diff --git a/rcljava/src/test/java/org/ros2/rcljava/action/MockActionClient.java b/rcljava/src/test/java/org/ros2/rcljava/action/MockActionClient.java
index 72f0e7e4..3ff19de4 100644
--- a/rcljava/src/test/java/org/ros2/rcljava/action/MockActionClient.java
+++ b/rcljava/src/test/java/org/ros2/rcljava/action/MockActionClient.java
@@ -26,15 +26,15 @@
 import org.ros2.rcljava.subscription.Subscription;
 
 public class MockActionClient {
-  class FeedbackCallback implements Consumer<test_msgs.action.Fibonacci_Feedback> {
-    public List<test_msgs.action.Fibonacci_Feedback> feedbackReceived;
+  class FeedbackCallback implements Consumer<test_msgs.action.Fibonacci_FeedbackMessage> {
+    public List<test_msgs.action.Fibonacci_FeedbackMessage> feedbackReceived;
 
     public FeedbackCallback() {
       feedbackReceived = Collections.synchronizedList(
-        new ArrayList<test_msgs.action.Fibonacci_Feedback>());
+        new ArrayList<test_msgs.action.Fibonacci_FeedbackMessage>());
     }
 
-    public void accept(final test_msgs.action.Fibonacci_Feedback feedback) {
+    public void accept(final test_msgs.action.Fibonacci_FeedbackMessage feedback) {
       this.feedbackReceived.add(feedback);
     }
   }
@@ -56,7 +56,7 @@ public synchronized void accept(final action_msgs.msg.GoalStatusArray statusArra
   public Client<action_msgs.srv.CancelGoal> cancelGoalClient;
   public FeedbackCallback feedbackCallback;
   public StatusCallback statusCallback;
-  public Subscription<test_msgs.action.Fibonacci_Feedback> feedbackSubscription;
+  public Subscription<test_msgs.action.Fibonacci_FeedbackMessage> feedbackSubscription;
   public Subscription<action_msgs.msg.GoalStatusArray> statusSubscription;
 
   public MockActionClient(Node node, String actionName) throws IllegalAccessException, NoSuchFieldException {
@@ -70,8 +70,8 @@ public MockActionClient(Node node, String actionName) throws IllegalAccessExcept
     // Create mock subscriptions that make up an action client
     feedbackCallback = new FeedbackCallback();
     statusCallback = new StatusCallback();
-    feedbackSubscription = node.<test_msgs.action.Fibonacci_Feedback>createSubscription(
-      test_msgs.action.Fibonacci_Feedback.class,
+    feedbackSubscription = node.<test_msgs.action.Fibonacci_FeedbackMessage>createSubscription(
+      test_msgs.action.Fibonacci_FeedbackMessage.class,
       actionName + "/_action/feedback",
       feedbackCallback);
     statusSubscription = node.<action_msgs.msg.GoalStatusArray>createSubscription(
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 bc624c9a..92caebdf 100644
--- a/rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake
+++ b/rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake
@@ -82,6 +82,7 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
       "${_output_path}/${_parent_folder}/${_idl_name}_Goal.java"
       "${_output_path}/${_parent_folder}/${_idl_name}_Result.java"
       "${_output_path}/${_parent_folder}/${_idl_name}_Feedback.java"
+      "${_output_path}/${_parent_folder}/${_idl_name}_FeedbackMessage.java"
       "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal.java"
       "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Request.java"
       "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Response.java"
@@ -93,6 +94,7 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
       list(APPEND _generated_extension_${_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")
+      list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_FeedbackMessage.ep.${_typesupport_impl}.cpp")
       list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal.ep.${_typesupport_impl}.cpp")
       list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Request.ep.${_typesupport_impl}.cpp")
       list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Response.ep.${_typesupport_impl}.cpp")
diff --git a/rosidl_generator_java/resource/action.java.em b/rosidl_generator_java/resource/action.java.em
index cb6c1dd3..2656f192 100644
--- a/rosidl_generator_java/resource/action.java.em
+++ b/rosidl_generator_java/resource/action.java.em
@@ -13,6 +13,7 @@ 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
 
@@ -46,6 +47,14 @@ expand_template(
     output_file,
     template_basepath=template_basepath)
 
+data.update({'message': action.feedback_message})
+output_file = os.path.join(output_dir, *namespaces[1:], feedback_message_type_name + '.java')
+expand_template(
+    'msg.java.em',
+    data,
+    output_file,
+    template_basepath=template_basepath)
+
 data.update({'service': action.send_goal_service})
 output_file = os.path.join(output_dir, *namespaces[1:], send_goal_type_name + '.java')
 expand_template(
@@ -134,4 +143,6 @@ public class @(type_name) implements ActionDefinition {
   public static final Class<@(type_name)_Result> ResultType = @(type_name)_Result.class;
 
   public static final Class<@(type_name)_Feedback> FeedbackType = @(type_name)_Feedback.class;
+
+  public static final Class<@(type_name)_FeedbackMessage> FeedbackMessageType = @(type_name)_FeedbackMessage.class;
 }
diff --git a/rosidl_generator_java/resource/msg.cpp.em b/rosidl_generator_java/resource/msg.cpp.em
index 733b0513..8553bfcb 100644
--- a/rosidl_generator_java/resource/msg.cpp.em
+++ b/rosidl_generator_java/resource/msg.cpp.em
@@ -66,6 +66,8 @@ for member in message.structure.members:
             include_prefix = include_prefix[:-8]
         elif include_prefix.endswith('__feedback'):
             include_prefix = include_prefix[:-10]
+        elif include_prefix.endswith('__feedback_message'):
+            include_prefix = include_prefix[:-18]
         elif include_prefix.endswith('__send_goal'):
             include_prefix = include_prefix[:-11]
         elif include_prefix.endswith('__get_result'):
@@ -87,6 +89,8 @@ 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]
+elif message_c_include_prefix.endswith('__feedback_message'):
+    message_c_include_prefix = message_c_include_prefix[:-18]
 elif message_c_include_prefix.endswith('__send_goal'):
     message_c_include_prefix = message_c_include_prefix[:-11]
 elif message_c_include_prefix.endswith('__get_result'):