diff --git a/ouster-ros/CMakeLists.txt b/ouster-ros/CMakeLists.txt
index e673740c..0be151ef 100644
--- a/ouster-ros/CMakeLists.txt
+++ b/ouster-ros/CMakeLists.txt
@@ -14,7 +14,7 @@ find_package(rclcpp_lifecycle REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
-find_package(ouster_msgs REQUIRED)
+find_package(ouster_sensor_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(Eigen3 REQUIRED)
@@ -63,7 +63,7 @@ set(ouster_ros_library_deps
   rclcpp
   sensor_msgs
   geometry_msgs
-  ouster_msgs
+  ouster_sensor_msgs
   pcl_conversions
   tf2
   tf2_eigen
diff --git a/ouster-ros/include/ouster_ros/os_ros.h b/ouster-ros/include/ouster_ros/os_ros.h
index 214d5b37..2b11365b 100644
--- a/ouster-ros/include/ouster_ros/os_ros.h
+++ b/ouster-ros/include/ouster_ros/os_ros.h
@@ -25,7 +25,7 @@
 #include <chrono>
 #include <string>
 
-#include "ouster_msgs/msg/packet_msg.hpp"
+#include "ouster_sensor_msgs/msg/packet_msg.hpp"
 #include "ouster_ros/os_point.h"
 
 namespace ouster_ros {
@@ -85,7 +85,7 @@ sensor_msgs::msg::Imu packet_to_imu_msg(const ouster::sensor::packet_format& pf,
  * @param[in] pf the packet format
  * @return ROS sensor message with fields populated from the packet
  */
-sensor_msgs::msg::Imu packet_to_imu_msg(const ouster_msgs::msg::PacketMsg& pm,
+sensor_msgs::msg::Imu packet_to_imu_msg(const ouster_sensor_msgs::msg::PacketMsg& pm,
                                         const rclcpp::Time& timestamp,
                                         const std::string& frame,
                                         const sensor::packet_format& pf);
diff --git a/ouster-ros/include/ouster_ros/os_sensor_node_base.h b/ouster-ros/include/ouster_ros/os_sensor_node_base.h
index 96e4c965..f311282a 100644
--- a/ouster-ros/include/ouster_ros/os_sensor_node_base.h
+++ b/ouster-ros/include/ouster_ros/os_sensor_node_base.h
@@ -13,7 +13,7 @@
 #include <rclcpp_lifecycle/lifecycle_node.hpp>
 #include <std_msgs/msg/string.hpp>
 
-#include "ouster_msgs/srv/get_metadata.hpp"
+#include "ouster_sensor_msgs/srv/get_metadata.hpp"
 
 namespace ouster_ros {
 
@@ -43,7 +43,7 @@ class OusterSensorNodeBase : public rclcpp_lifecycle::LifecycleNode {
 
    protected:
     ouster::sensor::sensor_info info;
-    rclcpp::Service<ouster_msgs::srv::GetMetadata>::SharedPtr get_metadata_srv;
+    rclcpp::Service<ouster_sensor_msgs::srv::GetMetadata>::SharedPtr get_metadata_srv;
     std::string cached_metadata;
     rclcpp_lifecycle::LifecyclePublisher<std_msgs::msg::String>::SharedPtr
         metadata_pub;
diff --git a/ouster-ros/package.xml b/ouster-ros/package.xml
index 897505af..dd2ba60b 100644
--- a/ouster-ros/package.xml
+++ b/ouster-ros/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ouster_ros</name>
-  <version>0.10.4</version>
+  <version>0.11.0</version>
   <description>Ouster ROS2 driver</description>
   <maintainer email="oss@ouster.io">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>
@@ -14,7 +14,7 @@
   <depend>rclcpp_components</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>std_msgs</depend>
-  <depend>ouster_msgs</depend>
+  <depend>ouster_sensor_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>tf2_ros</depend>
diff --git a/ouster-ros/src/os_cloud_node.cpp b/ouster-ros/src/os_cloud_node.cpp
index b3da1ba6..9c2f034a 100644
--- a/ouster-ros/src/os_cloud_node.cpp
+++ b/ouster-ros/src/os_cloud_node.cpp
@@ -20,7 +20,7 @@
 #include <memory>
 #include <cassert>
 
