS01_b3dfd68ff46c9d56c80fd3bd4ed22c7a4ddce8c8348f2f59c299e73118e7e275'
 
 class Joy(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
@@ -142,6 +139,34 @@ class MultiDOFJointState(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'sensor_msgs/msg/MultiDOFJointState'
     __hash__: ClassVar[str] = 'RIHS01_4d4ded702cfba7ff3ec783835c1a1425f75e53939a430ff355d1fee4b3bbc40b'
 
+class JoyFeedback(msgspec.Struct, frozen=True, kw_only=True):
+    type: int = 0
+    id: int = 0
+    intensity: float = 0.0
+
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/JoyFeedback'
+    __hash__: ClassVar[str] = 'RIHS01_231dd362f71d6fc08272770d07120ad5fe5874ce2dbac70109b28986834290cd'
+
+class RelativeHumidity(msgspec.Struct, frozen=True, kw_only=True):
+    header: "std_msgs.Header | None" = None
+    relative_humidity: float = 0.0
+    variance: float = 0.0
+
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/RelativeHumidity'
+    __hash__: ClassVar[str] = 'RIHS01_8687c99b4fb393cb2e545e407b5ea7fd0b5d8960bcd849a0f86c544740138839'
+
+class Imu(msgspec.Struct, frozen=True, kw_only=True):
+    header: "std_msgs.Header | None" = None
+    orientation: "geometry_msgs.Quaternion | None" = None
+    orientation_covariance: list[float] = msgspec.field(default_factory=list)
+    angular_velocity: "geometry_msgs.Vector3 | None" = None
+    angular_velocity_covariance: list[float] = msgspec.field(default_factory=list)
+    linear_acceleration: "geometry_msgs.Vector3 | None" = None
+    linear_acceleration_covariance: list[float] = msgspec.field(default_factory=list)
+
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/Imu'
+    __hash__: ClassVar[str] = 'RIHS01_7d9a00ff131080897a5ec7e26e315954b8eae3353c3f995c55faf71574000b5b'
+
 class FluidPressure(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
     fluid_pressure: float = 0.0
@@ -156,21 +181,52 @@ class JoyFeedbackArray(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'sensor_msgs/msg/JoyFeedbackArray'
     __hash__: ClassVar[str] = 'RIHS01_3287c32e1b688cae04555e465443df3cca7dae76ee4ebf85c4658d585037bcaa'
 
-class CameraInfo(msgspec.Struct, frozen=True, kw_only=True):
+class ChannelFloat32(msgspec.Struct, frozen=True, kw_only=True):
+    name: str = ""
+    values: list[float] = msgspec.field(default_factory=list)
+
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/ChannelFloat32'
+    __hash__: ClassVar[str] = 'RIHS01_92665437ddf39346f4ba39ee32e648390605b633cc077d40f4bd4d7b58af6cd4'
+
+class Image(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
     height: int = 0
     width: int = 0
-    distortion_model: str = ""
-    d: list[float] = msgspec.field(default_factory=list)
-    k: list[float] = msgspec.field(default_factory=list)
-    r: list[float] = msgspec.field(default_factory=list)
-    p: list[float] = msgspec.field(default_factory=list)
-    binning_x: int = 0
-    binning_y: int = 0
-    roi: "sensor_msgs.RegionOfInterest | None" = None
+    encoding: str = ""
+    is_bigendian: int = 0
+    step: int = 0
+    data: bytes = b""
 
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/CameraInfo'
-    __hash__: ClassVar[str] = 'RIHS01_b3dfd68ff46c9d56c80fd3bd4ed22c7a4ddce8c8348f2f59c299e73118e7e275'
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/Image'
+    __hash__: ClassVar[str] = 'RIHS01_d31d41a9a4c4bc8eae9be757b0beed306564f7526c88ea6a4588fb9582527d47'
+
+class MagneticField(msgspec.Struct, frozen=True, kw_only=True):
+    header: "std_msgs.Header | None" = None
+    magnetic_field: "geometry_msgs.Vector3 | None" = None
+    magnetic_field_covariance: list[float] = msgspec.field(default_factory=list)
+
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/MagneticField'
+    __hash__: ClassVar[str] = 'RIHS01_e80f32f56a20486c9923008fc1a1db07bbb273cbbf6a5b3bfa00835ee00e4dff'
+
+class Illuminance(msgspec.Struct, frozen=True, kw_only=True):
+    header: "std_msgs.Header | None" = None
+    illuminance: float = 0.0
+    variance: float = 0.0
+
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/Illuminance'
+    __hash__: ClassVar[str] = 'RIHS01_b954b25f452fcf81a91c9c2a7e3b3fd85c4c873d452aecb3cfd8fd1da732a22d'
+
+class NavSatFix(msgspec.Struct, frozen=True, kw_only=True):
+    header: "std_msgs.Header | None" = None
+    status: "sensor_msgs.NavSatStatus | None" = None
+    latitude: float = 0.0
+    longitude: float = 0.0
+    altitude: float = 0.0
+    position_covariance: list[float] = msgspec.field(default_factory=list)
+    position_covariance_type: int = 0
+
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/NavSatFix'
+    __hash__: ClassVar[str] = 'RIHS01_62223ab3fe210a15976021da7afddc9e200dc9ec75231c1b6a557fc598a65404'
 
 class BatteryState(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
@@ -193,41 +249,17 @@ class BatteryState(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'sensor_msgs/msg/BatteryState'
     __hash__: ClassVar[str] = 'RIHS01_4bee5dfce981c98faa6828b868307a0a73f992ed0789f374ee96c8f840e69741'
 
-class Imu(msgspec.Struct, frozen=True, kw_only=True):
-    header: "std_msgs.Header | None" = None
-    orientation: "geometry_msgs.Quaternion | None" = None
-    orientation_covariance: list[float] = msgspec.field(default_factory=list)
-    angular_velocity: "geometry_msgs.Vector3 | None" = None
-    angular_velocity_covariance: list[float] = msgspec.field(default_factory=list)
-    linear_acceleration: "geometry_msgs.Vector3 | None" = None
-    linear_acceleration_covariance: list[float] = msgspec.field(default_factory=list)
-
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/Imu'
-    __hash__: ClassVar[str] = 'RIHS01_7d9a00ff131080897a5ec7e26e315954b8eae3353c3f995c55faf71574000b5b'
-
-class PointCloud(msgspec.Struct, frozen=True, kw_only=True):
-    header: "std_msgs.Header | None" = None
-    points: list["geometry_msgs.Point32"] = msgspec.field(default_factory=list)
-    channels: list["sensor_msgs.ChannelFloat32"] = msgspec.field(default_factory=list)
-
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/PointCloud'
-    __hash__: ClassVar[str] = 'RIHS01_614593df71d3c2b9bd4604a71b750fd218f0d65c045ea988b713719455a65b3b'
-
-class Temperature(msgspec.Struct, frozen=True, kw_only=True):
+class Range(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
-    temperature: float = 0.0
+    radiation_type: int = 0
+    field_of_view: float = 0.0
+    min_range: float = 0.0
+    max_range: float = 0.0
+    range: float = 0.0
     variance: float = 0.0
 
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/Temperature'
-    __hash__: ClassVar[str] = 'RIHS01_72514a14126ab9f8a9abec974c78e5610a367b59db5da355ff1fb982d5bad4b8'
-
-class JoyFeedback(msgspec.Struct, frozen=True, kw_only=True):
-    type: int = 0
-    id: int = 0
-    intensity: float = 0.0
-
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/JoyFeedback'
-    __hash__: ClassVar[str] = 'RIHS01_231dd362f71d6fc08272770d07120ad5fe5874ce2dbac70109b28986834290cd'
+    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/Range'
+    __hash__: ClassVar[str] = 'RIHS01_b42b62562e93cbfe9d42b82fe5994dfa3d63d7d5c90a317981703f7388adff3a'
 
 class MultiEchoLaserScan(msgspec.Struct, frozen=True, kw_only=True):
     header: "std_msgs.Header | None" = None
@@ -244,38 +276,6 @@ class MultiEchoLaserScan(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'sensor_msgs/msg/MultiEchoLaserScan'
     __hash__: ClassVar[str] = 'RIHS01_ba5eac341cd5bbb2701527aa4568e8baec172b69cadb9a1945d6f149d087ee48'
 
-class RelativeHumidity(msgspec.Struct, frozen=True, kw_only=True):
-    header: "std_msgs.Header | None" = None
-    relative_humidity: float = 0.0
-    variance: float = 0.0
-
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/RelativeHumidity'
-    __hash__: ClassVar[str] = 'RIHS01_8687c99b4fb393cb2e545e407b5ea7fd0b5d8960bcd849a0f86c544740138839'
-
-class Illuminance(msgspec.Struct, frozen=True, kw_only=True):
-    header: "std_msgs.Header | None" = None
-    illuminance: float = 0.0
-    variance: float = 0.0
-
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/Illuminance'
-    __hash__: ClassVar[str] = 'RIHS01_b954b25f452fcf81a91c9c2a7e3b3fd85c4c873d452aecb3cfd8fd1da732a22d'
-
-class MagneticField(msgspec.Struct, frozen=True, kw_only=True):
-    header: "std_msgs.Header | None" = None
-    magnetic_field: "geometry_msgs.Vector3 | None" = None
-    magnetic_field_covariance: list[float] = msgspec.field(default_factory=list)
-
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/MagneticField'
-    __hash__: ClassVar[str] = 'RIHS01_e80f32f56a20486c9923008fc1a1db07bbb273cbbf6a5b3bfa00835ee00e4dff'
-
-class CompressedImage(msgspec.Struct, frozen=True, kw_only=True):
-    header: "std_msgs.Header | None" = None
-    format: str = ""
-    data: bytes = b""
-
-    __msgtype__: ClassVar[str] = 'sensor_msgs/msg/CompressedImage'
-    __hash__: ClassVar[str] = 'RIHS01_15640771531571185e2efc8a100baf923961a4d15d5569652e6cb6691e8e371a'
-
 class SetCameraInfoRequest(msgspec.Struct, frozen=True, kw_only=True):
     camera_info: "sensor_msgs.CameraInfo | None" = None
 
@@ -289,3 +289,9 @@ class SetCameraInfoResponse(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'sensor_msgs/msg/SetCameraInfoResponse'
     __hash__: ClassVar[str] = 'RIHS01_a10cca5d33dc637c8d49db50ab288701a3592bb9cd854f2f16a0659613b68984'
 
+class SetCameraInfo:
+    """Service grouping type. Use SetCameraInfo.Request and SetCameraInfo.Response."""
+    __srvtype__: ClassVar[str] = 'sensor_msgs/srv/SetCameraInfo'
+    Request: ClassVar[type] = SetCameraInfoRequest
+    Response: ClassVar[type] = SetCameraInfoResponse
+
diff --git a/crates/hiroz-msgs/python/hiroz_msgs_py/types/std_msgs.py b/crates/hiroz-msgs/python/hiroz_msgs_py/types/std_msgs.py
index 6b7275d6..b2ae8ff5 100644
--- a/crates/hiroz-msgs/python/hiroz_msgs_py/types/std_msgs.py
+++ b/crates/hiroz-msgs/python/hiroz_msgs_py/types/std_msgs.py
@@ -2,71 +2,91 @@
 import msgspec
 from typing import ClassVar
 
