diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/__init__.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/__init__.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/enum_converter.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/enum_converter.py
new file mode 100644
index 000000000..b3bfceddd
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/enum_converter.py
@@ -0,0 +1,44 @@
+#!/usr/bin/env python3
+from building_control_py_pkg_interfaces.msg import TempUnit
+from building_control_py_pkg_interfaces.msg import FanAck
+from building_control_py_pkg_interfaces.msg import FanCmd
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+def enumToString(value):
+    typedValue = TempUnit()
+    typedValue.data = value
+    match (typedValue.temp_unit):
+        case TempUnit.TEMP_UNIT_FAHRENHEIT:
+            return "TempUnit Fahrenheit"
+        case TempUnit.TEMP_UNIT_CELSIUS:
+            return "TempUnit Celsius"
+        case TempUnit.TEMP_UNIT_KELVIN:
+            return "TempUnit Kelvin"
+        case default:
+            return "Unknown value for TempUnit"
+
+def enumToString(value):
+    typedValue = FanAck()
+    typedValue.data = value
+    match (typedValue.fan_ack):
+        case FanAck.FAN_ACK_OK:
+            return "FanAck Ok"
+        case FanAck.FAN_ACK_ERROR:
+            return "FanAck Error"
+        case default:
+            return "Unknown value for FanAck"
+
+def enumToString(value):
+    typedValue = FanCmd()
+    typedValue.data = value
+    match (typedValue.fan_cmd):
+        case FanCmd.FAN_CMD_ON:
+            return "FanCmd On"
+        case FanCmd.FAN_CMD_OFF:
+            return "FanCmd Off"
+        case default:
+            return "Unknown value for FanCmd"
+
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_base_src.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_base_src.py
new file mode 100644
index 000000000..263e46537
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_base_src.py
@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from building_control_py_pkg.user_code.tcp_fan_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from building_control_py_pkg_interfaces.msg import FanCmd
+from building_control_py_pkg_interfaces.msg import FanAck
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class tcp_fan_base(Node):
+    def __init__(self):
+        super().__init__("tcp_fan")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.tcp_fan_fanCmd_subscription_ = self.create_subscription(
+            FanCmd,
+            "tcp_fan_fanCmd",
+            self.handle_fanCmd,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_fan_fanAck_publisher_ = self.create_publisher(
+            FanAck,
+            "tcp_tempControl_fanAck",
+            1)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def put_fanAck(self, msg):
+        self.tcp_fan_fanAck_publisher_.publish(msg)
+
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_fanCmd(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_runner.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_runner.py
new file mode 100644
index 000000000..5738d46c9
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from building_control_py_pkg.user_code.tcp_fan_src import tcp_fan
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = tcp_fan()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_base_src.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_base_src.py
new file mode 100644
index 000000000..89c31a9c9
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_base_src.py
@@ -0,0 +1,93 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from building_control_py_pkg.user_code.tcp_tempControl_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
+from building_control_py_pkg_interfaces.msg import FanAck
+from building_control_py_pkg_interfaces.msg import SetPointimpl
+from building_control_py_pkg_interfaces.msg import FanCmd
+from building_control_py_pkg_interfaces.msg import Empty
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class tcp_tempControl_base(Node):
+    def __init__(self):
+        super().__init__("tcp_tempControl")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.tcp_tempControl_currentTemp_subscription_ = self.create_subscription(
+            Temperatureimpl,
+            "tcp_tempControl_currentTemp",
+            self.handle_currentTemp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_tempControl_fanAck_subscription_ = self.create_subscription(
+            FanAck,
+            "tcp_tempControl_fanAck",
+            self.handle_fanAck,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_tempControl_setPoint_subscription_ = self.create_subscription(
+            SetPointimpl,
+            "tcp_tempControl_setPoint",
+            self.handle_setPoint,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_tempControl_tempChanged_subscription_ = self.create_subscription(
+            Empty,
+            "tcp_tempControl_tempChanged",
+            self.event_handle_tempChanged,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_tempControl_fanCmd_publisher_ = self.create_publisher(
+            FanCmd,
+            "tcp_fan_fanCmd",
+            1)
+
+        self.currentTemp_msg_holder = None
+
+    def init_currentTemp(self, val):
+        self.currentTemp_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_currentTemp(self, msg):
+        self.currentTemp_msg_holder = msg
+
+    def get_currentTemp(self):
+        return self.currentTemp_msg_holder
+
+    def event_handle_tempChanged(self, msg):
+        self.handle_tempChanged()
+
+    def put_fanCmd(self, msg):
+        self.tcp_tempControl_fanCmd_publisher_.publish(msg)
+
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_fanAck(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_setPoint(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_tempChanged(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_runner.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_runner.py
new file mode 100644
index 000000000..304e92f82
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from building_control_py_pkg.user_code.tcp_tempControl_src import tcp_tempControl
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = tcp_tempControl()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_base_src.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_base_src.py
new file mode 100644
index 000000000..8acfd3afa
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_base_src.py
@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from rclpy.callback_groups import ReentrantCallbackGroup
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
+from building_control_py_pkg_interfaces.msg import Empty
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class tcp_tempSensor_base(Node):
+    def __init__(self):
+        super().__init__("tcp_tempSensor")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.tcp_tempSensor_currentTemp_publisher_ = self.create_publisher(
+            Temperatureimpl,
+            "tcp_tempControl_currentTemp",
+            1)
+
+        self.tcp_tempSensor_tempChanged_publisher_ = self.create_publisher(
+            Empty,
+            "tcp_tempControl_tempChanged",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def put_currentTemp(self, msg):
+        self.tcp_tempSensor_currentTemp_publisher_.publish(msg)
+
+    def put_tempChanged(self):
+        msg = Empty()
+        self.tcp_tempSensor_tempChanged_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_runner.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_runner.py
new file mode 100644
index 000000000..c295dea30
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from building_control_py_pkg.user_code.tcp_tempSensor_src import tcp_tempSensor
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = tcp_tempSensor()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/__init__.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_fan_src.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_fan_src.py
new file mode 100644
index 000000000..6a7db8dc2
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_fan_src.py
@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from building_control_py_pkg.base_code.tcp_fan_base_src import tcp_fan_base
+from building_control_py_pkg_interfaces.msg import FanCmd
+from building_control_py_pkg_interfaces.msg import FanAck
+from building_control_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class tcp_fan(tcp_fan_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("tcp_fan infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_fanCmd(self, msg):
+        # Handle fanCmd msg
+        self.get_logger().info(f"Received fanCmd: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempControl_src.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempControl_src.py
new file mode 100644
index 000000000..ee16abc55
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempControl_src.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from building_control_py_pkg.base_code.tcp_tempControl_base_src import tcp_tempControl_base
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
+from building_control_py_pkg_interfaces.msg import FanAck
+from building_control_py_pkg_interfaces.msg import SetPointimpl
+from building_control_py_pkg_interfaces.msg import FanCmd
+from building_control_py_pkg_interfaces.msg import Empty
+from building_control_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class tcp_tempControl(tcp_tempControl_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("tcp_tempControl infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        currentTemp = Temperatureimpl()
+        self.init_currentTemp(currentTemp)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_fanAck(self, msg):
+        # Handle fanAck msg
+        self.get_logger().info(f"Received fanAck: {self.message_to_string(msg)}")
+
+
+        # Example receiving messages on data ports
+        currentTemp = get_currentTemp()
+        self.get_logger().info(f"Received currentTemp: {self.message_to_string(currentTemp)}")
+
+    def handle_setPoint(self, msg):
+        # Handle setPoint msg
+        self.get_logger().info(f"Received setPoint: {self.message_to_string(msg)}")
+
+    def handle_tempChanged(self):
+        # Handle tempChanged event
+        self.get_logger().info("Received tempChanged")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempSensor_src.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempSensor_src.py
new file mode 100644
index 000000000..d5aa325cc
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempSensor_src.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from building_control_py_pkg.base_code.tcp_tempSensor_base_src import tcp_tempSensor_base
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
+from building_control_py_pkg_interfaces.msg import Empty
+from building_control_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class tcp_tempSensor(tcp_tempSensor_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("tcp_tempSensor infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        currentTemp = Temperatureimpl()
+        self.put_currentTemp(currentTemp)
+
+        self.put_tempChanged()
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/package.xml b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/package.xml
new file mode 100644
index 000000000..9630cba33
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/package.xml
@@ -0,0 +1,26 @@
+<?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>building_control_py_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="todo.todo@todo.com">ed</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>rosidl_runtime_py</depend>
+  <depend>building_control_py_pkg_interfaces</depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/resource/building_control_py_pkg b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/resource/building_control_py_pkg
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/resource/building_control_py_pkg
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/setup.cfg b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/setup.cfg
new file mode 100644
index 000000000..30d496dc5
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/setup.cfg
@@ -0,0 +1,5 @@
+# setup.cfg   in  src/building_control_py_pkg
+[develop]
+script_dir=$base/lib/building_control_py_pkg
+[install]
+install_scripts=$base/lib/building_control_py_pkg
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/setup.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/setup.py
new file mode 100644
index 000000000..3823f03b5
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/setup.py
@@ -0,0 +1,30 @@
+# setup.py   in  src/building_control_py_pkg
+
+from setuptools import find_packages, setup
+
+package_name = 'building_control_py_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sireum',
+    maintainer_email='sireum@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "tcp_tempSensor_exe = building_control_py_pkg.base_code.tcp_tempSensor_runner:main",
+            "tcp_tempControl_exe = building_control_py_pkg.base_code.tcp_tempControl_runner:main",
+            "tcp_fan_exe = building_control_py_pkg.base_code.tcp_fan_runner:main"
+        ],
+    },
+)
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/test/test_copyright.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/test/test_copyright.py
new file mode 100644
index 000000000..97a39196e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/test/test_flake8.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/test/test_flake8.py
new file mode 100644
index 000000000..7dc87a490
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \\
+        'Found %d code style errors / warnings:\n' % len(errors) + \\
+        '\n'.join(errors)
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/test/test_prep257.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/test/test_prep257.py
new file mode 100644
index 000000000..b234a3840
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/test/test_prep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_bringup/CMakeLists.txt b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_bringup/CMakeLists.txt
new file mode 100644
index 000000000..f8c13e1c6
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_bringup/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(building_control_py_pkg_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+    launch
+    DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_bringup/launch/BuildingControlDemo_i_Instance.launch.py b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_bringup/launch/BuildingControlDemo_i_Instance.launch.py
new file mode 100644
index 000000000..7638aec86
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_bringup/launch/BuildingControlDemo_i_Instance.launch.py
@@ -0,0 +1,31 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    tcp_tempSensor_node = Node(
+        package = "building_control_py_pkg",
+        executable = "tcp_tempSensor_exe"
+    )
+
+    tcp_tempControl_node = Node(
+        package = "building_control_py_pkg",
+        executable = "tcp_tempControl_exe"
+    )
+
+    tcp_fan_node = Node(
+        package = "building_control_py_pkg",
+        executable = "tcp_fan_exe"
+    )
+
+    ld.add_action(tcp_tempSensor_node)
+    ld.add_action(tcp_tempControl_node)
+    ld.add_action(tcp_fan_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_bringup/package.xml b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_bringup/package.xml
new file mode 100644
index 000000000..2ec33ca35
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_bringup/package.xml
@@ -0,0 +1,24 @@
+<?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>building_control_py_pkg_bringup</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <exec_depend>building_control_py_pkg</exec_depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/CMakeLists.txt b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/CMakeLists.txt
new file mode 100644
index 000000000..f53a7ca29
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/CMakeLists.txt
@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.8)
+project(building_control_py_pkg_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Float32.msg
+  msg/TempUnit.msg
+  msg/Temperatureimpl.msg
+  msg/SetPointimpl.msg
+  msg/FanAck.msg
+  msg/FanCmd.msg
+  msg/Empty.msg
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/Empty.msg b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/Empty.msg
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/FanAck.msg b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/FanAck.msg
new file mode 100644
index 000000000..58b717c1c
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/FanAck.msg
@@ -0,0 +1,3 @@
+uint8 fan_ack
+uint8 FAN_ACK_OK=0
+uint8 FAN_ACK_ERROR=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/FanCmd.msg b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/FanCmd.msg
new file mode 100644
index 000000000..184c27a3e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/FanCmd.msg
@@ -0,0 +1,3 @@
+uint8 fan_cmd
+uint8 FAN_CMD_ON=0
+uint8 FAN_CMD_OFF=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/Float32.msg b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/Float32.msg
new file mode 100644
index 000000000..e89740534
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/Float32.msg
@@ -0,0 +1 @@
+float32 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/SetPointimpl.msg b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/SetPointimpl.msg
new file mode 100644
index 000000000..252c10fc1
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/SetPointimpl.msg
@@ -0,0 +1,2 @@
+Temperatureimpl low
+Temperatureimpl high
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/TempUnit.msg b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/TempUnit.msg
new file mode 100644
index 000000000..c56c0d942
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/TempUnit.msg
@@ -0,0 +1,4 @@
+uint8 temp_unit
+uint8 TEMP_UNIT_FAHRENHEIT=0
+uint8 TEMP_UNIT_CELSIUS=1
+uint8 TEMP_UNIT_KELVIN=2
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/Temperatureimpl.msg b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/Temperatureimpl.msg
new file mode 100644
index 000000000..9f0216444
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/msg/Temperatureimpl.msg
@@ -0,0 +1,2 @@
+Float32 degrees
+TempUnit unit
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/package.xml b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/package.xml
new file mode 100644
index 000000000..0fc417aaa
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?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>building_control_py_pkg_interfaces</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <build_depend>rosidl_default_generators</build_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/__init__.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/__init__.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/enum_converter.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/enum_converter.py
new file mode 100644
index 000000000..b3bfceddd
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/enum_converter.py
@@ -0,0 +1,44 @@
+#!/usr/bin/env python3
+from building_control_py_pkg_interfaces.msg import TempUnit
+from building_control_py_pkg_interfaces.msg import FanAck
+from building_control_py_pkg_interfaces.msg import FanCmd
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+def enumToString(value):
+    typedValue = TempUnit()
+    typedValue.data = value
+    match (typedValue.temp_unit):
+        case TempUnit.TEMP_UNIT_FAHRENHEIT:
+            return "TempUnit Fahrenheit"
+        case TempUnit.TEMP_UNIT_CELSIUS:
+            return "TempUnit Celsius"
+        case TempUnit.TEMP_UNIT_KELVIN:
+            return "TempUnit Kelvin"
+        case default:
+            return "Unknown value for TempUnit"
+
+def enumToString(value):
+    typedValue = FanAck()
+    typedValue.data = value
+    match (typedValue.fan_ack):
+        case FanAck.FAN_ACK_OK:
+            return "FanAck Ok"
+        case FanAck.FAN_ACK_ERROR:
+            return "FanAck Error"
+        case default:
+            return "Unknown value for FanAck"
+
+def enumToString(value):
+    typedValue = FanCmd()
+    typedValue.data = value
+    match (typedValue.fan_cmd):
+        case FanCmd.FAN_CMD_ON:
+            return "FanCmd On"
+        case FanCmd.FAN_CMD_OFF:
+            return "FanCmd Off"
+        case default:
+            return "Unknown value for FanCmd"
+
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_base_src.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_base_src.py
new file mode 100644
index 000000000..c2c7b65ae
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_base_src.py
@@ -0,0 +1,125 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from building_control_py_pkg_interfaces.msg import FanCmd
+from building_control_py_pkg_interfaces.msg import FanAck
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class tcp_fan_base(Node):
+    def __init__(self):
+        super().__init__("tcp_fan")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.tcp_fan_fanCmd_subscription_ = self.create_subscription(
+            FanCmd,
+            "tcp_fan_fanCmd",
+            self.accept_fanCmd,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_fan_fanAck_publisher_ = self.create_publisher(
+            FanAck,
+            "tcp_tempControl_fanAck",
+            1)
+
+        self.infrastructureIn_fanCmd = deque()
+        self.applicationIn_fanCmd = deque()
+
+        self.infrastructureOut_fanAck = deque()
+        self.applicationOut_fanAck = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_fanAck, self.infrastructureOut_fanAck, self.sendOut_fanAck]
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def fanCmd_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_fanCmd, self.applicationIn_fanCmd)
+            if len(self.applicationIn_fanCmd) == 0: return
+            self.handle_fanCmd_base(self.applicationIn_fanCmd[0])
+            self.applicationIn_fanCmd.pop()
+            self.sendOutputs()
+
+    def accept_fanCmd(self, msg):
+        self.enqueue(self.infrastructureIn_fanCmd, msg)
+        thread = threading.Thread(target=self.fanCmd_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def sendOut_fanAck(self, msg):
+        if type(msg) is FanAck:
+            self.tcp_fan_fanAck_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port fanAck.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_fanAck(self, msg):
+        self.enqueue(self.applicationOut_fanAck, msg)
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_fanCmd(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_fanCmd_base(self, msg):
+        if type(msg) is FanCmd:
+            self.handle_fanCmd(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port fanCmd.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+
+    def receiveInputs(self, infrastructureQueue, applicationQueue):
+        if not(len(infrastructureQueue) == 0):
+            eventMsg = infrastructureQueue[0]
+            infrastructureQueue.pop()
+            self.enqueue(applicationQueue, eventMsg)
+
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_runner.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_runner.py
new file mode 100644
index 000000000..5738d46c9
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from building_control_py_pkg.user_code.tcp_fan_src import tcp_fan
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = tcp_fan()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_base_src.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_base_src.py
new file mode 100644
index 000000000..68b69dc68
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_base_src.py
@@ -0,0 +1,212 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
+from building_control_py_pkg_interfaces.msg import FanAck
+from building_control_py_pkg_interfaces.msg import SetPointimpl
+from building_control_py_pkg_interfaces.msg import FanCmd
+from building_control_py_pkg_interfaces.msg import Empty
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class tcp_tempControl_base(Node):
+    def __init__(self):
+        super().__init__("tcp_tempControl")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.tcp_tempControl_currentTemp_subscription_ = self.create_subscription(
+            Temperatureimpl,
+            "tcp_tempControl_currentTemp",
+            self.accept_currentTemp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_tempControl_fanAck_subscription_ = self.create_subscription(
+            FanAck,
+            "tcp_tempControl_fanAck",
+            self.accept_fanAck,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_tempControl_setPoint_subscription_ = self.create_subscription(
+            SetPointimpl,
+            "tcp_tempControl_setPoint",
+            self.accept_setPoint,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_tempControl_tempChanged_subscription_ = self.create_subscription(
+            Empty,
+            "tcp_tempControl_tempChanged",
+            self.accept_tempChanged,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_tempControl_fanCmd_publisher_ = self.create_publisher(
+            FanCmd,
+            "tcp_fan_fanCmd",
+            1)
+
+        self.infrastructureIn_currentTemp = deque()
+        self.applicationIn_currentTemp = deque()
+        self.infrastructureIn_fanAck = deque()
+        self.applicationIn_fanAck = deque()
+        self.infrastructureIn_setPoint = deque()
+        self.applicationIn_setPoint = deque()
+        self.infrastructureIn_tempChanged = deque()
+        self.applicationIn_tempChanged = deque()
+
+        self.infrastructureOut_fanCmd = deque()
+        self.applicationOut_fanCmd = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_currentTemp, self.applicationIn_currentTemp]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_fanCmd, self.infrastructureOut_fanCmd, self.sendOut_fanCmd]
+        ]
+
+    def init_currentTemp(self, val):
+        self.enqueue(self.infrastructureIn_currentTemp, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_currentTemp(self, msg):
+        self.enqueue(self.infrastructureIn_currentTemp, msg)
+
+    def fanAck_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_fanAck, self.applicationIn_fanAck)
+            if len(self.applicationIn_fanAck) == 0: return
+            self.handle_fanAck_base(self.applicationIn_fanAck[0])
+            self.applicationIn_fanAck.pop()
+            self.sendOutputs()
+
+    def accept_fanAck(self, msg):
+        self.enqueue(self.infrastructureIn_fanAck, msg)
+        thread = threading.Thread(target=self.fanAck_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def setPoint_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_setPoint, self.applicationIn_setPoint)
+            if len(self.applicationIn_setPoint) == 0: return
+            self.handle_setPoint_base(self.applicationIn_setPoint[0])
+            self.applicationIn_setPoint.pop()
+            self.sendOutputs()
+
+    def accept_setPoint(self, msg):
+        self.enqueue(self.infrastructureIn_setPoint, msg)
+        thread = threading.Thread(target=self.setPoint_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def tempChanged_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_tempChanged, self.applicationIn_tempChanged)
+            if len(self.applicationIn_tempChanged) == 0: return
+            self.handle_tempChanged_base(self.applicationIn_tempChanged[0])
+            self.applicationIn_tempChanged.pop()
+            self.sendOutputs()
+
+    def accept_tempChanged(self, msg):
+        self.enqueue(self.infrastructureIn_tempChanged, msg)
+        thread = threading.Thread(target=self.tempChanged_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def get_currentTemp(self):
+        msg = self.applicationIn_currentTemp[0]
+        return msg
+
+    def sendOut_fanCmd(self, msg):
+        if type(msg) is FanCmd:
+            self.tcp_tempControl_fanCmd_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port fanCmd.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_fanCmd(self, msg):
+        self.enqueue(self.applicationOut_fanCmd, msg)
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_fanAck(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_fanAck_base(self, msg):
