diff --git a/.github/workflows/ros2.yml b/.github/workflows/ros2.yml
index 80a9df17..2119c389 100644
--- a/.github/workflows/ros2.yml
+++ b/.github/workflows/ros2.yml
@@ -1,28 +1,24 @@
 name: ROS2 CI
 on:
   push:
+    branches:
+      - ros2
   pull_request:
   schedule:
     - cron: "0 0 * * *"
+  workflow_dispatch:
 jobs:
   industrial_ci:
     strategy:
       matrix:
-        env:
-          - ROS_DISTRO: foxy
-            ROS_REPO: testing
-            CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Debug'
-          - ROS_DISTRO: foxy
-            ROS_REPO: testing
-            CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Release'
-          - ROS_DISTRO: galactic
-            ROS_REPO: testing
-            CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Debug'
-          - ROS_DISTRO: galactic
-            ROS_REPO: testing
-            CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Release'
+        ROS_DISTRO: [humble, iron, rolling]
+        ROS_REPO: [testing, main]
+        CMAKE_ARGS: ['-DCMAKE_BUILD_TYPE=Debug', '-DCMAKE_BUILD_TYPE=Release']
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v3
       - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{matrix.env}}
+        env:
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          ROS_REP: ${{ matrix.ROS_REPO }}
+          CMAKE_ARGS: ${{ matrix.CMAKE_ARGS }}
diff --git a/sound_play/CMakeLists.txt b/sound_play/CMakeLists.txt
index 23be34e7..6663e2e1 100644
--- a/sound_play/CMakeLists.txt
+++ b/sound_play/CMakeLists.txt
@@ -13,26 +13,10 @@ find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(audio_common_msgs REQUIRED)
 find_package(action_msgs REQUIRED)
+find_package(sound_play_msgs)
 
 include_directories(rclcpp audio_common_msgs action_msgs builtin_interfaces)
 
-set(msg_files
-  "msg/SoundRequest.msg"
-)
-
-set(action_files
-  "action/SoundRequest.action"
-)
-
-rosidl_generate_interfaces(${PROJECT_NAME}
-  ${msg_files}
-  ${action_files}
-  DEPENDENCIES
-    action_msgs
-    audio_common_msgs
-    builtin_interfaces
-)
-
 ament_python_install_package(${PROJECT_NAME})
 
 install(PROGRAMS
@@ -50,6 +34,7 @@ install(PROGRAMS
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION include/${PROJECT_NAME}
 )
+ament_export_include_directories(include)
 
 install(DIRECTORY launch
   DESTINATION share/${PROJECT_NAME}
@@ -59,6 +44,6 @@ install(DIRECTORY sounds
   DESTINATION share/${PROJECT_NAME}
 )
 
-ament_export_dependencies(rosidl_default_runtime)
+ament_export_dependencies(rosidl_default_runtime sound_play_msgs)
 
 ament_package()
diff --git a/sound_play/include/sound_play/sound_play.h b/sound_play/include/sound_play/sound_play.h
index d5fe4614..99636d7b 100644
--- a/sound_play/include/sound_play/sound_play.h
+++ b/sound_play/include/sound_play/sound_play.h
@@ -38,10 +38,9 @@
 #define __SOUND_PLAY__SOUND_PLAY__H__
 
 #include <string>
-#include <ros/ros.h>
-#include <ros/node_handle.h>
-#include <sound_play/SoundRequest.h>
-#include <boost/thread.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <sound_play_msgs/msg/sound_request.hpp>
+#include <mutex>
 
 namespace sound_play
 {
@@ -87,7 +86,7 @@ class SoundClient
      */
     void play()
     {
-      client_->sendMsg(snd_, SoundRequest::PLAY_ONCE, arg_, arg2_, vol_);
+      client_->sendMsg(snd_, sound_play_msgs::msg::SoundRequest::PLAY_ONCE, arg_, arg2_, vol_);
     }
 
     /** \brief Play the Sound repeatedly.
@@ -97,7 +96,7 @@ class SoundClient
      */
     void repeat()
     {
-      client_->sendMsg(snd_, SoundRequest::PLAY_START, arg_, arg2_, vol_);
+      client_->sendMsg(snd_, sound_play_msgs::msg::SoundRequest::PLAY_START, arg_, arg2_, vol_);
     }
 