-#include "ouster_msgs/msg/packet_msg.hpp"
+#include "ouster_sensor_msgs/msg/packet_msg.hpp"
 #include "ouster_ros/os_processing_node_base.h"
 #include "ouster_ros/visibility_control.h"
 
@@ -31,7 +31,7 @@
 #include "laser_scan_processor.h"
 
 namespace sensor = ouster::sensor;
-using ouster_msgs::msg::PacketMsg;
+using ouster_sensor_msgs::msg::PacketMsg;
 
 namespace ouster_ros {
 
diff --git a/ouster-ros/src/os_ros.cpp b/ouster-ros/src/os_ros.cpp
index 9e1b3745..abd214e5 100644
--- a/ouster-ros/src/os_ros.cpp
+++ b/ouster-ros/src/os_ros.cpp
@@ -22,7 +22,7 @@
 #include <vector>
 
 namespace sensor = ouster::sensor;
-using ouster_msgs::msg::PacketMsg;
+using ouster_sensor_msgs::msg::PacketMsg;
 
 namespace ouster_ros {
 
diff --git a/ouster-ros/src/os_sensor_node.cpp b/ouster-ros/src/os_sensor_node.cpp
index 3f8c26cb..829b4e5f 100644
--- a/ouster-ros/src/os_sensor_node.cpp
+++ b/ouster-ros/src/os_sensor_node.cpp
@@ -16,9 +16,9 @@
 
 #include "os_sensor_node.h"
 
-using ouster_msgs::msg::PacketMsg;
-using ouster_msgs::srv::GetConfig;
-using ouster_msgs::srv::SetConfig;
+using ouster_sensor_msgs::msg::PacketMsg;
+using ouster_sensor_msgs::srv::GetConfig;
+using ouster_sensor_msgs::srv::SetConfig;
 
 using namespace std::chrono_literals;
 using namespace std::string_literals;
diff --git a/ouster-ros/src/os_sensor_node.h b/ouster-ros/src/os_sensor_node.h
index e6e4f5dd..4e5dbcb8 100644
--- a/ouster-ros/src/os_sensor_node.h
+++ b/ouster-ros/src/os_sensor_node.h
@@ -20,9 +20,9 @@
 #include <std_srvs/srv/empty.hpp>
 #include <lifecycle_msgs/msg/transition.hpp>
 #include <lifecycle_msgs/srv/change_state.hpp>
-#include "ouster_msgs/msg/packet_msg.hpp"
-#include "ouster_msgs/srv/get_config.hpp"
-#include "ouster_msgs/srv/set_config.hpp"
+#include "ouster_sensor_msgs/msg/packet_msg.hpp"
+#include "ouster_sensor_msgs/srv/get_config.hpp"
+#include "ouster_sensor_msgs/srv/set_config.hpp"
 #include "ouster_ros/visibility_control.h"
 #include "ouster_ros/os_sensor_node_base.h"
 