+        if type(msg) is FanAck:
+            self.handle_fanAck(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port fanAck.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_setPoint(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_setPoint_base(self, msg):
+        if type(msg) is SetPointimpl:
+            self.handle_setPoint(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port setPoint.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_tempChanged(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_tempChanged_base(self, msg):
+        self.handle_tempChanged()
+
+
+    def receiveInputs(self, infrastructureQueue, applicationQueue):
+        if not(len(infrastructureQueue) == 0):
+            eventMsg = infrastructureQueue[0]
+            infrastructureQueue.pop()
+            self.enqueue(applicationQueue, eventMsg)
+
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_runner.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_runner.py
new file mode 100644
index 000000000..304e92f82
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from building_control_py_pkg.user_code.tcp_tempControl_src import tcp_tempControl
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = tcp_tempControl()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_base_src.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_base_src.py
new file mode 100644
index 000000000..546374245
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_base_src.py
@@ -0,0 +1,118 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
+from building_control_py_pkg_interfaces.msg import Empty
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class tcp_tempSensor_base(Node):
+    def __init__(self):
+        super().__init__("tcp_tempSensor")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.tcp_tempSensor_currentTemp_publisher_ = self.create_publisher(
+            Temperatureimpl,
+            "tcp_tempControl_currentTemp",
+            1)
+
+        self.tcp_tempSensor_tempChanged_publisher_ = self.create_publisher(
+            Empty,
+            "tcp_tempControl_tempChanged",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureOut_currentTemp = deque()
+        self.applicationOut_currentTemp = deque()
+        self.infrastructureOut_tempChanged = deque()
+        self.applicationOut_tempChanged = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_currentTemp, self.infrastructureOut_currentTemp, self.sendOut_currentTemp],
+            [self.applicationOut_tempChanged, self.infrastructureOut_tempChanged, self.sendOut_tempChanged]
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def sendOut_currentTemp(self, msg):
+        if type(msg) is Temperatureimpl:
+            self.tcp_tempSensor_currentTemp_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port currentTemp.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_tempChanged(self, msg):
+        if type(msg) is Empty:
+            self.tcp_tempSensor_tempChanged_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port tempChanged.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_currentTemp(self, msg):
+        self.enqueue(self.applicationOut_currentTemp, msg)
+
+    def put_tempChanged(self):
+        self.enqueue(self.applicationOut_tempChanged, Empty())
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_runner.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_runner.py
new file mode 100644
index 000000000..c295dea30
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from building_control_py_pkg.user_code.tcp_tempSensor_src import tcp_tempSensor
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = tcp_tempSensor()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/__init__.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_fan_src.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_fan_src.py
new file mode 100644
index 000000000..6a7db8dc2
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_fan_src.py
@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from building_control_py_pkg.base_code.tcp_fan_base_src import tcp_fan_base
+from building_control_py_pkg_interfaces.msg import FanCmd
+from building_control_py_pkg_interfaces.msg import FanAck
+from building_control_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class tcp_fan(tcp_fan_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("tcp_fan infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_fanCmd(self, msg):
+        # Handle fanCmd msg
+        self.get_logger().info(f"Received fanCmd: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempControl_src.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempControl_src.py
new file mode 100644
index 000000000..606ec09df
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempControl_src.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from building_control_py_pkg.base_code.tcp_tempControl_base_src import tcp_tempControl_base
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
+from building_control_py_pkg_interfaces.msg import FanAck
+from building_control_py_pkg_interfaces.msg import SetPointimpl
+from building_control_py_pkg_interfaces.msg import FanCmd
+from building_control_py_pkg_interfaces.msg import Empty
+from building_control_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class tcp_tempControl(tcp_tempControl_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("tcp_tempControl infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        currentTemp = Temperatureimpl()
+        self.init_currentTemp(currentTemp)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_fanAck(self, msg):
+        # Handle fanAck msg
+        self.get_logger().info(f"Received fanAck: {self.message_to_string(msg)}")
+
+
+        # Example receiving messages on data ports
+        currentTemp = self.get_currentTemp()
+        self.get_logger().info(f"Received currentTemp: {self.message_to_string(currentTemp)}")
+
+    def handle_setPoint(self, msg):
+        # Handle setPoint msg
+        self.get_logger().info(f"Received setPoint: {self.message_to_string(msg)}")
+
+    def handle_tempChanged(self):
+        # Handle tempChanged event
+        self.get_logger().info("Received tempChanged")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempSensor_src.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempSensor_src.py
new file mode 100644
index 000000000..d5aa325cc
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempSensor_src.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from building_control_py_pkg.base_code.tcp_tempSensor_base_src import tcp_tempSensor_base
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
+from building_control_py_pkg_interfaces.msg import Empty
+from building_control_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class tcp_tempSensor(tcp_tempSensor_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("tcp_tempSensor infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        currentTemp = Temperatureimpl()
+        self.put_currentTemp(currentTemp)
+
+        self.put_tempChanged()
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/package.xml b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/package.xml
new file mode 100644
index 000000000..9630cba33
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/package.xml
@@ -0,0 +1,26 @@
+<?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>building_control_py_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="todo.todo@todo.com">ed</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>rosidl_runtime_py</depend>
+  <depend>building_control_py_pkg_interfaces</depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/resource/building_control_py_pkg b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/resource/building_control_py_pkg
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/resource/building_control_py_pkg
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/setup.cfg b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/setup.cfg
new file mode 100644
index 000000000..30d496dc5
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/setup.cfg
@@ -0,0 +1,5 @@
+# setup.cfg   in  src/building_control_py_pkg
+[develop]
+script_dir=$base/lib/building_control_py_pkg
+[install]
+install_scripts=$base/lib/building_control_py_pkg
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/setup.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/setup.py
new file mode 100644
index 000000000..3823f03b5
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/setup.py
@@ -0,0 +1,30 @@
+# setup.py   in  src/building_control_py_pkg
+
+from setuptools import find_packages, setup
+
+package_name = 'building_control_py_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sireum',
+    maintainer_email='sireum@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "tcp_tempSensor_exe = building_control_py_pkg.base_code.tcp_tempSensor_runner:main",
+            "tcp_tempControl_exe = building_control_py_pkg.base_code.tcp_tempControl_runner:main",
+            "tcp_fan_exe = building_control_py_pkg.base_code.tcp_fan_runner:main"
+        ],
+    },
+)
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/test/test_copyright.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/test/test_copyright.py
new file mode 100644
index 000000000..97a39196e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/test/test_flake8.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/test/test_flake8.py
new file mode 100644
index 000000000..7dc87a490
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \\
+        'Found %d code style errors / warnings:\n' % len(errors) + \\
+        '\n'.join(errors)
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/test/test_prep257.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/test/test_prep257.py
new file mode 100644
index 000000000..b234a3840
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg/test/test_prep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_bringup/CMakeLists.txt b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_bringup/CMakeLists.txt
new file mode 100644
index 000000000..f8c13e1c6
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_bringup/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(building_control_py_pkg_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+    launch
+    DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_bringup/launch/BuildingControlDemo_i_Instance.launch.py b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_bringup/launch/BuildingControlDemo_i_Instance.launch.py
new file mode 100644
index 000000000..7638aec86
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_bringup/launch/BuildingControlDemo_i_Instance.launch.py
@@ -0,0 +1,31 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    tcp_tempSensor_node = Node(
+        package = "building_control_py_pkg",
+        executable = "tcp_tempSensor_exe"
+    )
+
+    tcp_tempControl_node = Node(
+        package = "building_control_py_pkg",
+        executable = "tcp_tempControl_exe"
+    )
+
+    tcp_fan_node = Node(
+        package = "building_control_py_pkg",
+        executable = "tcp_fan_exe"
+    )
+
+    ld.add_action(tcp_tempSensor_node)
+    ld.add_action(tcp_tempControl_node)
+    ld.add_action(tcp_fan_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_bringup/package.xml b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_bringup/package.xml
new file mode 100644
index 000000000..2ec33ca35
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_bringup/package.xml
@@ -0,0 +1,24 @@
+<?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>building_control_py_pkg_bringup</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <exec_depend>building_control_py_pkg</exec_depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/CMakeLists.txt b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/CMakeLists.txt
new file mode 100644
index 000000000..f53a7ca29
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/CMakeLists.txt
@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.8)
+project(building_control_py_pkg_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Float32.msg
+  msg/TempUnit.msg
+  msg/Temperatureimpl.msg
+  msg/SetPointimpl.msg
+  msg/FanAck.msg
+  msg/FanCmd.msg
+  msg/Empty.msg
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/Empty.msg b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/Empty.msg
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/FanAck.msg b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/FanAck.msg
new file mode 100644
index 000000000..58b717c1c
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/FanAck.msg
@@ -0,0 +1,3 @@
+uint8 fan_ack
+uint8 FAN_ACK_OK=0
+uint8 FAN_ACK_ERROR=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/FanCmd.msg b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/FanCmd.msg
new file mode 100644
index 000000000..184c27a3e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/FanCmd.msg
@@ -0,0 +1,3 @@
+uint8 fan_cmd
+uint8 FAN_CMD_ON=0
+uint8 FAN_CMD_OFF=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/Float32.msg b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/Float32.msg
new file mode 100644
index 000000000..e89740534
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/Float32.msg
@@ -0,0 +1 @@
+float32 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/SetPointimpl.msg b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/SetPointimpl.msg
new file mode 100644
index 000000000..252c10fc1
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/SetPointimpl.msg
@@ -0,0 +1,2 @@
+Temperatureimpl low
+Temperatureimpl high
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/TempUnit.msg b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/TempUnit.msg
new file mode 100644
index 000000000..c56c0d942
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/TempUnit.msg
@@ -0,0 +1,4 @@
+uint8 temp_unit
+uint8 TEMP_UNIT_FAHRENHEIT=0
+uint8 TEMP_UNIT_CELSIUS=1
+uint8 TEMP_UNIT_KELVIN=2
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/Temperatureimpl.msg b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/Temperatureimpl.msg
new file mode 100644
index 000000000..9f0216444
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/msg/Temperatureimpl.msg
@@ -0,0 +1,2 @@
+Float32 degrees
+TempUnit unit
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/package.xml b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/package.xml
new file mode 100644
index 000000000..0fc417aaa
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed/strict/src/building_control_py_pkg_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?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>building_control_py_pkg_interfaces</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <build_depend>rosidl_default_generators</build_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/__init__.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/__init__.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/enum_converter.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/enum_converter.py
new file mode 100644
index 000000000..b3bfceddd
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/enum_converter.py
@@ -0,0 +1,44 @@
+#!/usr/bin/env python3
+from building_control_py_pkg_interfaces.msg import TempUnit
+from building_control_py_pkg_interfaces.msg import FanAck
+from building_control_py_pkg_interfaces.msg import FanCmd
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+def enumToString(value):
+    typedValue = TempUnit()
+    typedValue.data = value
+    match (typedValue.temp_unit):
+        case TempUnit.TEMP_UNIT_FAHRENHEIT:
+            return "TempUnit Fahrenheit"
+        case TempUnit.TEMP_UNIT_CELSIUS:
+            return "TempUnit Celsius"
+        case TempUnit.TEMP_UNIT_KELVIN:
+            return "TempUnit Kelvin"
+        case default:
+            return "Unknown value for TempUnit"
+
+def enumToString(value):
+    typedValue = FanAck()
+    typedValue.data = value
+    match (typedValue.fan_ack):
+        case FanAck.FAN_ACK_OK:
+            return "FanAck Ok"
+        case FanAck.FAN_ACK_ERROR:
+            return "FanAck Error"
+        case default:
+            return "Unknown value for FanAck"
+
+def enumToString(value):
+    typedValue = FanCmd()
+    typedValue.data = value
+    match (typedValue.fan_cmd):
+        case FanCmd.FAN_CMD_ON:
+            return "FanCmd On"
+        case FanCmd.FAN_CMD_OFF:
+            return "FanCmd Off"
+        case default:
+            return "Unknown value for FanCmd"
+
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_base_src.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_base_src.py
new file mode 100644
index 000000000..66c0b00d7
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_base_src.py
@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from building_control_py_pkg.user_code.tcp_fan_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from building_control_py_pkg_interfaces.msg import FanCmd
+from building_control_py_pkg_interfaces.msg import FanAck
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class tcp_fan_base(Node):
+    def __init__(self):
+        super().__init__("tcp_fan")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.tcp_fan_fanCmd_subscription_ = self.create_subscription(
+            FanCmd,
+            "tcp_tempControl_fanCmd",
+            self.handle_fanCmd,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_fan_fanAck_publisher_ = self.create_publisher(
+            FanAck,
+            "tcp_fan_fanAck",
+            1)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def put_fanAck(self, msg):
+        self.tcp_fan_fanAck_publisher_.publish(msg)
+
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_fanCmd(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_runner.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_runner.py
new file mode 100644
index 000000000..5738d46c9
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from building_control_py_pkg.user_code.tcp_fan_src import tcp_fan
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = tcp_fan()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_base_src.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_base_src.py
new file mode 100644
index 000000000..a5eca58e2
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_base_src.py
@@ -0,0 +1,93 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from building_control_py_pkg.user_code.tcp_tempControl_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
+from building_control_py_pkg_interfaces.msg import FanAck
+from building_control_py_pkg_interfaces.msg import SetPointimpl
+from building_control_py_pkg_interfaces.msg import FanCmd
+from building_control_py_pkg_interfaces.msg import Empty
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class tcp_tempControl_base(Node):
+    def __init__(self):
+        super().__init__("tcp_tempControl")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.tcp_tempControl_currentTemp_subscription_ = self.create_subscription(
+            Temperatureimpl,
+            "tcp_tempSensor_currentTemp",
+            self.handle_currentTemp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_tempControl_fanAck_subscription_ = self.create_subscription(
+            FanAck,
+            "tcp_fan_fanAck",
+            self.handle_fanAck,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_tempControl_setPoint_subscription_ = self.create_subscription(
+            SetPointimpl,
+            "tcp_tempControl_setPoint",
+            self.handle_setPoint,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_tempControl_tempChanged_subscription_ = self.create_subscription(
+            Empty,
+            "tcp_tempSensor_tempChanged",
+            self.event_handle_tempChanged,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_tempControl_fanCmd_publisher_ = self.create_publisher(
+            FanCmd,
+            "tcp_tempControl_fanCmd",
+            1)
+
+        self.currentTemp_msg_holder = None
+
+    def init_currentTemp(self, val):
+        self.currentTemp_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_currentTemp(self, msg):
+        self.currentTemp_msg_holder = msg
+
+    def get_currentTemp(self):
+        return self.currentTemp_msg_holder
+
+    def event_handle_tempChanged(self, msg):
+        self.handle_tempChanged()
+
+    def put_fanCmd(self, msg):
+        self.tcp_tempControl_fanCmd_publisher_.publish(msg)
+
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_fanAck(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_setPoint(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_tempChanged(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_runner.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_runner.py
new file mode 100644
index 000000000..304e92f82
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from building_control_py_pkg.user_code.tcp_tempControl_src import tcp_tempControl
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = tcp_tempControl()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_base_src.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_base_src.py
new file mode 100644
index 000000000..b29442443
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_base_src.py
@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from rclpy.callback_groups import ReentrantCallbackGroup
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
+from building_control_py_pkg_interfaces.msg import Empty
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class tcp_tempSensor_base(Node):
+    def __init__(self):
+        super().__init__("tcp_tempSensor")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.tcp_tempSensor_currentTemp_publisher_ = self.create_publisher(
+            Temperatureimpl,
+            "tcp_tempSensor_currentTemp",
+            1)
+
+        self.tcp_tempSensor_tempChanged_publisher_ = self.create_publisher(
+            Empty,
+            "tcp_tempSensor_tempChanged",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def put_currentTemp(self, msg):
+        self.tcp_tempSensor_currentTemp_publisher_.publish(msg)
+
+    def put_tempChanged(self):
+        msg = Empty()
+        self.tcp_tempSensor_tempChanged_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_runner.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_runner.py
new file mode 100644
index 000000000..c295dea30
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from building_control_py_pkg.user_code.tcp_tempSensor_src import tcp_tempSensor
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = tcp_tempSensor()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/__init__.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_fan_src.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_fan_src.py
new file mode 100644
index 000000000..6a7db8dc2
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_fan_src.py
@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from building_control_py_pkg.base_code.tcp_fan_base_src import tcp_fan_base
+from building_control_py_pkg_interfaces.msg import FanCmd
+from building_control_py_pkg_interfaces.msg import FanAck
+from building_control_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class tcp_fan(tcp_fan_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("tcp_fan infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_fanCmd(self, msg):
+        # Handle fanCmd msg
+        self.get_logger().info(f"Received fanCmd: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempControl_src.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempControl_src.py
new file mode 100644
index 000000000..ee16abc55
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempControl_src.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from building_control_py_pkg.base_code.tcp_tempControl_base_src import tcp_tempControl_base
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
+from building_control_py_pkg_interfaces.msg import FanAck
+from building_control_py_pkg_interfaces.msg import SetPointimpl
+from building_control_py_pkg_interfaces.msg import FanCmd
+from building_control_py_pkg_interfaces.msg import Empty
+from building_control_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class tcp_tempControl(tcp_tempControl_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("tcp_tempControl infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        currentTemp = Temperatureimpl()
+        self.init_currentTemp(currentTemp)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_fanAck(self, msg):
+        # Handle fanAck msg
+        self.get_logger().info(f"Received fanAck: {self.message_to_string(msg)}")
+
+
+        # Example receiving messages on data ports
+        currentTemp = get_currentTemp()
+        self.get_logger().info(f"Received currentTemp: {self.message_to_string(currentTemp)}")
+
+    def handle_setPoint(self, msg):
+        # Handle setPoint msg
+        self.get_logger().info(f"Received setPoint: {self.message_to_string(msg)}")
+
+    def handle_tempChanged(self):
+        # Handle tempChanged event
+        self.get_logger().info("Received tempChanged")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempSensor_src.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempSensor_src.py
new file mode 100644
index 000000000..d5aa325cc
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempSensor_src.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from building_control_py_pkg.base_code.tcp_tempSensor_base_src import tcp_tempSensor_base
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
+from building_control_py_pkg_interfaces.msg import Empty
+from building_control_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class tcp_tempSensor(tcp_tempSensor_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("tcp_tempSensor infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        currentTemp = Temperatureimpl()
+        self.put_currentTemp(currentTemp)
+
+        self.put_tempChanged()
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/package.xml b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/package.xml
new file mode 100644
index 000000000..9630cba33
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/package.xml
@@ -0,0 +1,26 @@
+<?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>building_control_py_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="todo.todo@todo.com">ed</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>rosidl_runtime_py</depend>
+  <depend>building_control_py_pkg_interfaces</depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/resource/building_control_py_pkg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/resource/building_control_py_pkg
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/resource/building_control_py_pkg
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/setup.cfg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/setup.cfg
new file mode 100644
index 000000000..30d496dc5
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/setup.cfg
@@ -0,0 +1,5 @@
+# setup.cfg   in  src/building_control_py_pkg
+[develop]
+script_dir=$base/lib/building_control_py_pkg
+[install]
+install_scripts=$base/lib/building_control_py_pkg
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/setup.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/setup.py
new file mode 100644
index 000000000..3823f03b5
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/setup.py
@@ -0,0 +1,30 @@
+# setup.py   in  src/building_control_py_pkg
+
+from setuptools import find_packages, setup
+
+package_name = 'building_control_py_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sireum',
+    maintainer_email='sireum@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "tcp_tempSensor_exe = building_control_py_pkg.base_code.tcp_tempSensor_runner:main",
+            "tcp_tempControl_exe = building_control_py_pkg.base_code.tcp_tempControl_runner:main",
+            "tcp_fan_exe = building_control_py_pkg.base_code.tcp_fan_runner:main"
+        ],
+    },
+)
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/test/test_copyright.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/test/test_copyright.py
new file mode 100644
index 000000000..97a39196e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/test/test_flake8.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/test/test_flake8.py
new file mode 100644
index 000000000..7dc87a490
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \\
