diff --git a/rosidl_generator_java/CMakeLists.txt b/rosidl_generator_java/CMakeLists.txt
index 4b1c2ea5..1e6c8539 100644
--- a/rosidl_generator_java/CMakeLists.txt
+++ b/rosidl_generator_java/CMakeLists.txt
@@ -67,6 +67,7 @@ if(BUILD_TESTING)
   set(_deps_library_dirs "")
   list_append_unique(_deps_library_dirs ${CMAKE_CURRENT_BINARY_DIR})
   list_append_unique(_deps_library_dirs ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_java/rosidl_generator_java/msg/)
+  list_append_unique(_deps_library_dirs ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_java/rosidl_generator_java/srv/)
 
   foreach(testsuite ${${PROJECT_NAME}_testsuites})
     ament_add_junit_tests("${PROJECT_NAME}_tests_${testsuite}"
diff --git a/rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake b/rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake
index e0b0ff17..6ca9c9ff 100644
--- a/rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake
+++ b/rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake
@@ -70,6 +70,10 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
       "${_output_path}/${_parent_folder}/${_idl_name}_Request.java"
       "${_output_path}/${_parent_folder}/${_idl_name}_Response.java"
     )
+    foreach(_typesupport_impl ${_typesupport_impls})
+      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Request.ep.${_typesupport_impl}.cpp")
+      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Response.ep.${_typesupport_impl}.cpp")
+    endforeach()
   endif()
   # Actions generate extra files
   if(_parent_folder STREQUAL "action")
@@ -78,6 +82,11 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
       "${_output_path}/${_parent_folder}/${_idl_name}_Result.java"
       "${_output_path}/${_parent_folder}/${_idl_name}_Feedback.java"
     )
+    foreach(_typesupport_impl ${_typesupport_impls})
+      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Goal.ep.${_typesupport_impl}.cpp")
+      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Result.ep.${_typesupport_impl}.cpp")
+      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Feedback.ep.${_typesupport_impl}.cpp")
+    endforeach()
   endif()
 
   foreach(_typesupport_impl ${_typesupport_impls})
diff --git a/rosidl_generator_java/resource/action.cpp.em b/rosidl_generator_java/resource/action.cpp.em
index 17e456bf..1fcdd7fb 100644
--- a/rosidl_generator_java/resource/action.cpp.em
+++ b/rosidl_generator_java/resource/action.cpp.em
@@ -1,23 +1,93 @@
 @# Included from rosidl_generator_java/resource/idl.cpp.em
 @{
+import os
+
+from rosidl_cmake import expand_template
 from rosidl_generator_c import idl_structure_type_to_c_include_prefix
 
