diff --git a/Cargo.lock b/Cargo.lock
index 51f79d29..ef7c9993 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -44,17 +44,31 @@ dependencies = [
  "anstyle",
  "anstyle-parse",
  "anstyle-query",
- "anstyle-wincon",
+ "anstyle-wincon 1.0.1",
  "colorchoice",
  "is-terminal",
  "utf8parse",
 ]
 
+[[package]]
+name = "anstream"
+version = "0.6.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d96bd03f33fe50a863e394ee9718a706f988b9079b20c3784fb726e7678b62fb"
+dependencies = [
+ "anstyle",
+ "anstyle-parse",
+ "anstyle-query",
+ "anstyle-wincon 3.0.2",
+ "colorchoice",
+ "utf8parse",
+]
+
 [[package]]
 name = "anstyle"
-version = "1.0.0"
+version = "1.0.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "41ed9a86bf92ae6580e0a31281f65a1b1d867c0cc68d5346e2ae128dddfa6a7d"
+checksum = "8901269c6307e8d93993578286ac0edf7f195079ffff5ebdeea6a59ffb7e36bc"
 
 [[package]]
 name = "anstyle-parse"
@@ -84,6 +98,16 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "anstyle-wincon"
+version = "3.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1cd54b81ec8d6180e24654d0b371ad22fc3dd083b6ff8ba325b72e00c87660a7"
+dependencies = [
+ "anstyle",
+ "windows-sys 0.52.0",
+]
+
 [[package]]
 name = "anyhow"
 version = "1.0.70"
@@ -213,7 +237,7 @@ version = "4.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "84080e799e54cff944f4b4a4b0e71630b0e0443b25b985175c7dddc1a859b749"
 dependencies = [
- "anstream",
+ "anstream 0.3.1",
  "anstyle",
  "bitflags",
  "clap_lex",
@@ -386,6 +410,16 @@ dependencies = [
  "cfg-if",
 ]
 
+[[package]]
+name = "env_filter"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a009aa4810eb158359dda09d0c87378e4bbb89b5a801f016885a4707ba24f7ea"
+dependencies = [
+ "log",
+ "regex",
+]
+
 [[package]]
 name = "env_logger"
 version = "0.10.0"
@@ -399,6 +433,19 @@ dependencies = [
  "termcolor",
 ]
 
+[[package]]
+name = "env_logger"
+version = "0.11.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38b35839ba51819680ba087cd351788c9a3c476841207e0b8cee0b04722343b9"
+dependencies = [
+ "anstream 0.6.13",
+ "anstyle",
+ "env_filter",
+ "humantime",
+ "log",
+]
+
 [[package]]
 name = "errno"
 version = "0.3.1"
@@ -806,9 +853,9 @@ dependencies = [
 
 [[package]]
 name = "itertools"
-version = "0.10.5"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0fd2260e829bddf4cb6ea802289de2f86d6a7a690192fbe91b3f46e0f2c8473"
+checksum = "ba291022dbbd398a455acf126c1e341954079855bc60dfdda641363bd6922569"
 dependencies = [
  "either",
 ]
@@ -858,12 +905,9 @@ dependencies = [
 
 [[package]]
 name = "log"
-version = "0.4.17"
+version = "0.4.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "abb12e687cfb44aa40f41fc3978ef76448f9b6038cad6aef4259d3c095a2382e"
-dependencies = [
- "cfg-if",
-]
+checksum = "90ed8c1e510134f979dbc4f070f87d4313098b704861a105fe34231c70a3901c"
 
 [[package]]
 name = "md5"
@@ -885,9 +929,9 @@ checksum = "6877bb514081ee2a7ff5ef9de3281f14a4dd4bceac4c09388074a6b5df8a139a"
 
 [[package]]
 name = "minijinja"
-version = "0.30.7"
+version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2819be6b8bd3236f0fdbf86b1ff2d1f42ef8ef939eed74f6bc3ecf2e6344cd96"
+checksum = "7165d0e94806d52ad5295e4b54a95176d831814840bc067298ca647e1c956338"
 dependencies = [
  "serde",
 ]
@@ -1235,7 +1279,7 @@ dependencies = [
  "byteorder",
  "dashmap",
  "deadqueue",
- "env_logger",
+ "env_logger 0.10.0",
  "futures",
  "futures-util",
  "gethostname",
@@ -1266,7 +1310,7 @@ dependencies = [
 name = "roslibrust_codegen"
 version = "0.8.0"
 dependencies = [
- "env_logger",
+ "env_logger 0.10.0",
  "lazy_static",
  "log",
  "md5",
@@ -1298,7 +1342,7 @@ version = "0.1.0"
 dependencies = [
  "clap",
  "const_format",
- "env_logger",
+ "env_logger 0.11.3",
  "itertools",
  "lazy_static",
  "log",
@@ -1313,7 +1357,7 @@ name = "roslibrust_test"
 version = "0.1.0"
 dependencies = [
  "diffy",
- "env_logger",
+ "env_logger 0.10.0",
  "lazy_static",
  "roslibrust",
  "roslibrust_codegen",
@@ -2062,6 +2106,15 @@ dependencies = [
  "windows-targets 0.48.0",
 ]
 
+[[package]]
+name = "windows-sys"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
+dependencies = [
+ "windows-targets 0.52.5",
+]
+
 [[package]]
 name = "windows-targets"
 version = "0.42.2"
@@ -2092,6 +2145,22 @@ dependencies = [
  "windows_x86_64_msvc 0.48.0",
 ]
 