+        'Found %d code style errors / warnings:\n' % len(errors) + \\
+        '\n'.join(errors)
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/test/test_prep257.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/test/test_prep257.py
new file mode 100644
index 000000000..b234a3840
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg/test/test_prep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_bringup/CMakeLists.txt b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_bringup/CMakeLists.txt
new file mode 100644
index 000000000..f8c13e1c6
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_bringup/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(building_control_py_pkg_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+    launch
+    DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_bringup/launch/BuildingControlDemo_i_Instance.launch.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_bringup/launch/BuildingControlDemo_i_Instance.launch.py
new file mode 100644
index 000000000..7638aec86
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_bringup/launch/BuildingControlDemo_i_Instance.launch.py
@@ -0,0 +1,31 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    tcp_tempSensor_node = Node(
+        package = "building_control_py_pkg",
+        executable = "tcp_tempSensor_exe"
+    )
+
+    tcp_tempControl_node = Node(
+        package = "building_control_py_pkg",
+        executable = "tcp_tempControl_exe"
+    )
+
+    tcp_fan_node = Node(
+        package = "building_control_py_pkg",
+        executable = "tcp_fan_exe"
+    )
+
+    ld.add_action(tcp_tempSensor_node)
+    ld.add_action(tcp_tempControl_node)
+    ld.add_action(tcp_fan_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_bringup/package.xml b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_bringup/package.xml
new file mode 100644
index 000000000..2ec33ca35
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_bringup/package.xml
@@ -0,0 +1,24 @@
+<?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>building_control_py_pkg_bringup</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <exec_depend>building_control_py_pkg</exec_depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/CMakeLists.txt b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/CMakeLists.txt
new file mode 100644
index 000000000..f53a7ca29
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/CMakeLists.txt
@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.8)
+project(building_control_py_pkg_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Float32.msg
+  msg/TempUnit.msg
+  msg/Temperatureimpl.msg
+  msg/SetPointimpl.msg
+  msg/FanAck.msg
+  msg/FanCmd.msg
+  msg/Empty.msg
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/Empty.msg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/Empty.msg
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/FanAck.msg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/FanAck.msg
new file mode 100644
index 000000000..58b717c1c
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/FanAck.msg
@@ -0,0 +1,3 @@
+uint8 fan_ack
+uint8 FAN_ACK_OK=0
+uint8 FAN_ACK_ERROR=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/FanCmd.msg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/FanCmd.msg
new file mode 100644
index 000000000..184c27a3e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/FanCmd.msg
@@ -0,0 +1,3 @@
+uint8 fan_cmd
+uint8 FAN_CMD_ON=0
+uint8 FAN_CMD_OFF=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/Float32.msg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/Float32.msg
new file mode 100644
index 000000000..e89740534
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/Float32.msg
@@ -0,0 +1 @@
+float32 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/SetPointimpl.msg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/SetPointimpl.msg
new file mode 100644
index 000000000..252c10fc1
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/SetPointimpl.msg
@@ -0,0 +1,2 @@
+Temperatureimpl low
+Temperatureimpl high
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/TempUnit.msg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/TempUnit.msg
new file mode 100644
index 000000000..c56c0d942
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/TempUnit.msg
@@ -0,0 +1,4 @@
+uint8 temp_unit
+uint8 TEMP_UNIT_FAHRENHEIT=0
+uint8 TEMP_UNIT_CELSIUS=1
+uint8 TEMP_UNIT_KELVIN=2
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/Temperatureimpl.msg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/Temperatureimpl.msg
new file mode 100644
index 000000000..9f0216444
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/msg/Temperatureimpl.msg
@@ -0,0 +1,2 @@
+Float32 degrees
+TempUnit unit
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/package.xml b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/package.xml
new file mode 100644
index 000000000..0fc417aaa
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/lax/src/building_control_py_pkg_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?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>building_control_py_pkg_interfaces</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <build_depend>rosidl_default_generators</build_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/__init__.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/__init__.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/enum_converter.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/enum_converter.py
new file mode 100644
index 000000000..b3bfceddd
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/enum_converter.py
@@ -0,0 +1,44 @@
+#!/usr/bin/env python3
+from building_control_py_pkg_interfaces.msg import TempUnit
+from building_control_py_pkg_interfaces.msg import FanAck
+from building_control_py_pkg_interfaces.msg import FanCmd
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+def enumToString(value):
+    typedValue = TempUnit()
+    typedValue.data = value
+    match (typedValue.temp_unit):
+        case TempUnit.TEMP_UNIT_FAHRENHEIT:
+            return "TempUnit Fahrenheit"
+        case TempUnit.TEMP_UNIT_CELSIUS:
+            return "TempUnit Celsius"
+        case TempUnit.TEMP_UNIT_KELVIN:
+            return "TempUnit Kelvin"
+        case default:
+            return "Unknown value for TempUnit"
+
+def enumToString(value):
+    typedValue = FanAck()
+    typedValue.data = value
+    match (typedValue.fan_ack):
+        case FanAck.FAN_ACK_OK:
+            return "FanAck Ok"
+        case FanAck.FAN_ACK_ERROR:
+            return "FanAck Error"
+        case default:
+            return "Unknown value for FanAck"
+
+def enumToString(value):
+    typedValue = FanCmd()
+    typedValue.data = value
+    match (typedValue.fan_cmd):
+        case FanCmd.FAN_CMD_ON:
+            return "FanCmd On"
+        case FanCmd.FAN_CMD_OFF:
+            return "FanCmd Off"
+        case default:
+            return "Unknown value for FanCmd"
+
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_base_src.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_base_src.py
new file mode 100644
index 000000000..5c9209d44
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_base_src.py
@@ -0,0 +1,125 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from building_control_py_pkg_interfaces.msg import FanCmd
+from building_control_py_pkg_interfaces.msg import FanAck
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class tcp_fan_base(Node):
+    def __init__(self):
+        super().__init__("tcp_fan")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.tcp_fan_fanCmd_subscription_ = self.create_subscription(
+            FanCmd,
+            "tcp_tempControl_fanCmd",
+            self.accept_fanCmd,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_fan_fanAck_publisher_ = self.create_publisher(
+            FanAck,
+            "tcp_fan_fanAck",
+            1)
+
+        self.infrastructureIn_fanCmd = deque()
+        self.applicationIn_fanCmd = deque()
+
+        self.infrastructureOut_fanAck = deque()
+        self.applicationOut_fanAck = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_fanAck, self.infrastructureOut_fanAck, self.sendOut_fanAck]
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def fanCmd_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_fanCmd, self.applicationIn_fanCmd)
+            if len(self.applicationIn_fanCmd) == 0: return
+            self.handle_fanCmd_base(self.applicationIn_fanCmd[0])
+            self.applicationIn_fanCmd.pop()
+            self.sendOutputs()
+
+    def accept_fanCmd(self, msg):
+        self.enqueue(self.infrastructureIn_fanCmd, msg)
+        thread = threading.Thread(target=self.fanCmd_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def sendOut_fanAck(self, msg):
+        if type(msg) is FanAck:
+            self.tcp_fan_fanAck_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port fanAck.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_fanAck(self, msg):
+        self.enqueue(self.applicationOut_fanAck, msg)
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_fanCmd(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_fanCmd_base(self, msg):
+        if type(msg) is FanCmd:
+            self.handle_fanCmd(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port fanCmd.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+
+    def receiveInputs(self, infrastructureQueue, applicationQueue):
+        if not(len(infrastructureQueue) == 0):
+            eventMsg = infrastructureQueue[0]
+            infrastructureQueue.pop()
+            self.enqueue(applicationQueue, eventMsg)
+
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_runner.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_runner.py
new file mode 100644
index 000000000..5738d46c9
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from building_control_py_pkg.user_code.tcp_fan_src import tcp_fan
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = tcp_fan()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_base_src.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_base_src.py
new file mode 100644
index 000000000..99b4d3d10
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_base_src.py
@@ -0,0 +1,212 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
+from building_control_py_pkg_interfaces.msg import FanAck
+from building_control_py_pkg_interfaces.msg import SetPointimpl
+from building_control_py_pkg_interfaces.msg import FanCmd
+from building_control_py_pkg_interfaces.msg import Empty
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class tcp_tempControl_base(Node):
+    def __init__(self):
+        super().__init__("tcp_tempControl")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.tcp_tempControl_currentTemp_subscription_ = self.create_subscription(
+            Temperatureimpl,
+            "tcp_tempSensor_currentTemp",
+            self.accept_currentTemp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_tempControl_fanAck_subscription_ = self.create_subscription(
+            FanAck,
+            "tcp_fan_fanAck",
+            self.accept_fanAck,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_tempControl_setPoint_subscription_ = self.create_subscription(
+            SetPointimpl,
+            "tcp_tempControl_setPoint",
+            self.accept_setPoint,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_tempControl_tempChanged_subscription_ = self.create_subscription(
+            Empty,
+            "tcp_tempSensor_tempChanged",
+            self.accept_tempChanged,
+            1,
+            callback_group=self.cb_group_)
+
+        self.tcp_tempControl_fanCmd_publisher_ = self.create_publisher(
+            FanCmd,
+            "tcp_tempControl_fanCmd",
+            1)
+
+        self.infrastructureIn_currentTemp = deque()
+        self.applicationIn_currentTemp = deque()
+        self.infrastructureIn_fanAck = deque()
+        self.applicationIn_fanAck = deque()
+        self.infrastructureIn_setPoint = deque()
+        self.applicationIn_setPoint = deque()
+        self.infrastructureIn_tempChanged = deque()
+        self.applicationIn_tempChanged = deque()
+
+        self.infrastructureOut_fanCmd = deque()
+        self.applicationOut_fanCmd = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_currentTemp, self.applicationIn_currentTemp]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_fanCmd, self.infrastructureOut_fanCmd, self.sendOut_fanCmd]
+        ]
+
+    def init_currentTemp(self, val):
+        self.enqueue(self.infrastructureIn_currentTemp, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_currentTemp(self, msg):
+        self.enqueue(self.infrastructureIn_currentTemp, msg)
+
+    def fanAck_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_fanAck, self.applicationIn_fanAck)
+            if len(self.applicationIn_fanAck) == 0: return
+            self.handle_fanAck_base(self.applicationIn_fanAck[0])
+            self.applicationIn_fanAck.pop()
+            self.sendOutputs()
+
+    def accept_fanAck(self, msg):
+        self.enqueue(self.infrastructureIn_fanAck, msg)
+        thread = threading.Thread(target=self.fanAck_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def setPoint_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_setPoint, self.applicationIn_setPoint)
+            if len(self.applicationIn_setPoint) == 0: return
+            self.handle_setPoint_base(self.applicationIn_setPoint[0])
+            self.applicationIn_setPoint.pop()
+            self.sendOutputs()
+
+    def accept_setPoint(self, msg):
+        self.enqueue(self.infrastructureIn_setPoint, msg)
+        thread = threading.Thread(target=self.setPoint_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def tempChanged_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_tempChanged, self.applicationIn_tempChanged)
+            if len(self.applicationIn_tempChanged) == 0: return
+            self.handle_tempChanged_base(self.applicationIn_tempChanged[0])
+            self.applicationIn_tempChanged.pop()
+            self.sendOutputs()
+
+    def accept_tempChanged(self, msg):
+        self.enqueue(self.infrastructureIn_tempChanged, msg)
+        thread = threading.Thread(target=self.tempChanged_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def get_currentTemp(self):
+        msg = self.applicationIn_currentTemp[0]
+        return msg
+
+    def sendOut_fanCmd(self, msg):
+        if type(msg) is FanCmd:
+            self.tcp_tempControl_fanCmd_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port fanCmd.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_fanCmd(self, msg):
+        self.enqueue(self.applicationOut_fanCmd, msg)
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_fanAck(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_fanAck_base(self, msg):
+        if type(msg) is FanAck:
+            self.handle_fanAck(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port fanAck.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_setPoint(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_setPoint_base(self, msg):
+        if type(msg) is SetPointimpl:
+            self.handle_setPoint(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port setPoint.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_tempChanged(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_tempChanged_base(self, msg):
+        self.handle_tempChanged()
+
+
+    def receiveInputs(self, infrastructureQueue, applicationQueue):
+        if not(len(infrastructureQueue) == 0):
+            eventMsg = infrastructureQueue[0]
+            infrastructureQueue.pop()
+            self.enqueue(applicationQueue, eventMsg)
+
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_runner.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_runner.py
new file mode 100644
index 000000000..304e92f82
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from building_control_py_pkg.user_code.tcp_tempControl_src import tcp_tempControl
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = tcp_tempControl()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_base_src.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_base_src.py
new file mode 100644
index 000000000..ccd9123c6
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_base_src.py
@@ -0,0 +1,118 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
+from building_control_py_pkg_interfaces.msg import Empty
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class tcp_tempSensor_base(Node):
+    def __init__(self):
+        super().__init__("tcp_tempSensor")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.tcp_tempSensor_currentTemp_publisher_ = self.create_publisher(
+            Temperatureimpl,
+            "tcp_tempSensor_currentTemp",
+            1)
+
+        self.tcp_tempSensor_tempChanged_publisher_ = self.create_publisher(
+            Empty,
+            "tcp_tempSensor_tempChanged",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureOut_currentTemp = deque()
+        self.applicationOut_currentTemp = deque()
+        self.infrastructureOut_tempChanged = deque()
+        self.applicationOut_tempChanged = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_currentTemp, self.infrastructureOut_currentTemp, self.sendOut_currentTemp],
+            [self.applicationOut_tempChanged, self.infrastructureOut_tempChanged, self.sendOut_tempChanged]
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def sendOut_currentTemp(self, msg):
+        if type(msg) is Temperatureimpl:
+            self.tcp_tempSensor_currentTemp_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port currentTemp.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_tempChanged(self, msg):
+        if type(msg) is Empty:
+            self.tcp_tempSensor_tempChanged_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port tempChanged.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_currentTemp(self, msg):
+        self.enqueue(self.applicationOut_currentTemp, msg)
+
+    def put_tempChanged(self):
+        self.enqueue(self.applicationOut_tempChanged, Empty())
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_runner.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_runner.py
new file mode 100644
index 000000000..c295dea30
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from building_control_py_pkg.user_code.tcp_tempSensor_src import tcp_tempSensor
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = tcp_tempSensor()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/__init__.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_fan_src.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_fan_src.py
new file mode 100644
index 000000000..6a7db8dc2
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_fan_src.py
@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from building_control_py_pkg.base_code.tcp_fan_base_src import tcp_fan_base
+from building_control_py_pkg_interfaces.msg import FanCmd
+from building_control_py_pkg_interfaces.msg import FanAck
+from building_control_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class tcp_fan(tcp_fan_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("tcp_fan infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_fanCmd(self, msg):
+        # Handle fanCmd msg
+        self.get_logger().info(f"Received fanCmd: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempControl_src.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempControl_src.py
new file mode 100644
index 000000000..606ec09df
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempControl_src.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from building_control_py_pkg.base_code.tcp_tempControl_base_src import tcp_tempControl_base
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
+from building_control_py_pkg_interfaces.msg import FanAck
+from building_control_py_pkg_interfaces.msg import SetPointimpl
+from building_control_py_pkg_interfaces.msg import FanCmd
+from building_control_py_pkg_interfaces.msg import Empty
+from building_control_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class tcp_tempControl(tcp_tempControl_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("tcp_tempControl infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        currentTemp = Temperatureimpl()
+        self.init_currentTemp(currentTemp)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_fanAck(self, msg):
+        # Handle fanAck msg
+        self.get_logger().info(f"Received fanAck: {self.message_to_string(msg)}")
+
+
+        # Example receiving messages on data ports
+        currentTemp = self.get_currentTemp()
+        self.get_logger().info(f"Received currentTemp: {self.message_to_string(currentTemp)}")
+
+    def handle_setPoint(self, msg):
+        # Handle setPoint msg
+        self.get_logger().info(f"Received setPoint: {self.message_to_string(msg)}")
+
+    def handle_tempChanged(self):
+        # Handle tempChanged event
+        self.get_logger().info("Received tempChanged")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempSensor_src.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempSensor_src.py
new file mode 100644
index 000000000..d5aa325cc
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempSensor_src.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from building_control_py_pkg.base_code.tcp_tempSensor_base_src import tcp_tempSensor_base
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
+from building_control_py_pkg_interfaces.msg import Empty
+from building_control_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class tcp_tempSensor(tcp_tempSensor_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("tcp_tempSensor infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        currentTemp = Temperatureimpl()
+        self.put_currentTemp(currentTemp)
+
+        self.put_tempChanged()
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/package.xml b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/package.xml
new file mode 100644
index 000000000..9630cba33
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/package.xml
@@ -0,0 +1,26 @@
+<?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>building_control_py_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="todo.todo@todo.com">ed</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>rosidl_runtime_py</depend>
+  <depend>building_control_py_pkg_interfaces</depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/resource/building_control_py_pkg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/resource/building_control_py_pkg
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/resource/building_control_py_pkg
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/setup.cfg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/setup.cfg
new file mode 100644
index 000000000..30d496dc5
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/setup.cfg
@@ -0,0 +1,5 @@
+# setup.cfg   in  src/building_control_py_pkg
+[develop]
+script_dir=$base/lib/building_control_py_pkg
+[install]
+install_scripts=$base/lib/building_control_py_pkg
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/setup.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/setup.py
new file mode 100644
index 000000000..3823f03b5
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/setup.py
@@ -0,0 +1,30 @@
+# setup.py   in  src/building_control_py_pkg
+
+from setuptools import find_packages, setup
+
+package_name = 'building_control_py_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sireum',
+    maintainer_email='sireum@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "tcp_tempSensor_exe = building_control_py_pkg.base_code.tcp_tempSensor_runner:main",
+            "tcp_tempControl_exe = building_control_py_pkg.base_code.tcp_tempControl_runner:main",
+            "tcp_fan_exe = building_control_py_pkg.base_code.tcp_fan_runner:main"
+        ],
+    },
+)
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/test/test_copyright.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/test/test_copyright.py
new file mode 100644
index 000000000..97a39196e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/test/test_flake8.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/test/test_flake8.py
new file mode 100644
index 000000000..7dc87a490
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \\
+        'Found %d code style errors / warnings:\n' % len(errors) + \\
+        '\n'.join(errors)
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/test/test_prep257.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/test/test_prep257.py
new file mode 100644
index 000000000..b234a3840
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg/test/test_prep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_bringup/CMakeLists.txt b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_bringup/CMakeLists.txt
new file mode 100644
index 000000000..f8c13e1c6
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_bringup/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(building_control_py_pkg_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+    launch
+    DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_bringup/launch/BuildingControlDemo_i_Instance.launch.py b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_bringup/launch/BuildingControlDemo_i_Instance.launch.py
new file mode 100644
index 000000000..7638aec86
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_bringup/launch/BuildingControlDemo_i_Instance.launch.py
@@ -0,0 +1,31 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    tcp_tempSensor_node = Node(
+        package = "building_control_py_pkg",
+        executable = "tcp_tempSensor_exe"
+    )
+
+    tcp_tempControl_node = Node(
+        package = "building_control_py_pkg",
+        executable = "tcp_tempControl_exe"
+    )
+
+    tcp_fan_node = Node(
+        package = "building_control_py_pkg",
+        executable = "tcp_fan_exe"
+    )
+
+    ld.add_action(tcp_tempSensor_node)
+    ld.add_action(tcp_tempControl_node)
+    ld.add_action(tcp_fan_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_bringup/package.xml b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_bringup/package.xml
new file mode 100644
index 000000000..2ec33ca35
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_bringup/package.xml
@@ -0,0 +1,24 @@
+<?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>building_control_py_pkg_bringup</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <exec_depend>building_control_py_pkg</exec_depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/CMakeLists.txt b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/CMakeLists.txt
new file mode 100644
index 000000000..f53a7ca29
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/CMakeLists.txt
@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.8)
+project(building_control_py_pkg_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Float32.msg
+  msg/TempUnit.msg
+  msg/Temperatureimpl.msg
+  msg/SetPointimpl.msg
+  msg/FanAck.msg
+  msg/FanCmd.msg
+  msg/Empty.msg
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/Empty.msg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/Empty.msg
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/FanAck.msg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/FanAck.msg
new file mode 100644
index 000000000..58b717c1c
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/FanAck.msg
@@ -0,0 +1,3 @@
+uint8 fan_ack
+uint8 FAN_ACK_OK=0
+uint8 FAN_ACK_ERROR=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/FanCmd.msg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/FanCmd.msg
new file mode 100644
index 000000000..184c27a3e
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/FanCmd.msg
@@ -0,0 +1,3 @@
+uint8 fan_cmd
+uint8 FAN_CMD_ON=0
+uint8 FAN_CMD_OFF=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/Float32.msg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/Float32.msg
new file mode 100644
index 000000000..e89740534
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/Float32.msg
@@ -0,0 +1 @@
+float32 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/SetPointimpl.msg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/SetPointimpl.msg
new file mode 100644
index 000000000..252c10fc1
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/SetPointimpl.msg
@@ -0,0 +1,2 @@
+Temperatureimpl low
+Temperatureimpl high
