diff --git a/clearpath_platform/CMakeLists.txt b/clearpath_platform/CMakeLists.txt
index 5eb965d2..73ce76b0 100644
--- a/clearpath_platform/CMakeLists.txt
+++ b/clearpath_platform/CMakeLists.txt
@@ -18,7 +18,7 @@ find_package(controller_manager_msgs REQUIRED)
 find_package(clearpath_platform_msgs REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(pluginlib REQUIRED)
-find_package(puma_motor_msgs REQUIRED)
+find_package(clearpath_motor_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 
 find_package(geometry_msgs REQUIRED)
@@ -162,7 +162,7 @@ target_include_directories(
 
 ament_target_dependencies(
   puma_hardware
-  puma_motor_msgs
+  clearpath_motor_msgs
   clearpath_platform_msgs
   hardware_interface
   pluginlib
diff --git a/clearpath_platform/include/clearpath_platform/puma/hardware_interface.hpp b/clearpath_platform/include/clearpath_platform/puma/hardware_interface.hpp
index e5dbe925..f3151a0a 100644
--- a/clearpath_platform/include/clearpath_platform/puma/hardware_interface.hpp
+++ b/clearpath_platform/include/clearpath_platform/puma/hardware_interface.hpp
@@ -36,8 +36,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "sensor_msgs/msg/joint_state.hpp"
 
-#include "puma_motor_msgs/msg/feedback.hpp"
-#include "puma_motor_msgs/msg/multi_feedback.hpp"
+#include "clearpath_motor_msgs/msg/puma_feedback.hpp"
+#include "clearpath_motor_msgs/msg/puma_multi_feedback.hpp"
 
 namespace clearpath_platform
 {
@@ -51,14 +51,14 @@ class PumaHardwareInterface
   void drive_command(const sensor_msgs::msg::JointState msg);
 
   bool has_new_feedback();
-  void feedback_callback(const puma_motor_msgs::msg::MultiFeedback::SharedPtr msg);
-  puma_motor_msgs::msg::MultiFeedback get_feedback();
+  void feedback_callback(const clearpath_motor_msgs::msg::PumaMultiFeedback::SharedPtr msg);
+  clearpath_motor_msgs::msg::PumaMultiFeedback get_feedback();
 
   private:
   rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr pub_cmd_;
-  rclcpp::Subscription<puma_motor_msgs::msg::MultiFeedback>::SharedPtr sub_feedback_;
+  rclcpp::Subscription<clearpath_motor_msgs::msg::PumaMultiFeedback>::SharedPtr sub_feedback_;
 
-  puma_motor_msgs::msg::MultiFeedback feedback_;
+  clearpath_motor_msgs::msg::PumaMultiFeedback feedback_;
   std::atomic_bool has_feedback_;
 };
 
diff --git a/clearpath_platform/package.xml b/clearpath_platform/package.xml
index 4814d92a..7c307a4f 100644
--- a/clearpath_platform/package.xml
+++ b/clearpath_platform/package.xml
@@ -21,12 +21,12 @@
   <depend>controller_interface</depend>
   <depend>controller_manager</depend>
   <depend>controller_manager_msgs</depend>
+  <depend>clearpath_motor_msgs</depend>
   <depend>clearpath_platform_msgs</depend>
   <depend>hardware_interface</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>pluginlib</depend>
-  <depend>puma_motor_msgs</depend>
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
diff --git a/clearpath_platform/src/puma/hardware_interface.cpp b/clearpath_platform/src/puma/hardware_interface.cpp
index 682d5e09..3071cab6 100644
--- a/clearpath_platform/src/puma/hardware_interface.cpp
+++ b/clearpath_platform/src/puma/hardware_interface.cpp
@@ -37,7 +37,7 @@ using clearpath_platform::PumaHardwareInterface;
 PumaHardwareInterface::PumaHardwareInterface(std::string node_name)
 : Node(node_name)
 {
-  sub_feedback_ = create_subscription<puma_motor_msgs::msg::MultiFeedback>(
+  sub_feedback_ = create_subscription<clearpath_motor_msgs::msg::PumaMultiFeedback>(
     "platform/puma/feedback",
     rclcpp::SensorDataQoS(),
     std::bind(&PumaHardwareInterface::feedback_callback, this, std::placeholders::_1));
@@ -52,7 +52,7 @@ PumaHardwareInterface::PumaHardwareInterface(std::string node_name)
  *
  * @param msg
 */
-void PumaHardwareInterface::feedback_callback(const puma_motor_msgs::msg::MultiFeedback::SharedPtr msg)
+void PumaHardwareInterface::feedback_callback(const clearpath_motor_msgs::msg::PumaMultiFeedback::SharedPtr msg)
 {
   feedback_ = *msg;
   has_feedback_ = true;
@@ -83,9 +83,9 @@ bool PumaHardwareInterface::has_new_feedback()
 /**
  * @brief Get feedback
  *
- * @return puma_motor_msgs::msg::MultiFeedback
+ * @return clearpath_motor_msgs::msg::PumaMultiFeedback
 */
-puma_motor_msgs::msg::MultiFeedback PumaHardwareInterface::get_feedback()
+clearpath_motor_msgs::msg::PumaMultiFeedback PumaHardwareInterface::get_feedback()
 {
   has_feedback_ = false;
   return feedback_;