+[[package]]
+name = "windows-targets"
+version = "0.52.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6f0713a46559409d202e70e28227288446bf7841d3211583a4b53e3f6d96e7eb"
+dependencies = [
+ "windows_aarch64_gnullvm 0.52.5",
+ "windows_aarch64_msvc 0.52.5",
+ "windows_i686_gnu 0.52.5",
+ "windows_i686_gnullvm",
+ "windows_i686_msvc 0.52.5",
+ "windows_x86_64_gnu 0.52.5",
+ "windows_x86_64_gnullvm 0.52.5",
+ "windows_x86_64_msvc 0.52.5",
+]
+
 [[package]]
 name = "windows_aarch64_gnullvm"
 version = "0.42.2"
@@ -2104,6 +2173,12 @@ version = "0.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "91ae572e1b79dba883e0d315474df7305d12f569b400fcf90581b06062f7e1bc"
 
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.52.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7088eed71e8b8dda258ecc8bac5fb1153c5cffaf2578fc8ff5d61e23578d3263"
+
 [[package]]
 name = "windows_aarch64_msvc"
 version = "0.42.2"
@@ -2116,6 +2191,12 @@ version = "0.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b2ef27e0d7bdfcfc7b868b317c1d32c641a6fe4629c171b8928c7b08d98d7cf3"
 
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.52.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9985fd1504e250c615ca5f281c3f7a6da76213ebd5ccc9561496568a2752afb6"
+
 [[package]]
 name = "windows_i686_gnu"
 version = "0.42.2"
@@ -2128,6 +2209,18 @@ version = "0.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "622a1962a7db830d6fd0a69683c80a18fda201879f0f447f065a3b7467daa241"
 
+[[package]]
+name = "windows_i686_gnu"
+version = "0.52.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "88ba073cf16d5372720ec942a8ccbf61626074c6d4dd2e745299726ce8b89670"
+
+[[package]]
+name = "windows_i686_gnullvm"
+version = "0.52.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "87f4261229030a858f36b459e748ae97545d6f1ec60e5e0d6a3d32e0dc232ee9"
+
 [[package]]
 name = "windows_i686_msvc"
 version = "0.42.2"
@@ -2140,6 +2233,12 @@ version = "0.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4542c6e364ce21bf45d69fdd2a8e455fa38d316158cfd43b3ac1c5b1b19f8e00"
 
+[[package]]
+name = "windows_i686_msvc"
+version = "0.52.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "db3c2bf3d13d5b658be73463284eaf12830ac9a26a90c717b7f771dfe97487bf"
+
 [[package]]
 name = "windows_x86_64_gnu"
 version = "0.42.2"
@@ -2152,6 +2251,12 @@ version = "0.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ca2b8a661f7628cbd23440e50b05d705db3686f894fc9580820623656af974b1"
 
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.52.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4e4246f76bdeff09eb48875a0fd3e2af6aada79d409d33011886d3e1581517d9"
+
 [[package]]
 name = "windows_x86_64_gnullvm"
 version = "0.42.2"
@@ -2164,6 +2269,12 @@ version = "0.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7896dbc1f41e08872e9d5e8f8baa8fdd2677f29468c4e156210174edc7f7b953"
 
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.52.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "852298e482cd67c356ddd9570386e2862b5673c85bd5f88df9ab6802b334c596"
+
 [[package]]
 name = "windows_x86_64_msvc"
 version = "0.42.2"
@@ -2176,6 +2287,12 @@ version = "0.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1a515f5799fe4961cb532f983ce2b23082366b898e52ffbce459c86f67c8378a"
 
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.52.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bec47e5bfd1bff0eeaf6d8b485cc1074891a197ab4225d504cb7a1ab88b02bf0"
+
 [[package]]
 name = "winreg"
 version = "0.10.1"
diff --git a/roslibrust_genmsg/Cargo.toml b/roslibrust_genmsg/Cargo.toml
index 8c6b74b3..dfed1288 100644
--- a/roslibrust_genmsg/Cargo.toml
+++ b/roslibrust_genmsg/Cargo.toml
@@ -13,11 +13,11 @@ path = "src/main.rs"
 
 [dependencies]
 clap = { version = "4.1", features = ["derive"] }
-env_logger = "0.10"
-itertools = "0.10"
+env_logger = "0.11"
+itertools = "0.12"
 lazy_static = "1.4"
 log = "0.4"
-minijinja = "0.30"
+minijinja = "2.0"
 roslibrust_codegen = { path = "../roslibrust_codegen" }
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"
diff --git a/roslibrust_genmsg/src/helpers.rs b/roslibrust_genmsg/src/helpers.rs
index d2cf1eaa..25f88473 100644
--- a/roslibrust_genmsg/src/helpers.rs
+++ b/roslibrust_genmsg/src/helpers.rs
@@ -22,7 +22,7 @@ pub fn prepare_environment<'a>(
                 Some(native_type) => native_type.clone(),
                 None => ros_type.to_string(),
             };
-            Value::from_serializable(&typename)
+            Value::from_serialize(&typename)
         });
     }
     env.add_template("message", message_template).unwrap();
@@ -104,5 +104,5 @@ pub fn fixed_size_array_size(value: Value) -> Value {
     } else {
         0
     };
-    Value::from_serializable(&fixed_size)
+    Value::from_serialize(&fixed_size)
 }