diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7e00ac2..9f96cd7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,7 +5,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-set(THIS_PACKAGE_INCLUDE_DEPENDS ament_index_cpp cv_bridge openai_msgs rclcpp sensor_msgs)
+set(THIS_PACKAGE_INCLUDE_DEPENDS ai_prompt_msgs ament_index_cpp cv_bridge rclcpp sensor_msgs)
 
 find_package(ament_cmake REQUIRED)
 find_package(CURL REQUIRED)
diff --git a/README.md b/README.md
index 63741ae..b5a73cd 100644
--- a/README.md
+++ b/README.md
@@ -36,11 +36,11 @@ Here's a quick example:
 
 Send it a prompt. Here's an example that returns a bool from a yes/no question. Note that the `image` field of the service request may be left empty...
 
-`ros2 service call /openai_server openai_msgs/srv/StringImagePrompt prompt:\ "Are you a pirate? Please respond with a one-word answer, yes or no"`
+`ros2 service call /openai_server ai_prompt_msgs/srv/StringImagePrompt prompt:\ "Are you a pirate? Please respond with a one-word answer, yes or no"`
 
 Here's an example that returns a full string...
 
-`ros2 service call /openai_server openai_msgs/srv/StringImagePrompt prompt:\ "Are you a pirate?"`
+`ros2 service call /openai_server ai_prompt_msgs/srv/StringImagePrompt prompt:\ "Are you a pirate?"`
 
 Here's an example client which sends an image of a wooden table and prompts whether it is indeed a wooden table:
 
diff --git a/package.xml b/package.xml
index 55794fb..2d24824 100644
--- a/package.xml
+++ b/package.xml
@@ -10,8 +10,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>ament_index_cpp</depend>
+  <depend>ai_prompt_msgs</depend>
   <depend>cv_bridge</depend>
-  <depend>openai_msgs</depend>
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
 
diff --git a/src/example_client.cpp b/src/example_client.cpp
index dbd6fb3..d2d69d1 100644
--- a/src/example_client.cpp
+++ b/src/example_client.cpp
@@ -1,4 +1,4 @@
-#include "openai_msgs/srv/string_image_prompt.hpp"
+#include "ai_prompt_msgs/srv/string_image_prompt.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
@@ -15,10 +15,10 @@ int main(int argc, char** argv)
   rclcpp::init(argc, argv);
 
   std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("open_ai_client");
-  rclcpp::Client<openai_msgs::srv::StringImagePrompt>::SharedPtr client =
-      node->create_client<openai_msgs::srv::StringImagePrompt>("openai_server");
+  rclcpp::Client<ai_prompt_msgs::srv::StringImagePrompt>::SharedPtr client =
+      node->create_client<ai_prompt_msgs::srv::StringImagePrompt>("openai_server");
 
-  auto request = std::make_shared<openai_msgs::srv::StringImagePrompt::Request>();
+  auto request = std::make_shared<ai_prompt_msgs::srv::StringImagePrompt::Request>();
   request->prompt = "Is this a wooden table? Please respond in one word, yes or no.";
 
   // Add an image of a wooden table to the OpenAI request
diff --git a/src/openai_server.cpp b/src/openai_server.cpp
index fa693d5..b8bfe78 100644
--- a/src/openai_server.cpp
+++ b/src/openai_server.cpp
@@ -1,6 +1,6 @@
 #include "robosoft_openai/convert_image_to_base_64.hpp"
 
-#include "openai_msgs/srv/string_image_prompt.hpp"
+#include "ai_prompt_msgs/srv/string_image_prompt.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "sensor_msgs/msg/image.hpp"
 
@@ -17,7 +17,7 @@ class OpenAIServer : public rclcpp::Node
 public:
   OpenAIServer() : Node("service_client")
   {
-    prompt_srv_ = create_service<openai_msgs::srv::StringImagePrompt>(
+    prompt_srv_ = create_service<ai_prompt_msgs::srv::StringImagePrompt>(
         "openai_server", std::bind(&OpenAIServer::promptCallback, this, std::placeholders::_1, std::placeholders::_2));
 
     curl_ = curl_easy_init();
@@ -144,8 +144,8 @@ class OpenAIServer : public rclcpp::Node
    * @param request service request
    * @param response bool response, parsed from OpenAI's string response
    */
-  void promptCallback(const std::shared_ptr<openai_msgs::srv::StringImagePrompt::Request> request,
-                      std::shared_ptr<openai_msgs::srv::StringImagePrompt::Response> response)
+  void promptCallback(const std::shared_ptr<ai_prompt_msgs::srv::StringImagePrompt::Request> request,
+                      std::shared_ptr<ai_prompt_msgs::srv::StringImagePrompt::Response> response)
   {
     RCLCPP_INFO_STREAM(this->get_logger(), "Incoming StringImagePrompt request: " << request->prompt);
     std::string string_response;
@@ -160,7 +160,7 @@ class OpenAIServer : public rclcpp::Node
     response->string_response = std::move(string_response);
   }
 
-  rclcpp::Service<openai_msgs::srv::StringImagePrompt>::SharedPtr prompt_srv_;
+  rclcpp::Service<ai_prompt_msgs::srv::StringImagePrompt>::SharedPtr prompt_srv_;
 
   std::string openai_key_string_;
   CURL* curl_;
diff --git a/upstream.repos b/upstream.repos
index 812ea15..1ec7623 100644
--- a/upstream.repos
+++ b/upstream.repos
@@ -1,5 +1,5 @@
 repositories:
-  openai_msgs:
+  ai_prompt_msgs:
     type: git
-    url: https://github.com/robosoft-ai/openai_msgs.git
+    url: https://github.com/robosoft-ai/ai_prompt_msgs.git
     version: main