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/TempUnit.msg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/TempUnit.msg
new file mode 100644
index 000000000..c56c0d942
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/TempUnit.msg
@@ -0,0 +1,4 @@
+uint8 temp_unit
+uint8 TEMP_UNIT_FAHRENHEIT=0
+uint8 TEMP_UNIT_CELSIUS=1
+uint8 TEMP_UNIT_KELVIN=2
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/Temperatureimpl.msg b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/Temperatureimpl.msg
new file mode 100644
index 000000000..9f0216444
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/msg/Temperatureimpl.msg
@@ -0,0 +1,2 @@
+Float32 degrees
+TempUnit unit
\ No newline at end of file
diff --git a/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/package.xml b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/package.xml
new file mode 100644
index 000000000..0fc417aaa
--- /dev/null
+++ b/resources/expected/ros2/python-building_control_gen_mixed_inverted_topics/strict/src/building_control_py_pkg_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?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>building_control_py_pkg_interfaces</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <build_depend>rosidl_default_generators</build_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/__init__.py b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/__init__.py b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/consumer_consumer_base_src.py b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/consumer_consumer_base_src.py
new file mode 100644
index 000000000..b94e55bbb
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/consumer_consumer_base_src.py
@@ -0,0 +1,231 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from datatypes_system_py_pkg.user_code.consumer_consumer_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from datatypes_system_py_pkg_interfaces.msg import Boolean
+from datatypes_system_py_pkg_interfaces.msg import Integer64
+from datatypes_system_py_pkg_interfaces.msg import Float64
+from datatypes_system_py_pkg_interfaces.msg import Character
+from datatypes_system_py_pkg_interfaces.msg import String
+from datatypes_system_py_pkg_interfaces.msg import Integer8
+from datatypes_system_py_pkg_interfaces.msg import Integer16
+from datatypes_system_py_pkg_interfaces.msg import Integer32
+from datatypes_system_py_pkg_interfaces.msg import Unsigned8
+from datatypes_system_py_pkg_interfaces.msg import Unsigned16
+from datatypes_system_py_pkg_interfaces.msg import Unsigned32
+from datatypes_system_py_pkg_interfaces.msg import Unsigned64
+from datatypes_system_py_pkg_interfaces.msg import Float32
+from datatypes_system_py_pkg_interfaces.msg import MyEnum
+from datatypes_system_py_pkg_interfaces.msg import MyStructi
+from datatypes_system_py_pkg_interfaces.msg import MyArrayOneDim
+from datatypes_system_py_pkg_interfaces.msg import MyArrayUnbounded
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class consumer_consumer_base(Node):
+    def __init__(self):
+        super().__init__("consumer_consumer")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.consumer_consumer_myBoolean_subscription_ = self.create_subscription(
+            Boolean,
+            "consumer_consumer_myBoolean",
+            self.handle_myBoolean,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myInteger_subscription_ = self.create_subscription(
+            Integer64,
+            "consumer_consumer_myInteger",
+            self.handle_myInteger,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myFloat_subscription_ = self.create_subscription(
+            Float64,
+            "consumer_consumer_myFloat",
+            self.handle_myFloat,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myCharacter_subscription_ = self.create_subscription(
+            Character,
+            "consumer_consumer_myCharacter",
+            self.handle_myCharacter,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myString_subscription_ = self.create_subscription(
+            String,
+            "consumer_consumer_myString",
+            self.handle_myString,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myInt8_subscription_ = self.create_subscription(
+            Integer8,
+            "consumer_consumer_myInt8",
+            self.handle_myInt8,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myInt16_subscription_ = self.create_subscription(
+            Integer16,
+            "consumer_consumer_myInt16",
+            self.handle_myInt16,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myInt32_subscription_ = self.create_subscription(
+            Integer32,
+            "consumer_consumer_myInt32",
+            self.handle_myInt32,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myInt64_subscription_ = self.create_subscription(
+            Integer64,
+            "consumer_consumer_myInt64",
+            self.handle_myInt64,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myUInt8_subscription_ = self.create_subscription(
+            Unsigned8,
+            "consumer_consumer_myUInt8",
+            self.handle_myUInt8,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myUInt16_subscription_ = self.create_subscription(
+            Unsigned16,
+            "consumer_consumer_myUInt16",
+            self.handle_myUInt16,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myUInt32_subscription_ = self.create_subscription(
+            Unsigned32,
+            "consumer_consumer_myUInt32",
+            self.handle_myUInt32,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myUInt64_subscription_ = self.create_subscription(
+            Unsigned64,
+            "consumer_consumer_myUInt64",
+            self.handle_myUInt64,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myFloat32_subscription_ = self.create_subscription(
+            Float32,
+            "consumer_consumer_myFloat32",
+            self.handle_myFloat32,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myFloat64_subscription_ = self.create_subscription(
+            Float64,
+            "consumer_consumer_myFloat64",
+            self.handle_myFloat64,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myEnum_subscription_ = self.create_subscription(
+            MyEnum,
+            "consumer_consumer_myEnum",
+            self.handle_myEnum,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myStruct_subscription_ = self.create_subscription(
+            MyStructi,
+            "consumer_consumer_myStruct",
+            self.handle_myStruct,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myArray1_subscription_ = self.create_subscription(
+            MyArrayOneDim,
+            "consumer_consumer_myArray1",
+            self.handle_myArray1,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myArray2_subscription_ = self.create_subscription(
+            MyArrayUnbounded,
+            "consumer_consumer_myArray2",
+            self.handle_myArray2,
+            1,
+            callback_group=self.cb_group_)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_myBoolean(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myInteger(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myFloat(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myCharacter(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myString(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myInt8(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myInt16(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myInt32(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myInt64(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myUInt8(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myUInt16(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myUInt32(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myUInt64(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myFloat32(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myFloat64(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myEnum(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myStruct(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myArray1(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myArray2(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/consumer_consumer_runner.py b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/consumer_consumer_runner.py
new file mode 100644
index 000000000..51b0efb40
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/consumer_consumer_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from datatypes_system_py_pkg.user_code.consumer_consumer_src import consumer_consumer
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = consumer_consumer()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/enum_converter.py b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/enum_converter.py
new file mode 100644
index 000000000..0064b50fa
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/enum_converter.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+from datatypes_system_py_pkg_interfaces.msg import MyEnum
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+def enumToString(value):
+    typedValue = MyEnum()
+    typedValue.data = value
+    match (typedValue.my_enum):
+        case MyEnum.MY_ENUM_ON:
+            return "MyEnum On"
+        case MyEnum.MY_ENUM_OFF:
+            return "MyEnum Off"
+        case default:
+            return "Unknown value for MyEnum"
+
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/producer_producer_base_src.py b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/producer_producer_base_src.py
new file mode 100644
index 000000000..3b452ce7a
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/producer_producer_base_src.py
@@ -0,0 +1,196 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from rclpy.callback_groups import ReentrantCallbackGroup
+from datatypes_system_py_pkg_interfaces.msg import Boolean
+from datatypes_system_py_pkg_interfaces.msg import Integer64
+from datatypes_system_py_pkg_interfaces.msg import Float64
+from datatypes_system_py_pkg_interfaces.msg import Character
+from datatypes_system_py_pkg_interfaces.msg import String
+from datatypes_system_py_pkg_interfaces.msg import Integer8
+from datatypes_system_py_pkg_interfaces.msg import Integer16
+from datatypes_system_py_pkg_interfaces.msg import Integer32
+from datatypes_system_py_pkg_interfaces.msg import Unsigned8
+from datatypes_system_py_pkg_interfaces.msg import Unsigned16
+from datatypes_system_py_pkg_interfaces.msg import Unsigned32
+from datatypes_system_py_pkg_interfaces.msg import Unsigned64
+from datatypes_system_py_pkg_interfaces.msg import Float32
+from datatypes_system_py_pkg_interfaces.msg import MyEnum
+from datatypes_system_py_pkg_interfaces.msg import MyStructi
+from datatypes_system_py_pkg_interfaces.msg import MyArrayOneDim
+from datatypes_system_py_pkg_interfaces.msg import MyArrayUnbounded
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class producer_producer_base(Node):
+    def __init__(self):
+        super().__init__("producer_producer")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.producer_producer_myBoolean_publisher_ = self.create_publisher(
+            Boolean,
+            "consumer_consumer_myBoolean",
+            1)
+
+        self.producer_producer_myInteger_publisher_ = self.create_publisher(
+            Integer64,
+            "consumer_consumer_myInteger",
+            1)
+
+        self.producer_producer_myFloat_publisher_ = self.create_publisher(
+            Float64,
+            "consumer_consumer_myFloat",
+            1)
+
+        self.producer_producer_myCharacter_publisher_ = self.create_publisher(
+            Character,
+            "consumer_consumer_myCharacter",
+            1)
+
+        self.producer_producer_myString_publisher_ = self.create_publisher(
+            String,
+            "consumer_consumer_myString",
+            1)
+
+        self.producer_producer_myInt8_publisher_ = self.create_publisher(
+            Integer8,
+            "consumer_consumer_myInt8",
+            1)
+
+        self.producer_producer_myInt16_publisher_ = self.create_publisher(
+            Integer16,
+            "consumer_consumer_myInt16",
+            1)
+
+        self.producer_producer_myInt32_publisher_ = self.create_publisher(
+            Integer32,
+            "consumer_consumer_myInt32",
+            1)
+
+        self.producer_producer_myInt64_publisher_ = self.create_publisher(
+            Integer64,
+            "consumer_consumer_myInt64",
+            1)
+
+        self.producer_producer_myUInt8_publisher_ = self.create_publisher(
+            Unsigned8,
+            "consumer_consumer_myUInt8",
+            1)
+
+        self.producer_producer_myUInt16_publisher_ = self.create_publisher(
+            Unsigned16,
+            "consumer_consumer_myUInt16",
+            1)
+
+        self.producer_producer_myUInt32_publisher_ = self.create_publisher(
+            Unsigned32,
+            "consumer_consumer_myUInt32",
+            1)
+
+        self.producer_producer_myUInt64_publisher_ = self.create_publisher(
+            Unsigned64,
+            "consumer_consumer_myUInt64",
+            1)
+
+        self.producer_producer_myFloat32_publisher_ = self.create_publisher(
+            Float32,
+            "consumer_consumer_myFloat32",
+            1)
+
+        self.producer_producer_myFloat64_publisher_ = self.create_publisher(
+            Float64,
+            "consumer_consumer_myFloat64",
+            1)
+
+        self.producer_producer_myEnum_publisher_ = self.create_publisher(
+            MyEnum,
+            "consumer_consumer_myEnum",
+            1)
+
+        self.producer_producer_myStruct_publisher_ = self.create_publisher(
+            MyStructi,
+            "consumer_consumer_myStruct",
+            1)
+
+        self.producer_producer_myArray1_publisher_ = self.create_publisher(
+            MyArrayOneDim,
+            "consumer_consumer_myArray1",
+            1)
+
+        self.producer_producer_myArray2_publisher_ = self.create_publisher(
+            MyArrayUnbounded,
+            "consumer_consumer_myArray2",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def put_myBoolean(self, msg):
+        self.producer_producer_myBoolean_publisher_.publish(msg)
+
+    def put_myInteger(self, msg):
+        self.producer_producer_myInteger_publisher_.publish(msg)
+
+    def put_myFloat(self, msg):
+        self.producer_producer_myFloat_publisher_.publish(msg)
+
+    def put_myCharacter(self, msg):
+        self.producer_producer_myCharacter_publisher_.publish(msg)
+
+    def put_myString(self, msg):
+        self.producer_producer_myString_publisher_.publish(msg)
+
+    def put_myInt8(self, msg):
+        self.producer_producer_myInt8_publisher_.publish(msg)
+
+    def put_myInt16(self, msg):
+        self.producer_producer_myInt16_publisher_.publish(msg)
+
+    def put_myInt32(self, msg):
+        self.producer_producer_myInt32_publisher_.publish(msg)
+
+    def put_myInt64(self, msg):
+        self.producer_producer_myInt64_publisher_.publish(msg)
+
+    def put_myUInt8(self, msg):
+        self.producer_producer_myUInt8_publisher_.publish(msg)
+
+    def put_myUInt16(self, msg):
+        self.producer_producer_myUInt16_publisher_.publish(msg)
+
+    def put_myUInt32(self, msg):
+        self.producer_producer_myUInt32_publisher_.publish(msg)
+
+    def put_myUInt64(self, msg):
+        self.producer_producer_myUInt64_publisher_.publish(msg)
+
+    def put_myFloat32(self, msg):
+        self.producer_producer_myFloat32_publisher_.publish(msg)
+
+    def put_myFloat64(self, msg):
+        self.producer_producer_myFloat64_publisher_.publish(msg)
+
+    def put_myEnum(self, msg):
+        self.producer_producer_myEnum_publisher_.publish(msg)
+
+    def put_myStruct(self, msg):
+        self.producer_producer_myStruct_publisher_.publish(msg)
+
+    def put_myArray1(self, msg):
+        self.producer_producer_myArray1_publisher_.publish(msg)
+
+    def put_myArray2(self, msg):
+        self.producer_producer_myArray2_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/producer_producer_runner.py b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/producer_producer_runner.py
new file mode 100644
index 000000000..e7da22227
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/producer_producer_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from datatypes_system_py_pkg.user_code.producer_producer_src import producer_producer
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = producer_producer()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/__init__.py b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/consumer_consumer_src.py b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/consumer_consumer_src.py
new file mode 100644
index 000000000..b8c55446e
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/consumer_consumer_src.py
@@ -0,0 +1,136 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from datatypes_system_py_pkg.base_code.consumer_consumer_base_src import consumer_consumer_base
+from datatypes_system_py_pkg_interfaces.msg import Boolean
+from datatypes_system_py_pkg_interfaces.msg import Integer64
+from datatypes_system_py_pkg_interfaces.msg import Float64
+from datatypes_system_py_pkg_interfaces.msg import Character
+from datatypes_system_py_pkg_interfaces.msg import String
+from datatypes_system_py_pkg_interfaces.msg import Integer8
+from datatypes_system_py_pkg_interfaces.msg import Integer16
+from datatypes_system_py_pkg_interfaces.msg import Integer32
+from datatypes_system_py_pkg_interfaces.msg import Unsigned8
+from datatypes_system_py_pkg_interfaces.msg import Unsigned16
+from datatypes_system_py_pkg_interfaces.msg import Unsigned32
+from datatypes_system_py_pkg_interfaces.msg import Unsigned64
+from datatypes_system_py_pkg_interfaces.msg import Float32
+from datatypes_system_py_pkg_interfaces.msg import MyEnum
+from datatypes_system_py_pkg_interfaces.msg import MyStructi
+from datatypes_system_py_pkg_interfaces.msg import MyArrayOneDim
+from datatypes_system_py_pkg_interfaces.msg import MyArrayUnbounded
+from datatypes_system_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class consumer_consumer(consumer_consumer_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("consumer_consumer infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_myBoolean(self, msg):
+        # Handle myBoolean msg
+        self.get_logger().info(f"Received myBoolean: {self.message_to_string(msg)}")
+
+    def handle_myInteger(self, msg):
+        # Handle myInteger msg
+        self.get_logger().info(f"Received myInteger: {self.message_to_string(msg)}")
+
+    def handle_myFloat(self, msg):
+        # Handle myFloat msg
+        self.get_logger().info(f"Received myFloat: {self.message_to_string(msg)}")
+
+    def handle_myCharacter(self, msg):
+        # Handle myCharacter msg
+        self.get_logger().info(f"Received myCharacter: {self.message_to_string(msg)}")
+
+    def handle_myString(self, msg):
+        # Handle myString msg
+        self.get_logger().info(f"Received myString: {self.message_to_string(msg)}")
+
+    def handle_myInt8(self, msg):
+        # Handle myInt8 msg
+        self.get_logger().info(f"Received myInt8: {self.message_to_string(msg)}")
+
+    def handle_myInt16(self, msg):
+        # Handle myInt16 msg
+        self.get_logger().info(f"Received myInt16: {self.message_to_string(msg)}")
+
+    def handle_myInt32(self, msg):
+        # Handle myInt32 msg
+        self.get_logger().info(f"Received myInt32: {self.message_to_string(msg)}")
+
+    def handle_myInt64(self, msg):
+        # Handle myInt64 msg
+        self.get_logger().info(f"Received myInt64: {self.message_to_string(msg)}")
+
+    def handle_myUInt8(self, msg):
+        # Handle myUInt8 msg
+        self.get_logger().info(f"Received myUInt8: {self.message_to_string(msg)}")
+
+    def handle_myUInt16(self, msg):
+        # Handle myUInt16 msg
+        self.get_logger().info(f"Received myUInt16: {self.message_to_string(msg)}")
+
+    def handle_myUInt32(self, msg):
+        # Handle myUInt32 msg
+        self.get_logger().info(f"Received myUInt32: {self.message_to_string(msg)}")
+
+    def handle_myUInt64(self, msg):
+        # Handle myUInt64 msg
+        self.get_logger().info(f"Received myUInt64: {self.message_to_string(msg)}")
+
+    def handle_myFloat32(self, msg):
+        # Handle myFloat32 msg
+        self.get_logger().info(f"Received myFloat32: {self.message_to_string(msg)}")
+
+    def handle_myFloat64(self, msg):
+        # Handle myFloat64 msg
+        self.get_logger().info(f"Received myFloat64: {self.message_to_string(msg)}")
+
+    def handle_myEnum(self, msg):
+        # Handle myEnum msg
+        self.get_logger().info(f"Received myEnum: {self.message_to_string(msg)}")
+
+    def handle_myStruct(self, msg):
+        # Handle myStruct msg
+        self.get_logger().info(f"Received myStruct: {self.message_to_string(msg)}")
+
+    def handle_myArray1(self, msg):
+        # Handle myArray1 msg
+        self.get_logger().info(f"Received myArray1: {self.message_to_string(msg)}")
+
+    def handle_myArray2(self, msg):
+        # Handle myArray2 msg
+        self.get_logger().info(f"Received myArray2: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/producer_producer_src.py b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/producer_producer_src.py
new file mode 100644
index 000000000..e287d285f
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/producer_producer_src.py
@@ -0,0 +1,121 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from datatypes_system_py_pkg.base_code.producer_producer_base_src import producer_producer_base
+from datatypes_system_py_pkg_interfaces.msg import Boolean
+from datatypes_system_py_pkg_interfaces.msg import Integer64
+from datatypes_system_py_pkg_interfaces.msg import Float64
+from datatypes_system_py_pkg_interfaces.msg import Character
+from datatypes_system_py_pkg_interfaces.msg import String
+from datatypes_system_py_pkg_interfaces.msg import Integer8
+from datatypes_system_py_pkg_interfaces.msg import Integer16
+from datatypes_system_py_pkg_interfaces.msg import Integer32
+from datatypes_system_py_pkg_interfaces.msg import Unsigned8
+from datatypes_system_py_pkg_interfaces.msg import Unsigned16
+from datatypes_system_py_pkg_interfaces.msg import Unsigned32
+from datatypes_system_py_pkg_interfaces.msg import Unsigned64
+from datatypes_system_py_pkg_interfaces.msg import Float32
+from datatypes_system_py_pkg_interfaces.msg import MyEnum
+from datatypes_system_py_pkg_interfaces.msg import MyStructi
+from datatypes_system_py_pkg_interfaces.msg import MyArrayOneDim
+from datatypes_system_py_pkg_interfaces.msg import MyArrayUnbounded
+from datatypes_system_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class producer_producer(producer_producer_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("producer_producer infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        myBoolean = Boolean()
+        self.put_myBoolean(myBoolean)
+
+        myInteger = Integer64()
+        self.put_myInteger(myInteger)
+
+        myFloat = Float64()
+        self.put_myFloat(myFloat)
+
+        myCharacter = Character()
+        self.put_myCharacter(myCharacter)
+
+        myString = String()
+        self.put_myString(myString)
+
+        myInt8 = Integer8()
+        self.put_myInt8(myInt8)
+
+        myInt16 = Integer16()
+        self.put_myInt16(myInt16)
+
+        myInt32 = Integer32()
+        self.put_myInt32(myInt32)
+
+        myInt64 = Integer64()
+        self.put_myInt64(myInt64)
+
+        myUInt8 = Unsigned8()
+        self.put_myUInt8(myUInt8)
+
+        myUInt16 = Unsigned16()
+        self.put_myUInt16(myUInt16)
+
+        myUInt32 = Unsigned32()
+        self.put_myUInt32(myUInt32)
+
+        myUInt64 = Unsigned64()
+        self.put_myUInt64(myUInt64)
+
+        myFloat32 = Float32()
+        self.put_myFloat32(myFloat32)
+
+        myFloat64 = Float64()
+        self.put_myFloat64(myFloat64)
+
+        myEnum = MyEnum()
+        self.put_myEnum(myEnum)
+
+        myStruct = MyStructi()
+        self.put_myStruct(myStruct)
+
+        myArray1 = MyArrayOneDim()
+        self.put_myArray1(myArray1)
+
+        myArray2 = MyArrayUnbounded()
+        self.put_myArray2(myArray2)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/package.xml b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/package.xml
new file mode 100644
index 000000000..84db30a4b
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/package.xml
@@ -0,0 +1,26 @@
+<?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>datatypes_system_py_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="todo.todo@todo.com">ed</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>rosidl_runtime_py</depend>
+  <depend>datatypes_system_py_pkg_interfaces</depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/resource/datatypes_system_py_pkg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/resource/datatypes_system_py_pkg
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/resource/datatypes_system_py_pkg
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/setup.cfg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/setup.cfg
new file mode 100644
index 000000000..582e1f3fb
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/setup.cfg
@@ -0,0 +1,5 @@
+# setup.cfg   in  src/datatypes_system_py_pkg
+[develop]
+script_dir=$base/lib/datatypes_system_py_pkg
+[install]
+install_scripts=$base/lib/datatypes_system_py_pkg
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/setup.py b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/setup.py
new file mode 100644
index 000000000..c4ae5a449
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/setup.py
@@ -0,0 +1,29 @@
+# setup.py   in  src/datatypes_system_py_pkg
+
+from setuptools import find_packages, setup
+
+package_name = 'datatypes_system_py_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sireum',
+    maintainer_email='sireum@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "producer_producer_exe = datatypes_system_py_pkg.base_code.producer_producer_runner:main",
+            "consumer_consumer_exe = datatypes_system_py_pkg.base_code.consumer_consumer_runner:main"
+        ],
+    },
+)
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/test/test_copyright.py b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/test/test_copyright.py
new file mode 100644
index 000000000..97a39196e
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/test/test_flake8.py b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/test/test_flake8.py
new file mode 100644
index 000000000..7dc87a490
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \\
+        'Found %d code style errors / warnings:\n' % len(errors) + \\
+        '\n'.join(errors)
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/test/test_prep257.py b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/test/test_prep257.py
new file mode 100644
index 000000000..b234a3840
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg/test/test_prep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_bringup/CMakeLists.txt b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_bringup/CMakeLists.txt
new file mode 100644
index 000000000..60565bf01
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_bringup/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(datatypes_system_py_pkg_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+    launch
+    DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py
new file mode 100644
index 000000000..c9db37cda
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py
@@ -0,0 +1,25 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    producer_producer_node = Node(
+        package = "datatypes_system_py_pkg",
+        executable = "producer_producer_exe"
+    )
+
+    consumer_consumer_node = Node(
+        package = "datatypes_system_py_pkg",
+        executable = "consumer_consumer_exe"
+    )
+
+    ld.add_action(producer_producer_node)
+    ld.add_action(consumer_consumer_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_bringup/package.xml b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_bringup/package.xml
new file mode 100644
index 000000000..941a1ef43
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_bringup/package.xml
@@ -0,0 +1,24 @@
