diff --git a/tutorials/ros_unity_integration/publisher.md b/tutorials/ros_unity_integration/publisher.md
index 9c3421b3..27de4f66 100644
--- a/tutorials/ros_unity_integration/publisher.md
+++ b/tutorials/ros_unity_integration/publisher.md
@@ -36,7 +36,7 @@ public class RosPublisherExample : MonoBehaviour
     void Start()
     {
         // start the ROS connection
-        ros = ROSConnection.instance;
+        ros = ROSConnection.GetOrCreateInstance();
         ros.RegisterPublisher<PosRotMsg>(topicName);
     }
 
@@ -59,7 +59,7 @@ public class RosPublisherExample : MonoBehaviour
             );
 
             // Finally send the message to server_endpoint.py running in ROS
-            ros.Send(topicName, cubePos);
+            ros.Publish(topicName, cubePos);
 
             timeElapsed = 0;
         }
diff --git a/tutorials/ros_unity_integration/service_call.md b/tutorials/ros_unity_integration/service_call.md
index 299737b1..cb399927 100644
--- a/tutorials/ros_unity_integration/service_call.md
+++ b/tutorials/ros_unity_integration/service_call.md
@@ -30,9 +30,9 @@ Create a simple Unity scene which calls an external [ROS service](http://wiki.ro
     - (Alternatively, you can drag the script file into Unity from `tutorials/ros_unity_integration/unity_scripts`).
 
 ```csharp
+using RosMessageTypes.UnityRoboticsDemo;
 using UnityEngine;
 using Unity.Robotics.ROSTCPConnector;
-using RosMessageTypes.UnityRoboticsDemo;
 
 public class RosServiceCallExample : MonoBehaviour
 {
@@ -51,8 +51,8 @@ public class RosServiceCallExample : MonoBehaviour
 
     void Start()
     {
-        ros = ROSConnection.instance;
-        ros.RegisterRosService<PositionServiceRequest>(serviceName);
+        ros = ROSConnection.GetOrCreateInstance();
+        ros.RegisterRosService<PositionServiceRequest, PositionServiceResponse>(serviceName);
         destination = cube.transform.position;
     }
 
diff --git a/tutorials/ros_unity_integration/subscriber.md b/tutorials/ros_unity_integration/subscriber.md
index 5efea233..4bb40199 100644
--- a/tutorials/ros_unity_integration/subscriber.md
+++ b/tutorials/ros_unity_integration/subscriber.md
@@ -22,7 +22,7 @@ public class RosSubscriberExample : MonoBehaviour
 
     void Start()
     {
-        ROSConnection.instance.Subscribe<RosColor>("color", ColorChange);
+        ROSConnection.GetOrCreateInstance().Subscribe<RosColor>("color", ColorChange);
     }
 
     void ColorChange(RosColor colorMessage)
diff --git a/tutorials/ros_unity_integration/unity_scripts/RosPublisherExample.cs b/tutorials/ros_unity_integration/unity_scripts/RosPublisherExample.cs
index c65452be..664634a2 100644
--- a/tutorials/ros_unity_integration/unity_scripts/RosPublisherExample.cs
+++ b/tutorials/ros_unity_integration/unity_scripts/RosPublisherExample.cs
@@ -21,7 +21,7 @@ public class RosPublisherExample : MonoBehaviour
     void Start()
     {
         // start the ROS connection
-        ros = ROSConnection.instance;
+        ros = ROSConnection.GetOrCreateInstance();
         ros.RegisterPublisher<PosRotMsg>(topicName);
     }
 
@@ -44,7 +44,7 @@ private void Update()
             );
 
             // Finally send the message to server_endpoint.py running in ROS
-            ros.Send(topicName, cubePos);
+            ros.Publish(topicName, cubePos);
 
             timeElapsed = 0;
         }
diff --git a/tutorials/ros_unity_integration/unity_scripts/RosServiceCallExample.cs b/tutorials/ros_unity_integration/unity_scripts/RosServiceCallExample.cs
index ea15ed96..7a9c30f6 100644
--- a/tutorials/ros_unity_integration/unity_scripts/RosServiceCallExample.cs
+++ b/tutorials/ros_unity_integration/unity_scripts/RosServiceCallExample.cs
@@ -2,7 +2,7 @@
 using UnityEngine;
 using Unity.Robotics.ROSTCPConnector;
 
-public class RosServiceExample : MonoBehaviour
+public class RosServiceCallExample : MonoBehaviour
 {
     ROSConnection ros;
 
@@ -19,8 +19,8 @@ public class RosServiceExample : MonoBehaviour
 
     void Start()
     {
-        ros = ROSConnection.instance;
-        ros.RegisterRosService<PositionServiceRequest>(serviceName);
+        ros = ROSConnection.GetOrCreateInstance();
+        ros.RegisterRosService<PositionServiceRequest, PositionServiceResponse>(serviceName);
         destination = cube.transform.position;
     }
 
diff --git a/tutorials/ros_unity_integration/unity_scripts/RosSubscriberExample.cs b/tutorials/ros_unity_integration/unity_scripts/RosSubscriberExample.cs
index 4e1addd9..d4e88f9b 100644
--- a/tutorials/ros_unity_integration/unity_scripts/RosSubscriberExample.cs
+++ b/tutorials/ros_unity_integration/unity_scripts/RosSubscriberExample.cs
@@ -8,7 +8,7 @@ public class RosSubscriberExample : MonoBehaviour
 
     void Start()
     {
-        ROSConnection.instance.Subscribe<RosColor>("color", ColorChange);
+        ROSConnection.GetOrCreateInstance().Subscribe<RosColor>("color", ColorChange);
     }
 
     void ColorChange(RosColor colorMessage)
diff --git a/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs b/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs
index 76ef4296..ce59d8d3 100644
--- a/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs
+++ b/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs
@@ -14,7 +14,7 @@ public class RosUnityServiceExample : MonoBehaviour
     void Start()
     {
         // register the service with ROS
-        ROSConnection.instance.ImplementService<ObjectPoseServiceRequest>(m_ServiceName, GetObjectPose);
+        ROSConnection.GetOrCreateInstance().ImplementService<ObjectPoseServiceRequest, ObjectPoseServiceResponse>(m_ServiceName, GetObjectPose);
     }
 
     /// <summary>
diff --git a/tutorials/ros_unity_integration/unity_service.md b/tutorials/ros_unity_integration/unity_service.md
index 68821934..e13626a0 100644
--- a/tutorials/ros_unity_integration/unity_service.md
+++ b/tutorials/ros_unity_integration/unity_service.md
@@ -28,7 +28,7 @@ public class RosUnityServiceExample : MonoBehaviour
     void Start()
     {
         // register the service with ROS
-        ROSConnection.instance.ImplementService<ObjectPoseServiceRequest>(m_ServiceName, GetObjectPose);
+        ROSConnection.GetOrCreateInstance().ImplementService<ObjectPoseServiceRequest, ObjectPoseServiceResponse>(m_ServiceName, GetObjectPose);
     }
 
     /// <summary>