diff --git a/libraries/extensions/ros2-bridge/msg-gen-macro/src/lib.rs b/libraries/extensions/ros2-bridge/msg-gen-macro/src/lib.rs
index 2a6c3b4c..7ccdfc45 100644
--- a/libraries/extensions/ros2-bridge/msg-gen-macro/src/lib.rs
+++ b/libraries/extensions/ros2-bridge/msg-gen-macro/src/lib.rs
@@ -66,8 +66,11 @@ pub fn msg_include_all(input: TokenStream) -> TokenStream {
         let message_structs = get_packages(&paths)
             .unwrap()
             .iter()
-            .map(|v| v.struct_token_stream(config.create_cxx_bridge))
+            .map(|v| v.message_structs(config.create_cxx_bridge))
             .collect::<Vec<_>>();
+        let message_struct_defs = message_structs.iter().map(|(s, _)| s);
+        let message_struct_impls = message_structs.iter().map(|(_, i)| i);
+
         let aliases = get_packages(&paths)
             .unwrap()
             .iter()
@@ -100,16 +103,18 @@ pub fn msg_include_all(input: TokenStream) -> TokenStream {
                     chars: Vec<u16>,
                 }
 
-                impl crate::_core::InternalDefault for U16String {
-                    fn _default() -> Self {
-                        Default::default()
-                    }
-                }
+                #(#message_struct_defs)*
+            }
 
 
-                #(#message_structs)*
+            impl crate::_core::InternalDefault for ffi::U16String {
+                fn _default() -> Self {
+                    Default::default()
+                }
             }
 
+            #(#message_struct_impls)*
+
             #(#aliases)*
 
 
diff --git a/libraries/extensions/ros2-bridge/msg-gen/src/types/message.rs b/libraries/extensions/ros2-bridge/msg-gen/src/types/message.rs
index 96693f1a..60f0be0b 100644
--- a/libraries/extensions/ros2-bridge/msg-gen/src/types/message.rs
+++ b/libraries/extensions/ros2-bridge/msg-gen/src/types/message.rs
@@ -123,7 +123,11 @@ pub struct Message {
 }
 
 impl Message {
-    pub fn struct_token_stream(&self, package_name: &Ident, gen_cxx_bridge: bool) -> impl ToTokens {
+    pub fn struct_token_stream(
+        &self,
+        package_name: &Ident,
+        gen_cxx_bridge: bool,
+    ) -> (impl ToTokens, impl ToTokens) {
         let cxx_name = format_ident!("{}", self.name);
         let struct_raw_name = format_ident!("{package_name}__{}", self.name);
 
@@ -141,17 +145,18 @@ impl Message {
         };
 
         if self.members.is_empty() {
-            quote! {}
+            (quote! {}, quote! {})
         } else {
-            quote! {
+            let def = quote! {
                 #[allow(non_camel_case_types)]
                 #[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
                 #attributes
                 pub struct #struct_raw_name {
                     #(#rust_type_def_inner)*
                 }
-
-                impl crate::_core::InternalDefault for #struct_raw_name {
+            };
+            let impls = quote! {
+                impl crate::_core::InternalDefault for ffi::#struct_raw_name {
                     fn _default() -> Self {
                         Self {
                             #(#rust_type_default_inner)*
@@ -159,13 +164,15 @@ impl Message {
                     }
                 }
 
-                impl std::default::Default for #struct_raw_name {
+                impl std::default::Default for ffi::#struct_raw_name {
                     #[inline]
                     fn default() -> Self {
                         crate::_core::InternalDefault::_default()
                     }
                 }
-            }
+            };
+
+            (def, impls)
         }
     }
 
diff --git a/libraries/extensions/ros2-bridge/msg-gen/src/types/package.rs b/libraries/extensions/ros2-bridge/msg-gen/src/types/package.rs
index 50cabf2d..1e6e6fc8 100644
--- a/libraries/extensions/ros2-bridge/msg-gen/src/types/package.rs
+++ b/libraries/extensions/ros2-bridge/msg-gen/src/types/package.rs
@@ -26,19 +26,25 @@ impl Package {
         self.messages.is_empty() && self.services.is_empty() && self.actions.is_empty()
     }
 
-    fn message_structs(&self, package_name: Ident, gen_cxx_bridge: bool) -> impl ToTokens {
+    pub fn message_structs(&self, gen_cxx_bridge: bool) -> (impl ToTokens, impl ToTokens) {
+        let package_name = Ident::new(&self.name, Span::call_site());
         if self.messages.is_empty() {
-            quote! {
-                // empty msg
-            }
+            // empty msg
+            (quote! {}, quote! {})
         } else {
             let items = self
                 .messages
                 .iter()
                 .map(|v| v.struct_token_stream(&package_name, gen_cxx_bridge));
-            quote! {
-                #(#items)*
-            }
+            let defs = items.clone().map(|(def, _)| def);
+            let impls = items.clone().map(|(_, im)| im);
+            let def_tokens = quote! {
+                #(#defs)*
+            };
+            let impl_tokens = quote! {
+                #(#impls)*
+            };
+            (def_tokens, impl_tokens)
         }
     }
 
@@ -108,15 +114,6 @@ impl Package {
         }
     }
 
-    pub fn struct_token_stream(&self, gen_cxx_bridge: bool) -> impl ToTokens {
-        let package_name = Ident::new(&self.name, Span::call_site());
-        let message_structs = self.message_structs(package_name, gen_cxx_bridge);
-
-        quote! {
-            #message_structs
-        }
-    }
-
     pub fn aliases_token_stream(&self) -> impl ToTokens {
         let package_name = Ident::new(&self.name, Span::call_site());
         let aliases = self.message_aliases(&package_name);