-class ByteMultiArray(msgspec.Struct, frozen=True, kw_only=True):
+class UInt16MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     layout: "std_msgs.MultiArrayLayout | None" = None
-    data: bytes = b""
+    data: list[int] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/ByteMultiArray'
-    __hash__: ClassVar[str] = 'RIHS01_972fec7f50ab3c1d06783c228e79e8a9a509021708c511c059926261ada901d4'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/UInt16MultiArray'
+    __hash__: ClassVar[str] = 'RIHS01_94fe73428ec63baecc774f8fb82406123e9291cf728f1b7c91caf5335129492b'
 
-class String(msgspec.Struct, frozen=True, kw_only=True):
-    data: str = ""
+class Byte(msgspec.Struct, frozen=True, kw_only=True):
+    data: int = 0
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/String'
-    __hash__: ClassVar[str] = 'RIHS01_df668c740482bbd48fb39d76a70dfd4bd59db1288021743503259e948f6b1a18'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/Byte'
+    __hash__: ClassVar[str] = 'RIHS01_41e1a3345f73fe93ede006da826a6ee274af23dd4653976ff249b0f44e3e798f'
 
-class UInt64MultiArray(msgspec.Struct, frozen=True, kw_only=True):
+class Char(msgspec.Struct, frozen=True, kw_only=True):
+    data: int = 0
+
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/Char'
+    __hash__: ClassVar[str] = 'RIHS01_3ad2d04dd29ba19d04b16659afa3ccaedd691914b02a64e82e252f2fa6a586a9'
+
+class Int8MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     layout: "std_msgs.MultiArrayLayout | None" = None
     data: list[int] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/UInt64MultiArray'
-    __hash__: ClassVar[str] = 'RIHS01_fc1c685c2f76bdc6983da025cb25d2db5fb5157b059e300f6d957d86f981b366'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/Int8MultiArray'
+    __hash__: ClassVar[str] = 'RIHS01_f21998d4b492abd63330765d75d5831238d400740386f651f13a872a4d2188db'
 
-class Bool(msgspec.Struct, frozen=True, kw_only=True):
-    data: bool = False
+class Float64MultiArray(msgspec.Struct, frozen=True, kw_only=True):
+    layout: "std_msgs.MultiArrayLayout | None" = None
+    data: list[float] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/Bool'
-    __hash__: ClassVar[str] = 'RIHS01_feb91e995ff9ebd09c0cb3d2aed18b11077585839fb5db80193b62d74528f6c9'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/Float64MultiArray'
+    __hash__: ClassVar[str] = 'RIHS01_1025ddc6b9552d191f89ef1a8d2f60f3d373e28b283d8891ddcc974e8c55397f'
 
-class Int8(msgspec.Struct, frozen=True, kw_only=True):
+class UInt32(msgspec.Struct, frozen=True, kw_only=True):
     data: int = 0
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/Int8'
-    __hash__: ClassVar[str] = 'RIHS01_26525065a403d972cb672f0777e333f0c799ad444ae5fcd79e43d1e73bd0f440'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/UInt32'
+    __hash__: ClassVar[str] = 'RIHS01_a5c874829b752bc5fa190024b0ad76f578cc278271e855c7d02a818b3516fb4a'
 
-class Int16MultiArray(msgspec.Struct, frozen=True, kw_only=True):
+class ColorRGBA(msgspec.Struct, frozen=True, kw_only=True):
+    r: float = 0.0
+    g: float = 0.0
+    b: float = 0.0
+    a: float = 0.0
+
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/ColorRGBA'
+    __hash__: ClassVar[str] = 'RIHS01_77a7a5b9ae477306097665106e0413ba74440245b1f3d0c6d6405fe5c7813fe8'
+
+class UInt32MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     layout: "std_msgs.MultiArrayLayout | None" = None
     data: list[int] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/Int16MultiArray'
-    __hash__: ClassVar[str] = 'RIHS01_b58810e8e5b90fb19a5062469eb8409f5ab11a446d60de7157a1457e52a076ce'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/UInt32MultiArray'
+    __hash__: ClassVar[str] = 'RIHS01_6c2577c7ad3cbdcc2164a41c12f1d5ad314ea320f3fb1ee47e78019fe16bb5b0'
 
-class Byte(msgspec.Struct, frozen=True, kw_only=True):
+class Int16(msgspec.Struct, frozen=True, kw_only=True):
     data: int = 0
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/Byte'
-    __hash__: ClassVar[str] = 'RIHS01_41e1a3345f73fe93ede006da826a6ee274af23dd4653976ff249b0f44e3e798f'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/Int16'
+    __hash__: ClassVar[str] = 'RIHS01_1dcc3464e47c288a55f943a389d337cdb06804de3f5cd7a266b0de718eee17e5'
 
-class Int32(msgspec.Struct, frozen=True, kw_only=True):
-    data: int = 0
+class String(msgspec.Struct, frozen=True, kw_only=True):
+    data: str = ""
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/Int32'
-    __hash__: ClassVar[str] = 'RIHS01_b6578ded3c58c626cfe8d1a6fb6e04f706f97e9f03d2727c9ff4e74b1cef0deb'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/String'
+    __hash__: ClassVar[str] = 'RIHS01_df668c740482bbd48fb39d76a70dfd4bd59db1288021743503259e948f6b1a18'
 
-class UInt8MultiArray(msgspec.Struct, frozen=True, kw_only=True):
+class Float32(msgspec.Struct, frozen=True, kw_only=True):
+    data: float = 0.0
+
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/Float32'
+    __hash__: ClassVar[str] = 'RIHS01_7170d3d8f841f7be3172ce5f4f59f3a4d7f63b0447e8b33327601ad64d83d6e2'
+
+class ByteMultiArray(msgspec.Struct, frozen=True, kw_only=True):
     layout: "std_msgs.MultiArrayLayout | None" = None
     data: bytes = b""
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/UInt8MultiArray'
-    __hash__: ClassVar[str] = 'RIHS01_5687e861b8d307a5e48b7515467ae7a5fc2daf805bd0ce6d8e9e604bade9f385'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/ByteMultiArray'
+    __hash__: ClassVar[str] = 'RIHS01_972fec7f50ab3c1d06783c228e79e8a9a509021708c511c059926261ada901d4'
 
-class MultiArrayDimension(msgspec.Struct, frozen=True, kw_only=True):
-    label: str = ""
-    size: int = 0
-    stride: int = 0
+class UInt16(msgspec.Struct, frozen=True, kw_only=True):
+    data: int = 0
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/MultiArrayDimension'
-    __hash__: ClassVar[str] = 'RIHS01_5e773a60a4c7fc8a54985f307c7837aa2994252a126c301957a24e31282c9cbe'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/UInt16'
+    __hash__: ClassVar[str] = 'RIHS01_08a406e4b022bc22e907f985d6a9e9dd1d4fbecae573549cf49350113e7757b1'
 
 class Int32MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     layout: "std_msgs.MultiArrayLayout | None" = None
@@ -75,17 +95,20 @@ class Int32MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'std_msgs/msg/Int32MultiArray'
     __hash__: ClassVar[str] = 'RIHS01_84a7346323525d1b4dfca899df3820f245e54009dac5a6b69217d14fdefd1701'
 
-class UInt8(msgspec.Struct, frozen=True, kw_only=True):
-    data: int = 0
+class Float32MultiArray(msgspec.Struct, frozen=True, kw_only=True):
+    layout: "std_msgs.MultiArrayLayout | None" = None
+    data: list[float] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/UInt8'
-    __hash__: ClassVar[str] = 'RIHS01_6138bd83d8c3569cb80a667db03cfc1629f529fee79d944c39c34e352e72f010'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/Float32MultiArray'
+    __hash__: ClassVar[str] = 'RIHS01_0599f6f85b4bfca379873a0b4375a0aca022156bd2d7021275d116ed1fa8bfe0'
 
-class UInt64(msgspec.Struct, frozen=True, kw_only=True):
-    data: int = 0
+class MultiArrayDimension(msgspec.Struct, frozen=True, kw_only=True):
+    label: str = ""
+    size: int = 0
+    stride: int = 0
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/UInt64'
-    __hash__: ClassVar[str] = 'RIHS01_fbdc52018fc13755dce18024d1a671c856aa8b4aaf63adfb095b608f98e8c943'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/MultiArrayDimension'
+    __hash__: ClassVar[str] = 'RIHS01_5e773a60a4c7fc8a54985f307c7837aa2994252a126c301957a24e31282c9cbe'
 
 class Header(msgspec.Struct, frozen=True, kw_only=True):
     stamp: "builtin_interfaces.Time | None" = msgspec.field(default_factory=lambda: {'sec': 0, 'nanosec': 0})
@@ -94,16 +117,11 @@ class Header(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'std_msgs/msg/Header'
     __hash__: ClassVar[str] = 'RIHS01_f49fb3ae2cf070f793645ff749683ac6b06203e41c891e17701b1cb597ce6a01'
 
-class Empty(msgspec.Struct, frozen=True, kw_only=True):
-
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/Empty'
-    __hash__: ClassVar[str] = 'RIHS01_20b625256f32d5dbc0d04fee44f43c41e51c70d3502f84b4a08e7a9c26a96312'
-
-class UInt16(msgspec.Struct, frozen=True, kw_only=True):
+class Int8(msgspec.Struct, frozen=True, kw_only=True):
     data: int = 0
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/UInt16'
-    __hash__: ClassVar[str] = 'RIHS01_08a406e4b022bc22e907f985d6a9e9dd1d4fbecae573549cf49350113e7757b1'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/Int8'
+    __hash__: ClassVar[str] = 'RIHS01_26525065a403d972cb672f0777e333f0c799ad444ae5fcd79e43d1e73bd0f440'
 
 class Float64(msgspec.Struct, frozen=True, kw_only=True):
     data: float = 0.0
@@ -111,19 +129,6 @@ class Float64(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'std_msgs/msg/Float64'
     __hash__: ClassVar[str] = 'RIHS01_705ba9c3d1a09df43737eb67095534de36fd426c0587779bda2bc51fe790182a'
 
-class Char(msgspec.Struct, frozen=True, kw_only=True):
-    data: int = 0
-
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/Char'
-    __hash__: ClassVar[str] = 'RIHS01_3ad2d04dd29ba19d04b16659afa3ccaedd691914b02a64e82e252f2fa6a586a9'
-
-class MultiArrayLayout(msgspec.Struct, frozen=True, kw_only=True):
-    dim: list["std_msgs.MultiArrayDimension"] = msgspec.field(default_factory=list)
-    data_offset: int = 0
-
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/MultiArrayLayout'
-    __hash__: ClassVar[str] = 'RIHS01_4c66e6f78e740ac103a94cf63259f968e48c617e7699e829b63c21a5cb50dac6'
-
 class Int64MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     layout: "std_msgs.MultiArrayLayout | None" = None
     data: list[int] = msgspec.field(default_factory=list)
@@ -131,39 +136,29 @@ class Int64MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'std_msgs/msg/Int64MultiArray'
     __hash__: ClassVar[str] = 'RIHS01_e60f9fe34d697f0939ad49d33158693c1277fbac0e2f04b7c2995dc21c89b422'
 