     /** \brief Stop Sound playback.
@@ -106,7 +105,7 @@ class SoundClient
      */
     void stop()
     {
-      client_->sendMsg(snd_, SoundRequest::PLAY_STOP, arg_, arg2_, vol_);
+      client_->sendMsg(snd_, sound_play_msgs::msg::SoundRequest::PLAY_STOP, arg_, arg2_, vol_);
     }
   };
 
@@ -119,7 +118,7 @@ class SoundClient
    *
    * \param topic Topic to publish to.
    */
-  SoundClient(ros::NodeHandle &nh, const std::string &topic)
+  SoundClient(rclcpp::Node::SharedPtr nh, const std::string &topic)
   {
     init(nh, topic);
   }
@@ -127,10 +126,12 @@ class SoundClient
   /** \brief Create a SoundClient with the default topic
    *
    * Creates a SoundClient that publishes to "robotsound".
+   *
+   * \param nh Node handle to use when creating the topic.
    */
-  SoundClient()
+  SoundClient(rclcpp::Node::SharedPtr nh)
   {
-    init(ros::NodeHandle(), "robotsound");
+    init(nh, "robotsound");
   }
 
   /** \brief Create a voice Sound.
@@ -142,7 +143,7 @@ class SoundClient
    */
   Sound voiceSound(const std::string &s, float volume = 1.0f)
   {
-    return Sound(this, SoundRequest::SAY, s, "", volume);
+    return Sound(this, sound_play_msgs::msg::SoundRequest::SAY, s, "", volume);
   }
 
   /** \brief Create a wave Sound.
@@ -155,7 +156,7 @@ class SoundClient
    */
   Sound waveSound(const std::string &s, float volume = 1.0f)
   {
-    return Sound(this, SoundRequest::PLAY_FILE, s, "", volume);
+    return Sound(this, sound_play_msgs::msg::SoundRequest::PLAY_FILE, s, "", volume);
   }
 
   /** \brief Create a wave Sound from a package.
@@ -169,7 +170,7 @@ class SoundClient
    */
   Sound waveSoundFromPkg(const std::string &p, const std::string &s, float volume = 1.0f)
   {
-    return Sound(this, SoundRequest::PLAY_FILE, s, p, volume);
+    return Sound(this, sound_play_msgs::msg::SoundRequest::PLAY_FILE, s, p, volume);
   }
 
   /** \brief Create a builtin Sound.
@@ -194,7 +195,7 @@ class SoundClient
    */
   void say(const std::string &s, const std::string &voice="voice_kal_diphone", float volume = 1.0f)
   {
-    sendMsg(SoundRequest::SAY, SoundRequest::PLAY_ONCE, s, voice, volume);
+    sendMsg(sound_play_msgs::msg::SoundRequest::SAY, sound_play_msgs::msg::SoundRequest::PLAY_ONCE, s, voice, volume);
   }
 
   /** \brief Say a string repeatedly
@@ -206,7 +207,7 @@ class SoundClient
    */
   void repeat(const std::string &s, float volume = 1.0f)
   {
-    sendMsg(SoundRequest::SAY, SoundRequest::PLAY_START, s, "", volume);
+    sendMsg(sound_play_msgs::msg::SoundRequest::SAY, sound_play_msgs::msg::SoundRequest::PLAY_START, s, "", volume);
   }
 
   /** \brief Stop saying a string
@@ -218,7 +219,7 @@ class SoundClient
    */
   void stopSaying(const std::string &s)
   {
-    sendMsg(SoundRequest::SAY, SoundRequest::PLAY_STOP, s, "");
+    sendMsg(sound_play_msgs::msg::SoundRequest::SAY, sound_play_msgs::msg::SoundRequest::PLAY_STOP, s, "");
   }
 
   /** \brief Plays a WAV or OGG file
@@ -232,7 +233,7 @@ class SoundClient
    */
   void playWave(const std::string &s, float volume = 1.0f)
   {
-    sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_ONCE, s, "", volume);
+    sendMsg(sound_play_msgs::msg::SoundRequest::PLAY_FILE, sound_play_msgs::msg::SoundRequest::PLAY_ONCE, s, "", volume);
   }
 
