diff --git a/test_msgs/CMakeLists.txt b/test_msgs/CMakeLists.txt
index 6cccc5ec..1d32d51c 100644
--- a/test_msgs/CMakeLists.txt
+++ b/test_msgs/CMakeLists.txt
@@ -18,6 +18,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
 find_package(test_interface_files REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
@@ -26,8 +27,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   ${test_interface_files_ACTION_FILES}
   ${test_interface_files_IDL_FILES}
   "msg/Builtins.msg"
+  "msg/HeaderMessage.msg"
   "action/NestedMessage.action"
-  DEPENDENCIES builtin_interfaces
+  DEPENDENCIES builtin_interfaces std_msgs
   ADD_LINTER_TESTS
 )
 
diff --git a/test_msgs/msg/HeaderMessage.msg b/test_msgs/msg/HeaderMessage.msg
new file mode 100644
index 00000000..abf46570
--- /dev/null
+++ b/test_msgs/msg/HeaderMessage.msg
@@ -0,0 +1,3 @@
+# This is a dummy message type with a `Header` field.
+
+std_msgs/Header header
diff --git a/test_msgs/package.xml b/test_msgs/package.xml
index 6d820e87..59651f63 100644
--- a/test_msgs/package.xml
+++ b/test_msgs/package.xml
@@ -15,6 +15,8 @@
   <build_depend>test_interface_files</build_depend>
 
   <depend>action_msgs</depend>
+  <depend>std_msgs</depend>
+
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>