-class Float32(msgspec.Struct, frozen=True, kw_only=True):
-    data: float = 0.0
-
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/Float32'
-    __hash__: ClassVar[str] = 'RIHS01_7170d3d8f841f7be3172ce5f4f59f3a4d7f63b0447e8b33327601ad64d83d6e2'
-
-class Int8MultiArray(msgspec.Struct, frozen=True, kw_only=True):
-    layout: "std_msgs.MultiArrayLayout | None" = None
-    data: list[int] = msgspec.field(default_factory=list)
+class UInt64(msgspec.Struct, frozen=True, kw_only=True):
+    data: int = 0
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/Int8MultiArray'
-    __hash__: ClassVar[str] = 'RIHS01_f21998d4b492abd63330765d75d5831238d400740386f651f13a872a4d2188db'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/UInt64'
+    __hash__: ClassVar[str] = 'RIHS01_fbdc52018fc13755dce18024d1a671c856aa8b4aaf63adfb095b608f98e8c943'
 
-class Float32MultiArray(msgspec.Struct, frozen=True, kw_only=True):
-    layout: "std_msgs.MultiArrayLayout | None" = None
-    data: list[float] = msgspec.field(default_factory=list)
+class UInt8(msgspec.Struct, frozen=True, kw_only=True):
+    data: int = 0
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/Float32MultiArray'
-    __hash__: ClassVar[str] = 'RIHS01_0599f6f85b4bfca379873a0b4375a0aca022156bd2d7021275d116ed1fa8bfe0'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/UInt8'
+    __hash__: ClassVar[str] = 'RIHS01_6138bd83d8c3569cb80a667db03cfc1629f529fee79d944c39c34e352e72f010'
 
-class UInt32MultiArray(msgspec.Struct, frozen=True, kw_only=True):
-    layout: "std_msgs.MultiArrayLayout | None" = None
-    data: list[int] = msgspec.field(default_factory=list)
+class Empty(msgspec.Struct, frozen=True, kw_only=True):
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/UInt32MultiArray'
-    __hash__: ClassVar[str] = 'RIHS01_6c2577c7ad3cbdcc2164a41c12f1d5ad314ea320f3fb1ee47e78019fe16bb5b0'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/Empty'
+    __hash__: ClassVar[str] = 'RIHS01_20b625256f32d5dbc0d04fee44f43c41e51c70d3502f84b4a08e7a9c26a96312'
 
-class UInt16MultiArray(msgspec.Struct, frozen=True, kw_only=True):
+class Int16MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     layout: "std_msgs.MultiArrayLayout | None" = None
     data: list[int] = msgspec.field(default_factory=list)
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/UInt16MultiArray'
-    __hash__: ClassVar[str] = 'RIHS01_94fe73428ec63baecc774f8fb82406123e9291cf728f1b7c91caf5335129492b'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/Int16MultiArray'
+    __hash__: ClassVar[str] = 'RIHS01_b58810e8e5b90fb19a5062469eb8409f5ab11a446d60de7157a1457e52a076ce'
 
 class Int64(msgspec.Struct, frozen=True, kw_only=True):
     data: int = 0
@@ -171,31 +166,36 @@ class Int64(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'std_msgs/msg/Int64'
     __hash__: ClassVar[str] = 'RIHS01_8cd1048c2f186b6bd9a92472dc1ce51723c0833a221e2b7aecfff111774f4b49'
 
-class UInt32(msgspec.Struct, frozen=True, kw_only=True):
-    data: int = 0
+class MultiArrayLayout(msgspec.Struct, frozen=True, kw_only=True):
+    dim: list["std_msgs.MultiArrayDimension"] = msgspec.field(default_factory=list)
+    data_offset: int = 0
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/UInt32'
-    __hash__: ClassVar[str] = 'RIHS01_a5c874829b752bc5fa190024b0ad76f578cc278271e855c7d02a818b3516fb4a'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/MultiArrayLayout'
+    __hash__: ClassVar[str] = 'RIHS01_4c66e6f78e740ac103a94cf63259f968e48c617e7699e829b63c21a5cb50dac6'
 
-class Float64MultiArray(msgspec.Struct, frozen=True, kw_only=True):
+class UInt8MultiArray(msgspec.Struct, frozen=True, kw_only=True):
     layout: "std_msgs.MultiArrayLayout | None" = None
-    data: list[float] = msgspec.field(default_factory=list)
+    data: bytes = b""
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/Float64MultiArray'
-    __hash__: ClassVar[str] = 'RIHS01_1025ddc6b9552d191f89ef1a8d2f60f3d373e28b283d8891ddcc974e8c55397f'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/UInt8MultiArray'
+    __hash__: ClassVar[str] = 'RIHS01_5687e861b8d307a5e48b7515467ae7a5fc2daf805bd0ce6d8e9e604bade9f385'
 
-class Int16(msgspec.Struct, frozen=True, kw_only=True):
+class UInt64MultiArray(msgspec.Struct, frozen=True, kw_only=True):
+    layout: "std_msgs.MultiArrayLayout | None" = None
+    data: list[int] = msgspec.field(default_factory=list)
+
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/UInt64MultiArray'
+    __hash__: ClassVar[str] = 'RIHS01_fc1c685c2f76bdc6983da025cb25d2db5fb5157b059e300f6d957d86f981b366'
+
+class Int32(msgspec.Struct, frozen=True, kw_only=True):
     data: int = 0
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/Int16'
-    __hash__: ClassVar[str] = 'RIHS01_1dcc3464e47c288a55f943a389d337cdb06804de3f5cd7a266b0de718eee17e5'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/Int32'
+    __hash__: ClassVar[str] = 'RIHS01_b6578ded3c58c626cfe8d1a6fb6e04f706f97e9f03d2727c9ff4e74b1cef0deb'
 
-class ColorRGBA(msgspec.Struct, frozen=True, kw_only=True):
-    r: float = 0.0
-    g: float = 0.0
-    b: float = 0.0
-    a: float = 0.0
+class Bool(msgspec.Struct, frozen=True, kw_only=True):
+    data: bool = False
 
-    __msgtype__: ClassVar[str] = 'std_msgs/msg/ColorRGBA'
-    __hash__: ClassVar[str] = 'RIHS01_77a7a5b9ae477306097665106e0413ba74440245b1f3d0c6d6405fe5c7813fe8'
+    __msgtype__: ClassVar[str] = 'std_msgs/msg/Bool'
+    __hash__: ClassVar[str] = 'RIHS01_feb91e995ff9ebd09c0cb3d2aed18b11077585839fb5db80193b62d74528f6c9'
 
diff --git a/crates/hiroz-msgs/python/hiroz_msgs_py/types/type_description_interfaces.py b/crates/hiroz-msgs/python/hiroz_msgs_py/types/type_description_interfaces.py
index fcbbc3b7..7a979a01 100644
--- a/crates/hiroz-msgs/python/hiroz_msgs_py/types/type_description_interfaces.py
+++ b/crates/hiroz-msgs/python/hiroz_msgs_py/types/type_description_interfaces.py
@@ -2,14 +2,12 @@
 import msgspec
 from typing import ClassVar
 
-class FieldType(msgspec.Struct, frozen=True, kw_only=True):
-    type_id: int = 0
-    capacity: int = 0
-    string_capacity: int = 0
-    nested_type_name: str = ""
+class KeyValue(msgspec.Struct, frozen=True, kw_only=True):
+    key: str = ""
+    value: str = ""
 
-    __msgtype__: ClassVar[str] = 'type_description_interfaces/msg/FieldType'
-    __hash__: ClassVar[str] = 'RIHS01_a70b6dd919645a03a3586f7f821defbc886ea3e531a1d95cc0f380a3973ccaa6'
+    __msgtype__: ClassVar[str] = 'type_description_interfaces/msg/KeyValue'
+    __hash__: ClassVar[str] = 'RIHS01_274fe56bf14f33c7512e34c646a37579ee36779f745f049a9760763e817f0c42'
 
 class TypeSource(msgspec.Struct, frozen=True, kw_only=True):
     type_name: str = ""
@@ -26,12 +24,22 @@ class IndividualTypeDescription(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'type_description_interfaces/msg/IndividualTypeDescription'
     __hash__: ClassVar[str] = 'RIHS01_55c827d86c3c141bdd318fe6c22e11190e4d3b37c8f4f9751a084aa05ce96560'
 
-class KeyValue(msgspec.Struct, frozen=True, kw_only=True):
-    key: str = ""
-    value: str = ""
+class Field(msgspec.Struct, frozen=True, kw_only=True):
+    name: str = ""
+    type: "type_description_interfaces.FieldType | None" = None
+    default_value: str = ""
 
-    __msgtype__: ClassVar[str] = 'type_description_interfaces/msg/KeyValue'
-    __hash__: ClassVar[str] = 'RIHS01_274fe56bf14f33c7512e34c646a37579ee36779f745f049a9760763e817f0c42'
+    __msgtype__: ClassVar[str] = 'type_description_interfaces/msg/Field'
+    __hash__: ClassVar[str] = 'RIHS01_c0b01379cd4226281285ccaf6be46653968f855f7c5e41614ff5d7a854efef7c'
+
+class FieldType(msgspec.Struct, frozen=True, kw_only=True):
+    type_id: int = 0
+    capacity: int = 0
+    string_capacity: int = 0
+    nested_type_name: str = ""
+
+    __msgtype__: ClassVar[str] = 'type_description_interfaces/msg/FieldType'
+    __hash__: ClassVar[str] = 'RIHS01_a70b6dd919645a03a3586f7f821defbc886ea3e531a1d95cc0f380a3973ccaa6'
 
 class TypeDescription(msgspec.Struct, frozen=True, kw_only=True):
     type_description: "type_description_interfaces.IndividualTypeDescription | None" = None
@@ -40,14 +48,6 @@ class TypeDescription(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'type_description_interfaces/msg/TypeDescription'
     __hash__: ClassVar[str] = 'RIHS01_739f2508c9fa3a6f330913ff5b9d25fb74159a077da71e1087f51a60c12a080b'
 
-class Field(msgspec.Struct, frozen=True, kw_only=True):
-    name: str = ""
-    type: "type_description_interfaces.FieldType | None" = None
-    default_value: str = ""
-
-    __msgtype__: ClassVar[str] = 'type_description_interfaces/msg/Field'
-    __hash__: ClassVar[str] = 'RIHS01_c0b01379cd4226281285ccaf6be46653968f855f7c5e41614ff5d7a854efef7c'
-
 class GetTypeDescriptionRequest(msgspec.Struct, frozen=True, kw_only=True):
     type_name: str = ""
     type_hash: str = ""
@@ -66,3 +66,9 @@ class GetTypeDescriptionResponse(msgspec.Struct, frozen=True, kw_only=True):
     __msgtype__: ClassVar[str] = 'type_description_interfaces/msg/GetTypeDescriptionResponse'
     __hash__: ClassVar[str] = 'RIHS01_69b9c19c1021405984cc60dbbb1edceb147a6538b411d812ba6afabeed962cd5'
 