   /** \brief Plays a WAV or OGG file repeatedly
@@ -245,7 +246,7 @@ class SoundClient
    */
   void startWave(const std::string &s, float volume = 1.0f)
   {
-    sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_START, s, "", volume);
+    sendMsg(sound_play_msgs::msg::SoundRequest::PLAY_FILE, sound_play_msgs::msg::SoundRequest::PLAY_START, s, "", volume);
   }
 
   /** \brief Stop playing a WAV or OGG file
@@ -257,7 +258,7 @@ class SoundClient
    */
   void stopWave(const std::string &s)
   {
-    sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_STOP, s);
+    sendMsg(sound_play_msgs::msg::SoundRequest::PLAY_FILE, sound_play_msgs::msg::SoundRequest::PLAY_STOP, s);
   }
 
   /** \brief Plays a WAV or OGG file from a package
@@ -272,7 +273,7 @@ class SoundClient
    */
   void playWaveFromPkg(const std::string &p, const std::string &s, float volume = 1.0f)
   {
-    sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_ONCE, s, p, volume);
+    sendMsg(sound_play_msgs::msg::SoundRequest::PLAY_FILE, sound_play_msgs::msg::SoundRequest::PLAY_ONCE, s, p, volume);
   }
 
   /** \brief Plays a WAV or OGG file repeatedly
@@ -286,7 +287,7 @@ class SoundClient
    */
   void startWaveFromPkg(const std::string &p, const std::string &s, float volume = 1.0f)
   {
-    sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_START, s, p, volume);
+    sendMsg(sound_play_msgs::msg::SoundRequest::PLAY_FILE, sound_play_msgs::msg::SoundRequest::PLAY_START, s, p, volume);
   }
 
   /** \brief Stop playing a WAV or OGG file
@@ -300,7 +301,7 @@ class SoundClient
    */
   void stopWaveFromPkg(const std::string &p, const std::string &s)
   {
-    sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_STOP, s, p);
+    sendMsg(sound_play_msgs::msg::SoundRequest::PLAY_FILE, sound_play_msgs::msg::SoundRequest::PLAY_STOP, s, p);
   }
 
   /** \brief Play a buildin sound
@@ -313,7 +314,7 @@ class SoundClient
    */
   void play(int sound, float volume = 1.0f)
   {
-    sendMsg(sound, SoundRequest::PLAY_ONCE, "", "", volume);
+    sendMsg(sound, sound_play_msgs::msg::SoundRequest::PLAY_ONCE, "", "", volume);
   }
 
   /** \brief Play a buildin sound repeatedly
@@ -326,7 +327,7 @@ class SoundClient
    */
   void start(int sound, float volume = 1.0f)
   {
-    sendMsg(sound, SoundRequest::PLAY_START, "", "", volume); 
+    sendMsg(sound, sound_play_msgs::msg::SoundRequest::PLAY_START, "", "", volume); 
   }
 
   /** \brief Stop playing a built-in sound
@@ -337,7 +338,7 @@ class SoundClient
    */
   void stop(int sound)
   {
-    sendMsg(sound, SoundRequest::PLAY_STOP);
+    sendMsg(sound, sound_play_msgs::msg::SoundRequest::PLAY_STOP);
   }
 
   /** \brief Stop all currently playing sounds
@@ -346,7 +347,7 @@ class SoundClient
    */
   void stopAll()
   {
-    stop(SoundRequest::ALL);
+    stop(sound_play_msgs::msg::SoundRequest::ALL);
   }
 
   /** \brief Turns warning messages on or off.
@@ -363,21 +364,21 @@ class SoundClient
   }
 
 private:
-  void init(ros::NodeHandle nh, const std::string &topic)
+  void init(rclcpp::Node::SharedPtr nh, const std::string &topic)
   {
     nh_ = nh;
-    pub_ = nh.advertise<sound_play::SoundRequest>(topic, 5);
+    pub_ = nh->create_publisher<sound_play_msgs::msg::SoundRequest>(topic, 5);
     quiet_ = false;
   }
 
   void sendMsg(int snd, int cmd, const std::string &s = "", const std::string &arg2 = "", const float &vol = 1.0f)
   {
-    boost::mutex::scoped_lock lock(mutex_);
+    const std::lock_guard<std::mutex> lock(mutex_);
 
