diff --git a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
index a6d8263e..90bb1b15 100644
--- a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
+++ b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
@@ -118,6 +118,7 @@ rosidl_write_generator_arguments(
   OUTPUT_DIR "${_output_path}"
   TEMPLATE_DIR "${rosidl_generator_py_TEMPLATE_DIR}"
   TARGET_DEPENDENCIES ${target_dependencies}
+  TYPE_HASH_TUPLES "${${rosidl_generate_interfaces_TARGET}__HASH_TUPLES}"
 )
 
 if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
diff --git a/rosidl_generator_py/resource/_action.py.em b/rosidl_generator_py/resource/_action.py.em
index 77fbf875..63290528 100644
--- a/rosidl_generator_py/resource/_action.py.em
+++ b/rosidl_generator_py/resource/_action.py.em
@@ -8,27 +8,33 @@ module_name = '_' + convert_camel_case_to_lower_case_underscore(interface_path.s
 TEMPLATE(
     '_msg.py.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.goal, import_statements=import_statements)
+    message=action.goal, import_statements=import_statements,
+    type_hash=type_hash['goal'])
 TEMPLATE(
     '_msg.py.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.result, import_statements=import_statements)
+    message=action.result, import_statements=import_statements,
+    type_hash=type_hash['result'])
 TEMPLATE(
     '_msg.py.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.feedback, import_statements=import_statements)
+    message=action.feedback, import_statements=import_statements,
+    type_hash=type_hash['feedback'])
 TEMPLATE(
     '_srv.py.em',
     package_name=package_name, interface_path=interface_path,
-    service=action.send_goal_service, import_statements=import_statements)
+    service=action.send_goal_service, import_statements=import_statements,
+    type_hash=type_hash['send_goal_service'])
 TEMPLATE(
     '_srv.py.em',
     package_name=package_name, interface_path=interface_path,
-    service=action.get_result_service, import_statements=import_statements)
+    service=action.get_result_service, import_statements=import_statements,
+    type_hash=type_hash['get_result_service'])
 TEMPLATE(
     '_msg.py.em',
     package_name=package_name, interface_path=interface_path,
-    message=action.feedback_message, import_statements=import_statements)
+    message=action.feedback_message, import_statements=import_statements,
+    type_hash=type_hash['feedback_message'])
 }@
 
 
@@ -70,6 +76,7 @@ class Metaclass_@(action.namespaced_type.name)(type):
 
 
 class @(action.namespaced_type.name)(metaclass=Metaclass_@(action.namespaced_type.name)):
+    TYPE_VERSION_HASH = @(type_hash['action'])
 
     # The goal message defined in the action definition.
     from @('.'.join(action.namespaced_type.namespaces)).@(module_name) import @(action.goal.structure.namespaced_type.name) as Goal
diff --git a/rosidl_generator_py/resource/_idl.py.em b/rosidl_generator_py/resource/_idl.py.em
index 5fe45875..801ea059 100644
--- a/rosidl_generator_py/resource/_idl.py.em
+++ b/rosidl_generator_py/resource/_idl.py.em
@@ -25,7 +25,7 @@ from rosidl_parser.definition import Message
 TEMPLATE(
     '_msg.py.em',
     package_name=package_name, interface_path=interface_path, message=message,
-    import_statements=import_statements)
+    import_statements=import_statements, type_hash=type_hash)
 }@
 @[end for]@
 @
@@ -40,7 +40,7 @@ from rosidl_parser.definition import Service
 TEMPLATE(
     '_srv.py.em',
     package_name=package_name, interface_path=interface_path, service=service,
-    import_statements=import_statements)
+    import_statements=import_statements, type_hash=type_hash)
 }@
 @[end for]@
 @
@@ -55,6 +55,6 @@ from rosidl_parser.definition import Action
 TEMPLATE(
     '_action.py.em',
     package_name=package_name, interface_path=interface_path, action=action,
-    import_statements=import_statements)
+    import_statements=import_statements, type_hash=type_hash)
 }@
 @[end for]@
diff --git a/rosidl_generator_py/resource/_msg.py.em b/rosidl_generator_py/resource/_msg.py.em
index a5b9cabc..e6f30123 100644
--- a/rosidl_generator_py/resource/_msg.py.em
+++ b/rosidl_generator_py/resource/_msg.py.em
@@ -254,6 +254,8 @@ string@
 @[end for]@
     }
 
+    TYPE_VERSION_HASH = @(type_hash['message'])
+
     SLOT_TYPES = (
 @[for member in message.structure.members]@
 @[  if len(message.structure.members) == 1 and member.name == EMPTY_STRUCTURE_REQUIRED_MEMBER_NAME]@
diff --git a/rosidl_generator_py/resource/_srv.py.em b/rosidl_generator_py/resource/_srv.py.em
index 24d4548f..62f61f20 100644
--- a/rosidl_generator_py/resource/_srv.py.em
+++ b/rosidl_generator_py/resource/_srv.py.em
@@ -8,15 +8,18 @@ module_name = '_' + convert_camel_case_to_lower_case_underscore(interface_path.s
 TEMPLATE(
     '_msg.py.em',
     package_name=package_name, interface_path=interface_path,
-    message=service.request_message, import_statements=import_statements)
+    message=service.request_message, import_statements=import_statements,
+    type_hash=type_hash['request_message'])
 TEMPLATE(
     '_msg.py.em',
     package_name=package_name, interface_path=interface_path,
-    message=service.response_message, import_statements=import_statements)
+    message=service.response_message, import_statements=import_statements,
+    type_hash=type_hash['response_message'])
 TEMPLATE(
     '_msg.py.em',
     package_name=package_name, interface_path=interface_path,
-    message=service.event_message, import_statements=import_statements)
+    message=service.event_message, import_statements=import_statements,
+    type_hash=type_hash['event_message'])
 }@
 
 
@@ -51,6 +54,8 @@ class Metaclass_@(service.namespaced_type.name)(type):
 
 
 class @(service.namespaced_type.name)(metaclass=Metaclass_@(service.namespaced_type.name)):
+    TYPE_VERSION_HASH = @(type_hash['service'])
+
     from @('.'.join(service.namespaced_type.namespaces)).@(module_name) import @(service.request_message.structure.namespaced_type.name) as Request
     from @('.'.join(service.namespaced_type.namespaces)).@(module_name) import @(service.response_message.structure.namespaced_type.name) as Response
     from @('.'.join(service.namespaced_type.namespaces)).@(module_name) import @(service.event_message.structure.namespaced_type.name) as Event