diff --git a/rosidl_generator_py/rosidl_generator_py/generate_py_impl.py b/rosidl_generator_py/rosidl_generator_py/generate_py_impl.py
index 87a9f271..35a853dc 100644
--- a/rosidl_generator_py/rosidl_generator_py/generate_py_impl.py
+++ b/rosidl_generator_py/rosidl_generator_py/generate_py_impl.py
@@ -131,6 +131,35 @@ def print_warning_if_reserved_keyword(member_name, interface_type, interface_nam
                 f.write(
                     f'from {package_name}.{subfolder}.{module_name} import '
                     f'{idl_stem}  # noqa: F401\n')
+                if subfolder == 'srv':
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_Request  # noqa: F401\n')
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_Response  # noqa: F401\n')
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_Event  # noqa: F401\n')
+                elif subfolder == 'action':
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_GetResult_Request  # noqa: F401\n')
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_GetResult_Response  # noqa: F401\n')
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_GetResult_Event  # noqa: F401\n')
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_SendGoal_Request  # noqa: F401\n')
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_SendGoal_Response  # noqa: F401\n')
+                    f.write(
+                        f'from {package_name}.{subfolder}.{module_name} import '
+                        f'{idl_stem}_SendGoal_Event  # noqa: F401\n')
 
     # expand templates per available typesupport implementation
     template_dir = args['template_dir']