-action_includes = [
-    'rosidl_generator_c/action_type_support_struct.h',
-]
+namespaces = action.namespaced_type.namespaces
+type_name = action.namespaced_type.name
+goal_type_name = action.goal.structure.namespaced_type.name
+result_type_name = action.result.structure.namespaced_type.name
+feedback_type_name = action.feedback.structure.namespaced_type.name
+feedback_message_type_name = action.feedback_message.structure.namespaced_type.name
+send_goal_type_name = action.send_goal_service.namespaced_type.name
+get_result_type_name = action.get_result_service.namespaced_type.name
+
+data = {
+    'package_name': package_name,
+    'output_dir': output_dir,
+    'template_basepath': template_basepath,
+}
+
+# Generate Goal message type
+data.update({'message': action.goal})
+output_file = os.path.join(
+    output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(goal_type_name, typesupport_impl))
+expand_template(
+    'msg.cpp.em',
+    data,
+    output_file)
+
+# Generate Result message type
+data.update({'message': action.result})
+output_file = os.path.join(
+    output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(result_type_name, typesupport_impl))
+expand_template(
+    'msg.cpp.em',
+    data,
+    output_file)
+
+# Generate Feedback message type
+data.update({'message': action.feedback})
+output_file = os.path.join(
+    output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(feedback_type_name, typesupport_impl))
+expand_template(
+    'msg.cpp.em',
+    data,
+    output_file)
+
+# Generate FeedbackMessage message type
+data.update({'message': action.feedback_message})
+output_file = os.path.join(
+    output_dir,
+    *namespaces[1:],
+    '{0}.ep.{1}.cpp'.format(feedback_message_type_name, typesupport_impl))
+expand_template(
+    'msg.cpp.em',
+    data,
+    output_file)
+
+# Generate SendGoal service type
+data.update({'service': action.send_goal_service})
+output_file = os.path.join(
+    output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(send_goal_type_name, typesupport_impl))
+expand_template(
+    'msg.cpp.em',
+    data,
+    output_file)
+
+# Generate SendGoal service type
+data.update({'service': action.get_result_service})
+output_file = os.path.join(
+    output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(get_result_type_name, typesupport_impl))
+expand_template(
+    'msg.cpp.em',
+    data,
+    output_file)
 }@
-@[for include in action_includes]@
-@[  if include in include_directives]@
-// already included above
-// @
-@[  else]@
-@{include_directives.add(include)}@
-@[  end if]@
-#include "@(include)"
-@[end for]@
+
+#include <jni.h>
+
+#include <cstdint>
+
+#include "rosidl_generator_c/action_type_support_struct.h"
 
 #include "@(idl_structure_type_to_c_include_prefix(action.namespaced_type)).h"
 
+// Ensure that a jlong is big enough to store raw pointers
+static_assert(sizeof(jlong) >= sizeof(std::intptr_t), "jlong must be able to store pointers");
+
 #ifdef __cplusplus
 extern "C" {
 #endif
diff --git a/rosidl_generator_java/resource/idl.cpp.em b/rosidl_generator_java/resource/idl.cpp.em
index 48098dd9..c909006a 100644
--- a/rosidl_generator_java/resource/idl.cpp.em
+++ b/rosidl_generator_java/resource/idl.cpp.em
@@ -9,102 +9,90 @@
 @#  - package_name (string)
 @#  - interface_path (Path relative to the directory named after the package)
 @#  - content (IdlContent, list of elements, e.g. Messages or Services)
+@#  - output_dir (Path)
+@#  - template_basepath (Path)
+@#  - typesupport_impl (string, the typesupport identifier of the generated code)
 @#######################################################################
 @{
-include_directives = set()
+import os
 
-jni_includes = [
-    'jni.h',
-]
-include_directives.update(jni_includes)
-std_includes = [
-    'cassert',
-    'cstdint',
-    'string',
-]
-include_directives.update(std_includes)
-rosidl_includes = [
-    'rosidl_generator_c/message_type_support_struct.h',
-]
-include_directives.update(rosidl_includes)
-rcljava_includes = [
-    'rcljava_common/exceptions.h',
-    'rcljava_common/signatures.h',
-]
-include_directives.update(rcljava_includes)
-}@
-@[for include in jni_includes]@
-#include <@(include)>
-@[end for]@
-
-@[for include in std_includes]@
-#include <@(include)>
-@[end for]@
-
-@[for include in rosidl_includes]@
-#include "@(include)"
-@[end for]@
-
-@[for include in rcljava_includes]@
-#include "@(include)"
-@[end for]@
-
-// Ensure that a jlong is big enough to store raw pointers
-static_assert(sizeof(jlong) >= sizeof(std::intptr_t), "jlong must be able to store pointers");
-
-using rcljava_common::exceptions::rcljava_throw_exception;
+from rosidl_cmake import expand_template
+from rosidl_parser.definition import Action
+from rosidl_parser.definition import Message
+from rosidl_parser.definition import Service
 