+<?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>datatypes_system_py_pkg_bringup</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <exec_depend>datatypes_system_py_pkg</exec_depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/CMakeLists.txt b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/CMakeLists.txt
new file mode 100644
index 000000000..abed80967
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/CMakeLists.txt
@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.8)
+project(datatypes_system_py_pkg_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Boolean.msg
+  msg/Integer64.msg
+  msg/Float64.msg
+  msg/Character.msg
+  msg/String.msg
+  msg/Integer8.msg
+  msg/Integer16.msg
+  msg/Integer32.msg
+  msg/Unsigned8.msg
+  msg/Unsigned16.msg
+  msg/Unsigned32.msg
+  msg/Unsigned64.msg
+  msg/Float32.msg
+  msg/MyEnum.msg
+  msg/MyStruct2i.msg
+  msg/MyArrayOneDim.msg
+  msg/MyArrayUnbounded.msg
+  msg/MyStructi.msg
+  msg/Empty.msg
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Boolean.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Boolean.msg
new file mode 100644
index 000000000..f7cabb94f
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Boolean.msg
@@ -0,0 +1 @@
+bool data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Character.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Character.msg
new file mode 100644
index 000000000..39a1d46a9
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Character.msg
@@ -0,0 +1 @@
+char data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Empty.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Empty.msg
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Float32.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Float32.msg
new file mode 100644
index 000000000..e89740534
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Float32.msg
@@ -0,0 +1 @@
+float32 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Float64.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Float64.msg
new file mode 100644
index 000000000..cd09d39b8
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Float64.msg
@@ -0,0 +1 @@
+float64 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Integer16.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Integer16.msg
new file mode 100644
index 000000000..28b7bef9e
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Integer16.msg
@@ -0,0 +1 @@
+int16 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Integer32.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Integer32.msg
new file mode 100644
index 000000000..0ecfe35f5
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Integer32.msg
@@ -0,0 +1 @@
+int32 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Integer64.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Integer64.msg
new file mode 100644
index 000000000..6961e00f5
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Integer64.msg
@@ -0,0 +1 @@
+int64 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Integer8.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Integer8.msg
new file mode 100644
index 000000000..eef7d19b9
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Integer8.msg
@@ -0,0 +1 @@
+int8 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/MyArrayOneDim.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/MyArrayOneDim.msg
new file mode 100644
index 000000000..3679c5865
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/MyArrayOneDim.msg
@@ -0,0 +1 @@
+Integer64[10] arr
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/MyArrayUnbounded.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/MyArrayUnbounded.msg
new file mode 100644
index 000000000..5d32f8e13
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/MyArrayUnbounded.msg
@@ -0,0 +1 @@
+Integer64[] arr
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/MyEnum.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/MyEnum.msg
new file mode 100644
index 000000000..1d7ab4a14
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/MyEnum.msg
@@ -0,0 +1,3 @@
+uint8 my_enum
+uint8 MY_ENUM_ON=0
+uint8 MY_ENUM_OFF=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/MyStruct2i.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/MyStruct2i.msg
new file mode 100644
index 000000000..f695fd8a4
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/MyStruct2i.msg
@@ -0,0 +1,2 @@
+Float64 field_float
+Character field_s_char
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/MyStructi.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/MyStructi.msg
new file mode 100644
index 000000000..e07f88749
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/MyStructi.msg
@@ -0,0 +1,6 @@
+Integer64 field_int64
+String field_str
+MyEnum field_enum
+MyStruct2i field_rec
+MyArrayOneDim field_array
+MyArrayUnbounded field_array_unbounded
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/String.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/String.msg
new file mode 100644
index 000000000..44e5aaf86
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/String.msg
@@ -0,0 +1 @@
+string data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Unsigned16.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Unsigned16.msg
new file mode 100644
index 000000000..eec391bfb
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Unsigned16.msg
@@ -0,0 +1 @@
+uint16 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Unsigned32.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Unsigned32.msg
new file mode 100644
index 000000000..b6c696b42
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Unsigned32.msg
@@ -0,0 +1 @@
+uint32 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Unsigned64.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Unsigned64.msg
new file mode 100644
index 000000000..2eb1afad3
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Unsigned64.msg
@@ -0,0 +1 @@
+uint64 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Unsigned8.msg b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Unsigned8.msg
new file mode 100644
index 000000000..498f60988
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/msg/Unsigned8.msg
@@ -0,0 +1 @@
+uint8 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/package.xml b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/package.xml
new file mode 100644
index 000000000..ec718a2d1
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/lax/src/datatypes_system_py_pkg_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?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>datatypes_system_py_pkg_interfaces</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <build_depend>rosidl_default_generators</build_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/__init__.py b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/__init__.py b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/consumer_consumer_base_src.py b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/consumer_consumer_base_src.py
new file mode 100644
index 000000000..e9b326914
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/consumer_consumer_base_src.py
@@ -0,0 +1,716 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from datatypes_system_py_pkg_interfaces.msg import Boolean
+from datatypes_system_py_pkg_interfaces.msg import Integer64
+from datatypes_system_py_pkg_interfaces.msg import Float64
+from datatypes_system_py_pkg_interfaces.msg import Character
+from datatypes_system_py_pkg_interfaces.msg import String
+from datatypes_system_py_pkg_interfaces.msg import Integer8
+from datatypes_system_py_pkg_interfaces.msg import Integer16
+from datatypes_system_py_pkg_interfaces.msg import Integer32
+from datatypes_system_py_pkg_interfaces.msg import Unsigned8
+from datatypes_system_py_pkg_interfaces.msg import Unsigned16
+from datatypes_system_py_pkg_interfaces.msg import Unsigned32
+from datatypes_system_py_pkg_interfaces.msg import Unsigned64
+from datatypes_system_py_pkg_interfaces.msg import Float32
+from datatypes_system_py_pkg_interfaces.msg import MyEnum
+from datatypes_system_py_pkg_interfaces.msg import MyStructi
+from datatypes_system_py_pkg_interfaces.msg import MyArrayOneDim
+from datatypes_system_py_pkg_interfaces.msg import MyArrayUnbounded
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class consumer_consumer_base(Node):
+    def __init__(self):
+        super().__init__("consumer_consumer")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.consumer_consumer_myBoolean_subscription_ = self.create_subscription(
+            Boolean,
+            "consumer_consumer_myBoolean",
+            self.accept_myBoolean,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myInteger_subscription_ = self.create_subscription(
+            Integer64,
+            "consumer_consumer_myInteger",
+            self.accept_myInteger,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myFloat_subscription_ = self.create_subscription(
+            Float64,
+            "consumer_consumer_myFloat",
+            self.accept_myFloat,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myCharacter_subscription_ = self.create_subscription(
+            Character,
+            "consumer_consumer_myCharacter",
+            self.accept_myCharacter,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myString_subscription_ = self.create_subscription(
+            String,
+            "consumer_consumer_myString",
+            self.accept_myString,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myInt8_subscription_ = self.create_subscription(
+            Integer8,
+            "consumer_consumer_myInt8",
+            self.accept_myInt8,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myInt16_subscription_ = self.create_subscription(
+            Integer16,
+            "consumer_consumer_myInt16",
+            self.accept_myInt16,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myInt32_subscription_ = self.create_subscription(
+            Integer32,
+            "consumer_consumer_myInt32",
+            self.accept_myInt32,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myInt64_subscription_ = self.create_subscription(
+            Integer64,
+            "consumer_consumer_myInt64",
+            self.accept_myInt64,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myUInt8_subscription_ = self.create_subscription(
+            Unsigned8,
+            "consumer_consumer_myUInt8",
+            self.accept_myUInt8,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myUInt16_subscription_ = self.create_subscription(
+            Unsigned16,
+            "consumer_consumer_myUInt16",
+            self.accept_myUInt16,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myUInt32_subscription_ = self.create_subscription(
+            Unsigned32,
+            "consumer_consumer_myUInt32",
+            self.accept_myUInt32,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myUInt64_subscription_ = self.create_subscription(
+            Unsigned64,
+            "consumer_consumer_myUInt64",
+            self.accept_myUInt64,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myFloat32_subscription_ = self.create_subscription(
+            Float32,
+            "consumer_consumer_myFloat32",
+            self.accept_myFloat32,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myFloat64_subscription_ = self.create_subscription(
+            Float64,
+            "consumer_consumer_myFloat64",
+            self.accept_myFloat64,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myEnum_subscription_ = self.create_subscription(
+            MyEnum,
+            "consumer_consumer_myEnum",
+            self.accept_myEnum,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myStruct_subscription_ = self.create_subscription(
+            MyStructi,
+            "consumer_consumer_myStruct",
+            self.accept_myStruct,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myArray1_subscription_ = self.create_subscription(
+            MyArrayOneDim,
+            "consumer_consumer_myArray1",
+            self.accept_myArray1,
+            1,
+            callback_group=self.cb_group_)
+
+        self.consumer_consumer_myArray2_subscription_ = self.create_subscription(
+            MyArrayUnbounded,
+            "consumer_consumer_myArray2",
+            self.accept_myArray2,
+            1,
+            callback_group=self.cb_group_)
+
+        self.infrastructureIn_myBoolean = deque()
+        self.applicationIn_myBoolean = deque()
+        self.infrastructureIn_myInteger = deque()
+        self.applicationIn_myInteger = deque()
+        self.infrastructureIn_myFloat = deque()
+        self.applicationIn_myFloat = deque()
+        self.infrastructureIn_myCharacter = deque()
+        self.applicationIn_myCharacter = deque()
+        self.infrastructureIn_myString = deque()
+        self.applicationIn_myString = deque()
+        self.infrastructureIn_myInt8 = deque()
+        self.applicationIn_myInt8 = deque()
+        self.infrastructureIn_myInt16 = deque()
+        self.applicationIn_myInt16 = deque()
+        self.infrastructureIn_myInt32 = deque()
+        self.applicationIn_myInt32 = deque()
+        self.infrastructureIn_myInt64 = deque()
+        self.applicationIn_myInt64 = deque()
+        self.infrastructureIn_myUInt8 = deque()
+        self.applicationIn_myUInt8 = deque()
+        self.infrastructureIn_myUInt16 = deque()
+        self.applicationIn_myUInt16 = deque()
+        self.infrastructureIn_myUInt32 = deque()
+        self.applicationIn_myUInt32 = deque()
+        self.infrastructureIn_myUInt64 = deque()
+        self.applicationIn_myUInt64 = deque()
+        self.infrastructureIn_myFloat32 = deque()
+        self.applicationIn_myFloat32 = deque()
+        self.infrastructureIn_myFloat64 = deque()
+        self.applicationIn_myFloat64 = deque()
+        self.infrastructureIn_myEnum = deque()
+        self.applicationIn_myEnum = deque()
+        self.infrastructureIn_myStruct = deque()
+        self.applicationIn_myStruct = deque()
+        self.infrastructureIn_myArray1 = deque()
+        self.applicationIn_myArray1 = deque()
+        self.infrastructureIn_myArray2 = deque()
+        self.applicationIn_myArray2 = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def myBoolean_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myBoolean, self.applicationIn_myBoolean)
+            if len(self.applicationIn_myBoolean) == 0: return
+            self.handle_myBoolean_base(self.applicationIn_myBoolean[0])
+            self.applicationIn_myBoolean.pop()
+            self.sendOutputs()
+
+    def accept_myBoolean(self, msg):
+        self.enqueue(self.infrastructureIn_myBoolean, msg)
+        thread = threading.Thread(target=self.myBoolean_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myInteger_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myInteger, self.applicationIn_myInteger)
+            if len(self.applicationIn_myInteger) == 0: return
+            self.handle_myInteger_base(self.applicationIn_myInteger[0])
+            self.applicationIn_myInteger.pop()
+            self.sendOutputs()
+
+    def accept_myInteger(self, msg):
+        self.enqueue(self.infrastructureIn_myInteger, msg)
+        thread = threading.Thread(target=self.myInteger_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myFloat_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myFloat, self.applicationIn_myFloat)
+            if len(self.applicationIn_myFloat) == 0: return
+            self.handle_myFloat_base(self.applicationIn_myFloat[0])
+            self.applicationIn_myFloat.pop()
+            self.sendOutputs()
+
+    def accept_myFloat(self, msg):
+        self.enqueue(self.infrastructureIn_myFloat, msg)
+        thread = threading.Thread(target=self.myFloat_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myCharacter_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myCharacter, self.applicationIn_myCharacter)
+            if len(self.applicationIn_myCharacter) == 0: return
+            self.handle_myCharacter_base(self.applicationIn_myCharacter[0])
+            self.applicationIn_myCharacter.pop()
+            self.sendOutputs()
+
+    def accept_myCharacter(self, msg):
+        self.enqueue(self.infrastructureIn_myCharacter, msg)
+        thread = threading.Thread(target=self.myCharacter_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myString_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myString, self.applicationIn_myString)
+            if len(self.applicationIn_myString) == 0: return
+            self.handle_myString_base(self.applicationIn_myString[0])
+            self.applicationIn_myString.pop()
+            self.sendOutputs()
+
+    def accept_myString(self, msg):
+        self.enqueue(self.infrastructureIn_myString, msg)
+        thread = threading.Thread(target=self.myString_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myInt8_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myInt8, self.applicationIn_myInt8)
+            if len(self.applicationIn_myInt8) == 0: return
+            self.handle_myInt8_base(self.applicationIn_myInt8[0])
+            self.applicationIn_myInt8.pop()
+            self.sendOutputs()
+
+    def accept_myInt8(self, msg):
+        self.enqueue(self.infrastructureIn_myInt8, msg)
+        thread = threading.Thread(target=self.myInt8_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myInt16_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myInt16, self.applicationIn_myInt16)
+            if len(self.applicationIn_myInt16) == 0: return
+            self.handle_myInt16_base(self.applicationIn_myInt16[0])
+            self.applicationIn_myInt16.pop()
+            self.sendOutputs()
+
+    def accept_myInt16(self, msg):
+        self.enqueue(self.infrastructureIn_myInt16, msg)
+        thread = threading.Thread(target=self.myInt16_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myInt32_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myInt32, self.applicationIn_myInt32)
+            if len(self.applicationIn_myInt32) == 0: return
+            self.handle_myInt32_base(self.applicationIn_myInt32[0])
+            self.applicationIn_myInt32.pop()
+            self.sendOutputs()
+
+    def accept_myInt32(self, msg):
+        self.enqueue(self.infrastructureIn_myInt32, msg)
+        thread = threading.Thread(target=self.myInt32_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myInt64_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myInt64, self.applicationIn_myInt64)
+            if len(self.applicationIn_myInt64) == 0: return
+            self.handle_myInt64_base(self.applicationIn_myInt64[0])
+            self.applicationIn_myInt64.pop()
+            self.sendOutputs()
+
+    def accept_myInt64(self, msg):
+        self.enqueue(self.infrastructureIn_myInt64, msg)
+        thread = threading.Thread(target=self.myInt64_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myUInt8_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myUInt8, self.applicationIn_myUInt8)
+            if len(self.applicationIn_myUInt8) == 0: return
+            self.handle_myUInt8_base(self.applicationIn_myUInt8[0])
+            self.applicationIn_myUInt8.pop()
+            self.sendOutputs()
+
+    def accept_myUInt8(self, msg):
+        self.enqueue(self.infrastructureIn_myUInt8, msg)
+        thread = threading.Thread(target=self.myUInt8_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myUInt16_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myUInt16, self.applicationIn_myUInt16)
+            if len(self.applicationIn_myUInt16) == 0: return
+            self.handle_myUInt16_base(self.applicationIn_myUInt16[0])
+            self.applicationIn_myUInt16.pop()
+            self.sendOutputs()
+
+    def accept_myUInt16(self, msg):
+        self.enqueue(self.infrastructureIn_myUInt16, msg)
+        thread = threading.Thread(target=self.myUInt16_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myUInt32_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myUInt32, self.applicationIn_myUInt32)
+            if len(self.applicationIn_myUInt32) == 0: return
+            self.handle_myUInt32_base(self.applicationIn_myUInt32[0])
+            self.applicationIn_myUInt32.pop()
+            self.sendOutputs()
+
+    def accept_myUInt32(self, msg):
+        self.enqueue(self.infrastructureIn_myUInt32, msg)
+        thread = threading.Thread(target=self.myUInt32_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myUInt64_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myUInt64, self.applicationIn_myUInt64)
+            if len(self.applicationIn_myUInt64) == 0: return
+            self.handle_myUInt64_base(self.applicationIn_myUInt64[0])
+            self.applicationIn_myUInt64.pop()
+            self.sendOutputs()
+
+    def accept_myUInt64(self, msg):
+        self.enqueue(self.infrastructureIn_myUInt64, msg)
+        thread = threading.Thread(target=self.myUInt64_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myFloat32_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myFloat32, self.applicationIn_myFloat32)
+            if len(self.applicationIn_myFloat32) == 0: return
+            self.handle_myFloat32_base(self.applicationIn_myFloat32[0])
+            self.applicationIn_myFloat32.pop()
+            self.sendOutputs()
+
+    def accept_myFloat32(self, msg):
+        self.enqueue(self.infrastructureIn_myFloat32, msg)
+        thread = threading.Thread(target=self.myFloat32_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myFloat64_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myFloat64, self.applicationIn_myFloat64)
+            if len(self.applicationIn_myFloat64) == 0: return
+            self.handle_myFloat64_base(self.applicationIn_myFloat64[0])
+            self.applicationIn_myFloat64.pop()
+            self.sendOutputs()
+
+    def accept_myFloat64(self, msg):
+        self.enqueue(self.infrastructureIn_myFloat64, msg)
+        thread = threading.Thread(target=self.myFloat64_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myEnum_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myEnum, self.applicationIn_myEnum)
+            if len(self.applicationIn_myEnum) == 0: return
+            self.handle_myEnum_base(self.applicationIn_myEnum[0])
+            self.applicationIn_myEnum.pop()
+            self.sendOutputs()
+
+    def accept_myEnum(self, msg):
+        self.enqueue(self.infrastructureIn_myEnum, msg)
+        thread = threading.Thread(target=self.myEnum_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myStruct_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myStruct, self.applicationIn_myStruct)
+            if len(self.applicationIn_myStruct) == 0: return
+            self.handle_myStruct_base(self.applicationIn_myStruct[0])
+            self.applicationIn_myStruct.pop()
+            self.sendOutputs()
+
+    def accept_myStruct(self, msg):
+        self.enqueue(self.infrastructureIn_myStruct, msg)
+        thread = threading.Thread(target=self.myStruct_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myArray1_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myArray1, self.applicationIn_myArray1)
+            if len(self.applicationIn_myArray1) == 0: return
+            self.handle_myArray1_base(self.applicationIn_myArray1[0])
+            self.applicationIn_myArray1.pop()
+            self.sendOutputs()
+
+    def accept_myArray1(self, msg):
+        self.enqueue(self.infrastructureIn_myArray1, msg)
+        thread = threading.Thread(target=self.myArray1_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    def myArray2_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myArray2, self.applicationIn_myArray2)
+            if len(self.applicationIn_myArray2) == 0: return
+            self.handle_myArray2_base(self.applicationIn_myArray2[0])
+            self.applicationIn_myArray2.pop()
+            self.sendOutputs()
+
+    def accept_myArray2(self, msg):
+        self.enqueue(self.infrastructureIn_myArray2, msg)
+        thread = threading.Thread(target=self.myArray2_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_myBoolean(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myBoolean_base(self, msg):
+        if type(msg) is Boolean:
+            self.handle_myBoolean(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myBoolean.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myInteger(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myInteger_base(self, msg):
+        if type(msg) is Integer64:
+            self.handle_myInteger(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myInteger.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myFloat(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myFloat_base(self, msg):
+        if type(msg) is Float64:
+            self.handle_myFloat(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myFloat.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myCharacter(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myCharacter_base(self, msg):
+        if type(msg) is Character:
+            self.handle_myCharacter(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myCharacter.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myString(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myString_base(self, msg):
+        if type(msg) is String:
+            self.handle_myString(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myString.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myInt8(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myInt8_base(self, msg):
+        if type(msg) is Integer8:
+            self.handle_myInt8(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myInt8.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myInt16(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myInt16_base(self, msg):
+        if type(msg) is Integer16:
+            self.handle_myInt16(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myInt16.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myInt32(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myInt32_base(self, msg):
+        if type(msg) is Integer32:
+            self.handle_myInt32(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myInt32.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myInt64(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myInt64_base(self, msg):
+        if type(msg) is Integer64:
+            self.handle_myInt64(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myInt64.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myUInt8(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myUInt8_base(self, msg):
+        if type(msg) is Unsigned8:
+            self.handle_myUInt8(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myUInt8.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myUInt16(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myUInt16_base(self, msg):
+        if type(msg) is Unsigned16:
+            self.handle_myUInt16(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myUInt16.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myUInt32(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myUInt32_base(self, msg):
+        if type(msg) is Unsigned32:
+            self.handle_myUInt32(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myUInt32.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myUInt64(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myUInt64_base(self, msg):
+        if type(msg) is Unsigned64:
+            self.handle_myUInt64(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myUInt64.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myFloat32(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myFloat32_base(self, msg):
+        if type(msg) is Float32:
+            self.handle_myFloat32(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myFloat32.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myFloat64(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myFloat64_base(self, msg):
+        if type(msg) is Float64:
+            self.handle_myFloat64(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myFloat64.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myEnum(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myEnum_base(self, msg):
+        if type(msg) is MyEnum:
+            self.handle_myEnum(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myEnum.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myStruct(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myStruct_base(self, msg):
