diff --git a/libuavcan/dsdl_compiler/data_type_template.tmpl b/libuavcan/dsdl_compiler/data_type_template.tmpl
index fb75a4855c..fab0b7b497 100644
--- a/libuavcan/dsdl_compiler/data_type_template.tmpl
+++ b/libuavcan/dsdl_compiler/data_type_template.tmpl
@@ -40,12 +40,14 @@ namespace ${nsc}
 UAVCAN_PACKED_BEGIN
 #endif
 
+% if t.kind != t.KIND_SERVICE:
 template <int I>
+% endif
 struct ${t.cpp_type_name}
 {
-<%def name="generate_primary_body(typedef_name, ctor_name, max_bitlen, fields, constants)" buffered="True">
-    typedef const ${typedef_name}& ParameterType;
-    typedef ${typedef_name}& ReferenceType;
+<%def name="generate_primary_body(type_name, max_bitlen, fields, constants)" buffered="True">
+    typedef const ${type_name}<I>& ParameterType;
+    typedef ${type_name}<I>& ReferenceType;
 
 <%def name="expand_attr_types(group_name, attrs)">
     struct ${group_name}
@@ -87,7 +89,7 @@ struct ${t.cpp_type_name}
     typename ::uavcan::StorageType< typename FieldTypes::${a.name} >::Type ${a.name};
 % endfor
 
-    ${ctor_name}()
+    ${type_name}()
 % for idx,a in enumerate(fields):
     ${':' if idx == 0 else ','} ${a.name}()
 % endfor
@@ -96,6 +98,7 @@ struct ${t.cpp_type_name}
         ::uavcan::StaticAssert<int(MaxByteLen) <= int(::uavcan::MaxTransferPayloadLen)>::check();
 
         ::uavcan::StaticAssert<I == 0>::check();  // Usage check
+
 #if UAVCAN_DEBUG
         /*
          * Cross-checking MaxBitLen provided by the DSDL compiler.
@@ -137,17 +140,22 @@ ${'::uavcan::TailArrayOptDisabled' if (idx + 1) < len(fields) else 'tao_mode'});
     ${generate_codec_calls_per_field('decode', 'ReferenceType')}
 </%def>
 % if t.kind == t.KIND_SERVICE:
-    struct Request
+    template <int I>
+    struct Request_
     {
-        ${generate_primary_body('Request', 'Request', t.get_max_bitlen_request(), t.request_fields, t.request_constants) | indent}
+        ${generate_primary_body('Request_', t.get_max_bitlen_request(), t.request_fields, t.request_constants) | indent}
     };
 
-    struct Response
+    template <int I>
+    struct Response_
     {
-        ${generate_primary_body('Response', 'Response', t.get_max_bitlen_response(), t.response_fields, t.response_constants) | indent}
+        ${generate_primary_body('Response_', t.get_max_bitlen_response(), t.response_fields, t.response_constants) | indent}
     };
+
+    typedef Request_<0> Request;
+    typedef Response_<0> Response;
 % else:
-    ${generate_primary_body(t.cpp_type_name + '<I>', t.cpp_type_name, t.get_max_bitlen(), t.fields, t.constants)}
+    ${generate_primary_body(t.cpp_type_name, t.get_max_bitlen(), t.fields, t.constants)}
 % endif
 
     /*
@@ -197,24 +205,28 @@ private:
 % for a in constants:
     % if not a.cpp_use_enum:
 template <int I>
-const typename ::uavcan::StorageType< typename ${scope_prefix}::ConstantTypes::${a.name} >::Type
-    ${scope_prefix}::${a.name} = ${a.cpp_value}; // ${a.init_expression}
+const typename ::uavcan::StorageType< typename ${scope_prefix}<I>::ConstantTypes::${a.name} >::Type
+    ${scope_prefix}<I>::${a.name} = ${a.cpp_value}; // ${a.init_expression}
 
     %endif
 % endfor
 </%def>
 % if t.kind == t.KIND_SERVICE:
-${define_out_of_line_constants(t.cpp_type_name + '<I>::Request', t.request_constants)}
-${define_out_of_line_constants(t.cpp_type_name + '<I>::Response', t.response_constants)}
+${define_out_of_line_constants(t.cpp_type_name + '::Request_', t.request_constants)}
+${define_out_of_line_constants(t.cpp_type_name + '::Response_', t.response_constants)}
 % else:
-${define_out_of_line_constants(t.cpp_type_name + '<I>', t.constants)}
+${define_out_of_line_constants(t.cpp_type_name, t.constants)}
 % endif
 