-@{
-jni_package_name = package_name.replace('_', '_1')
 }@
 @
 @#######################################################################
 @# Handle messages
 @#######################################################################
 @{
-from rosidl_parser.definition import Message
-}@
-@[for message in content.get_elements_of_type(Message)]@
-@{
-TEMPLATE(
-    'msg.cpp.em',
-    package_name=package_name,
-    jni_package_name=jni_package_name,
-    message=message,
-    include_directives=include_directives)
+data = {
+    'package_name': package_name,
+    'output_dir': output_dir,
+    'template_basepath': template_basepath,
+}
+
+for message in content.get_elements_of_type(Message):
+    data.update({'message': message})
+    type_name = message.structure.namespaced_type.name
+    namespaces = message.structure.namespaced_type.namespaces
+    output_file = os.path.join(
+        output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(type_name, typesupport_impl))
+    expand_template(
+        'msg.cpp.em',
+        data,
+        output_file,
+        template_basepath=template_basepath)
 }@
-@[end for]@
 @
 @#######################################################################
 @# Handle services
 @#######################################################################
 @{
-from rosidl_parser.definition import Service
-}@
-@[for service in content.get_elements_of_type(Service)]@
-@{
-TEMPLATE(
-    'srv.cpp.em',
-    package_name=package_name,
-    jni_package_name=jni_package_name,
-    service=service,
-    include_directives=include_directives)
+data = {
+    'package_name': package_name,
+    'interface_path': interface_path,
+    'output_dir': output_dir,
+    'template_basepath': template_basepath,
+    'typesupport_impl': typesupport_impl,
+}
+
+for service in content.get_elements_of_type(Service):
+    data.update({'service': service})
+    type_name = service.namespaced_type.name
+    namespaces = service.namespaced_type.namespaces
+    output_file = os.path.join(
+        output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(type_name, typesupport_impl))
+    expand_template(
+        'srv.cpp.em',
+        data,
+        output_file,
+        template_basepath=template_basepath)
+
 }@
-@[end for]@
 @
 @#######################################################################
 @# Handle actions
 @#######################################################################
 @{
-from rosidl_parser.definition import Action
-}@
-@[for action in content.get_elements_of_type(Action)]@
-@{
-TEMPLATE(
-    'action.cpp.em',
-    package_name=package_name,
-    jni_package_name=jni_package_name,
-    action=action,
-    include_directives=include_directives)
+data = {
+    'package_name': package_name,
+    'interface_path': interface_path,
+    'output_dir': output_dir,
+    'template_basepath': template_basepath,
+    'typesupport_impl': typesupport_impl,
+}
+
+for action in content.get_elements_of_type(Action):
+    data.update({'action': action})
+    type_name = action.namespaced_type.name
+    namespaces = action.namespaced_type.namespaces
+    output_file = os.path.join(
+        output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(type_name, typesupport_impl))
+    expand_template(
+        'action.cpp.em',
+        data,
+        output_file,
+        template_basepath=template_basepath)
 }@
-@[end for]@
diff --git a/rosidl_generator_java/resource/msg.cpp.em b/rosidl_generator_java/resource/msg.cpp.em
index 6d1f7877..4907c5d0 100644
--- a/rosidl_generator_java/resource/msg.cpp.em
+++ b/rosidl_generator_java/resource/msg.cpp.em
@@ -35,7 +35,7 @@ array_list_jni_type = "java/util/ArrayList"
 cache = defaultdict(lambda: False)
 cache[msg_normalized_type] = msg_jni_type
 namespaced_types = set()
-includes = set()
+member_includes = set()
 for member in message.structure.members:
     type_ = member.type
     if isinstance(type_, AbstractNestedType):
@@ -43,36 +43,78 @@ for member in message.structure.members:
         cache[array_list_normalized_type] = array_list_jni_type
         type_ = type_.value_type
         if isinstance(type_, BasicType):
-            includes.add('rosidl_generator_c/primitives_sequence.h')
-            includes.add('rosidl_generator_c/primitives_sequence_functions.h')
+            member_includes.add('rosidl_generator_c/primitives_sequence.h')
+            member_includes.add('rosidl_generator_c/primitives_sequence_functions.h')
 