@@ -145,15 +145,15 @@ class OusterSensor : public OusterSensorNodeBase {
     std::string mtp_dest;
     bool mtp_main;
     std::shared_ptr<sensor::client> sensor_client;
-    ouster_msgs::msg::PacketMsg lidar_packet;
-    ouster_msgs::msg::PacketMsg imu_packet;
-    rclcpp_lifecycle::LifecyclePublisher<ouster_msgs::msg::PacketMsg>::SharedPtr
+    ouster_sensor_msgs::msg::PacketMsg lidar_packet;
+    ouster_sensor_msgs::msg::PacketMsg imu_packet;
+    rclcpp_lifecycle::LifecyclePublisher<ouster_sensor_msgs::msg::PacketMsg>::SharedPtr
         lidar_packet_pub;
-    rclcpp_lifecycle::LifecyclePublisher<ouster_msgs::msg::PacketMsg>::SharedPtr
+    rclcpp_lifecycle::LifecyclePublisher<ouster_sensor_msgs::msg::PacketMsg>::SharedPtr
         imu_packet_pub;
     rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reset_srv;
-    rclcpp::Service<ouster_msgs::srv::GetConfig>::SharedPtr get_config_srv;
-    rclcpp::Service<ouster_msgs::srv::SetConfig>::SharedPtr set_config_srv;
+    rclcpp::Service<ouster_sensor_msgs::srv::GetConfig>::SharedPtr get_config_srv;
+    rclcpp::Service<ouster_sensor_msgs::srv::SetConfig>::SharedPtr set_config_srv;
     std::shared_ptr<rclcpp::Client<ChangeState>> change_state_client;
 
     // TODO: implement & utilize a lock-free ring buffer in future
diff --git a/ouster-ros/src/os_sensor_node_base.cpp b/ouster-ros/src/os_sensor_node_base.cpp
index c7b4445b..a6026158 100644
--- a/ouster-ros/src/os_sensor_node_base.cpp
+++ b/ouster-ros/src/os_sensor_node_base.cpp
@@ -15,7 +15,7 @@
 #include <fstream>
 
 namespace sensor = ouster::sensor;
-using ouster_msgs::srv::GetMetadata;
+using ouster_sensor_msgs::srv::GetMetadata;
 using sensor::UDPProfileLidar;
 
 namespace ouster_ros {
diff --git a/ouster-msgs/CMakeLists.txt b/ouster-sensor-msgs/CMakeLists.txt
similarity index 93%
rename from ouster-msgs/CMakeLists.txt
rename to ouster-sensor-msgs/CMakeLists.txt
index 50ef44c4..b43b1864 100644
--- a/ouster-msgs/CMakeLists.txt
+++ b/ouster-sensor-msgs/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 
-project(ouster_msgs)
+project(ouster_sensor_msgs)
 
 find_package(ament_cmake REQUIRED)
 find_package(std_msgs REQUIRED)
diff --git a/ouster-msgs/msg/PacketMsg.msg b/ouster-sensor-msgs/msg/PacketMsg.msg
similarity index 100%
rename from ouster-msgs/msg/PacketMsg.msg
rename to ouster-sensor-msgs/msg/PacketMsg.msg
diff --git a/ouster-msgs/package.xml b/ouster-sensor-msgs/package.xml
similarity index 92%
rename from ouster-msgs/package.xml
rename to ouster-sensor-msgs/package.xml
index 8a8c7fac..6e4df774 100644
--- a/ouster-msgs/package.xml
+++ b/ouster-sensor-msgs/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>ouster_msgs</name>
-  <version>0.2.0</version>
+  <name>ouster_sensor_msgs</name>
+  <version>0.11.0</version>
   <description>ouster_ros message and service definitions</description>
   <maintainer email="oss@ouster.io">ouster developers</maintainer>
   <license>BSD</license>
diff --git a/ouster-msgs/srv/GetConfig.srv b/ouster-sensor-msgs/srv/GetConfig.srv
similarity index 100%
rename from ouster-msgs/srv/GetConfig.srv
rename to ouster-sensor-msgs/srv/GetConfig.srv
diff --git a/ouster-msgs/srv/GetMetadata.srv b/ouster-sensor-msgs/srv/GetMetadata.srv
similarity index 100%
rename from ouster-msgs/srv/GetMetadata.srv
rename to ouster-sensor-msgs/srv/GetMetadata.srv
diff --git a/ouster-msgs/srv/SetConfig.srv b/ouster-sensor-msgs/srv/SetConfig.srv
similarity index 100%
rename from ouster-msgs/srv/SetConfig.srv
rename to ouster-sensor-msgs/srv/SetConfig.srv