diff --git a/src/systems/user_commands/UserCommands.cc b/src/systems/user_commands/UserCommands.cc
index c79e392551..f0a9745065 100644
--- a/src/systems/user_commands/UserCommands.cc
+++ b/src/systems/user_commands/UserCommands.cc
@@ -1060,7 +1060,7 @@ CreateCommand::CreateCommand(msgs::EntityFactory *_msg,
 //////////////////////////////////////////////////
 bool CreateCommand::Execute()
 {
-  auto createMsg = dynamic_cast<const msgs::EntityFactory *>(this->msg);
+  auto createMsg = proto2::DynamicCastMessage<msgs::EntityFactory>(this->msg);
   if (nullptr == createMsg)
   {
     gzerr << "Internal error, null create message" << std::endl;
@@ -1324,7 +1324,7 @@ RemoveCommand::RemoveCommand(msgs::Entity *_msg,
 //////////////////////////////////////////////////
 bool RemoveCommand::Execute()
 {
-  auto removeMsg = dynamic_cast<const msgs::Entity *>(this->msg);
+  auto removeMsg = proto2::DynamicCastMessage<msgs::Entity>(this->msg);
   if (nullptr == removeMsg)
   {
     gzerr << "Internal error, null remove message" << std::endl;
@@ -1373,7 +1373,7 @@ LightCommand::LightCommand(msgs::Light *_msg,
 //////////////////////////////////////////////////
 bool LightCommand::Execute()
 {
-  auto lightMsg = dynamic_cast<msgs::Light *>(this->msg);
+  auto lightMsg = proto2::DynamicCastMessage<msgs::Light>(this->msg);
   if (nullptr == lightMsg)
   {
     gzerr << "Internal error, null light message" << std::endl;
@@ -1567,7 +1567,7 @@ PoseCommand::PoseCommand(msgs::Pose *_msg,
 //////////////////////////////////////////////////
 bool PoseCommand::Execute()
 {
-  auto poseMsg = dynamic_cast<const msgs::Pose *>(this->msg);
+  auto poseMsg = proto2::DynamicCastMessage<msgs::Pose>(this->msg);
   if (nullptr == poseMsg)
   {
     gzerr << "Internal error, null create message" << std::endl;
@@ -1587,7 +1587,7 @@ PoseVectorCommand::PoseVectorCommand(msgs::Pose_V *_msg,
 //////////////////////////////////////////////////
 bool PoseVectorCommand::Execute()
 {
-  auto poseVectorMsg = dynamic_cast<const msgs::Pose_V *>(this->msg);
+  auto poseVectorMsg = proto2::DynamicCastMessage<msgs::Pose_V>(this->msg);
   if (nullptr == poseVectorMsg)
   {
     gzerr << "Internal error, null create message" << std::endl;
@@ -1615,7 +1615,7 @@ PhysicsCommand::PhysicsCommand(msgs::Physics *_msg,
 //////////////////////////////////////////////////
 bool PhysicsCommand::Execute()
 {
-  auto physicsMsg = dynamic_cast<const msgs::Physics *>(this->msg);
+  auto physicsMsg = proto2::DynamicCastMessage<msgs::Physics>(this->msg);
   if (nullptr == physicsMsg)
   {
     gzerr << "Internal error, null physics message" << std::endl;
@@ -1651,7 +1651,7 @@ SphericalCoordinatesCommand::SphericalCoordinatesCommand(
 bool SphericalCoordinatesCommand::Execute()
 {
   auto sphericalCoordinatesMsg =
-      dynamic_cast<const msgs::SphericalCoordinates *>(this->msg);
+      proto2::DynamicCastMessage<msgs::SphericalCoordinates>(this->msg);
   if (nullptr == sphericalCoordinatesMsg)
   {
     gzerr << "Internal error, null SphericalCoordinates message" << std::endl;
@@ -1729,7 +1729,7 @@ EnableCollisionCommand::EnableCollisionCommand(msgs::Entity *_msg,
 //////////////////////////////////////////////////
 bool EnableCollisionCommand::Execute()
 {
-  auto entityMsg = dynamic_cast<const msgs::Entity *>(this->msg);
+  auto entityMsg = proto2::DynamicCastMessage<msgs::Entity>(this->msg);
   if (nullptr == entityMsg)
   {
     gzerr << "Internal error, null create message" << std::endl;
@@ -1779,7 +1779,7 @@ DisableCollisionCommand::DisableCollisionCommand(msgs::Entity *_msg,
 //////////////////////////////////////////////////
 bool DisableCollisionCommand::Execute()
 {
-  auto entityMsg = dynamic_cast<const msgs::Entity *>(this->msg);
+  auto entityMsg = proto2::DynamicCastMessage<msgs::Entity>(this->msg);
   if (nullptr == entityMsg)
   {
     gzerr << "Internal error, null create message" << std::endl;
@@ -1838,8 +1838,9 @@ VisualCommand::VisualCommand(msgs::MaterialColor *_msg,
 //////////////////////////////////////////////////
 bool VisualCommand::Execute()
 {
-  auto visualMsg = dynamic_cast<const msgs::Visual *>(this->msg);
-  auto materialColorMsg = dynamic_cast<const msgs::MaterialColor *>(this->msg);
+  auto visualMsg = proto2::DynamicCastMessage<msgs::Visual>(this->msg);
+  auto materialColorMsg =
+      proto2::DynamicCastMessage<msgs::MaterialColor>(this->msg);
   if (visualMsg != nullptr)
   {
     Entity visualEntity = kNullEntity;
@@ -1964,8 +1965,8 @@ WheelSlipCommand::WheelSlipCommand(msgs::WheelSlipParametersCmd *_msg,
 //////////////////////////////////////////////////
 bool WheelSlipCommand::Execute()
 {
-  auto wheelSlipMsg = dynamic_cast<const msgs::WheelSlipParametersCmd *>(
-      this->msg);
+  auto wheelSlipMsg =
+      proto2::DynamicCastMessage<msgs::WheelSlipParametersCmd>(this->msg);
   if (nullptr == wheelSlipMsg)
   {
     gzerr << "Internal error, null wheel slip message" << std::endl;