diff --git a/msg/templates/urtps/Publisher.cpp.em b/msg/templates/urtps/Publisher.cpp.em
index 2ff5d28a0d..78fb9c00dd 100644
--- a/msg/templates/urtps/Publisher.cpp.em
+++ b/msg/templates/urtps/Publisher.cpp.em
@@ -76,9 +76,15 @@ except AttributeError:
 #include "@(topic)_Publisher.h"
 
 
-@(topic)_Publisher::@(topic)_Publisher() : mp_participant(nullptr), mp_publisher(nullptr) {}
+@(topic)_Publisher::@(topic)_Publisher()
+    : mp_participant(nullptr),
+      mp_publisher(nullptr)
+{ }
 
-@(topic)_Publisher::~@(topic)_Publisher() { Domain::removeParticipant(mp_participant);}
+@(topic)_Publisher::~@(topic)_Publisher()
+{
+    Domain::removeParticipant(mp_participant);
+}
 
 bool @(topic)_Publisher::init()
 {
@@ -149,19 +155,7 @@ void @(topic)_Publisher::PubListener::onPublicationMatched(Publisher* pub, Match
     }
 }
 
-@[if fastrtps_version <= 1.7]@
-@[    if ros2_distro]@
-    void @(topic)_Publisher::publish(@(package)::msg::dds_::@(topic)_* st)
-@[    else]@
-    void @(topic)_Publisher::publish(@(topic)_* st)
-@[    end if]@
-@[else]@
-@[    if ros2_distro]@
-    void @(topic)_Publisher::publish(@(package)::msg::@(topic)* st)
-@[    else]@
-    void @(topic)_Publisher::publish(@(topic)* st)
-@[    end if]@
-@[end if]@
+void @(topic)_Publisher::publish(@(topic)_msg_t* st)
 {
     mp_publisher->write(st);
 }
diff --git a/msg/templates/urtps/Publisher.h.em b/msg/templates/urtps/Publisher.h.em
index cb95a74520..29b22266b6 100644
--- a/msg/templates/urtps/Publisher.h.em
+++ b/msg/templates/urtps/Publisher.h.em
@@ -77,6 +77,24 @@ except AttributeError:
 using namespace eprosima::fastrtps;
 using namespace eprosima::fastrtps::rtps;
 
+@[if fastrtps_version <= 1.7]@
+@[    if ros2_distro]@
+using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
+using @(topic)_msg_datatype = @(package)::msg::dds_::@(topic)_PubSubType;
+@[    else]@
+using @(topic)_msg_t = @(topic)_;
+using @(topic)_msg_datatype = @(topic)_PubSubType;
+@[    end if]@
+@[else]@
+@[    if ros2_distro]@
+using @(topic)_msg_t = @(package)::msg::@(topic);
+using @(topic)_msg_datatype = @(package)::msg::@(topic)PubSubType;
+@[    else]@
+using @(topic)_msg_t = @(topic);
+using @(topic)_msg_datatype = @(topic)PubSubType;
+@[    end if]@
+@[end if]@
+
 class @(topic)_Publisher
 {
 public:
@@ -84,19 +102,7 @@ public:
     virtual ~@(topic)_Publisher();
     bool init();
     void run();
-@[if fastrtps_version <= 1.7]@
-@[    if ros2_distro]@
-    void publish(@(package)::msg::dds_::@(topic)_* st);
-@[    else]@
-    void publish(@(topic)_* st);
-@[    end if]@
-@[else]@
-@[    if ros2_distro]@
-    void publish(@(package)::msg::@(topic)* st);
-@[    else]@
-    void publish(@(topic)* st);
-@[    end if]@
-@[end if]@
+    void publish(@(topic)_msg_t* st);
 private:
     Participant *mp_participant;
     Publisher *mp_publisher;
@@ -109,19 +115,7 @@ private:
         void onPublicationMatched(Publisher* pub, MatchingInfo& info);
         int n_matched;
     } m_listener;
-@[if fastrtps_version <= 1.7]@
-@[    if ros2_distro]@
-    @(package)::msg::dds_::@(topic)_PubSubType @(topic)DataType;
-@[    else]@
-    @(topic)_PubSubType @(topic)DataType;
-@[    end if]@
-@[else]@
-@[    if ros2_distro]@
-    @(package)::msg::@(topic)PubSubType @(topic)DataType;
-@[    else]@
-    @(topic)PubSubType @(topic)DataType;
-@[    end if]@
-@[end if]@
+    @(topic)_msg_datatype @(topic)DataType;
 };
 
 #endif // _@(topic)__PUBLISHER_H_