+class GetTypeDescription:
+    """Service grouping type. Use GetTypeDescription.Request and GetTypeDescription.Response."""
+    __srvtype__: ClassVar[str] = 'type_description_interfaces/srv/GetTypeDescription'
+    Request: ClassVar[type] = GetTypeDescriptionRequest
+    Response: ClassVar[type] = GetTypeDescriptionResponse
+
diff --git a/crates/hiroz-py/examples/action_demo.py b/crates/hiroz-py/examples/action_demo.py
index b6237f67..da5939a4 100644
--- a/crates/hiroz-py/examples/action_demo.py
+++ b/crates/hiroz-py/examples/action_demo.py
@@ -101,8 +101,10 @@ def run_client(ctx, action: str, target: int, cancel_after: float | None):
         action, CountToGoal, CountToResult, CountToFeedback
     )
 
-    # Give server time to advertise
-    time.sleep(1.0)
+    # Wait for the action server instead of sleeping (P1).
+    if not client.wait_for_server(timeout=5.0):
+        print("CLIENT:ERROR:server unavailable", flush=True)
+        sys.exit(1)
 
     print(f"CLIENT:SEND_GOAL:{target}", flush=True)
     handle = client.send_goal(CountToGoal(target=target))
diff --git a/crates/hiroz-py/examples/service_demo.py b/crates/hiroz-py/examples/service_demo.py
index 52da5a17..00f9fa4d 100644
--- a/crates/hiroz-py/examples/service_demo.py
+++ b/crates/hiroz-py/examples/service_demo.py
@@ -10,7 +10,6 @@
 
 import argparse
 import sys
-import time
 
 import hiroz_py
 from hiroz_py import example_interfaces
@@ -20,7 +19,8 @@
 def run_server(ctx, service: str, max_requests: int):
     """Run the AddTwoInts service server."""
     node = ctx.create_node("add_two_ints_server").build()
-    server = node.create_server(service, example_interfaces.AddTwoIntsRequest)
+    # rclpy-style service grouping type (AddTwoInts.Request / .Response).
+    server = node.create_server(service, example_interfaces.AddTwoInts)
 
     print("SERVER:READY", flush=True)
 
@@ -44,18 +44,21 @@ def run_server(ctx, service: str, max_requests: int):
 def run_client(ctx, service: str, a: int, b: int, timeout: float):
     """Run the AddTwoInts service client."""
     node = ctx.create_node("add_two_ints_client").build()
-    client = node.create_client(service, example_interfaces.AddTwoIntsRequest)
+    client = node.create_client(service, example_interfaces.AddTwoInts)
 
-    # Wait for service discovery
-    time.sleep(1.0)
+    # Wait for the server to appear instead of sleeping (P1).
+    if not client.wait_for_service(timeout=5.0):
+        print("CLIENT:ERROR:service unavailable", flush=True)
+        sys.exit(1)
 
     print(f"CLIENT:REQUEST:{a}+{b}", flush=True)
 
-    req = example_interfaces.AddTwoIntsRequest(a=a, b=b)
+    req = example_interfaces.AddTwoInts.Request(a=a, b=b)
     try:
         resp = client.call(req, timeout=timeout)
         print(f"CLIENT:RESPONSE:{resp.sum}", flush=True)
-    except RuntimeError as e:
+    except hiroz_py.HirozError as e:
+        # TimeoutError is a subclass of HirozError; catch the base to cover both.
         print(f"CLIENT:ERROR:{e}", flush=True)
         sys.exit(1)
 
diff --git a/crates/hiroz-py/examples/topic_demo.py b/crates/hiroz-py/examples/topic_demo.py
index aa127a41..6b4d0fd8 100644
--- a/crates/hiroz-py/examples/topic_demo.py
+++ b/crates/hiroz-py/examples/topic_demo.py
@@ -24,6 +24,9 @@ def run_talker(ctx, topic: str, count: int, interval: float):
 
     print(f"Talker started. Publishing to {topic}...")
 
+    # Wait for at least one subscriber instead of racing (P1).
+    pub.wait_for_subscription(count=1, timeout=5.0)
+
     i = 0
     while count == 0 or i < count:
         message = f"Hello from Python {i}"
diff --git a/crates/hiroz-py/python/hiroz_py/__init__.py b/crates/hiroz-py/python/hiroz_py/__init__.py
index 84fe7d2b..3c051907 100644
--- a/crates/hiroz-py/python/hiroz_py/__init__.py
+++ b/crates/hiroz-py/python/hiroz_py/__init__.py
@@ -33,3 +33,54 @@
 QOS_SENSOR_DATA: Final[QosProfile] = QosProfile.sensor_data()
 QOS_PARAMETERS: Final[QosProfile] = QosProfile.parameters()
 QOS_SERVICES: Final[QosProfile] = QosProfile.services()
+
+
+# ---------------------------------------------------------------------------
+# rclpy-style method aliases (P3)
+#
+# hiroz keeps its native names (create_subscriber / create_server) as the
+# canonical API; these aliases let rclpy code read naturally. create_service
+# is a true alias because create_server now supports rclpy's optional
+# callback= form (P6) in addition to pull mode.
+# ---------------------------------------------------------------------------
+
+ZNode.create_subscription = ZNode.create_subscriber  # type: ignore[attr-defined]
+ZNode.create_service = ZNode.create_server  # type: ignore[attr-defined]
+
+
+# ---------------------------------------------------------------------------
+# QoS policy enum holders (P8)
+#
+# String-valued so they parse straight through QosProfile, while giving users
+# discoverable, typo-proof constants instead of bare strings. Mirrors rclpy's
+# rclpy.qos.ReliabilityPolicy / DurabilityPolicy / HistoryPolicy / LivelinessPolicy.
+# ---------------------------------------------------------------------------
+
+
+class ReliabilityPolicy:
+    """QoS reliability policy constants."""
+
+    RELIABLE: Final[str] = "reliable"
+    BEST_EFFORT: Final[str] = "best_effort"
+
+
+class DurabilityPolicy:
+    """QoS durability policy constants."""
+
+    VOLATILE: Final[str] = "volatile"
+    TRANSIENT_LOCAL: Final[str] = "transient_local"
+
+
+class HistoryPolicy:
+    """QoS history policy constants."""
+
+    KEEP_LAST: Final[str] = "keep_last"
+    KEEP_ALL: Final[str] = "keep_all"
+
+
+class LivelinessPolicy:
+    """QoS liveliness policy constants."""
+
+    AUTOMATIC: Final[str] = "automatic"
+    MANUAL_BY_TOPIC: Final[str] = "manual_by_topic"
+    MANUAL_BY_NODE: Final[str] = "manual_by_node"
diff --git a/crates/hiroz-py/python/hiroz_py/__init__.pyi b/crates/hiroz-py/python/hiroz_py/__init__.pyi
index a355850e..52eb280e 100644
--- a/crates/hiroz-py/python/hiroz_py/__init__.pyi
+++ b/crates/hiroz-py/python/hiroz_py/__init__.pyi
@@ -79,6 +79,30 @@ QOS_SENSOR_DATA: Final[QosProfile] = QosProfile.sensor_data()
 QOS_PARAMETERS: Final[QosProfile] = QosProfile.parameters()
 QOS_SERVICES: Final[QosProfile] = QosProfile.services()
 
+# ---------------------------------------------------------------------------
+# QoS policy enum holders (P8)
+# ---------------------------------------------------------------------------
+
+class ReliabilityPolicy:
+    RELIABLE: Final[str]
+    BEST_EFFORT: Final[str]
+
+class DurabilityPolicy:
+    VOLATILE: Final[str]
+    TRANSIENT_LOCAL: Final[str]
+
+class HistoryPolicy:
+    KEEP_LAST: Final[str]
+    KEEP_ALL: Final[str]
+
+class LivelinessPolicy:
+    AUTOMATIC: Final[str]
+    MANUAL_BY_TOPIC: Final[str]
+    MANUAL_BY_NODE: Final[str]
+
+# A QoS argument: a QosProfile, an int depth shorthand, or a legacy dict.
+QosLike = QosProfile | int | dict[str, object]
+
 # ---------------------------------------------------------------------------
 # GoalStatus
 # ---------------------------------------------------------------------------
@@ -175,30 +199,44 @@ class ZNode:
         self,
         topic: str,
         msg_type: Any,
-        qos: QosProfile | dict[str, object] | None = None,
+        qos: QosLike | None = None,
     ) -> ZPublisher: ...
     def create_subscriber(
         self,
         topic: str,
         msg_type: Any,
-        qos: QosProfile | dict[str, object] | None = None,
+        qos: QosLike | None = None,
+        callback: Any | None = None,
+    ) -> ZSubscriber: ...
+    # rclpy-style alias for create_subscriber (P3).
+    def create_subscription(
+        self,
+        topic: str,
+        msg_type: Any,
+        qos: QosLike | None = None,
         callback: Any | None = None,
     ) -> ZSubscriber: ...
     def create_client(self, service: str, srv_type: Any) -> ZClient: ...
-    def create_server(self, service: str, srv_type: Any) -> ZServer: ...
+    def create_server(
+        self, service: str, srv_type: Any, callback: Any | None = None
+    ) -> ZServer: ...
+    # rclpy-style alias for create_server (P3); pass callback= for callback mode (P6).
+    def create_service(
+        self, service: str, srv_type: Any, callback: Any | None = None
+    ) -> ZServer: ...
     def create_action_client(
         self,
         action_name: str,
         goal_type: Any,
-        result_type: Any,
-        feedback_type: Any,
+        result_type: Any | None = None,
+        feedback_type: Any | None = None,
     ) -> ZActionClient: ...
     def create_action_server(
         self,
         action_name: str,
         goal_type: Any,
-        result_type: Any,
-        feedback_type: Any,
+        result_type: Any | None = None,
+        feedback_type: Any | None = None,
     ) -> ZActionServer: ...
     def get_topic_names_and_types(self) -> list[tuple[str, str]]: ...
     def get_node_names(self) -> list[tuple[str, str]]: ...
@@ -213,6 +251,9 @@ class ZNode:
 class ZPublisher:
     def publish(self, data: Any) -> None: ...
     def publish_raw(self, data: bytes) -> None: ...
+    def wait_for_subscription(
+        self, count: int = 1, timeout: float | None = None
+    ) -> bool: ...
     def get_type_name(self) -> str: ...
 
 # ---------------------------------------------------------------------------
@@ -236,6 +277,7 @@ class ZSubscriber:
 
 class ZClient:
     def call(self, data: Any, timeout: float | None = None) -> Any: ...
+    def wait_for_service(self, timeout: float | None = None) -> bool: ...
     def get_type_name(self) -> str: ...
 