+        if type(msg) is MyStructi:
+            self.handle_myStruct(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myStruct.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myArray1(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myArray1_base(self, msg):
+        if type(msg) is MyArrayOneDim:
+            self.handle_myArray1(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myArray1.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def handle_myArray2(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myArray2_base(self, msg):
+        if type(msg) is MyArrayUnbounded:
+            self.handle_myArray2(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myArray2.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+
+    def receiveInputs(self, infrastructureQueue, applicationQueue):
+        if not(len(infrastructureQueue) == 0):
+            eventMsg = infrastructureQueue[0]
+            infrastructureQueue.pop()
+            self.enqueue(applicationQueue, eventMsg)
+
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/consumer_consumer_runner.py b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/consumer_consumer_runner.py
new file mode 100644
index 000000000..51b0efb40
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/consumer_consumer_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from datatypes_system_py_pkg.user_code.consumer_consumer_src import consumer_consumer
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = consumer_consumer()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/enum_converter.py b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/enum_converter.py
new file mode 100644
index 000000000..0064b50fa
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/enum_converter.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+from datatypes_system_py_pkg_interfaces.msg import MyEnum
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+def enumToString(value):
+    typedValue = MyEnum()
+    typedValue.data = value
+    match (typedValue.my_enum):
+        case MyEnum.MY_ENUM_ON:
+            return "MyEnum On"
+        case MyEnum.MY_ENUM_OFF:
+            return "MyEnum Off"
+        case default:
+            return "Unknown value for MyEnum"
+
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/producer_producer_base_src.py b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/producer_producer_base_src.py
new file mode 100644
index 000000000..29cf6c56d
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/producer_producer_base_src.py
@@ -0,0 +1,422 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from datatypes_system_py_pkg_interfaces.msg import Boolean
+from datatypes_system_py_pkg_interfaces.msg import Integer64
+from datatypes_system_py_pkg_interfaces.msg import Float64
+from datatypes_system_py_pkg_interfaces.msg import Character
+from datatypes_system_py_pkg_interfaces.msg import String
+from datatypes_system_py_pkg_interfaces.msg import Integer8
+from datatypes_system_py_pkg_interfaces.msg import Integer16
+from datatypes_system_py_pkg_interfaces.msg import Integer32
+from datatypes_system_py_pkg_interfaces.msg import Unsigned8
+from datatypes_system_py_pkg_interfaces.msg import Unsigned16
+from datatypes_system_py_pkg_interfaces.msg import Unsigned32
+from datatypes_system_py_pkg_interfaces.msg import Unsigned64
+from datatypes_system_py_pkg_interfaces.msg import Float32
+from datatypes_system_py_pkg_interfaces.msg import MyEnum
+from datatypes_system_py_pkg_interfaces.msg import MyStructi
+from datatypes_system_py_pkg_interfaces.msg import MyArrayOneDim
+from datatypes_system_py_pkg_interfaces.msg import MyArrayUnbounded
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class producer_producer_base(Node):
+    def __init__(self):
+        super().__init__("producer_producer")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.producer_producer_myBoolean_publisher_ = self.create_publisher(
+            Boolean,
+            "consumer_consumer_myBoolean",
+            1)
+
+        self.producer_producer_myInteger_publisher_ = self.create_publisher(
+            Integer64,
+            "consumer_consumer_myInteger",
+            1)
+
+        self.producer_producer_myFloat_publisher_ = self.create_publisher(
+            Float64,
+            "consumer_consumer_myFloat",
+            1)
+
+        self.producer_producer_myCharacter_publisher_ = self.create_publisher(
+            Character,
+            "consumer_consumer_myCharacter",
+            1)
+
+        self.producer_producer_myString_publisher_ = self.create_publisher(
+            String,
+            "consumer_consumer_myString",
+            1)
+
+        self.producer_producer_myInt8_publisher_ = self.create_publisher(
+            Integer8,
+            "consumer_consumer_myInt8",
+            1)
+
+        self.producer_producer_myInt16_publisher_ = self.create_publisher(
+            Integer16,
+            "consumer_consumer_myInt16",
+            1)
+
+        self.producer_producer_myInt32_publisher_ = self.create_publisher(
+            Integer32,
+            "consumer_consumer_myInt32",
+            1)
+
+        self.producer_producer_myInt64_publisher_ = self.create_publisher(
+            Integer64,
+            "consumer_consumer_myInt64",
+            1)
+
+        self.producer_producer_myUInt8_publisher_ = self.create_publisher(
+            Unsigned8,
+            "consumer_consumer_myUInt8",
+            1)
+
+        self.producer_producer_myUInt16_publisher_ = self.create_publisher(
+            Unsigned16,
+            "consumer_consumer_myUInt16",
+            1)
+
+        self.producer_producer_myUInt32_publisher_ = self.create_publisher(
+            Unsigned32,
+            "consumer_consumer_myUInt32",
+            1)
+
+        self.producer_producer_myUInt64_publisher_ = self.create_publisher(
+            Unsigned64,
+            "consumer_consumer_myUInt64",
+            1)
+
+        self.producer_producer_myFloat32_publisher_ = self.create_publisher(
+            Float32,
+            "consumer_consumer_myFloat32",
+            1)
+
+        self.producer_producer_myFloat64_publisher_ = self.create_publisher(
+            Float64,
+            "consumer_consumer_myFloat64",
+            1)
+
+        self.producer_producer_myEnum_publisher_ = self.create_publisher(
+            MyEnum,
+            "consumer_consumer_myEnum",
+            1)
+
+        self.producer_producer_myStruct_publisher_ = self.create_publisher(
+            MyStructi,
+            "consumer_consumer_myStruct",
+            1)
+
+        self.producer_producer_myArray1_publisher_ = self.create_publisher(
+            MyArrayOneDim,
+            "consumer_consumer_myArray1",
+            1)
+
+        self.producer_producer_myArray2_publisher_ = self.create_publisher(
+            MyArrayUnbounded,
+            "consumer_consumer_myArray2",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureOut_myBoolean = deque()
+        self.applicationOut_myBoolean = deque()
+        self.infrastructureOut_myInteger = deque()
+        self.applicationOut_myInteger = deque()
+        self.infrastructureOut_myFloat = deque()
+        self.applicationOut_myFloat = deque()
+        self.infrastructureOut_myCharacter = deque()
+        self.applicationOut_myCharacter = deque()
+        self.infrastructureOut_myString = deque()
+        self.applicationOut_myString = deque()
+        self.infrastructureOut_myInt8 = deque()
+        self.applicationOut_myInt8 = deque()
+        self.infrastructureOut_myInt16 = deque()
+        self.applicationOut_myInt16 = deque()
+        self.infrastructureOut_myInt32 = deque()
+        self.applicationOut_myInt32 = deque()
+        self.infrastructureOut_myInt64 = deque()
+        self.applicationOut_myInt64 = deque()
+        self.infrastructureOut_myUInt8 = deque()
+        self.applicationOut_myUInt8 = deque()
+        self.infrastructureOut_myUInt16 = deque()
+        self.applicationOut_myUInt16 = deque()
+        self.infrastructureOut_myUInt32 = deque()
+        self.applicationOut_myUInt32 = deque()
+        self.infrastructureOut_myUInt64 = deque()
+        self.applicationOut_myUInt64 = deque()
+        self.infrastructureOut_myFloat32 = deque()
+        self.applicationOut_myFloat32 = deque()
+        self.infrastructureOut_myFloat64 = deque()
+        self.applicationOut_myFloat64 = deque()
+        self.infrastructureOut_myEnum = deque()
+        self.applicationOut_myEnum = deque()
+        self.infrastructureOut_myStruct = deque()
+        self.applicationOut_myStruct = deque()
+        self.infrastructureOut_myArray1 = deque()
+        self.applicationOut_myArray1 = deque()
+        self.infrastructureOut_myArray2 = deque()
+        self.applicationOut_myArray2 = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_myBoolean, self.infrastructureOut_myBoolean, self.sendOut_myBoolean],
+            [self.applicationOut_myInteger, self.infrastructureOut_myInteger, self.sendOut_myInteger],
+            [self.applicationOut_myFloat, self.infrastructureOut_myFloat, self.sendOut_myFloat],
+            [self.applicationOut_myCharacter, self.infrastructureOut_myCharacter, self.sendOut_myCharacter],
+            [self.applicationOut_myString, self.infrastructureOut_myString, self.sendOut_myString],
+            [self.applicationOut_myInt8, self.infrastructureOut_myInt8, self.sendOut_myInt8],
+            [self.applicationOut_myInt16, self.infrastructureOut_myInt16, self.sendOut_myInt16],
+            [self.applicationOut_myInt32, self.infrastructureOut_myInt32, self.sendOut_myInt32],
+            [self.applicationOut_myInt64, self.infrastructureOut_myInt64, self.sendOut_myInt64],
+            [self.applicationOut_myUInt8, self.infrastructureOut_myUInt8, self.sendOut_myUInt8],
+            [self.applicationOut_myUInt16, self.infrastructureOut_myUInt16, self.sendOut_myUInt16],
+            [self.applicationOut_myUInt32, self.infrastructureOut_myUInt32, self.sendOut_myUInt32],
+            [self.applicationOut_myUInt64, self.infrastructureOut_myUInt64, self.sendOut_myUInt64],
+            [self.applicationOut_myFloat32, self.infrastructureOut_myFloat32, self.sendOut_myFloat32],
+            [self.applicationOut_myFloat64, self.infrastructureOut_myFloat64, self.sendOut_myFloat64],
+            [self.applicationOut_myEnum, self.infrastructureOut_myEnum, self.sendOut_myEnum],
+            [self.applicationOut_myStruct, self.infrastructureOut_myStruct, self.sendOut_myStruct],
+            [self.applicationOut_myArray1, self.infrastructureOut_myArray1, self.sendOut_myArray1],
+            [self.applicationOut_myArray2, self.infrastructureOut_myArray2, self.sendOut_myArray2]
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def sendOut_myBoolean(self, msg):
+        if type(msg) is Boolean:
+            self.producer_producer_myBoolean_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myBoolean.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myInteger(self, msg):
+        if type(msg) is Integer64:
+            self.producer_producer_myInteger_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myInteger.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myFloat(self, msg):
+        if type(msg) is Float64:
+            self.producer_producer_myFloat_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myFloat.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myCharacter(self, msg):
+        if type(msg) is Character:
+            self.producer_producer_myCharacter_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myCharacter.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myString(self, msg):
+        if type(msg) is String:
+            self.producer_producer_myString_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myString.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myInt8(self, msg):
+        if type(msg) is Integer8:
+            self.producer_producer_myInt8_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myInt8.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myInt16(self, msg):
+        if type(msg) is Integer16:
+            self.producer_producer_myInt16_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myInt16.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myInt32(self, msg):
+        if type(msg) is Integer32:
+            self.producer_producer_myInt32_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myInt32.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myInt64(self, msg):
+        if type(msg) is Integer64:
+            self.producer_producer_myInt64_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myInt64.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myUInt8(self, msg):
+        if type(msg) is Unsigned8:
+            self.producer_producer_myUInt8_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myUInt8.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myUInt16(self, msg):
+        if type(msg) is Unsigned16:
+            self.producer_producer_myUInt16_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myUInt16.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myUInt32(self, msg):
+        if type(msg) is Unsigned32:
+            self.producer_producer_myUInt32_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myUInt32.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myUInt64(self, msg):
+        if type(msg) is Unsigned64:
+            self.producer_producer_myUInt64_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myUInt64.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myFloat32(self, msg):
+        if type(msg) is Float32:
+            self.producer_producer_myFloat32_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myFloat32.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myFloat64(self, msg):
+        if type(msg) is Float64:
+            self.producer_producer_myFloat64_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myFloat64.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myEnum(self, msg):
+        if type(msg) is MyEnum:
+            self.producer_producer_myEnum_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myEnum.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myStruct(self, msg):
+        if type(msg) is MyStructi:
+            self.producer_producer_myStruct_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myStruct.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myArray1(self, msg):
+        if type(msg) is MyArrayOneDim:
+            self.producer_producer_myArray1_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myArray1.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_myArray2(self, msg):
+        if type(msg) is MyArrayUnbounded:
+            self.producer_producer_myArray2_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myArray2.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_myBoolean(self, msg):
+        self.enqueue(self.applicationOut_myBoolean, msg)
+
+    def put_myInteger(self, msg):
+        self.enqueue(self.applicationOut_myInteger, msg)
+
+    def put_myFloat(self, msg):
+        self.enqueue(self.applicationOut_myFloat, msg)
+
+    def put_myCharacter(self, msg):
+        self.enqueue(self.applicationOut_myCharacter, msg)
+
+    def put_myString(self, msg):
+        self.enqueue(self.applicationOut_myString, msg)
+
+    def put_myInt8(self, msg):
+        self.enqueue(self.applicationOut_myInt8, msg)
+
+    def put_myInt16(self, msg):
+        self.enqueue(self.applicationOut_myInt16, msg)
+
+    def put_myInt32(self, msg):
+        self.enqueue(self.applicationOut_myInt32, msg)
+
+    def put_myInt64(self, msg):
+        self.enqueue(self.applicationOut_myInt64, msg)
+
+    def put_myUInt8(self, msg):
+        self.enqueue(self.applicationOut_myUInt8, msg)
+
+    def put_myUInt16(self, msg):
+        self.enqueue(self.applicationOut_myUInt16, msg)
+
+    def put_myUInt32(self, msg):
+        self.enqueue(self.applicationOut_myUInt32, msg)
+
+    def put_myUInt64(self, msg):
+        self.enqueue(self.applicationOut_myUInt64, msg)
+
+    def put_myFloat32(self, msg):
+        self.enqueue(self.applicationOut_myFloat32, msg)
+
+    def put_myFloat64(self, msg):
+        self.enqueue(self.applicationOut_myFloat64, msg)
+
+    def put_myEnum(self, msg):
+        self.enqueue(self.applicationOut_myEnum, msg)
+
+    def put_myStruct(self, msg):
+        self.enqueue(self.applicationOut_myStruct, msg)
+
+    def put_myArray1(self, msg):
+        self.enqueue(self.applicationOut_myArray1, msg)
+
+    def put_myArray2(self, msg):
+        self.enqueue(self.applicationOut_myArray2, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/producer_producer_runner.py b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/producer_producer_runner.py
new file mode 100644
index 000000000..e7da22227
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/base_code/producer_producer_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from datatypes_system_py_pkg.user_code.producer_producer_src import producer_producer
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = producer_producer()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/__init__.py b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/consumer_consumer_src.py b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/consumer_consumer_src.py
new file mode 100644
index 000000000..b8c55446e
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/consumer_consumer_src.py
@@ -0,0 +1,136 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from datatypes_system_py_pkg.base_code.consumer_consumer_base_src import consumer_consumer_base
+from datatypes_system_py_pkg_interfaces.msg import Boolean
+from datatypes_system_py_pkg_interfaces.msg import Integer64
+from datatypes_system_py_pkg_interfaces.msg import Float64
+from datatypes_system_py_pkg_interfaces.msg import Character
+from datatypes_system_py_pkg_interfaces.msg import String
+from datatypes_system_py_pkg_interfaces.msg import Integer8
+from datatypes_system_py_pkg_interfaces.msg import Integer16
+from datatypes_system_py_pkg_interfaces.msg import Integer32
+from datatypes_system_py_pkg_interfaces.msg import Unsigned8
+from datatypes_system_py_pkg_interfaces.msg import Unsigned16
+from datatypes_system_py_pkg_interfaces.msg import Unsigned32
+from datatypes_system_py_pkg_interfaces.msg import Unsigned64
+from datatypes_system_py_pkg_interfaces.msg import Float32
+from datatypes_system_py_pkg_interfaces.msg import MyEnum
+from datatypes_system_py_pkg_interfaces.msg import MyStructi
+from datatypes_system_py_pkg_interfaces.msg import MyArrayOneDim
+from datatypes_system_py_pkg_interfaces.msg import MyArrayUnbounded
+from datatypes_system_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class consumer_consumer(consumer_consumer_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("consumer_consumer infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_myBoolean(self, msg):
+        # Handle myBoolean msg
+        self.get_logger().info(f"Received myBoolean: {self.message_to_string(msg)}")
+
+    def handle_myInteger(self, msg):
+        # Handle myInteger msg
+        self.get_logger().info(f"Received myInteger: {self.message_to_string(msg)}")
+
+    def handle_myFloat(self, msg):
+        # Handle myFloat msg
+        self.get_logger().info(f"Received myFloat: {self.message_to_string(msg)}")
+
+    def handle_myCharacter(self, msg):
+        # Handle myCharacter msg
+        self.get_logger().info(f"Received myCharacter: {self.message_to_string(msg)}")
+
+    def handle_myString(self, msg):
+        # Handle myString msg
+        self.get_logger().info(f"Received myString: {self.message_to_string(msg)}")
+
+    def handle_myInt8(self, msg):
+        # Handle myInt8 msg
+        self.get_logger().info(f"Received myInt8: {self.message_to_string(msg)}")
+
+    def handle_myInt16(self, msg):
+        # Handle myInt16 msg
+        self.get_logger().info(f"Received myInt16: {self.message_to_string(msg)}")
+
+    def handle_myInt32(self, msg):
+        # Handle myInt32 msg
+        self.get_logger().info(f"Received myInt32: {self.message_to_string(msg)}")
+
+    def handle_myInt64(self, msg):
+        # Handle myInt64 msg
+        self.get_logger().info(f"Received myInt64: {self.message_to_string(msg)}")
+
+    def handle_myUInt8(self, msg):
+        # Handle myUInt8 msg
+        self.get_logger().info(f"Received myUInt8: {self.message_to_string(msg)}")
+
+    def handle_myUInt16(self, msg):
+        # Handle myUInt16 msg
+        self.get_logger().info(f"Received myUInt16: {self.message_to_string(msg)}")
+
+    def handle_myUInt32(self, msg):
+        # Handle myUInt32 msg
+        self.get_logger().info(f"Received myUInt32: {self.message_to_string(msg)}")
+
+    def handle_myUInt64(self, msg):
+        # Handle myUInt64 msg
+        self.get_logger().info(f"Received myUInt64: {self.message_to_string(msg)}")
+
+    def handle_myFloat32(self, msg):
+        # Handle myFloat32 msg
+        self.get_logger().info(f"Received myFloat32: {self.message_to_string(msg)}")
+
+    def handle_myFloat64(self, msg):
+        # Handle myFloat64 msg
+        self.get_logger().info(f"Received myFloat64: {self.message_to_string(msg)}")
+
+    def handle_myEnum(self, msg):
+        # Handle myEnum msg
+        self.get_logger().info(f"Received myEnum: {self.message_to_string(msg)}")
+
+    def handle_myStruct(self, msg):
+        # Handle myStruct msg
+        self.get_logger().info(f"Received myStruct: {self.message_to_string(msg)}")
+
+    def handle_myArray1(self, msg):
+        # Handle myArray1 msg
+        self.get_logger().info(f"Received myArray1: {self.message_to_string(msg)}")
+
+    def handle_myArray2(self, msg):
+        # Handle myArray2 msg
+        self.get_logger().info(f"Received myArray2: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/producer_producer_src.py b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/producer_producer_src.py
new file mode 100644
index 000000000..e287d285f
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/datatypes_system_py_pkg/user_code/producer_producer_src.py
@@ -0,0 +1,121 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from datatypes_system_py_pkg.base_code.producer_producer_base_src import producer_producer_base
+from datatypes_system_py_pkg_interfaces.msg import Boolean
+from datatypes_system_py_pkg_interfaces.msg import Integer64
+from datatypes_system_py_pkg_interfaces.msg import Float64
+from datatypes_system_py_pkg_interfaces.msg import Character
+from datatypes_system_py_pkg_interfaces.msg import String
+from datatypes_system_py_pkg_interfaces.msg import Integer8
+from datatypes_system_py_pkg_interfaces.msg import Integer16
+from datatypes_system_py_pkg_interfaces.msg import Integer32
+from datatypes_system_py_pkg_interfaces.msg import Unsigned8
+from datatypes_system_py_pkg_interfaces.msg import Unsigned16
+from datatypes_system_py_pkg_interfaces.msg import Unsigned32
+from datatypes_system_py_pkg_interfaces.msg import Unsigned64
+from datatypes_system_py_pkg_interfaces.msg import Float32
+from datatypes_system_py_pkg_interfaces.msg import MyEnum
+from datatypes_system_py_pkg_interfaces.msg import MyStructi
+from datatypes_system_py_pkg_interfaces.msg import MyArrayOneDim
+from datatypes_system_py_pkg_interfaces.msg import MyArrayUnbounded
+from datatypes_system_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class producer_producer(producer_producer_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("producer_producer infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        myBoolean = Boolean()
+        self.put_myBoolean(myBoolean)
+
+        myInteger = Integer64()
+        self.put_myInteger(myInteger)
+
+        myFloat = Float64()
+        self.put_myFloat(myFloat)
+
+        myCharacter = Character()
+        self.put_myCharacter(myCharacter)
+
+        myString = String()
+        self.put_myString(myString)
+
+        myInt8 = Integer8()
+        self.put_myInt8(myInt8)
+
+        myInt16 = Integer16()
+        self.put_myInt16(myInt16)
+
+        myInt32 = Integer32()
+        self.put_myInt32(myInt32)
+
+        myInt64 = Integer64()
+        self.put_myInt64(myInt64)
+
+        myUInt8 = Unsigned8()
+        self.put_myUInt8(myUInt8)
+
+        myUInt16 = Unsigned16()
+        self.put_myUInt16(myUInt16)
+
+        myUInt32 = Unsigned32()
+        self.put_myUInt32(myUInt32)
+
+        myUInt64 = Unsigned64()
+        self.put_myUInt64(myUInt64)
+
+        myFloat32 = Float32()
+        self.put_myFloat32(myFloat32)
+
+        myFloat64 = Float64()
+        self.put_myFloat64(myFloat64)
+
+        myEnum = MyEnum()
+        self.put_myEnum(myEnum)
+
+        myStruct = MyStructi()
+        self.put_myStruct(myStruct)
+
+        myArray1 = MyArrayOneDim()
+        self.put_myArray1(myArray1)
+
+        myArray2 = MyArrayUnbounded()
+        self.put_myArray2(myArray2)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/package.xml b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/package.xml
new file mode 100644
index 000000000..84db30a4b
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/package.xml
@@ -0,0 +1,26 @@
+<?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>datatypes_system_py_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="todo.todo@todo.com">ed</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>rosidl_runtime_py</depend>
+  <depend>datatypes_system_py_pkg_interfaces</depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/resource/datatypes_system_py_pkg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/resource/datatypes_system_py_pkg
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/resource/datatypes_system_py_pkg
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/setup.cfg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/setup.cfg
new file mode 100644
index 000000000..582e1f3fb
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/setup.cfg
@@ -0,0 +1,5 @@
+# setup.cfg   in  src/datatypes_system_py_pkg
+[develop]
+script_dir=$base/lib/datatypes_system_py_pkg
+[install]
+install_scripts=$base/lib/datatypes_system_py_pkg
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/setup.py b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/setup.py
new file mode 100644
index 000000000..c4ae5a449
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/setup.py
@@ -0,0 +1,29 @@
+# setup.py   in  src/datatypes_system_py_pkg
+
+from setuptools import find_packages, setup
+
+package_name = 'datatypes_system_py_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sireum',
+    maintainer_email='sireum@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "producer_producer_exe = datatypes_system_py_pkg.base_code.producer_producer_runner:main",
+            "consumer_consumer_exe = datatypes_system_py_pkg.base_code.consumer_consumer_runner:main"
+        ],
+    },
+)
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/test/test_copyright.py b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/test/test_copyright.py
new file mode 100644
index 000000000..97a39196e
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/test/test_flake8.py b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/test/test_flake8.py
new file mode 100644
index 000000000..7dc87a490
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \\
+        'Found %d code style errors / warnings:\n' % len(errors) + \\
+        '\n'.join(errors)
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/test/test_prep257.py b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/test/test_prep257.py
new file mode 100644
index 000000000..b234a3840
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg/test/test_prep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_bringup/CMakeLists.txt b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_bringup/CMakeLists.txt
new file mode 100644
index 000000000..60565bf01
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_bringup/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(datatypes_system_py_pkg_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+    launch
+    DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py
new file mode 100644
index 000000000..c9db37cda
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py
@@ -0,0 +1,25 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    producer_producer_node = Node(
+        package = "datatypes_system_py_pkg",
