diff --git a/rclpy/package.xml b/rclpy/package.xml
index 6ba620d9a..0d3d001f4 100644
--- a/rclpy/package.xml
+++ b/rclpy/package.xml
@@ -25,6 +25,7 @@
 
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosgraph_msgs</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/rclpy/rclpy/time_source.py b/rclpy/rclpy/time_source.py
index 110883ca4..dccec253d 100644
--- a/rclpy/rclpy/time_source.py
+++ b/rclpy/rclpy/time_source.py
@@ -12,12 +12,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import builtin_interfaces.msg
 from rcl_interfaces.msg import SetParametersResult
 from rclpy.clock import ClockType
 from rclpy.clock import ROSClock
 from rclpy.parameter import Parameter
 from rclpy.time import Time
+import rosgraph_msgs.msg
 
 CLOCK_TOPIC = '/clock'
 
@@ -55,7 +55,7 @@ def ros_time_is_active(self, enabled):
     def _subscribe_to_clock_topic(self):
         if self._clock_sub is None and self._node is not None:
             self._clock_sub = self._node.create_subscription(
-                builtin_interfaces.msg.Time,
+                rosgraph_msgs.msg.Clock,
                 CLOCK_TOPIC,
                 self.clock_callback
             )
@@ -102,7 +102,7 @@ def attach_clock(self, clock):
 
     def clock_callback(self, msg):
         # Cache the last message in case a new clock is attached.
-        time_from_msg = Time.from_msg(msg)
+        time_from_msg = Time.from_msg(msg.clock)
         self._last_time_set = time_from_msg
         for clock in self._associated_clocks:
             clock.set_ros_time_override(time_from_msg)
diff --git a/rclpy/test/test_time_source.py b/rclpy/test/test_time_source.py
index aea286e55..e935be1c4 100644
--- a/rclpy/test/test_time_source.py
+++ b/rclpy/test/test_time_source.py
@@ -16,7 +16,6 @@
 import unittest
 from unittest.mock import Mock
 
-import builtin_interfaces.msg
 import rclpy
 from rclpy.clock import Clock
 from rclpy.clock import ClockChange
@@ -28,6 +27,7 @@
 from rclpy.time import Time
 from rclpy.time_source import CLOCK_TOPIC
 from rclpy.time_source import TimeSource
+import rosgraph_msgs.msg
 
 from .mock_compat import __name__ as _  # noqa: ignore=F401
 
@@ -44,11 +44,11 @@ def tearDown(self):
         rclpy.shutdown(context=self.context)
 
     def publish_clock_messages(self):
-        clock_pub = self.node.create_publisher(builtin_interfaces.msg.Time, CLOCK_TOPIC)
+        clock_pub = self.node.create_publisher(rosgraph_msgs.msg.Clock, CLOCK_TOPIC)
         cycle_count = 0
-        time_msg = builtin_interfaces.msg.Time()
+        time_msg = rosgraph_msgs.msg.Clock()
         while rclpy.ok(context=self.context) and cycle_count < 5:
-            time_msg.sec = cycle_count
+            time_msg.clock.sec = cycle_count
             clock_pub.publish(time_msg)
             cycle_count += 1
             executor = rclpy.executors.SingleThreadedExecutor(context=self.context)
@@ -57,11 +57,11 @@ def publish_clock_messages(self):
             time.sleep(1)
 
     def publish_reversed_clock_messages(self):
-        clock_pub = self.node.create_publisher(builtin_interfaces.msg.Time, CLOCK_TOPIC)
+        clock_pub = self.node.create_publisher(rosgraph_msgs.msg.Clock, CLOCK_TOPIC)
         cycle_count = 0
-        time_msg = builtin_interfaces.msg.Time()
+        time_msg = rosgraph_msgs.msg.Clock()
         while rclpy.ok(context=self.context) and cycle_count < 5:
-            time_msg.sec = 6 - cycle_count
+            time_msg.clock.sec = 6 - cycle_count
             clock_pub.publish(time_msg)
             cycle_count += 1
             executor = rclpy.executors.SingleThreadedExecutor(context=self.context)