 # ---------------------------------------------------------------------------
@@ -253,6 +295,7 @@ class ZServer:
 
 class ZActionClient:
     def send_goal(self, goal: Any) -> ActionGoalHandle: ...
+    def wait_for_server(self, timeout: float | None = None) -> bool: ...
     @property
     def goal_type(self) -> Any: ...
 
diff --git a/crates/hiroz-py/src/action.rs b/crates/hiroz-py/src/action.rs
index 5bda54c4..ff07c2f6 100644
--- a/crates/hiroz-py/src/action.rs
+++ b/crates/hiroz-py/src/action.rs
@@ -139,20 +139,28 @@ pub struct PyZActionClient {
     goal_type: Py<PyAny>,
     result_type: Py<PyAny>,
     feedback_type: Py<PyAny>,
+    /// Shared graph + the action's `send_goal` service name, used by `wait_for_server`.
+    graph: Arc<hiroz::graph::Graph>,
+    send_goal_service: String,
 }
 
 impl PyZActionClient {
+    #[allow(clippy::too_many_arguments)]
     pub fn new(
         inner: RawActionClient,
         goal_type: Py<PyAny>,
         result_type: Py<PyAny>,
         feedback_type: Py<PyAny>,
+        graph: Arc<hiroz::graph::Graph>,
+        send_goal_service: String,
     ) -> Self {
         Self {
             inner: Arc::new(inner),
             goal_type,
             result_type,
             feedback_type,
+            graph,
+            send_goal_service,
         }
     }
 }
@@ -180,7 +188,7 @@ impl PyZActionClient {
                 tokio::time::timeout(Duration::from_secs(11), client.send_goal(goal_msg))
                     .await
                     .map_err(|_| {
-                        pyo3::exceptions::PyRuntimeError::new_err(
+                        crate::error::TimeoutError::new_err(
                             "send_goal timed out: no action server responded",
                         )
                     })?
@@ -243,6 +251,21 @@ impl PyZActionClient {
         })
     }
 
+    /// Wait until an action server for this action is available.
+    ///
+    /// Mirrors rclpy's `ActionClient.wait_for_server(timeout_sec)`. Polls the
+    /// discovery graph for the action's `send_goal` service. Returns True if a
+    /// server was found before `timeout`, False otherwise.
+    ///
+    /// Args:
+    ///     timeout: Maximum seconds to wait. None waits forever.
+    #[pyo3(signature = (timeout=None))]
+    fn wait_for_server(&self, py: Python, timeout: Option<f64>) -> bool {
+        py.allow_threads(|| {
+            crate::graph::wait_for_service_server(&self.graph, &self.send_goal_service, timeout)
+        })
+    }
+
     /// Get the goal type class (for debugging).
     #[getter]
     fn goal_type(&self, py: Python) -> PyObject {
diff --git a/crates/hiroz-py/src/error.rs b/crates/hiroz-py/src/error.rs
index 5d8d1cd3..166c4f8e 100644
--- a/crates/hiroz-py/src/error.rs
+++ b/crates/hiroz-py/src/error.rs
@@ -8,6 +8,30 @@ pyo3::create_exception!(hiroz_py, TimeoutError, HirozError);
 pyo3::create_exception!(hiroz_py, SerializationError, HirozError);
 pyo3::create_exception!(hiroz_py, TypeMismatchError, HirozError);
 
+/// Returns true if the error looks like a timeout (best-effort string sniff).
+///
+/// The core does not yet expose a dedicated `Timeout` error variant, so we
+/// classify on the rendered message. Centralized here so every call site
+/// (service `call`, action `send_goal`, …) classifies identically.
+pub(crate) fn is_timeout_error(e: &anyhow::Error) -> bool {
+    let s = e.to_string().to_lowercase();
+    s.contains("timeout") || s.contains("timed out")
+}
+
+/// Map a core error to the right Python exception.
+///
+/// Timeout-shaped errors become `hiroz_py.TimeoutError`; everything else
+/// becomes `hiroz_py.HirozError`. Use this for blocking calls that raise on
+/// failure (e.g. `ZClient.call`). Methods whose documented contract is to
+/// return `None` on timeout should keep doing so rather than calling this.
+pub(crate) fn map_call_error(e: anyhow::Error) -> PyErr {
+    if is_timeout_error(&e) {
+        TimeoutError::new_err(format!("{:#}", e))
+    } else {
+        HirozError::new_err(format!("{:#}", e))
+    }
+}
+
 /// Trait for converting Rust errors to Python exceptions
 pub(crate) trait IntoPyErr {
     fn into_pyerr(self) -> PyErr;
diff --git a/crates/hiroz-py/src/graph.rs b/crates/hiroz-py/src/graph.rs
index 62fcd011..52069b47 100644
--- a/crates/hiroz-py/src/graph.rs
+++ b/crates/hiroz-py/src/graph.rs
@@ -3,6 +3,35 @@
 use hiroz::entity::EndpointKind;
 use hiroz::graph::Graph;
 use std::sync::Arc;
+use std::time::{Duration, Instant};
+
+/// Poll interval for discovery waits. Matches the ~50ms cadence rclpy uses
+/// internally for its wait-for-service spin.
+const POLL_INTERVAL: Duration = Duration::from_millis(50);
+
+/// Block until at least one service server matching `service_name` is visible
+/// in the graph, or `timeout` (seconds) elapses. `None` waits forever.
+///
+/// Must be called with the GIL released (`py.allow_threads`) so it does not
+/// stall other Python threads while sleeping. Returns true if a server appeared.
+pub(crate) fn wait_for_service_server(
+    graph: &Arc<Graph>,
+    service_name: &str,
+    timeout: Option<f64>,
+) -> bool {
+    let deadline = timeout.map(|t| Instant::now() + Duration::from_secs_f64(t));
+    loop {
+        if graph.count(EndpointKind::Service, service_name) > 0 {
+            return true;
+        }
+        if let Some(d) = deadline
+            && Instant::now() >= d
+        {
+            return false;
+        }
+        std::thread::sleep(POLL_INTERVAL);
+    }
+}
 
 /// Python-accessible graph discovery methods.
 ///
diff --git a/crates/hiroz-py/src/node.rs b/crates/hiroz-py/src/node.rs
index 6e43eb4d..ea802866 100644
--- a/crates/hiroz-py/src/node.rs
+++ b/crates/hiroz-py/src/node.rs
@@ -113,6 +113,108 @@ fn extract_service_type_from_request_class(
     Ok((srv_type, type_info))
 }
 
+/// Extract service type info from either a service grouping class (P4, rclpy-style)
+/// or a bare Request class (back-compat).
+///
+/// A grouping class exposes `__srvtype__` (e.g. `"example_interfaces/srv/AddTwoInts"`)
+/// plus `Request` / `Response` member classes. We read the type hash from the
+/// `Request` member. Anything without `__srvtype__` falls through to the legacy
+/// string-munging path on the Request class itself.
+fn extract_service_type_info(srv_type: &Bound<'_, PyAny>) -> PyResult<(String, TypeInfo)> {
+    if let Ok(srvtype_attr) = srv_type.getattr("__srvtype__")
+        && let Ok(srv_type_str) = srvtype_attr.extract::<String>()
+    {
+        // Grouping class: pull the type hash from the Request member.
+        let request_cls = srv_type.getattr("Request").map_err(|_| {
+            pyo3::exceptions::PyTypeError::new_err(
+                "Service grouping class with __srvtype__ must define a Request member",
+            )
+        })?;
+        let type_hash = request_cls
+            .getattr("__hash__")
+            .ok()
+            .and_then(|v| v.extract::<String>().ok())
+            .and_then(|s| TypeHash::from_rihs_string(&s))
+            .unwrap_or_else(TypeHash::zero);
+        let rust_type_name = python_type_to_rust_type(&srv_type_str);
+        return Ok((srv_type_str, TypeInfo::new(&rust_type_name, type_hash)));
+    }
+    // Back-compat: bare Request class.
+    extract_service_type_from_request_class(srv_type)
+}
+
+/// If `topic` is not a string but `msg_type` is, the caller almost certainly used
+/// the rclpy positional order `(msg_type, topic)`. Raise a self-explaining error
+/// instead of a confusing downstream type failure (P2).
+fn reject_swapped_args(
+    topic: &Bound<'_, PyAny>,
+    msg_type: &Bound<'_, PyAny>,
+    func: &str,
+) -> PyResult<()> {
+    let topic_is_str = topic.is_instance_of::<pyo3::types::PyString>();
+    let msg_is_str = msg_type.is_instance_of::<pyo3::types::PyString>();
+    if !topic_is_str && msg_is_str {
+        return Err(pyo3::exceptions::PyTypeError::new_err(format!(
+            "arguments look swapped — hiroz uses ({func}(topic, msg_type, ...)) but rclpy uses \
+             (msg_type, topic, ...). Pass by keyword: {func}(topic=..., msg_type=...)"
+        )));
+    }
+    Ok(())
+}
+
+/// Resolve a topic argument to a `String`, with a clear error if it isn't a str.
+fn extract_topic(topic: &Bound<'_, PyAny>) -> PyResult<String> {
+    topic.extract::<String>().map_err(|_| {
+        pyo3::exceptions::PyTypeError::new_err(
+            "topic must be a string (e.g. \"/chatter\"). Pass by keyword if unsure: topic=...",
+        )
+    })
+}
+
+/// Extract Goal/Result/Feedback classes from either an action grouping class
+/// (P7, rclpy-style — exposes `__actiontype__`, `Goal`, `Result`, `Feedback`)
+/// or fall back to three explicitly-passed classes.
+///
+/// Returns the three member classes as owned `PyObject`s.
+fn resolve_action_types(
+    action_type: &Bound<'_, PyAny>,
+    result_type: Option<&Bound<'_, PyAny>>,
+    feedback_type: Option<&Bound<'_, PyAny>>,
+) -> PyResult<(PyObject, PyObject, PyObject)> {
+    // Grouping class path: a single action type with member classes.
+    if action_type.hasattr("__actiontype__").unwrap_or(false) {
+        let goal = action_type.getattr("Goal").map_err(|_| {
+            pyo3::exceptions::PyTypeError::new_err(
+                "Action grouping class with __actiontype__ must define a Goal member",
+            )
+        })?;
+        let result = action_type.getattr("Result").map_err(|_| {
+            pyo3::exceptions::PyTypeError::new_err(
+                "Action grouping class with __actiontype__ must define a Result member",
+            )
+        })?;
+        let feedback = action_type.getattr("Feedback").map_err(|_| {
+            pyo3::exceptions::PyTypeError::new_err(
+                "Action grouping class with __actiontype__ must define a Feedback member",
+            )
+        })?;
+        return Ok((goal.unbind(), result.unbind(), feedback.unbind()));
+    }
+
+    // Back-compat: three separate classes.
+    let (Some(result), Some(feedback)) = (result_type, feedback_type) else {
+        return Err(pyo3::exceptions::PyTypeError::new_err(
+            "create_action_*: pass either a single action grouping class (with __actiontype__) \
+             or all three of goal_type, result_type, feedback_type",
+        ));
+    };
+    Ok((
+        action_type.clone().unbind(),
+        result.clone().unbind(),
+        feedback.clone().unbind(),
+    ))
+}
+
 #[pyclass(name = "ZNodeBuilder")]
 pub struct PyZNodeBuilder {
     pub(crate) ctx: Arc<ZContext>,
@@ -189,10 +291,12 @@ impl PyZNode {
     #[pyo3(signature = (topic, msg_type, qos=None))]
     fn create_publisher(
         &self,
-        topic: String,
+        topic: &Bound<'_, PyAny>,
         msg_type: &Bound<'_, PyAny>,
         qos: Option<&Bound<'_, PyAny>>,
     ) -> PyResult<PyZPublisher> {
+        reject_swapped_args(topic, msg_type, "create_publisher")?;
+        let topic = extract_topic(topic)?;
         let (msg_type_str, type_info) = extract_type_info_from_class(msg_type)?;
         let qos_profile = extract_qos(qos)?;
 