-    if (!nh_.ok())
+    if (!nh_ || !pub_)
       return;
 
-    SoundRequest msg;
+    sound_play_msgs::msg::SoundRequest msg;
     msg.sound = snd;
     msg.command = cmd;
     msg.arg = s;
@@ -391,16 +392,16 @@ class SoundClient
     else
       msg.volume = vol;
 
-    pub_.publish(msg);
+    pub_->publish(msg);
 
-    if (pub_.getNumSubscribers() == 0 && !quiet_)
-      ROS_WARN("Sound command issued, but no node is subscribed to the topic. Perhaps you forgot to run soundplay_node.py");
+    if (pub_->get_subscription_count() == 0 && !quiet_)
+      RCLCPP_WARN(nh_->get_logger(), "Sound command issued, but no node is subscribed to the topic. Perhaps you forgot to run soundplay_node.py");
   }
 
   bool quiet_;
-  ros::NodeHandle nh_;
-  ros::Publisher pub_;
-  boost::mutex mutex_;
+  rclcpp::Node::SharedPtr nh_;
+  rclcpp::Publisher<sound_play_msgs::msg::SoundRequest>::SharedPtr pub_;
+  std::mutex mutex_;
 };
 
 typedef SoundClient::Sound Sound;
diff --git a/sound_play/package.xml b/sound_play/package.xml
index 5bd98e9c..c614f42d 100644
--- a/sound_play/package.xml
+++ b/sound_play/package.xml
@@ -18,10 +18,10 @@
 
    <buildtool_depend>ament_cmake</buildtool_depend>
    <buildtool_depend>ament_cmake_python</buildtool_depend>
-   <buildtool_depend>rosidl_default_generators</buildtool_depend>
-   <buildtool_depend>rosidl_generator_py</buildtool_depend>
    <buildtool_depend>python3-setuptools</buildtool_depend>
 
+   <depend>sound_play_msgs</depend>
+
    <build_depend>action_msgs</build_depend>
    <build_depend>audio_common_msgs</build_depend>
    <build_depend>boost</build_depend>
@@ -33,7 +33,6 @@
    <exec_depend>festival</exec_depend>
    <exec_depend>launch_xml</exec_depend>
    <exec_depend>rclpy</exec_depend>
-   <exec_depend>rosidl_default_runtime</exec_depend>
 
    <exec_depend>gstreamer1.0</exec_depend>
    <exec_depend>gstreamer1.0-alsa</exec_depend>
@@ -42,8 +41,6 @@
    <exec_depend>gstreamer1.0-plugins-good</exec_depend>
    <exec_depend>python3-gi</exec_depend>
 
-   <member_of_group>rosidl_interface_packages</member_of_group>
-
    <export>
       <build_type>ament_cmake</build_type>
    </export>
diff --git a/sound_play/scripts/soundclient_example.py b/sound_play/scripts/soundclient_example.py
index 8f5a09bc..7a037ad3 100755
--- a/sound_play/scripts/soundclient_example.py
+++ b/sound_play/scripts/soundclient_example.py
@@ -12,7 +12,7 @@
 
 from sound_play.libsoundplay import SoundClient
 
-from sound_play.msg import SoundRequest
+from sound_play_msgs.msg import SoundRequest
 
 
 def play_explicit(node):
diff --git a/sound_play/scripts/soundplay_node.py b/sound_play/scripts/soundplay_node.py
index e3886109..c518ff56 100755
--- a/sound_play/scripts/soundplay_node.py
+++ b/sound_play/scripts/soundplay_node.py
@@ -51,8 +51,8 @@
 from diagnostic_msgs.msg import DiagnosticArray
 from diagnostic_msgs.msg import DiagnosticStatus
 from diagnostic_msgs.msg import KeyValue
-from sound_play.action import SoundRequest as SoundRequestAction
-from sound_play.msg import SoundRequest
+from sound_play_msgs.action import SoundRequest as SoundRequestAction
+from sound_play_msgs.msg import SoundRequest
 