+        executable = "producer_producer_exe"
+    )
+
+    consumer_consumer_node = Node(
+        package = "datatypes_system_py_pkg",
+        executable = "consumer_consumer_exe"
+    )
+
+    ld.add_action(producer_producer_node)
+    ld.add_action(consumer_consumer_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_bringup/package.xml b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_bringup/package.xml
new file mode 100644
index 000000000..941a1ef43
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_bringup/package.xml
@@ -0,0 +1,24 @@
+<?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>datatypes_system_py_pkg_bringup</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <exec_depend>datatypes_system_py_pkg</exec_depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/CMakeLists.txt b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/CMakeLists.txt
new file mode 100644
index 000000000..abed80967
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/CMakeLists.txt
@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.8)
+project(datatypes_system_py_pkg_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Boolean.msg
+  msg/Integer64.msg
+  msg/Float64.msg
+  msg/Character.msg
+  msg/String.msg
+  msg/Integer8.msg
+  msg/Integer16.msg
+  msg/Integer32.msg
+  msg/Unsigned8.msg
+  msg/Unsigned16.msg
+  msg/Unsigned32.msg
+  msg/Unsigned64.msg
+  msg/Float32.msg
+  msg/MyEnum.msg
+  msg/MyStruct2i.msg
+  msg/MyArrayOneDim.msg
+  msg/MyArrayUnbounded.msg
+  msg/MyStructi.msg
+  msg/Empty.msg
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Boolean.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Boolean.msg
new file mode 100644
index 000000000..f7cabb94f
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Boolean.msg
@@ -0,0 +1 @@
+bool data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Character.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Character.msg
new file mode 100644
index 000000000..39a1d46a9
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Character.msg
@@ -0,0 +1 @@
+char data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Empty.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Empty.msg
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Float32.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Float32.msg
new file mode 100644
index 000000000..e89740534
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Float32.msg
@@ -0,0 +1 @@
+float32 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Float64.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Float64.msg
new file mode 100644
index 000000000..cd09d39b8
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Float64.msg
@@ -0,0 +1 @@
+float64 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Integer16.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Integer16.msg
new file mode 100644
index 000000000..28b7bef9e
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Integer16.msg
@@ -0,0 +1 @@
+int16 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Integer32.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Integer32.msg
new file mode 100644
index 000000000..0ecfe35f5
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Integer32.msg
@@ -0,0 +1 @@
+int32 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Integer64.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Integer64.msg
new file mode 100644
index 000000000..6961e00f5
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Integer64.msg
@@ -0,0 +1 @@
+int64 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Integer8.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Integer8.msg
new file mode 100644
index 000000000..eef7d19b9
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Integer8.msg
@@ -0,0 +1 @@
+int8 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/MyArrayOneDim.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/MyArrayOneDim.msg
new file mode 100644
index 000000000..3679c5865
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/MyArrayOneDim.msg
@@ -0,0 +1 @@
+Integer64[10] arr
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/MyArrayUnbounded.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/MyArrayUnbounded.msg
new file mode 100644
index 000000000..5d32f8e13
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/MyArrayUnbounded.msg
@@ -0,0 +1 @@
+Integer64[] arr
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/MyEnum.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/MyEnum.msg
new file mode 100644
index 000000000..1d7ab4a14
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/MyEnum.msg
@@ -0,0 +1,3 @@
+uint8 my_enum
+uint8 MY_ENUM_ON=0
+uint8 MY_ENUM_OFF=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/MyStruct2i.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/MyStruct2i.msg
new file mode 100644
index 000000000..f695fd8a4
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/MyStruct2i.msg
@@ -0,0 +1,2 @@
+Float64 field_float
+Character field_s_char
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/MyStructi.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/MyStructi.msg
new file mode 100644
index 000000000..e07f88749
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/MyStructi.msg
@@ -0,0 +1,6 @@
+Integer64 field_int64
+String field_str
+MyEnum field_enum
+MyStruct2i field_rec
+MyArrayOneDim field_array
+MyArrayUnbounded field_array_unbounded
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/String.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/String.msg
new file mode 100644
index 000000000..44e5aaf86
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/String.msg
@@ -0,0 +1 @@
+string data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Unsigned16.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Unsigned16.msg
new file mode 100644
index 000000000..eec391bfb
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Unsigned16.msg
@@ -0,0 +1 @@
+uint16 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Unsigned32.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Unsigned32.msg
new file mode 100644
index 000000000..b6c696b42
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Unsigned32.msg
@@ -0,0 +1 @@
+uint32 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Unsigned64.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Unsigned64.msg
new file mode 100644
index 000000000..2eb1afad3
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Unsigned64.msg
@@ -0,0 +1 @@
+uint64 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Unsigned8.msg b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Unsigned8.msg
new file mode 100644
index 000000000..498f60988
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/msg/Unsigned8.msg
@@ -0,0 +1 @@
+uint8 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/package.xml b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/package.xml
new file mode 100644
index 000000000..ec718a2d1
--- /dev/null
+++ b/resources/expected/ros2/python-datatype-examples/strict/src/datatypes_system_py_pkg_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?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>datatypes_system_py_pkg_interfaces</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <build_depend>rosidl_default_generators</build_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/__init__.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/__init__.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_base_src.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_base_src.py
new file mode 100644
index 000000000..cc82d7e4a
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_base_src.py
@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from fan_in_fan_out_system_py_pkg.user_code.fanIn_consumer_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanIn_consumer_base(Node):
+    def __init__(self):
+        super().__init__("fanIn_consumer")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.fanIn_consumer_myInteger_subscription_ = self.create_subscription(
+            Integer64,
+            "fanIn_consumer_myInteger",
+            self.handle_myInteger,
+            1,
+            callback_group=self.cb_group_)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_myInteger(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_runner.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_runner.py
new file mode 100644
index 000000000..9ede1544f
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanIn_consumer_src import fanIn_consumer
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanIn_consumer()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_base_src.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_base_src.py
new file mode 100644
index 000000000..8a6b6ee64
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_base_src.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanIn_producer1_base(Node):
+    def __init__(self):
+        super().__init__("fanIn_producer1")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.fanIn_producer1_myInteger_publisher_ = self.create_publisher(
+            Integer64,
+            "fanIn_consumer_myInteger",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def put_myInteger(self, msg):
+        self.fanIn_producer1_myInteger_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_runner.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_runner.py
new file mode 100644
index 000000000..37092de01
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanIn_producer1_src import fanIn_producer1
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanIn_producer1()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_base_src.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_base_src.py
new file mode 100644
index 000000000..85ae1da69
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_base_src.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanIn_producer2_base(Node):
+    def __init__(self):
+        super().__init__("fanIn_producer2")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.fanIn_producer2_myInteger_publisher_ = self.create_publisher(
+            Integer64,
+            "fanIn_consumer_myInteger",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def put_myInteger(self, msg):
+        self.fanIn_producer2_myInteger_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_runner.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_runner.py
new file mode 100644
index 000000000..273f79c9a
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanIn_producer2_src import fanIn_producer2
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanIn_producer2()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_base_src.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_base_src.py
new file mode 100644
index 000000000..1c61e783f
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_base_src.py
@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from fan_in_fan_out_system_py_pkg.user_code.fanOut_consumer1_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanOut_consumer1_base(Node):
+    def __init__(self):
+        super().__init__("fanOut_consumer1")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.fanOut_consumer1_myInteger_subscription_ = self.create_subscription(
+            Integer64,
+            "fanOut_consumer1_myInteger",
+            self.handle_myInteger,
+            1,
+            callback_group=self.cb_group_)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_myInteger(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_runner.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_runner.py
new file mode 100644
index 000000000..b45f071dc
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanOut_consumer1_src import fanOut_consumer1
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanOut_consumer1()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_base_src.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_base_src.py
new file mode 100644
index 000000000..66a622627
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_base_src.py
@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from fan_in_fan_out_system_py_pkg.user_code.fanOut_consumer2_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanOut_consumer2_base(Node):
+    def __init__(self):
+        super().__init__("fanOut_consumer2")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.fanOut_consumer2_myInteger_subscription_ = self.create_subscription(
+            Integer64,
+            "fanOut_consumer2_myInteger",
+            self.handle_myInteger,
+            1,
+            callback_group=self.cb_group_)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_myInteger(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_runner.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_runner.py
new file mode 100644
index 000000000..771b13baf
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanOut_consumer2_src import fanOut_consumer2
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanOut_consumer2()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_base_src.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_base_src.py
new file mode 100644
index 000000000..be973c54e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_base_src.py
@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanOut_producer_base(Node):
+    def __init__(self):
+        super().__init__("fanOut_producer")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.fanOut_producer_myInteger_publisher_1 = self.create_publisher(
+            Integer64,
+            "fanOut_consumer1_myInteger",
+            1)
+
+        self.fanOut_producer_myInteger_publisher_2 = self.create_publisher(
+            Integer64,
+            "fanOut_consumer2_myInteger",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def put_myInteger(self, msg):
+        self.fanOut_producer_myInteger_publisher_1.publish(msg)
+        self.fanOut_producer_myInteger_publisher_2.publish(msg)
+
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_runner.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_runner.py
new file mode 100644
index 000000000..36e6c97d2
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanOut_producer_src import fanOut_producer
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanOut_producer()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/__init__.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_consumer_src.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_consumer_src.py
new file mode 100644
index 000000000..f9b3efe05
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_consumer_src.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanIn_consumer_base_src import fanIn_consumer_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanIn_consumer(fanIn_consumer_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanIn_consumer infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_myInteger(self, msg):
+        # Handle myInteger msg
+        self.get_logger().info(f"Received myInteger: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer1_src.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer1_src.py
new file mode 100644
index 000000000..cab202331
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer1_src.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanIn_producer1_base_src import fanIn_producer1_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanIn_producer1(fanIn_producer1_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanIn_producer1 infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        myInteger = Integer64()
+        self.put_myInteger(myInteger)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer2_src.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer2_src.py
new file mode 100644
index 000000000..7f16fe979
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer2_src.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanIn_producer2_base_src import fanIn_producer2_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanIn_producer2(fanIn_producer2_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanIn_producer2 infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        myInteger = Integer64()
+        self.put_myInteger(myInteger)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer1_src.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer1_src.py
new file mode 100644
index 000000000..7b4f98097
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer1_src.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanOut_consumer1_base_src import fanOut_consumer1_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanOut_consumer1(fanOut_consumer1_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanOut_consumer1 infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_myInteger(self, msg):
+        # Handle myInteger msg
+        self.get_logger().info(f"Received myInteger: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer2_src.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer2_src.py
new file mode 100644
index 000000000..7400c9d85
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer2_src.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanOut_consumer2_base_src import fanOut_consumer2_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanOut_consumer2(fanOut_consumer2_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanOut_consumer2 infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_myInteger(self, msg):
+        # Handle myInteger msg
+        self.get_logger().info(f"Received myInteger: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_producer_src.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_producer_src.py
new file mode 100644
index 000000000..e0b8706ad
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_producer_src.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanOut_producer_base_src import fanOut_producer_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanOut_producer(fanOut_producer_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanOut_producer infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        myInteger = Integer64()
+        self.put_myInteger(myInteger)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/package.xml b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/package.xml
new file mode 100644
index 000000000..0bd3d8e5a
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/package.xml
@@ -0,0 +1,26 @@
+<?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>fan_in_fan_out_system_py_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="todo.todo@todo.com">ed</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>rosidl_runtime_py</depend>
+  <depend>fan_in_fan_out_system_py_pkg_interfaces</depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/resource/fan_in_fan_out_system_py_pkg b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/resource/fan_in_fan_out_system_py_pkg
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/resource/fan_in_fan_out_system_py_pkg
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/setup.cfg b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/setup.cfg
new file mode 100644
index 000000000..716fb99fe
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/setup.cfg
@@ -0,0 +1,5 @@
+# setup.cfg   in  src/fan_in_fan_out_system_py_pkg
+[develop]
+script_dir=$base/lib/fan_in_fan_out_system_py_pkg
+[install]
+install_scripts=$base/lib/fan_in_fan_out_system_py_pkg
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/setup.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/setup.py
new file mode 100644
index 000000000..82fed3b3e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/setup.py
@@ -0,0 +1,33 @@
+# setup.py   in  src/fan_in_fan_out_system_py_pkg
+
+from setuptools import find_packages, setup
+
+package_name = 'fan_in_fan_out_system_py_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sireum',
+    maintainer_email='sireum@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "fanIn_producer1_exe = fan_in_fan_out_system_py_pkg.base_code.fanIn_producer1_runner:main",
+            "fanIn_producer2_exe = fan_in_fan_out_system_py_pkg.base_code.fanIn_producer2_runner:main",
+            "fanIn_consumer_exe = fan_in_fan_out_system_py_pkg.base_code.fanIn_consumer_runner:main",
+            "fanOut_producer_exe = fan_in_fan_out_system_py_pkg.base_code.fanOut_producer_runner:main",
+            "fanOut_consumer1_exe = fan_in_fan_out_system_py_pkg.base_code.fanOut_consumer1_runner:main",
+            "fanOut_consumer2_exe = fan_in_fan_out_system_py_pkg.base_code.fanOut_consumer2_runner:main"
+        ],
+    },
+)
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/test/test_copyright.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/test/test_copyright.py
new file mode 100644
index 000000000..97a39196e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/test/test_flake8.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/test/test_flake8.py
new file mode 100644
index 000000000..7dc87a490
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \\
+        'Found %d code style errors / warnings:\n' % len(errors) + \\
+        '\n'.join(errors)
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/test/test_prep257.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/test/test_prep257.py
new file mode 100644
index 000000000..b234a3840
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg/test/test_prep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_bringup/CMakeLists.txt b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_bringup/CMakeLists.txt
new file mode 100644
index 000000000..bf77748ca
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_bringup/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(fan_in_fan_out_system_py_pkg_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+    launch
+    DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py
new file mode 100644
index 000000000..3a92bf73f
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py
@@ -0,0 +1,49 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    fanIn_producer1_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanIn_producer1_exe"
+    )
+
+    fanIn_producer2_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanIn_producer2_exe"
+    )
+
+    fanIn_consumer_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanIn_consumer_exe"
+    )
+
+    fanOut_producer_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanOut_producer_exe"
+    )
+
+    fanOut_consumer1_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanOut_consumer1_exe"
+    )
+
+    fanOut_consumer2_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanOut_consumer2_exe"
+    )
+
+    ld.add_action(fanIn_producer1_node)
+    ld.add_action(fanIn_producer2_node)
+    ld.add_action(fanIn_consumer_node)
+    ld.add_action(fanOut_producer_node)
+    ld.add_action(fanOut_consumer1_node)
+    ld.add_action(fanOut_consumer2_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_bringup/package.xml b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_bringup/package.xml
new file mode 100644
index 000000000..e61722118
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_bringup/package.xml
@@ -0,0 +1,24 @@
+<?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>fan_in_fan_out_system_py_pkg_bringup</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <exec_depend>fan_in_fan_out_system_py_pkg</exec_depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_interfaces/CMakeLists.txt b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_interfaces/CMakeLists.txt
new file mode 100644
index 000000000..f98ffff4c
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_interfaces/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.8)
+project(fan_in_fan_out_system_py_pkg_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Integer64.msg
+  msg/Empty.msg
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Empty.msg b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Empty.msg
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Integer64.msg b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Integer64.msg
new file mode 100644
index 000000000..6961e00f5
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Integer64.msg
@@ -0,0 +1 @@
+int64 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_interfaces/package.xml b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_interfaces/package.xml
new file mode 100644
index 000000000..289bcb4f4
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/lax/src/fan_in_fan_out_system_py_pkg_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?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>fan_in_fan_out_system_py_pkg_interfaces</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <build_depend>rosidl_default_generators</build_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/__init__.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/__init__.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_base_src.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_base_src.py
new file mode 100644
index 000000000..6f4a1cf19
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_base_src.py
@@ -0,0 +1,106 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanIn_consumer_base(Node):
+    def __init__(self):
+        super().__init__("fanIn_consumer")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.fanIn_consumer_myInteger_subscription_ = self.create_subscription(
+            Integer64,
+            "fanIn_consumer_myInteger",
+            self.accept_myInteger,
+            1,
+            callback_group=self.cb_group_)
+
+        self.infrastructureIn_myInteger = deque()
+        self.applicationIn_myInteger = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def myInteger_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myInteger, self.applicationIn_myInteger)
+            if len(self.applicationIn_myInteger) == 0: return
+            self.handle_myInteger_base(self.applicationIn_myInteger[0])
+            self.applicationIn_myInteger.pop()
+            self.sendOutputs()
+
+    def accept_myInteger(self, msg):
+        self.enqueue(self.infrastructureIn_myInteger, msg)
+        thread = threading.Thread(target=self.myInteger_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_myInteger(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myInteger_base(self, msg):
+        if type(msg) is Integer64:
+            self.handle_myInteger(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myInteger.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+
+    def receiveInputs(self, infrastructureQueue, applicationQueue):
+        if not(len(infrastructureQueue) == 0):
+            eventMsg = infrastructureQueue[0]
+            infrastructureQueue.pop()
+            self.enqueue(applicationQueue, eventMsg)
+
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_runner.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_runner.py
new file mode 100644
index 000000000..9ede1544f
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanIn_consumer_src import fanIn_consumer
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanIn_consumer()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_base_src.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_base_src.py
new file mode 100644
index 000000000..655210be5
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_base_src.py
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanIn_producer1_base(Node):
+    def __init__(self):
+        super().__init__("fanIn_producer1")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.fanIn_producer1_myInteger_publisher_ = self.create_publisher(
+            Integer64,
+            "fanIn_consumer_myInteger",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureOut_myInteger = deque()
+        self.applicationOut_myInteger = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_myInteger, self.infrastructureOut_myInteger, self.sendOut_myInteger]
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def sendOut_myInteger(self, msg):
+        if type(msg) is Integer64:
+            self.fanIn_producer1_myInteger_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myInteger.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_myInteger(self, msg):
+        self.enqueue(self.applicationOut_myInteger, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_runner.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_runner.py
new file mode 100644
index 000000000..37092de01