@@ -213,11 +317,13 @@ impl PyZNode {
     fn create_subscriber(
         &mut self,
         _py: Python,
-        topic: String,
+        topic: &Bound<'_, PyAny>,
         msg_type: &Bound<'_, PyAny>,
         qos: Option<&Bound<'_, PyAny>>,
         callback: Option<PyObject>,
     ) -> PyResult<PyZSubscriber> {
+        reject_swapped_args(topic, msg_type, "create_subscriber")?;
+        let topic = extract_topic(topic)?;
         let (msg_type_str, type_info) = extract_type_info_from_class(msg_type)?;
         let qos_profile = extract_qos(qos)?;
 
@@ -262,16 +368,25 @@ impl PyZNode {
         }
     }
 
-    /// Create a service client
+    /// Create a service client.
+    ///
+    /// `srv_type` may be a service grouping class (rclpy-style, e.g.
+    /// `example_interfaces.AddTwoInts`) or the bare Request class (back-compat).
     fn create_client(&self, service: String, srv_type: &Bound<'_, PyAny>) -> PyResult<PyZClient> {
-        let (srv_type_str, type_info) = extract_service_type_from_request_class(srv_type)?;
+        let (srv_type_str, type_info) = extract_service_type_info(srv_type)?;
 
         let client_builder = self
             .inner
             .create_client_impl::<RawBytesService>(&service, Some(type_info));
         let zclient = client_builder.build().map_err(|e| e.into_pyerr())?;
         let wrapper = GenericClientWrapper::new(zclient);
-        Ok(PyZClient::new(Box::new(wrapper), srv_type_str))
+        let qualified = self.qualify_service_name(&service);
+        Ok(PyZClient::new(
+            Box::new(wrapper),
+            srv_type_str,
+            Arc::clone(self.inner.graph()),
+            qualified,
+        ))
     }
 
     // -- Graph discovery methods --
@@ -310,22 +425,29 @@ impl PyZNode {
     /// `__msgtype__` and `__hash__` attributes (from `hiroz_msgs_py`).
     ///
     /// Returns a `ZActionClient` for sending goals and receiving results.
+    #[pyo3(signature = (action_name, goal_type, result_type=None, feedback_type=None))]
     fn create_action_client(
         &self,
         py: Python,
         action_name: String,
         goal_type: &Bound<'_, PyAny>,
-        result_type: &Bound<'_, PyAny>,
-        feedback_type: &Bound<'_, PyAny>,
+        result_type: Option<&Bound<'_, PyAny>>,
+        feedback_type: Option<&Bound<'_, PyAny>>,
     ) -> PyResult<PyZActionClient> {
+        let (goal_obj, result_obj, feedback_obj) =
+            resolve_action_types(goal_type, result_type, feedback_type)?;
+        let goal_b = goal_obj.bind(py);
+        let result_b = result_obj.bind(py);
+        let feedback_b = feedback_obj.bind(py);
+
         // __msgtype__ is still required (validates the class); __hash__ is optional.
-        extract_type_info_from_class(goal_type)?;
-        extract_type_info_from_class(result_type)?;
-        extract_type_info_from_class(feedback_type)?;
+        extract_type_info_from_class(goal_b)?;
+        extract_type_info_from_class(result_b)?;
+        extract_type_info_from_class(feedback_b)?;
 
-        let goal_ti = try_extract_type_info(goal_type);
-        let result_ti = try_extract_type_info(result_type);
-        let feedback_ti = try_extract_type_info(feedback_type);
+        let goal_ti = try_extract_type_info(goal_b);
+        let result_ti = try_extract_type_info(result_b);
+        let feedback_ti = try_extract_type_info(feedback_b);
 
         let node = Arc::clone(&self.inner);
         let rt = get_tokio_rt();
@@ -347,11 +469,20 @@ impl PyZNode {
                 .map_err(|e| pyo3::exceptions::PyRuntimeError::new_err(e.to_string()))
         })?;
 
+        // The action server advertises a `<action>/_action/send_goal` service;
+        // wait_for_server polls the graph for it.
+        let send_goal_service = format!(
+            "{}/_action/send_goal",
+            self.qualify_service_name(&action_name)
+        );
+
         Ok(PyZActionClient::new(
             client,
-            goal_type.clone().unbind(),
-            result_type.clone().unbind(),
-            feedback_type.clone().unbind(),
+            goal_obj.clone_ref(py),
+            result_obj.clone_ref(py),
+            feedback_obj.clone_ref(py),
+            Arc::clone(self.inner.graph()),
+            send_goal_service,
         ))
     }
 
@@ -361,22 +492,29 @@ impl PyZNode {
     /// `__msgtype__` and `__hash__` attributes (from `hiroz_msgs_py`).
     ///
     /// Returns a `ZActionServer` for receiving and executing goals.
+    #[pyo3(signature = (action_name, goal_type, result_type=None, feedback_type=None))]
     fn create_action_server(
         &self,
         py: Python,
         action_name: String,
         goal_type: &Bound<'_, PyAny>,
-        result_type: &Bound<'_, PyAny>,
-        feedback_type: &Bound<'_, PyAny>,
+        result_type: Option<&Bound<'_, PyAny>>,
+        feedback_type: Option<&Bound<'_, PyAny>>,
     ) -> PyResult<PyZActionServer> {
+        let (goal_obj, result_obj, feedback_obj) =
+            resolve_action_types(goal_type, result_type, feedback_type)?;
+        let goal_b = goal_obj.bind(py);
+        let result_b = result_obj.bind(py);
+        let feedback_b = feedback_obj.bind(py);
+
         // __msgtype__ is still required (validates the class); __hash__ is optional.
-        extract_type_info_from_class(goal_type)?;
-        extract_type_info_from_class(result_type)?;
-        extract_type_info_from_class(feedback_type)?;
+        extract_type_info_from_class(goal_b)?;
+        extract_type_info_from_class(result_b)?;
+        extract_type_info_from_class(feedback_b)?;
 
-        let goal_ti = try_extract_type_info(goal_type);
-        let result_ti = try_extract_type_info(result_type);
-        let feedback_ti = try_extract_type_info(feedback_type);
+        let goal_ti = try_extract_type_info(goal_b);
+        let result_ti = try_extract_type_info(result_b);
+        let feedback_ti = try_extract_type_info(feedback_b);
 
         let node = Arc::clone(&self.inner);
         let rt = get_tokio_rt();
@@ -400,9 +538,9 @@ impl PyZNode {
 
         Ok(PyZActionServer::new(
             server,
-            goal_type.clone().unbind(),
-            result_type.clone().unbind(),
-            feedback_type.clone().unbind(),
+            goal_obj.clone_ref(py),
+            result_obj.clone_ref(py),
+            feedback_obj.clone_ref(py),
         ))
     }
 
@@ -422,15 +560,47 @@ impl PyZNode {
         Ok(())
     }
 
-    /// Create a service server
-    fn create_server(&self, service: String, srv_type: &Bound<'_, PyAny>) -> PyResult<PyZServer> {
-        let (srv_type_str, type_info) = extract_service_type_from_request_class(srv_type)?;
+    /// Create a service server.
+    ///
+    /// `srv_type` may be a service grouping class (rclpy-style) or the bare
+    /// Request class (back-compat).
+    ///
+    /// If `callback` is provided, the server runs in callback mode: a background
+    /// thread receives each request, invokes `callback(request)`, and sends the
+    /// returned value as the response. The caller never calls `take_request` /
+    /// `send_response`. If `callback` is None (default), the server is in pull
+    /// mode and the caller drives it via `take_request` / `send_response`.
+    #[pyo3(signature = (service, srv_type, callback=None))]
+    fn create_server(
+        &self,
+        service: String,
+        srv_type: &Bound<'_, PyAny>,
+        callback: Option<PyObject>,
+    ) -> PyResult<PyZServer> {
+        let (srv_type_str, type_info) = extract_service_type_info(srv_type)?;
 
         let server_builder = self
             .inner
             .create_service_impl::<RawBytesService>(&service, Some(type_info));
         let zserver = server_builder.build().map_err(|e| e.into_pyerr())?;
         let wrapper = GenericServerWrapper::new(zserver);
-        Ok(PyZServer::new(Box::new(wrapper), srv_type_str))
+
+        match callback {
+            Some(cb) => Ok(PyZServer::new_with_callback(
+                Arc::new(wrapper),
+                srv_type_str,
+                cb,
+            )),
+            None => Ok(PyZServer::new(Box::new(wrapper), srv_type_str)),
+        }
+    }
+}
+
+impl PyZNode {
+    /// Qualify a service name against the node's namespace/name so the result
+    /// matches the entries the discovery graph stores. Absolute names pass through.
+    fn qualify_service_name(&self, service: &str) -> String {
+        hiroz::topic_name::qualify_topic_name(service, self.inner.namespace(), self.inner.name())
+            .unwrap_or_else(|_| service.to_string())
     }
 }
diff --git a/crates/hiroz-py/src/pubsub.rs b/crates/hiroz-py/src/pubsub.rs
index dbd5b179..0325dabd 100644
--- a/crates/hiroz-py/src/pubsub.rs
+++ b/crates/hiroz-py/src/pubsub.rs
@@ -40,6 +40,25 @@ impl PyZPublisher {
         self.inner.publish(data.into()).map_err(|e| e.into_pyerr())
     }
 
