diff --git a/Cargo.lock b/Cargo.lock
index e0e4ba10..8e081992 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -524,7 +524,7 @@ checksum = "bc00ceb34980c03614e35a3a4e218276a0a824e911d07651cd0d858a51e8c0f0"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -954,7 +954,7 @@ dependencies = [
  "heck 0.4.1",
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -1264,7 +1264,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "scratch",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -1281,7 +1281,7 @@ checksum = "2fa16a70dd58129e4dfffdff535fb1bce66673f7bbeec4a5a1765a504e1ccd84"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -1736,7 +1736,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "regex",
- "syn 1.0.109",
+ "syn 2.0.41",
  "thiserror",
 ]
 
@@ -1914,7 +1914,7 @@ checksum = "f95e2801cd355d4a1a3e3953ce6ee5ae9603a5c833455343a8bfe3f44d418246"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -2219,7 +2219,7 @@ checksum = "89ca545a94061b6365f2c7355b4b32bd20df3ff95f02da9329b34ccc3bd6ee72"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -2289,7 +2289,7 @@ checksum = "ba330b70a5341d3bc730b8e205aaee97ddab5d9c448c4f51a7c2d924266fa8f9"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -3516,7 +3516,7 @@ checksum = "cfb77679af88f8b125209d354a202862602672222e7f2313fdd6dc349bad4712"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -3948,7 +3948,7 @@ dependencies = [
  "pest_meta",
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -3989,7 +3989,7 @@ checksum = "4359fd9c9171ec6e8c62926d6faaf553a8dc3f64e1507e76da7911b4f6a04405"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -4288,7 +4288,7 @@ dependencies = [
  "proc-macro2",
  "pyo3-macros-backend",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -4300,7 +4300,7 @@ dependencies = [
  "heck 0.4.1",
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -4990,7 +4990,7 @@ checksum = "4eca7ac642d82aa35b60049a6eccb4be6be75e599bd2e9adb5f875a737654af2"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -5012,7 +5012,7 @@ checksum = "8725e1dfadb3a50f7e5ce0b1a540466f6ed3fe7a0fca2ac2b8b831d31316bd00"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -5243,7 +5243,7 @@ checksum = "7d395866cb6778625150f77a430cc0af764ce0300f6a3d3413477785fa34b6c7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -5326,9 +5326,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.38"
+version = "2.0.41"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e96b79aaa137db8f61e26363a0c9b47d8b4ec75da28b7d1d614c2303e232408b"
+checksum = "44c8b28c477cc3bf0e7966561e3460130e1255f7a1cf71931075f1c5e7a7e269"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -5462,7 +5462,7 @@ checksum = "10712f02019e9288794769fba95cd6847df9874d49d871d062172f9dd41bc4cc"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -5586,7 +5586,7 @@ checksum = "630bdcf245f78637c13ec01ffae6187cca34625e8c63150d424b59e55af2675e"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -5693,7 +5693,7 @@ checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -5902,7 +5902,7 @@ checksum = "f7e1ba1f333bd65ce3c9f27de592fcbc256dafe3af2717f56d7c87761fbaccf4"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -6011,7 +6011,7 @@ dependencies = [
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
  "wasm-bindgen-shared",
 ]
 
@@ -6045,7 +6045,7 @@ checksum = "54681b18a46765f095758388f2d0cf16eb8d4169b639ab575a8f5693af210c7b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.41",
  "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
diff --git a/libraries/extensions/ros2-bridge/msg-gen-macro/Cargo.toml b/libraries/extensions/ros2-bridge/msg-gen-macro/Cargo.toml
index 434e42ab..5b7b7e07 100644
--- a/libraries/extensions/ros2-bridge/msg-gen-macro/Cargo.toml
+++ b/libraries/extensions/ros2-bridge/msg-gen-macro/Cargo.toml
@@ -12,7 +12,7 @@ nom = "7"
 proc-macro2 = "1.0"
 quote = "1.0"
 regex = "1"
-syn = "1.0"
+syn = { version = "2.0.41", features = ["parsing"] }
 thiserror = "1.0"
 dora-ros2-bridge-msg-gen = { path = "../msg-gen" }
 
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 ae6d02ab..93fb09da 100644
--- a/libraries/extensions/ros2-bridge/msg-gen-macro/src/lib.rs
+++ b/libraries/extensions/ros2-bridge/msg-gen-macro/src/lib.rs
@@ -12,9 +12,43 @@ use std::path::Path;
 use dora_ros2_bridge_msg_gen::get_packages;
 use proc_macro::TokenStream;
 use quote::quote;
+use syn::{punctuated::Punctuated, MetaNameValue, Token};
+
+struct Config {
+    create_cxx_bridge: bool,
+}
+
+impl syn::parse::Parse for Config {
+    fn parse(input: syn::parse::ParseStream<'_>) -> syn::Result<Self> {
+        let punctuated = Punctuated::<MetaNameValue, Token![,]>::parse_terminated(input)?;
+
+        let mut config = Self {
+            create_cxx_bridge: false,
+        };
+
+        for item in &punctuated {
+            let ident = item.path.require_ident()?;
+            if ident == "cxx_bridge" {
+                let syn::Expr::Lit(lit) = &item.value else {
+                    return Err(syn::Error::new_spanned(&item.value, "invalid value, expected bool"));
+                };
+                let syn::Lit::Bool(b) = &lit.lit else {
+                    return Err(syn::Error::new_spanned(&lit.lit, "invalid value, expected bool"));
+                };
+                config.create_cxx_bridge = b.value;
+            } else {
+                return Err(syn::Error::new_spanned(&item.path, "invalid argument"));
+            }
+        }
+
+        Ok(config)
+    }
+}
 
 #[proc_macro]
-pub fn msg_include_all(_input: TokenStream) -> TokenStream {
+pub fn msg_include_all(input: TokenStream) -> TokenStream {
+    let config = syn::parse_macro_input!(input as Config);
+
     let ament_prefix_path = std::env!("DETECTED_AMENT_PREFIX_PATH").trim();
     if ament_prefix_path.is_empty() {
         quote! {
@@ -32,7 +66,7 @@ pub fn msg_include_all(_input: TokenStream) -> TokenStream {
         let packages = get_packages(&paths)
             .unwrap()
             .iter()
-            .map(|v| v.token_stream())
+            .map(|v| v.token_stream(config.create_cxx_bridge))
             .collect::<Vec<_>>();
 
         (quote! {
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 3d5c4944..bbd16369 100644
--- a/libraries/extensions/ros2-bridge/msg-gen/src/types/package.rs
+++ b/libraries/extensions/ros2-bridge/msg-gen/src/types/package.rs
@@ -71,13 +71,21 @@ impl Package {
         }
     }
 
-    pub fn token_stream(&self) -> impl ToTokens {
+    pub fn token_stream(&self, gen_cxx_bridge: bool) -> impl ToTokens {
         let name = Ident::new(&self.name, Span::call_site());
         let messages_block = self.messages_block();
         let services_block = self.services_block();
         let actions_block = self.actions_block();
 
+        let attributes = if gen_cxx_bridge {
+            let namespace = &self.name;
+            quote! { #[cxx::bridge(namespace = #namespace)] }
+        } else {
+            quote! {}
+        };
+
         quote! {
+            #attributes
             pub mod #name {
                 #messages_block
                 #services_block