 #if UAVCAN_PACK_STRUCTS
 UAVCAN_PACKED_END
 #endif
 
+% if t.kind == t.KIND_SERVICE:
+typedef ${t.cpp_type_name} ${t.short_name};
+% else:
 typedef ${t.cpp_type_name}<0> ${t.short_name};
+% endif
 
 % if t.has_default_dtid:
 namespace
diff --git a/libuavcan/include/uavcan/server.hpp b/libuavcan/include/uavcan/server.hpp
index 18d51658bb..f9cafebdad 100644
--- a/libuavcan/include/uavcan/server.hpp
+++ b/libuavcan/include/uavcan/server.hpp
@@ -18,21 +18,23 @@ class Server : public GenericSubscriber<DataType_, typename DataType_::Request,
 {
 public:
     typedef DataType_ DataType;
+    typedef typename DataType::Request RequestType;
+    typedef typename DataType::Response ResponseType;
 
 private:
-    typedef GenericSubscriber<DataType, typename DataType::Request, NumStaticReceivers, NumStaticBufs> SubscriberType;
-    typedef GenericPublisher<DataType, typename DataType::Response> PublisherType;
+    typedef GenericSubscriber<DataType, RequestType, NumStaticReceivers, NumStaticBufs> SubscriberType;
+    typedef GenericPublisher<DataType, ResponseType> PublisherType;
 
     PublisherType publisher_;
     Callback callback_;
     uint32_t response_failure_count_;
-    typename DataType::Response response_;
+    ResponseType response_;
 
-    void handleReceivedDataStruct(ReceivedDataStructure<typename DataType::Request>& request)
+    void handleReceivedDataStruct(ReceivedDataStructure<RequestType>& request)
     {
         if (try_implicit_cast<bool>(callback_, true))
         {
-            response_ = typename DataType::Response();  // The application needs newly initialized structure
+            response_ = ResponseType();  // The application needs newly initialized structure
             callback_(request, response_);
         }
         else
diff --git a/libuavcan/test/dsdl_test/root_ns_a/3.ReportBackSoldier.uavcan b/libuavcan/test/dsdl_test/root_ns_a/3.ReportBackSoldier.uavcan
index bab4623c2d..ba13284492 100644
--- a/libuavcan/test/dsdl_test/root_ns_a/3.ReportBackSoldier.uavcan
+++ b/libuavcan/test/dsdl_test/root_ns_a/3.ReportBackSoldier.uavcan
@@ -1,6 +1,7 @@
 bool TRUE     = true
 bool NOT_TRUE = false * true
 uint64 BIG    = (1 << 64) - 1
+float64 FLOAT_CONSTANT = 3.14
 uint8[<128] string_request
 ---
 float64 FLOAT_CONSTANT = 1.79769313486231570815e+308
diff --git a/libuavcan/test/server.cpp b/libuavcan/test/server.cpp
index b7ba6e1ba7..22ab4887ae 100644
--- a/libuavcan/test/server.cpp
+++ b/libuavcan/test/server.cpp
@@ -16,8 +16,8 @@ struct ServerImpl
 
     ServerImpl(const char* string_response) : string_response(string_response) { }
 
-    void handleRequest(const uavcan::ReceivedDataStructure<typename root_ns_a::StringService::Request>& request,
-                       typename root_ns_a::StringService::Response& response)
+    void handleRequest(const uavcan::ReceivedDataStructure<root_ns_a::StringService::Request>& request,
+                       root_ns_a::StringService::Response& response)
     {
         std::cout << request << std::endl;
         response.string_response = request.string_request;
@@ -27,8 +27,8 @@ struct ServerImpl
     }
 
     typedef uavcan::MethodBinder<ServerImpl*,
-        void (ServerImpl::*)(const uavcan::ReceivedDataStructure<typename root_ns_a::StringService::Request>&,
-                             typename root_ns_a::StringService::Response&)> Binder;
+        void (ServerImpl::*)(const uavcan::ReceivedDataStructure<root_ns_a::StringService::Request>&,
+                             root_ns_a::StringService::Response&)> Binder;
 
     Binder bind() { return Binder(this, &ServerImpl::handleRequest); }
 };