+    /// Wait until at least `count` subscriptions match this publisher.
+    ///
+    /// Mirrors rclpy's discovery-wait pattern and removes the need for
+    /// `time.sleep(...)` before publishing. Returns True if `count`
+    /// subscriptions were matched before `timeout`, False otherwise.
+    ///
+    /// Args:
+    ///     count: Number of subscriptions to wait for (default 1).
+    ///     timeout: Maximum seconds to wait. None waits effectively forever.
+    #[pyo3(signature = (count=1, timeout=None))]
+    fn wait_for_subscription(&self, py: Python, count: usize, timeout: Option<f64>) -> bool {
+        // None → wait "forever"; cap at a large but finite duration so the
+        // background thread can still observe interpreter shutdown.
+        let dur = timeout
+            .map(Duration::from_secs_f64)
+            .unwrap_or(Duration::from_secs(60 * 60 * 24 * 365));
+        py.allow_threads(|| self.inner.wait_for_subscription(count, dur))
+    }
+
     /// Get the topic name (for debugging)
     unsafe fn get_type_name(&self) -> String {
         self.type_name.clone()
diff --git a/crates/hiroz-py/src/qos.rs b/crates/hiroz-py/src/qos.rs
index 516ef4b2..eaa721f9 100644
--- a/crates/hiroz-py/src/qos.rs
+++ b/crates/hiroz-py/src/qos.rs
@@ -360,12 +360,28 @@ pub fn extract_qos(qos: Option<&Bound<'_, PyAny>>) -> PyResult<QosProfile> {
             if let Ok(profile) = obj.extract::<PyRef<PyQosProfile>>() {
                 return Ok(profile.inner);
             }
+            // rclpy-style int depth shorthand: `qos=10` == KeepLast(10).
+            // Checked before dict so a bare int is accepted anywhere a QoS is.
+            // `bool` is a subclass of `int` in Python; exclude it explicitly so
+            // `qos=True` is a clear type error rather than a depth of 1.
+            if !obj.is_instance_of::<pyo3::types::PyBool>()
+                && let Ok(depth) = obj.extract::<usize>()
+            {
+                let non_zero = NonZeroUsize::new(depth).ok_or_else(|| {
+                    pyo3::exceptions::PyValueError::new_err(
+                        "qos depth shorthand must be greater than 0",
+                    )
+                })?;
+                let mut qos = QOS_DEFAULT;
+                qos.history = QosHistory::KeepLast(non_zero);
+                return Ok(qos);
+            }
             // Fall back to dict
             if let Ok(dict) = obj.downcast::<PyDict>() {
                 return qos_from_pydict(dict);
             }
             Err(pyo3::exceptions::PyTypeError::new_err(
-                "qos must be a QosProfile or dict",
+                "qos must be a QosProfile, an int (depth shorthand), or a dict",
             ))
         }
     }
diff --git a/crates/hiroz-py/src/service.rs b/crates/hiroz-py/src/service.rs
index aa8b7781..1e9534e8 100644
--- a/crates/hiroz-py/src/service.rs
+++ b/crates/hiroz-py/src/service.rs
@@ -1,7 +1,10 @@
 use crate::traits::{RawClient, RawServer};
+use hiroz::graph::Graph;
 use hiroz::service::RequestId;
 use pyo3::prelude::*;
 use pyo3::types::PyDict;
+use std::sync::Arc;
+use std::sync::atomic::{AtomicBool, Ordering};
 use std::time::Duration;
 
 /// Python wrapper for service client
@@ -10,16 +13,26 @@ pub struct PyZClient {
     inner: Box<dyn RawClient>,
     request_type_name: String,
     response_type_name: String,
+    /// Shared graph + fully-qualified service name, used by `wait_for_service`.
+    graph: Arc<Graph>,
+    service_name: String,
 }
 
 impl PyZClient {
-    pub fn new(inner: Box<dyn RawClient>, service_type: String) -> Self {
+    pub fn new(
+        inner: Box<dyn RawClient>,
+        service_type: String,
+        graph: Arc<Graph>,
+        service_name: String,
+    ) -> Self {
         let request_type_name = format!("{}_Request", service_type);
         let response_type_name = format!("{}_Response", service_type);
         Self {
             inner,
             request_type_name,
             response_type_name,
+            graph,
+            service_name,
         }
     }
 }
@@ -40,10 +53,25 @@ impl PyZClient {
 
         let cdr_bytes = py
             .allow_threads(|| self.inner.call_serialized(&cdr_bytes, timeout_duration))
-            .map_err(|e| pyo3::exceptions::PyRuntimeError::new_err(e.to_string()))?;
+            .map_err(crate::error::map_call_error)?;
         hiroz_msgs::deserialize_from_cdr(&self.response_type_name, py, &cdr_bytes)
     }
 
+    /// Wait until a service server for this service is available.
+    ///
+    /// Mirrors rclpy's `Client.wait_for_service(timeout_sec)`. Polls the
+    /// discovery graph until a matching server appears. Returns True if a
+    /// server was found before `timeout`, False otherwise.
+    ///
+    /// Args:
+    ///     timeout: Maximum seconds to wait. None waits forever.
+    #[pyo3(signature = (timeout=None))]
+    fn wait_for_service(&self, py: Python, timeout: Option<f64>) -> bool {
+        py.allow_threads(|| {
+            crate::graph::wait_for_service_server(&self.graph, &self.service_name, timeout)
+        })
+    }
+
     /// Get the service type name (for debugging)
     unsafe fn get_type_name(&self) -> String {
         format!(
@@ -53,12 +81,37 @@ impl PyZClient {
     }
 }
 
-/// Python wrapper for service server
+/// Background-thread state for a callback-mode server (P6).
+///
+/// Holds an `Arc` to the underlying server (keeping its Zenoh queryable alive)
+/// and a stop flag the worker thread checks each poll. Dropping this signals the
+/// thread to stop and joins it.
+struct CallbackServerState {
+    stop: Arc<AtomicBool>,
+    handle: Option<std::thread::JoinHandle<()>>,
+    _server: Arc<dyn RawServer>,
+}
+
+impl Drop for CallbackServerState {
+    fn drop(&mut self) {
+        self.stop.store(true, Ordering::Relaxed);
+        if let Some(h) = self.handle.take() {
+            let _ = h.join();
+        }
+    }
+}
+
+/// Python wrapper for service server.
+///
+/// Pull mode (default): `inner` is `Some`; the caller drives `take_request` /
+/// `send_response`. Callback mode (P6): `inner` is `None` and a background
+/// thread (held in `_callback`) services requests via the user callback.
 #[pyclass(name = "ZServer")]
 pub struct PyZServer {
-    inner: std::sync::Mutex<Box<dyn RawServer>>,
+    inner: Option<std::sync::Mutex<Box<dyn RawServer>>>,
     request_type_name: String,
     response_type_name: String,
+    _callback: Option<CallbackServerState>,
 }
 
 impl PyZServer {
@@ -66,11 +119,110 @@ impl PyZServer {
         let request_type_name = format!("{}_Request", service_type);
         let response_type_name = format!("{}_Response", service_type);
         Self {
-            inner: std::sync::Mutex::new(inner),
+            inner: Some(std::sync::Mutex::new(inner)),
+            request_type_name,
+            response_type_name,
+            _callback: None,
+        }
+    }
+
+    /// Build a callback-mode server: a background thread receives each request,
+    /// calls `callback(request)`, and sends the returned object as the response.
+    pub fn new_with_callback(
+        server: Arc<dyn RawServer>,
+        service_type: String,
+        callback: PyObject,
+    ) -> Self {
+        let request_type_name = format!("{}_Request", service_type);
+        let response_type_name = format!("{}_Response", service_type);
+
+        let stop = Arc::new(AtomicBool::new(false));
+        let handle = spawn_callback_loop(
+            Arc::clone(&server),
+            request_type_name.clone(),
+            response_type_name.clone(),
+            callback,
+            Arc::clone(&stop),
+        );
+
+        Self {
+            inner: None,
             request_type_name,
             response_type_name,
+            _callback: Some(CallbackServerState {
+                stop,
+                handle: Some(handle),
+                _server: server,
+            }),
         }
     }
+
+    fn require_pull(&self) -> PyResult<&std::sync::Mutex<Box<dyn RawServer>>> {
+        self.inner.as_ref().ok_or_else(|| {
+            pyo3::exceptions::PyRuntimeError::new_err(
+                "This server runs in callback mode; take_request/send_response are unavailable. \
+                 Create it without a callback to use pull mode.",
+            )
+        })
+    }
+}
+
+/// Spawn the worker thread for a callback-mode server.
+fn spawn_callback_loop(
+    server: Arc<dyn RawServer>,
+    request_type_name: String,
+    response_type_name: String,
+    callback: PyObject,
+    stop: Arc<AtomicBool>,
+) -> std::thread::JoinHandle<()> {
+    std::thread::spawn(move || {
+        while !stop.load(Ordering::Relaxed) {
+            // Poll for a request without holding the GIL.
+            match server.try_take_request_serialized() {
+                Ok(Some((request_id, request_bytes))) => {
+                    Python::with_gil(|py| {
+                        let req_obj = match hiroz_msgs::deserialize_from_cdr(
+                            &request_type_name,
+                            py,
+                            &request_bytes,
+                        ) {
+                            Ok(o) => o,
+                            Err(e) => {
+                                eprintln!("hiroz_py: request deserialize error: {}", e);
+                                return;
+                            }
+                        };
+                        let resp_obj = match callback.call1(py, (req_obj,)) {
+                            Ok(o) => o,
+                            Err(e) => {
+                                eprintln!("hiroz_py: service callback error: {}", e);
+                                return;
+                            }
+                        };
+                        let resp_bytes = match hiroz_msgs::serialize_to_cdr(
+                            &response_type_name,
+                            py,
+                            resp_obj.bind(py),
+                        ) {
+                            Ok(b) => b,
+                            Err(e) => {
+                                eprintln!("hiroz_py: response serialize error: {}", e);
+                                return;
+                            }
+                        };
+                        if let Err(e) = server.send_response_serialized(&resp_bytes, &request_id) {
+                            eprintln!("hiroz_py: send_response error: {}", e);
+                        }
+                    });
+                }
+                Ok(None) => std::thread::sleep(Duration::from_millis(2)),
+                Err(e) => {
+                    eprintln!("hiroz_py: service poll error: {}", e);
+                    std::thread::sleep(Duration::from_millis(50));
+                }
+            }
+        }
+    })
 }
 
 #[allow(unsafe_op_in_unsafe_fn)]
@@ -78,9 +230,9 @@ impl PyZServer {
 impl PyZServer {
     /// Receive the next service request (blocking)
     unsafe fn take_request(&self, py: Python) -> PyResult<(PyObject, PyObject)> {
+        let mutex = self.require_pull()?;
         let result = py.allow_threads(|| {
-            let inner = self
-                .inner
+            let inner = mutex
                 .lock()
                 .map_err(|e| anyhow::anyhow!("Lock error: {}", e))?;
             inner.take_request_serialized()
@@ -120,9 +272,9 @@ impl PyZServer {
             source_timestamp: 0,
         };
 
+        let mutex = self.require_pull()?;
         py.allow_threads(|| {
-            let inner = self
-                .inner
+            let inner = mutex
                 .lock()
                 .map_err(|e| anyhow::anyhow!("Lock error: {}", e))?;
             inner.send_response_serialized(&cdr_bytes, &key)
diff --git a/crates/hiroz-py/src/traits.rs b/crates/hiroz-py/src/traits.rs
index a624a809..5d6fc39a 100644
--- a/crates/hiroz-py/src/traits.rs
+++ b/crates/hiroz-py/src/traits.rs
@@ -10,6 +10,9 @@ use crate::raw_bytes::{RawBytesCdrSerdes, RawBytesMessage, RawBytesService};
 pub(crate) trait RawPublisher: Send + Sync {
     /// Publish pre-serialized data
     fn publish(&self, data: ZBytes) -> Result<()>;
+    /// Block until at least `count` subscriptions are matched, or `timeout` elapses.
+    /// Returns true if the count was reached. Delegates to the core liveliness-based wait.
+    fn wait_for_subscription(&self, count: usize, timeout: Duration) -> bool;
 }
 
