diff --git a/actionlib_msgs/package.xml b/actionlib_msgs/package.xml
index 2ea8beec..991840c1 100644
--- a/actionlib_msgs/package.xml
+++ b/actionlib_msgs/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>actionlib_msgs</name>
   <version>0.0.3</version>
   <description>A package containing some message definitions used in the implementation or actions.</description>
@@ -20,6 +20,8 @@
 
   <test_depend>ament_lint_common</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/diagnostic_msgs/package.xml b/diagnostic_msgs/package.xml
index acdff554..eba65bad 100644
--- a/diagnostic_msgs/package.xml
+++ b/diagnostic_msgs/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>diagnostic_msgs</name>
   <version>0.0.3</version>
   <description>A package containing some diagnostics related message and service definitions.</description>
@@ -22,6 +22,8 @@
 
   <test_depend>ament_lint_common</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/geometry_msgs/package.xml b/geometry_msgs/package.xml
index 2ff72419..4319fc5a 100644
--- a/geometry_msgs/package.xml
+++ b/geometry_msgs/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>geometry_msgs</name>
   <version>0.0.3</version>
   <description>A package containing some geometry related message definitions.</description>
@@ -18,6 +18,8 @@
 
   <test_depend>ament_lint_common</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/nav_msgs/package.xml b/nav_msgs/package.xml
index fed5290d..c16a818e 100644
--- a/nav_msgs/package.xml
+++ b/nav_msgs/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>nav_msgs</name>
   <version>0.0.3</version>
   <description>A package containing some navigation related message and service definitions.</description>
@@ -22,6 +22,8 @@
 
   <test_depend>ament_lint_common</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/sensor_msgs/package.xml b/sensor_msgs/package.xml
index d846cc18..26be8515 100644
--- a/sensor_msgs/package.xml
+++ b/sensor_msgs/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>sensor_msgs</name>
   <version>0.0.3</version>
   <description>A package containing some sensor data related message and service definitions.</description>
@@ -23,6 +23,8 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/shape_msgs/package.xml b/shape_msgs/package.xml
index 9cb22c43..56c32bdf 100644
--- a/shape_msgs/package.xml
+++ b/shape_msgs/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>shape_msgs</name>
   <version>0.0.3</version>
   <description>A package containing some message definitions which describe geometric shapes.</description>
@@ -18,6 +18,8 @@
 
   <test_depend>ament_lint_common</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/std_msgs/package.xml b/std_msgs/package.xml
index 29786524..b3f54d5f 100644
--- a/std_msgs/package.xml
+++ b/std_msgs/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>std_msgs</name>
   <version>0.0.3</version>
   <description>A package containing some standard message definitions.</description>
@@ -18,6 +18,8 @@
 
   <test_depend>ament_lint_common</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/std_srvs/package.xml b/std_srvs/package.xml
index f8554648..56e62d57 100644
--- a/std_srvs/package.xml
+++ b/std_srvs/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>std_srvs</name>
   <version>0.0.3</version>
   <description>A package containing some standard service definitions.</description>
@@ -15,6 +15,8 @@
 
   <test_depend>ament_lint_common</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/stereo_msgs/package.xml b/stereo_msgs/package.xml
index b71bfaef..0145719f 100644
--- a/stereo_msgs/package.xml
+++ b/stereo_msgs/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>stereo_msgs</name>
   <version>0.0.3</version>
   <description>A package containing some stereo camera related message definitions.</description>
@@ -20,6 +20,8 @@
 
   <test_depend>ament_lint_common</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/trajectory_msgs/package.xml b/trajectory_msgs/package.xml
index 03c982b7..6169853f 100644
--- a/trajectory_msgs/package.xml
+++ b/trajectory_msgs/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>trajectory_msgs</name>
   <version>0.0.3</version>
   <description>A package containing some robot trajectory message definitions.</description>
@@ -22,6 +22,8 @@
 
   <test_depend>ament_lint_common</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/visualization_msgs/package.xml b/visualization_msgs/package.xml
index 170a6041..a5e45308 100644
--- a/visualization_msgs/package.xml
+++ b/visualization_msgs/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>visualization_msgs</name>
   <version>0.0.3</version>
   <description>A package containing some visualization and interaction related message definitions.</description>
@@ -22,6 +22,8 @@
 
   <test_depend>ament_lint_common</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>