     # We do not cache strings because java.lang.String behaves differently
     if not isinstance(type_, AbstractGenericString):
         cache[get_normalized_type(type_)] = get_jni_type(type_)
 
     if isinstance(type_, AbstractString):
-        includes.add('rosidl_generator_c/string.h')
-        includes.add('rosidl_generator_c/string_functions.h')
+        member_includes.add('rosidl_generator_c/string.h')
+        member_includes.add('rosidl_generator_c/string_functions.h')
 
     if isinstance(type_, AbstractWString):
-        includes.add('rosidl_generator_c/u16string.h')
-        includes.add('rosidl_generator_c/u16string_functions.h')
+        member_includes.add('rosidl_generator_c/u16string.h')
+        member_includes.add('rosidl_generator_c/u16string_functions.h')
 
     if isinstance(type_, NamespacedType):
         namespaced_types.add(get_jni_type(type_))
-        includes.add(idl_structure_type_to_c_include_prefix(type_) + '.h')
+        include_prefix = idl_structure_type_to_c_include_prefix(type_)
+        # TODO(jacobperron): Remove this logic after https://github.com/ros2/rosidl/pull/432 (Foxy)
+        # Strip off any service or action suffix
+        # There are several types that actions and services are composed of, but they are included
+        # a common header that is based on the action or service name
+        # ie. there are not separate headers for each type
+        if include_prefix.endswith('__request'):
+            include_prefix = include_prefix[:-9]
+        elif include_prefix.endswith('__response'):
+            include_prefix = include_prefix[:-10]
+        if include_prefix.endswith('__goal'):
+            include_prefix = include_prefix[:-6]
+        elif include_prefix.endswith('__result'):
+            include_prefix = include_prefix[:-8]
+        elif include_prefix.endswith('__feedback'):
+            include_prefix = include_prefix[:-10]
+        member_includes.add(include_prefix + '.h')
 }@
-@[for include in includes]@
-@[  if include in include_directives]@
-// already included above
-// @
-@[  else]@
-@{include_directives.add(include)}@
-@[  end if]@
+@{
+# TODO(jacobperron): Remove this logic after https://github.com/ros2/rosidl/pull/432 (Foxy)
+message_c_include_prefix = idl_structure_type_to_c_include_prefix(message.structure.namespaced_type)
+# Strip off any service or action suffix
+if message_c_include_prefix.endswith('__request'):
+    message_c_include_prefix = message_c_include_prefix[:-9]
+elif message_c_include_prefix.endswith('__response'):
+    message_c_include_prefix = message_c_include_prefix[:-10]
+if message_c_include_prefix.endswith('__goal'):
+    message_c_include_prefix = message_c_include_prefix[:-6]
+elif message_c_include_prefix.endswith('__result'):
+    message_c_include_prefix = message_c_include_prefix[:-8]
+elif message_c_include_prefix.endswith('__feedback'):
+    message_c_include_prefix = message_c_include_prefix[:-10]
+}@
+
+#include <jni.h>
+
+#include <cassert>
+#include <cstdint>
+#include <string>
+
+#include "rosidl_generator_c/message_type_support_struct.h"
+
+#include "rcljava_common/exceptions.h"
+#include "rcljava_common/signatures.h"
+
+@[for include in member_includes]@
 #include "@(include)"
 @[end for]@
 
-#include "@(idl_structure_type_to_c_include_prefix(message.structure.namespaced_type)).h"
+#include "@(message_c_include_prefix).h"
+
+// Ensure that a jlong is big enough to store raw pointers
+static_assert(sizeof(jlong) >= sizeof(std::intptr_t), "jlong must be able to store pointers");
+
+using rcljava_common::exceptions::rcljava_throw_exception;
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/rosidl_generator_java/resource/srv.cpp.em b/rosidl_generator_java/resource/srv.cpp.em
index 5c2d2d0b..c7bd40a6 100644
--- a/rosidl_generator_java/resource/srv.cpp.em
+++ b/rosidl_generator_java/resource/srv.cpp.em
@@ -1,23 +1,50 @@
 @# Included from rosidl_generator_java/resource/idl.cpp.em
 @{
+import os
+from rosidl_cmake import expand_template
 from rosidl_generator_c import idl_structure_type_to_c_include_prefix
 
