diff --git a/README.md b/README.md
index c0700e6..2de0c42 100644
--- a/README.md
+++ b/README.md
@@ -6,33 +6,19 @@ This project provides the ability to publish and subscribe with Protobuf Datatyp
 
 #### Dependencies
 
-* The type adapter that allows the user to publish from native ROS message or Protobuf data type
+* Include the type adapter for the Protobuf data type message.
     ```cpp
-    #include "rclcpp/type_adapter.hpp"
-    ```
-
-* Next include the message to publish-subscribe, for example, a `string` message from `std_msgs`.
-    ```cpp
-    #include "std_msgs/msg/string.hpp"
-    #include "std_msgs/msg/String.pb.h"
-    ```
-
-* Finally, include the type adapter for the Protobuf data type message.
-    ```cpp
-    #include "std_msgs/rosidl_adapter_proto__visibility_control.h"
     #include "std_msgs/msg/string__typeadapter_protobuf_cpp.hpp"
     ```
 #### Publisher Example
 ```cpp
-using MyAdaptedType = rclcpp::TypeAdapter<std_msgs::msg::pb::String, std_msgs::msg::String>;
-publisher_ = this->create_publisher<MyAdaptedType>("topic", 10);
+publisher_ = this->create_publisher<std_msgs::msg::typesupport_protobuf_cpp::StringTypeAdapter>("topic", 10);
 ```
 To publish a message, it is only required to specify the adapter type to send the topic.
 
 #### Subscriber Example
 ```cpp
-using MyAdaptedType = rclcpp::TypeAdapter<std_msgs::msg::pb::String, std_msgs::msg::String>;
-subscription2_ = this->create_subscription<MyAdaptedType>(
+subscription2_ = this->create_subscription<std_msgs::msg::typesupport_protobuf_cpp::StringTypeAdapter>(
      "topic", 10, std::bind(&MinimalSubscriber::topic_callback2, this, _1));
 void topic_callback2(const std_msgs::msg::pb::String & msg) const
  {
diff --git a/rosidl_typesupport_protobuf/rosidl_typesupport_protobuf/__init__.py b/rosidl_typesupport_protobuf/rosidl_typesupport_protobuf/__init__.py
index b36908b..c3e690d 100644
--- a/rosidl_typesupport_protobuf/rosidl_typesupport_protobuf/__init__.py
+++ b/rosidl_typesupport_protobuf/rosidl_typesupport_protobuf/__init__.py
@@ -97,6 +97,10 @@ def visibility_control_header(package_name):
     return f'{package_name}/{_TYPE_SUPPORT_NAME}__visibility_control.h'
 
 
+def adapter_visibility_control_header(package_name):
+    return f'{package_name}/rosidl_adapter_proto__visibility_control.h'
+
+
 def ros_type_namespace(package_name, interface_path):
     return _NAMESPACE_DELIMETER.join([package_name] + list(interface_path.parents[0].parts))
 
diff --git a/rosidl_typesupport_protobuf_cpp/resource/idl__typeadapter_protobuf_cpp.hpp.em b/rosidl_typesupport_protobuf_cpp/resource/idl__typeadapter_protobuf_cpp.hpp.em
index 848b2c5..7978247 100644
--- a/rosidl_typesupport_protobuf_cpp/resource/idl__typeadapter_protobuf_cpp.hpp.em
+++ b/rosidl_typesupport_protobuf_cpp/resource/idl__typeadapter_protobuf_cpp.hpp.em
@@ -32,6 +32,7 @@ system_header_files = [
 header_files = [
     "rclcpp/type_adapter.hpp",
     ros_message_header(package_name, interface_path),
+    adapter_visibility_control_header(package_name),
     typesupport_message_header(package_name, interface_path),
     visibility_control_header(package_name),
     'rosidl_typesupport_protobuf/rosidl_generator_c_pkg_adapter.hpp',
@@ -51,8 +52,6 @@ TEMPLATE(
 )
 }@
 
-namespace rclcpp 
-{
 
 
 @[for message in content.get_elements_of_type(Message)]@
@@ -64,6 +63,9 @@ ros_type = ros_type(package_name, interface_path, message)
 proto_type = protobuf_type(package_name, interface_path, message)
 }@
 
+namespace rclcpp 
+{
+
   template<>
   struct TypeAdapter<@(proto_type),  @(ros_type)>
   {
@@ -90,7 +92,20 @@ proto_type = protobuf_type(package_name, interface_path, message)
     }
   };
 
+}
+
+@[for ns in message.structure.namespaced_type.namespaces]@
+namespace @(ns)
+{
 @[end for]@
+namespace typesupport_protobuf_cpp
+{
 
-}
+using @(message.structure.namespaced_type.name)TypeAdapter = rclcpp::TypeAdapter<@(proto_type),  @(ros_type)>;
+
+}  // namespace typesupport_protobuf_cpp
+@[  for ns in reversed(message.structure.namespaced_type.namespaces)]@
+}  // namespace @(ns)
+@[  end for]@
 
+@[end for]@