diff --git a/rclcpp_action/include/rclcpp_action/client.hpp b/rclcpp_action/include/rclcpp_action/client.hpp
index d94508f..7133e8c 100644
--- a/rclcpp_action/include/rclcpp_action/client.hpp
+++ b/rclcpp_action/include/rclcpp_action/client.hpp
@@ -23,7 +23,7 @@
 #include <rclcpp/time.hpp>
 #include <rclcpp/waitable.hpp>
 
-#include <rosidl_generator_c/action_type_support_struct.h>
+#include <rosidl_runtime_c/action_type_support_struct.h>
 #include <rosidl_typesupport_cpp/action_type_support.hpp>
 
 #include <algorithm>
diff --git a/rclcpp_action/include/rclcpp_action/server.hpp b/rclcpp_action/include/rclcpp_action/server.hpp
index 7b618a0..7aede9a 100644
--- a/rclcpp_action/include/rclcpp_action/server.hpp
+++ b/rclcpp_action/include/rclcpp_action/server.hpp
@@ -16,7 +16,7 @@
 #define RCLCPP_ACTION__SERVER_HPP_
 
 #include <rcl_action/action_server.h>
-#include <rosidl_generator_c/action_type_support_struct.h>
+#include <rosidl_runtime_c/action_type_support_struct.h>
 #include <rosidl_typesupport_cpp/action_type_support.hpp>
 #include <rclcpp/node_interfaces/node_base_interface.hpp>
 #include <rclcpp/node_interfaces/node_clock_interface.hpp>