-service_includes = [
-    'rosidl_generator_c/service_type_support_struct.h',
-]
+namespaces = service.namespaced_type.namespaces
+type_name = service.namespaced_type.name
+request_type_name = service.request_message.structure.namespaced_type.name
+response_type_name = service.response_message.structure.namespaced_type.name
+
+data = {
+    'package_name': package_name,
+    'output_dir': output_dir,
+    'template_basepath': template_basepath,
+}
+
+# Generate request message
+data.update({'message': service.request_message})
+output_file = os.path.join(
+    output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(request_type_name, typesupport_impl))
+expand_template(
+    'msg.cpp.em',
+    data,
+    output_file)
+
+# Generate response message
+data.update({'message': service.response_message})
+output_file = os.path.join(
+    output_dir, *namespaces[1:], '{0}.ep.{1}.cpp'.format(response_type_name, typesupport_impl))
+expand_template(
+    'msg.cpp.em',
+    data,
+    output_file)
 }@
-@[for include in service_includes]@
-@[  if include in include_directives]@
-// already included above
-// @
-@[  else]@
-@{include_directives.add(include)}@
-@[  end if]@
-#include "@(include)"
-@[end for]@
+
+#include <jni.h>
+
+#include <cstdint>
+
+#include "rosidl_generator_c/service_type_support_struct.h"
 
 #include "@(idl_structure_type_to_c_include_prefix(service.namespaced_type)).h"
 
+// Ensure that a jlong is big enough to store raw pointers
+static_assert(sizeof(jlong) >= sizeof(std::intptr_t), "jlong must be able to store pointers");
+
 #ifdef __cplusplus
 extern "C" {
 #endif
diff --git a/rosidl_generator_java/rosidl_generator_java/__init__.py b/rosidl_generator_java/rosidl_generator_java/__init__.py
index 7941ab69..32a8e366 100644
--- a/rosidl_generator_java/rosidl_generator_java/__init__.py
+++ b/rosidl_generator_java/rosidl_generator_java/__init__.py
@@ -45,8 +45,9 @@ def generate_java(generator_arguments_file, typesupport_impls):
 
     for impl in typesupport_impls:
         mapping = {
-          'idl.cpp.em': '%s.ep.{0}.cpp'.format(impl),
+          'idl.cpp.em': '_%s.cpp',
         }
+        additional_context.update(typesupport_impl=impl)
         generate_files(
             generator_arguments_file,
             mapping,
@@ -203,4 +204,4 @@ def get_jni_signature(type_):
 def get_jni_mangled_name(fully_qualified_name):
     # JNI name mangling:
     # https://docs.oracle.com/javase/8/docs/technotes/guides/jni/spec/design.html#resolving_native_method_names
-    return fully_qualified_name[0].replace('_', '_1') + '_' + '_'.join(fully_qualified_name[1:])
+    return '_'.join(list(map(lambda name: name.replace('_', '_1'), fully_qualified_name)))
diff --git a/rosidl_generator_java/src/test/java/org/ros2/generator/InterfacesTest.java b/rosidl_generator_java/src/test/java/org/ros2/generator/InterfacesTest.java
index dfea4a97..00638e09 100644
--- a/rosidl_generator_java/src/test/java/org/ros2/generator/InterfacesTest.java
+++ b/rosidl_generator_java/src/test/java/org/ros2/generator/InterfacesTest.java
@@ -532,4 +532,73 @@ public final void testUnboundedSequences() {
 