 /// Type-erased subscriber trait for Python interop
@@ -43,6 +46,12 @@ impl RawPublisher for GenericPubWrapper {
             .publish_serialized(data)
             .map_err(|e| anyhow::anyhow!(e))
     }
+
+    fn wait_for_subscription(&self, count: usize, timeout: Duration) -> bool {
+        // The core method is async; block on it using the shared runtime.
+        // Callers release the GIL around this via `py.allow_threads`.
+        crate::action::get_tokio_rt().block_on(self.inner.wait_for_subscription(count, timeout))
+    }
 }
 
 /// Generic subscriber wrapper using RawBytesMessage
@@ -103,6 +112,9 @@ pub(crate) trait RawClient: Send + Sync {
 /// Type-erased server trait for Python interop
 pub(crate) trait RawServer: Send + Sync {
     fn take_request_serialized(&self) -> Result<(RequestId, Vec<u8>)>;
+    /// Non-blocking variant: returns None if no request is queued.
+    /// Used by the optional callback-mode server loop.
+    fn try_take_request_serialized(&self) -> Result<Option<(RequestId, Vec<u8>)>>;
     fn send_response_serialized(&self, data: &[u8], request_id: &RequestId) -> Result<()>;
 }
 
@@ -174,6 +186,29 @@ impl RawServer for GenericServerWrapper {
         Ok((request_id, request.0))
     }
 
+    fn try_take_request_serialized(&self) -> Result<Option<(RequestId, Vec<u8>)>> {
+        let mut server = self
+            .inner
+            .lock()
+            .map_err(|e| anyhow::anyhow!("Failed to lock server: {}", e))?;
+
+        match server
+            .try_take_request()
+            .map_err(|e| anyhow::anyhow!("Failed to poll request: {}", e))?
+        {
+            Some(request) => {
+                let (request, reply) = request.into_parts();
+                let request_id = reply.id().clone();
+                self.pending
+                    .lock()
+                    .map_err(|e| anyhow::anyhow!("Failed to lock pending replies: {}", e))?
+                    .insert(request_id.clone(), reply);
+                Ok(Some((request_id, request.0)))
+            }
+            None => Ok(None),
+        }
+    }
+
     fn send_response_serialized(&self, data: &[u8], request_id: &RequestId) -> Result<()> {
         let response = RawBytesMessage(data.to_vec());
 
diff --git a/crates/hiroz-py/tests/test_rclpy_alignment.py b/crates/hiroz-py/tests/test_rclpy_alignment.py
new file mode 100644
index 00000000..ac790e26
--- /dev/null
+++ b/crates/hiroz-py/tests/test_rclpy_alignment.py
@@ -0,0 +1,210 @@
+#!/usr/bin/env python3
+"""Tests for the rclpy-alignment features (P1-P8)."""
+
+import time
+
+import pytest
+
+import hiroz_py
+from hiroz_py import example_interfaces, std_msgs
+
+
+@pytest.fixture(scope="module")
+def ctx():
+    c = hiroz_py.ZContextBuilder().with_domain_id(0).build()
+    yield c
+
+
+# --- P8: QoS enum constants + int depth shorthand ---
+
+
+def test_p8_policy_constants():
+    assert hiroz_py.ReliabilityPolicy.RELIABLE == "reliable"
+    assert hiroz_py.ReliabilityPolicy.BEST_EFFORT == "best_effort"
+    assert hiroz_py.DurabilityPolicy.VOLATILE == "volatile"
+    assert hiroz_py.DurabilityPolicy.TRANSIENT_LOCAL == "transient_local"
+    assert hiroz_py.HistoryPolicy.KEEP_LAST == "keep_last"
+    assert hiroz_py.HistoryPolicy.KEEP_ALL == "keep_all"
+    assert hiroz_py.LivelinessPolicy.AUTOMATIC == "automatic"
+
+
+def test_p8_int_depth_shorthand(ctx):
+    node = ctx.create_node("p8_int").build()
+    # qos=10 should be accepted as a depth shorthand.
+    pub = node.create_publisher("/p8_topic", std_msgs.String, qos=10)
+    assert pub is not None
+
+
+def test_p8_policy_constants_in_qos(ctx):
+    node = ctx.create_node("p8_policy").build()
+    qos = hiroz_py.QosProfile(
+        reliability=hiroz_py.ReliabilityPolicy.BEST_EFFORT,
+        history=hiroz_py.HistoryPolicy.KEEP_LAST,
+        depth=5,
+    )
+    assert qos.reliability == "best_effort"
+    pub = node.create_publisher("/p8_policy_topic", std_msgs.String, qos=qos)
+    assert pub is not None
+
+
+# --- P2: swapped-argument smart error ---
+
+
+def test_p2_swapped_args_publisher(ctx):
+    node = ctx.create_node("p2_pub").build()
+    with pytest.raises(TypeError, match="swapped"):
+        # rclpy order: (msg_type, topic) -> should be rejected with a clear error.
+        node.create_publisher(std_msgs.String, "/chatter")
+
+
+def test_p2_swapped_args_subscriber(ctx):
+    node = ctx.create_node("p2_sub").build()
+    with pytest.raises(TypeError, match="swapped"):
+        node.create_subscriber(std_msgs.String, "/chatter")
+
+
+def test_p2_keyword_args_work(ctx):
+    node = ctx.create_node("p2_kw").build()
+    # Keyword args work regardless of historical order.
+    pub = node.create_publisher(msg_type=std_msgs.String, topic="/p2_kw_topic")
+    assert pub is not None
+
+
+# --- P3: method aliases ---
+
+
+def test_p3_create_subscription_alias():
+    assert hiroz_py.ZNode.create_subscription is hiroz_py.ZNode.create_subscriber
+
+
+def test_p3_create_service_alias():
+    assert hiroz_py.ZNode.create_service is hiroz_py.ZNode.create_server
+
+
+# --- P4: service grouping class ---
+
+
+def test_p4_grouping_class_attributes():
+    assert (
+        example_interfaces.AddTwoInts.__srvtype__ == "example_interfaces/srv/AddTwoInts"
+    )
+    assert example_interfaces.AddTwoInts.Request is example_interfaces.AddTwoIntsRequest
+    assert (
+        example_interfaces.AddTwoInts.Response is example_interfaces.AddTwoIntsResponse
+    )
+
+
+def test_p4_client_accepts_grouping_class(ctx):
+    node = ctx.create_node("p4_client").build()
+    client = node.create_client("/p4_add", example_interfaces.AddTwoInts)
+    assert client is not None
+
+
+def test_p4_client_accepts_bare_request(ctx):
+    # Back-compat: bare Request class still works.
+    node = ctx.create_node("p4_client_bc").build()
+    client = node.create_client("/p4_add_bc", example_interfaces.AddTwoIntsRequest)
+    assert client is not None
+
+
+# --- P5: custom exception types ---
+
+
+def test_p5_exception_hierarchy():
+    assert issubclass(hiroz_py.TimeoutError, hiroz_py.HirozError)
+    assert issubclass(hiroz_py.SerializationError, hiroz_py.HirozError)
+    assert issubclass(hiroz_py.TypeMismatchError, hiroz_py.HirozError)
+
+
+def test_p5_call_failure_is_hiroz_error(ctx):
+    node = ctx.create_node("p5_client").build()
+    client = node.create_client("/p5_nonexistent", example_interfaces.AddTwoInts)
+    req = example_interfaces.AddTwoInts.Request(a=1, b=2)
+    with pytest.raises(hiroz_py.HirozError):
+        client.call(req, timeout=1.0)
+
+
+# --- P1 + P4 + P6: end-to-end service with wait_for_service and callback mode ---
+
+
+def test_p1_p6_callback_service_end_to_end(ctx):
+    node = ctx.create_node("p6_node").build()
+
+    def handle(req):
+        return example_interfaces.AddTwoInts.Response(sum=req.a + req.b)
+
+    # P6: callback-mode server (no take_request loop).
+    server = node.create_server(
+        "/p6_add", example_interfaces.AddTwoInts, callback=handle
+    )
+    assert server is not None
+
+    client = node.create_client("/p6_add", example_interfaces.AddTwoInts)
+    # P1: wait for the server instead of sleeping.
+    assert client.wait_for_service(timeout=5.0), "server should be discoverable"
+
+    resp = client.call(example_interfaces.AddTwoInts.Request(a=4, b=38), timeout=5.0)
+    assert resp.sum == 42
+
+
+def test_p1_wait_for_service_timeout_returns_false(ctx):
+    node = ctx.create_node("p1_wait_to").build()
+    client = node.create_client("/p1_never", example_interfaces.AddTwoInts)
+    t0 = time.time()
+    assert client.wait_for_service(timeout=0.5) is False
+    assert time.time() - t0 >= 0.4
+
+
+# --- P1: wait_for_subscription end-to-end ---
+
+
+def test_p1_wait_for_subscription(ctx):
+    node = ctx.create_node("p1_pubsub").build()
+    pub = node.create_publisher("/p1_chatter", std_msgs.String)
+    received = []
+
+    def cb(msg):
+        received.append(msg.data)
+
+    node.create_subscriber("/p1_chatter", std_msgs.String, callback=cb)
+
+    assert pub.wait_for_subscription(count=1, timeout=5.0), "subscription should match"
+
+    pub.publish(std_msgs.String(data="hello"))
+    deadline = time.time() + 3.0
+    while not received and time.time() < deadline:
+        time.sleep(0.05)
+    assert received == ["hello"]
+
+
+# --- P7: action grouping class detection (inline, Python-to-Python) ---
+
+
+def test_p7_action_grouping_class(ctx):
+    import msgspec
+    from typing import ClassVar
+
+    class CountToGoal(msgspec.Struct):
+        __msgtype__: ClassVar[str] = "p7_demo/msg/CountToGoal"
+        target: int = 0
+
+    class CountToResult(msgspec.Struct):
+        __msgtype__: ClassVar[str] = "p7_demo/msg/CountToResult"
+        final_count: int = 0
+
+    class CountToFeedback(msgspec.Struct):
+        __msgtype__: ClassVar[str] = "p7_demo/msg/CountToFeedback"
+        current: int = 0
+
+    class CountTo:
+        __actiontype__: ClassVar[str] = "p7_demo/action/CountTo"
+        Goal = CountToGoal
+        Result = CountToResult
+        Feedback = CountToFeedback
+
+    node = ctx.create_node("p7_action").build()
+    # Single grouping class instead of three positional types.
+    client = node.create_action_client("/p7_count", CountTo)
+    assert client is not None
+    server = node.create_action_server("/p7_count", CountTo)
+    assert server is not None
diff --git a/crates/hiroz-py/tests/test_service.py b/crates/hiroz-py/tests/test_service.py
index a9438c1a..4990bdfc 100644
--- a/crates/hiroz-py/tests/test_service.py
+++ b/crates/hiroz-py/tests/test_service.py
@@ -93,9 +93,9 @@ def test_timeout_handling(client):
     req = example_interfaces.AddTwoIntsRequest(a=1, b=2)
     try:
         timeout_client.call(req, timeout=1.0)
-        assert False, "Expected timeout error, but call succeeded"
-    except RuntimeError:
-        pass  # expected: call timed out
+        assert False, "Expected an error, but call succeeded"
+    except hiroz_py.HirozError:
+        pass  # expected: call failed (no server / timeout). TimeoutError is a subclass.
 
     print("✓ Timeout handling works")