diff --git a/rosidl_generator_py/resource/_msg.py.em b/rosidl_generator_py/resource/_msg.py.em
index 24dd8a2a..e2601916 100644
--- a/rosidl_generator_py/resource/_msg.py.em
+++ b/rosidl_generator_py/resource/_msg.py.em
@@ -373,6 +373,9 @@ if isinstance(type_, AbstractNestedType):
         if not isinstance(other, self.__class__):
             return False
 @[for member in message.structure.members]@
+@[  if len(message.structure.members) == 1 and member.name == EMPTY_STRUCTURE_REQUIRED_MEMBER_NAME]@
+@[    continue]@
+@[  end if]@
 @[  if isinstance(member.type, Array) and isinstance(member.type.value_type, BasicType) and member.type.value_type.typename in SPECIAL_NESTED_BASIC_TYPES]@
         if all(self.@(member.name) != other.@(member.name)):
 @[  else]@