 
 try:
diff --git a/sound_play/scripts/test.py b/sound_play/scripts/test.py
index 4c50a800..7414504c 100755
--- a/sound_play/scripts/test.py
+++ b/sound_play/scripts/test.py
@@ -41,7 +41,7 @@
 
 from sound_play.libsoundplay import SoundClient
 
-from sound_play.msg import SoundRequest
+from sound_play_msgs.msg import SoundRequest
 
 
 if __name__ == '__main__':
diff --git a/sound_play/scripts/test_actionlib_client.py b/sound_play/scripts/test_actionlib_client.py
index 0609eba9..4d9a0b0d 100755
--- a/sound_play/scripts/test_actionlib_client.py
+++ b/sound_play/scripts/test_actionlib_client.py
@@ -6,8 +6,8 @@
 import rclpy
 import rclpy.action
 
-from sound_play.action import SoundRequest as SoundRequestAction
-from sound_play.msg import SoundRequest
+from sound_play_msgs.action import SoundRequest as SoundRequestAction
+from sound_play_msgs.msg import SoundRequest
 
 
 def sound_play_client(node, volume=1.0):
diff --git a/sound_play/sound_play/libsoundplay.py b/sound_play/sound_play/libsoundplay.py
index 3dfaf587..fe082b0f 100644
--- a/sound_play/sound_play/libsoundplay.py
+++ b/sound_play/sound_play/libsoundplay.py
@@ -39,8 +39,8 @@
 import rclpy.action
 
 from action_msgs.msg import GoalStatusArray
-from sound_play.action import SoundRequest as SoundRequestAction
-from sound_play.msg import SoundRequest
+from sound_play_msgs.action import SoundRequest as SoundRequestAction
+from sound_play_msgs.msg import SoundRequest
 
 
 # \brief Class that publishes messages to the sound_play node.
diff --git a/sound_play_msgs/CMakeLists.txt b/sound_play_msgs/CMakeLists.txt
new file mode 100644
index 00000000..d18942f2
--- /dev/null
+++ b/sound_play_msgs/CMakeLists.txt
@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.5)
+project(sound_play_msgs)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+set(msg_files
+  "msg/SoundRequest.msg"
+)
+
+set(action_files
+  "action/SoundRequest.action"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  ${action_files}
+  DEPENDENCIES
+    builtin_interfaces
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/sound_play/action/SoundRequest.action b/sound_play_msgs/action/SoundRequest.action
similarity index 100%
rename from sound_play/action/SoundRequest.action
rename to sound_play_msgs/action/SoundRequest.action
diff --git a/sound_play/msg/SoundRequest.msg b/sound_play_msgs/msg/SoundRequest.msg
similarity index 100%
rename from sound_play/msg/SoundRequest.msg
rename to sound_play_msgs/msg/SoundRequest.msg
diff --git a/sound_play_msgs/package.xml b/sound_play_msgs/package.xml
new file mode 100644
index 00000000..b97845c0
--- /dev/null
+++ b/sound_play_msgs/package.xml
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+   <name>sound_play_msgs</name>
+   <version>0.3.12</version>
+   <description>
+      sound_play_msgs provides the interface for sound_play.
+      sound_play provides a ROS node that translates commands on a ROS topic (<tt>robotsound</tt>) into sounds. The node supports built-in sounds, playing OGG/WAV files, and doing speech synthesis via festival. C++ and Python bindings allow this node to be used without understanding the details of the message format, allowing faster development and resilience to message format changes.
+   </description>
+   <maintainer email="namniart@gmail.com">Austin Hendrix</maintainer>
+   <maintainer email="shingogo.5511@gmail.com">Shingo Kitagawa</maintainer>
+   <author>Blaise Gassend</author>
+   <license>BSD</license>
+   <url type="website">http://ros.org/wiki/sound_play</url>
+   <url type="repository">https://github.com/ros-drivers/audio_common</url>
+   <url type="bugtracker">https://github.com/ros-drivers/audio_common/issues</url>
+
+   <buildtool_depend>ament_cmake</buildtool_depend>
+   <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+   <depend>builtin_interfaces</depend>
+
+   <exec_depend>rosidl_default_runtime</exec_depend>
+
+   <member_of_group>rosidl_interface_packages</member_of_group>
+
+   <export>
+      <build_type>ament_cmake</build_type>
+   </export>
+
+</package>