     assertEquals(42, unbounded_seq.getAlignmentCheck());
   }
+
+  @Test
+  public final void testBasicTypesService() {
+    rosidl_generator_java.srv.BasicTypes_Request basicTypesRequest =
+      new rosidl_generator_java.srv.BasicTypes_Request();
+    rosidl_generator_java.srv.BasicTypes_Response basicTypesResponse =
+      new rosidl_generator_java.srv.BasicTypes_Response();
+    // Set request fields
+    boolean expectedBool1 = true;
+    basicTypesRequest.setBoolValue(expectedBool1);
+    byte expectedByte1 = 123;
+    basicTypesRequest.setByteValue(expectedByte1);
+    byte expectedChar1 = 'a';
+    basicTypesRequest.setCharValue(expectedChar1);
+    float expectedFloat1 = 12.34f;
+    basicTypesRequest.setFloat32Value(expectedFloat1);
+    double expectedDouble1 = 12.34;
+    basicTypesRequest.setFloat64Value(expectedDouble1);
+    byte expectedInt81 = 123;
+    basicTypesRequest.setInt8Value(expectedInt81);
+    short expectedInt161 = 1230;
+    basicTypesRequest.setInt16Value(expectedInt161);
+    int expectedInt321 = 123000;
+    basicTypesRequest.setInt32Value(expectedInt321);
+    long expectedInt641 = 42949672960L;
+    basicTypesRequest.setInt64Value(expectedInt641);
+
+    // Set response fields
+    boolean expectedBool2 = false;
+    basicTypesResponse.setBoolValue(expectedBool2);
+    byte expectedByte2 = -42;
+    basicTypesResponse.setByteValue(expectedByte2);
+    byte expectedChar2 = ' ';
+    basicTypesResponse.setCharValue(expectedChar2);
+    float expectedFloat2 = -43.21f;
+    basicTypesResponse.setFloat32Value(expectedFloat2);
+    double expectedDouble2 = -43.21;
+    basicTypesResponse.setFloat64Value(expectedDouble2);
+    byte expectedInt82 = -42;
+    basicTypesResponse.setInt8Value(expectedInt82);
+    short expectedInt162 = -420;
+    basicTypesResponse.setInt16Value(expectedInt162);
+    int expectedInt322 = -42000;
+    basicTypesResponse.setInt32Value(expectedInt322);
+    long expectedInt642 = -4200000L;
+    basicTypesResponse.setInt64Value(expectedInt642);
+
+    // Get request fields
+    assertEquals(expectedBool1, basicTypesRequest.getBoolValue());
+    assertEquals(expectedByte1, basicTypesRequest.getByteValue());
+    assertEquals(expectedChar1, basicTypesRequest.getCharValue());
+    assertEquals(expectedFloat1, basicTypesRequest.getFloat32Value(), 0.01f);
+    assertEquals(expectedDouble1, basicTypesRequest.getFloat64Value(), 0.01);
+    assertEquals(expectedInt81, basicTypesRequest.getInt8Value());
+    assertEquals(expectedInt161, basicTypesRequest.getInt16Value());
+    assertEquals(expectedInt321, basicTypesRequest.getInt32Value());
+    assertEquals(expectedInt641, basicTypesRequest.getInt64Value());
+
+    // Get response fields
+    assertEquals(expectedBool2, basicTypesResponse.getBoolValue());
+    assertEquals(expectedByte2, basicTypesResponse.getByteValue());
+    assertEquals(expectedChar2, basicTypesResponse.getCharValue());
+    assertEquals(expectedFloat2, basicTypesResponse.getFloat32Value(), 0.01f);
+    assertEquals(expectedDouble2, basicTypesResponse.getFloat64Value(), 0.01);
+    assertEquals(expectedInt82, basicTypesResponse.getInt8Value());
+    assertEquals(expectedInt162, basicTypesResponse.getInt16Value());
+    assertEquals(expectedInt322, basicTypesResponse.getInt32Value());
+    assertEquals(expectedInt642, basicTypesResponse.getInt64Value());
+  }
 }