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanIn_producer1_src import fanIn_producer1
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanIn_producer1()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_base_src.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_base_src.py
new file mode 100644
index 000000000..257076d2c
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_base_src.py
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanIn_producer2_base(Node):
+    def __init__(self):
+        super().__init__("fanIn_producer2")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.fanIn_producer2_myInteger_publisher_ = self.create_publisher(
+            Integer64,
+            "fanIn_consumer_myInteger",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureOut_myInteger = deque()
+        self.applicationOut_myInteger = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_myInteger, self.infrastructureOut_myInteger, self.sendOut_myInteger]
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def sendOut_myInteger(self, msg):
+        if type(msg) is Integer64:
+            self.fanIn_producer2_myInteger_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myInteger.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_myInteger(self, msg):
+        self.enqueue(self.applicationOut_myInteger, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_runner.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_runner.py
new file mode 100644
index 000000000..273f79c9a
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanIn_producer2_src import fanIn_producer2
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanIn_producer2()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_base_src.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_base_src.py
new file mode 100644
index 000000000..d1332421b
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_base_src.py
@@ -0,0 +1,106 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanOut_consumer1_base(Node):
+    def __init__(self):
+        super().__init__("fanOut_consumer1")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.fanOut_consumer1_myInteger_subscription_ = self.create_subscription(
+            Integer64,
+            "fanOut_consumer1_myInteger",
+            self.accept_myInteger,
+            1,
+            callback_group=self.cb_group_)
+
+        self.infrastructureIn_myInteger = deque()
+        self.applicationIn_myInteger = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def myInteger_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myInteger, self.applicationIn_myInteger)
+            if len(self.applicationIn_myInteger) == 0: return
+            self.handle_myInteger_base(self.applicationIn_myInteger[0])
+            self.applicationIn_myInteger.pop()
+            self.sendOutputs()
+
+    def accept_myInteger(self, msg):
+        self.enqueue(self.infrastructureIn_myInteger, msg)
+        thread = threading.Thread(target=self.myInteger_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_myInteger(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myInteger_base(self, msg):
+        if type(msg) is Integer64:
+            self.handle_myInteger(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myInteger.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+
+    def receiveInputs(self, infrastructureQueue, applicationQueue):
+        if not(len(infrastructureQueue) == 0):
+            eventMsg = infrastructureQueue[0]
+            infrastructureQueue.pop()
+            self.enqueue(applicationQueue, eventMsg)
+
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_runner.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_runner.py
new file mode 100644
index 000000000..b45f071dc
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanOut_consumer1_src import fanOut_consumer1
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanOut_consumer1()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_base_src.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_base_src.py
new file mode 100644
index 000000000..040c7faf2
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_base_src.py
@@ -0,0 +1,106 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanOut_consumer2_base(Node):
+    def __init__(self):
+        super().__init__("fanOut_consumer2")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.fanOut_consumer2_myInteger_subscription_ = self.create_subscription(
+            Integer64,
+            "fanOut_consumer2_myInteger",
+            self.accept_myInteger,
+            1,
+            callback_group=self.cb_group_)
+
+        self.infrastructureIn_myInteger = deque()
+        self.applicationIn_myInteger = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def myInteger_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myInteger, self.applicationIn_myInteger)
+            if len(self.applicationIn_myInteger) == 0: return
+            self.handle_myInteger_base(self.applicationIn_myInteger[0])
+            self.applicationIn_myInteger.pop()
+            self.sendOutputs()
+
+    def accept_myInteger(self, msg):
+        self.enqueue(self.infrastructureIn_myInteger, msg)
+        thread = threading.Thread(target=self.myInteger_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_myInteger(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myInteger_base(self, msg):
+        if type(msg) is Integer64:
+            self.handle_myInteger(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myInteger.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+
+    def receiveInputs(self, infrastructureQueue, applicationQueue):
+        if not(len(infrastructureQueue) == 0):
+            eventMsg = infrastructureQueue[0]
+            infrastructureQueue.pop()
+            self.enqueue(applicationQueue, eventMsg)
+
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_runner.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_runner.py
new file mode 100644
index 000000000..771b13baf
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanOut_consumer2_src import fanOut_consumer2
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanOut_consumer2()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_base_src.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_base_src.py
new file mode 100644
index 000000000..505918908
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_base_src.py
@@ -0,0 +1,106 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanOut_producer_base(Node):
+    def __init__(self):
+        super().__init__("fanOut_producer")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.fanOut_producer_myInteger_publisher_1 = self.create_publisher(
+            Integer64,
+            "fanOut_consumer1_myInteger",
+            1)
+
+        self.fanOut_producer_myInteger_publisher_2 = self.create_publisher(
+            Integer64,
+            "fanOut_consumer2_myInteger",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureOut_myInteger = deque()
+        self.applicationOut_myInteger = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_myInteger, self.infrastructureOut_myInteger, self.sendOut_myInteger]
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def sendOut_myInteger(self, msg):
+        if type(msg) is Integer64:
+            self.fanOut_producer_myInteger_publisher_1.publish(msg)
+            self.fanOut_producer_myInteger_publisher_2.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myInteger.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_myInteger(self, msg):
+        self.enqueue(self.applicationOut_myInteger, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_runner.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_runner.py
new file mode 100644
index 000000000..36e6c97d2
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanOut_producer_src import fanOut_producer
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanOut_producer()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/__init__.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_consumer_src.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_consumer_src.py
new file mode 100644
index 000000000..f9b3efe05
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_consumer_src.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanIn_consumer_base_src import fanIn_consumer_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanIn_consumer(fanIn_consumer_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanIn_consumer infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_myInteger(self, msg):
+        # Handle myInteger msg
+        self.get_logger().info(f"Received myInteger: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer1_src.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer1_src.py
new file mode 100644
index 000000000..cab202331
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer1_src.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanIn_producer1_base_src import fanIn_producer1_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanIn_producer1(fanIn_producer1_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanIn_producer1 infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        myInteger = Integer64()
+        self.put_myInteger(myInteger)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer2_src.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer2_src.py
new file mode 100644
index 000000000..7f16fe979
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer2_src.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanIn_producer2_base_src import fanIn_producer2_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanIn_producer2(fanIn_producer2_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanIn_producer2 infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        myInteger = Integer64()
+        self.put_myInteger(myInteger)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer1_src.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer1_src.py
new file mode 100644
index 000000000..7b4f98097
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer1_src.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanOut_consumer1_base_src import fanOut_consumer1_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanOut_consumer1(fanOut_consumer1_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanOut_consumer1 infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_myInteger(self, msg):
+        # Handle myInteger msg
+        self.get_logger().info(f"Received myInteger: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer2_src.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer2_src.py
new file mode 100644
index 000000000..7400c9d85
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer2_src.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanOut_consumer2_base_src import fanOut_consumer2_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanOut_consumer2(fanOut_consumer2_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanOut_consumer2 infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_myInteger(self, msg):
+        # Handle myInteger msg
+        self.get_logger().info(f"Received myInteger: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_producer_src.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_producer_src.py
new file mode 100644
index 000000000..e0b8706ad
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_producer_src.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanOut_producer_base_src import fanOut_producer_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanOut_producer(fanOut_producer_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanOut_producer infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        myInteger = Integer64()
+        self.put_myInteger(myInteger)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/package.xml b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/package.xml
new file mode 100644
index 000000000..0bd3d8e5a
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/package.xml
@@ -0,0 +1,26 @@
+<?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>fan_in_fan_out_system_py_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="todo.todo@todo.com">ed</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>rosidl_runtime_py</depend>
+  <depend>fan_in_fan_out_system_py_pkg_interfaces</depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/resource/fan_in_fan_out_system_py_pkg b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/resource/fan_in_fan_out_system_py_pkg
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/resource/fan_in_fan_out_system_py_pkg
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/setup.cfg b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/setup.cfg
new file mode 100644
index 000000000..716fb99fe
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/setup.cfg
@@ -0,0 +1,5 @@
+# setup.cfg   in  src/fan_in_fan_out_system_py_pkg
+[develop]
+script_dir=$base/lib/fan_in_fan_out_system_py_pkg
+[install]
+install_scripts=$base/lib/fan_in_fan_out_system_py_pkg
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/setup.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/setup.py
new file mode 100644
index 000000000..82fed3b3e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/setup.py
@@ -0,0 +1,33 @@
+# setup.py   in  src/fan_in_fan_out_system_py_pkg
+
+from setuptools import find_packages, setup
+
+package_name = 'fan_in_fan_out_system_py_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sireum',
+    maintainer_email='sireum@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "fanIn_producer1_exe = fan_in_fan_out_system_py_pkg.base_code.fanIn_producer1_runner:main",
+            "fanIn_producer2_exe = fan_in_fan_out_system_py_pkg.base_code.fanIn_producer2_runner:main",
+            "fanIn_consumer_exe = fan_in_fan_out_system_py_pkg.base_code.fanIn_consumer_runner:main",
+            "fanOut_producer_exe = fan_in_fan_out_system_py_pkg.base_code.fanOut_producer_runner:main",
+            "fanOut_consumer1_exe = fan_in_fan_out_system_py_pkg.base_code.fanOut_consumer1_runner:main",
+            "fanOut_consumer2_exe = fan_in_fan_out_system_py_pkg.base_code.fanOut_consumer2_runner:main"
+        ],
+    },
+)
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/test/test_copyright.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/test/test_copyright.py
new file mode 100644
index 000000000..97a39196e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/test/test_flake8.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/test/test_flake8.py
new file mode 100644
index 000000000..7dc87a490
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \\
+        'Found %d code style errors / warnings:\n' % len(errors) + \\
+        '\n'.join(errors)
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/test/test_prep257.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/test/test_prep257.py
new file mode 100644
index 000000000..b234a3840
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg/test/test_prep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_bringup/CMakeLists.txt b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_bringup/CMakeLists.txt
new file mode 100644
index 000000000..bf77748ca
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_bringup/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(fan_in_fan_out_system_py_pkg_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+    launch
+    DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py
new file mode 100644
index 000000000..3a92bf73f
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py
@@ -0,0 +1,49 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    fanIn_producer1_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanIn_producer1_exe"
+    )
+
+    fanIn_producer2_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanIn_producer2_exe"
+    )
+
+    fanIn_consumer_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanIn_consumer_exe"
+    )
+
+    fanOut_producer_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanOut_producer_exe"
+    )
+
+    fanOut_consumer1_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanOut_consumer1_exe"
+    )
+
+    fanOut_consumer2_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanOut_consumer2_exe"
+    )
+
+    ld.add_action(fanIn_producer1_node)
+    ld.add_action(fanIn_producer2_node)
+    ld.add_action(fanIn_consumer_node)
+    ld.add_action(fanOut_producer_node)
+    ld.add_action(fanOut_consumer1_node)
+    ld.add_action(fanOut_consumer2_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_bringup/package.xml b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_bringup/package.xml
new file mode 100644
index 000000000..e61722118
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_bringup/package.xml
@@ -0,0 +1,24 @@
+<?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>fan_in_fan_out_system_py_pkg_bringup</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <exec_depend>fan_in_fan_out_system_py_pkg</exec_depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_interfaces/CMakeLists.txt b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_interfaces/CMakeLists.txt
new file mode 100644
index 000000000..f98ffff4c
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_interfaces/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.8)
+project(fan_in_fan_out_system_py_pkg_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Integer64.msg
+  msg/Empty.msg
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Empty.msg b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Empty.msg
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Integer64.msg b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Integer64.msg
new file mode 100644
index 000000000..6961e00f5
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Integer64.msg
@@ -0,0 +1 @@
+int64 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_interfaces/package.xml b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_interfaces/package.xml
new file mode 100644
index 000000000..289bcb4f4
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out/strict/src/fan_in_fan_out_system_py_pkg_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?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>fan_in_fan_out_system_py_pkg_interfaces</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <build_depend>rosidl_default_generators</build_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/__init__.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/__init__.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_base_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_base_src.py
new file mode 100644
index 000000000..d58419a69
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_base_src.py
@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from fan_in_fan_out_system_py_pkg.user_code.fanIn_consumer_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanIn_consumer_base(Node):
+    def __init__(self):
+        super().__init__("fanIn_consumer")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.fanIn_consumer_myInteger_subscription_1 = self.create_subscription(
+            Integer64,
+            "fanIn_producer1_myInteger",
+            self.handle_myInteger,
+            1,
+            callback_group=self.cb_group_)
+
+        self.fanIn_consumer_myInteger_subscription_2 = self.create_subscription(
+            Integer64,
+            "fanIn_producer2_myInteger",
+            self.handle_myInteger,
+            1,
+            callback_group=self.cb_group_)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_myInteger(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_runner.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_runner.py
new file mode 100644
index 000000000..9ede1544f
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanIn_consumer_src import fanIn_consumer
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanIn_consumer()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_base_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_base_src.py
new file mode 100644
index 000000000..5075b1ac4
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_base_src.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanIn_producer1_base(Node):
+    def __init__(self):
+        super().__init__("fanIn_producer1")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.fanIn_producer1_myInteger_publisher_ = self.create_publisher(
+            Integer64,
+            "fanIn_producer1_myInteger",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def put_myInteger(self, msg):
+        self.fanIn_producer1_myInteger_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_runner.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_runner.py
new file mode 100644
index 000000000..37092de01
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanIn_producer1_src import fanIn_producer1
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanIn_producer1()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_base_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_base_src.py
new file mode 100644
index 000000000..a610b1cdf
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_base_src.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanIn_producer2_base(Node):
+    def __init__(self):
+        super().__init__("fanIn_producer2")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.fanIn_producer2_myInteger_publisher_ = self.create_publisher(
+            Integer64,
+            "fanIn_producer2_myInteger",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def put_myInteger(self, msg):
+        self.fanIn_producer2_myInteger_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_runner.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_runner.py
new file mode 100644
index 000000000..273f79c9a
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanIn_producer2_src import fanIn_producer2
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanIn_producer2()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_base_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_base_src.py
new file mode 100644
index 000000000..1248b9ab2
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_base_src.py
@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from fan_in_fan_out_system_py_pkg.user_code.fanOut_consumer1_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanOut_consumer1_base(Node):
+    def __init__(self):
+        super().__init__("fanOut_consumer1")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.fanOut_consumer1_myInteger_subscription_ = self.create_subscription(
+            Integer64,
+            "fanOut_producer_myInteger",
+            self.handle_myInteger,
+            1,
+            callback_group=self.cb_group_)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_myInteger(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_runner.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_runner.py
new file mode 100644
index 000000000..b45f071dc
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanOut_consumer1_src import fanOut_consumer1
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanOut_consumer1()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_base_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_base_src.py
new file mode 100644
index 000000000..4d19936f3
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_base_src.py
@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from fan_in_fan_out_system_py_pkg.user_code.fanOut_consumer2_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanOut_consumer2_base(Node):
+    def __init__(self):
+        super().__init__("fanOut_consumer2")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.fanOut_consumer2_myInteger_subscription_ = self.create_subscription(
+            Integer64,
+            "fanOut_producer_myInteger",
+            self.handle_myInteger,
+            1,
+            callback_group=self.cb_group_)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_myInteger(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_runner.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_runner.py
new file mode 100644
index 000000000..771b13baf
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanOut_consumer2_src import fanOut_consumer2
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanOut_consumer2()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_base_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_base_src.py
new file mode 100644
index 000000000..085454703
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_base_src.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanOut_producer_base(Node):
+    def __init__(self):
+        super().__init__("fanOut_producer")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.fanOut_producer_myInteger_publisher_ = self.create_publisher(
+            Integer64,
+            "fanOut_producer_myInteger",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def put_myInteger(self, msg):
+        self.fanOut_producer_myInteger_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_runner.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_runner.py
new file mode 100644
index 000000000..36e6c97d2
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanOut_producer_src import fanOut_producer
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanOut_producer()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/__init__.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_consumer_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_consumer_src.py
new file mode 100644
index 000000000..f9b3efe05
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_consumer_src.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanIn_consumer_base_src import fanIn_consumer_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanIn_consumer(fanIn_consumer_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanIn_consumer infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_myInteger(self, msg):
+        # Handle myInteger msg
+        self.get_logger().info(f"Received myInteger: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer1_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer1_src.py
new file mode 100644
index 000000000..cab202331
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer1_src.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanIn_producer1_base_src import fanIn_producer1_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanIn_producer1(fanIn_producer1_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanIn_producer1 infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        myInteger = Integer64()
+        self.put_myInteger(myInteger)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer2_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer2_src.py
new file mode 100644
index 000000000..7f16fe979
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer2_src.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanIn_producer2_base_src import fanIn_producer2_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanIn_producer2(fanIn_producer2_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanIn_producer2 infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        myInteger = Integer64()
+        self.put_myInteger(myInteger)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer1_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer1_src.py
new file mode 100644
index 000000000..7b4f98097
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer1_src.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanOut_consumer1_base_src import fanOut_consumer1_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanOut_consumer1(fanOut_consumer1_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanOut_consumer1 infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_myInteger(self, msg):
+        # Handle myInteger msg
+        self.get_logger().info(f"Received myInteger: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer2_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer2_src.py
new file mode 100644
index 000000000..7400c9d85
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer2_src.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanOut_consumer2_base_src import fanOut_consumer2_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanOut_consumer2(fanOut_consumer2_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanOut_consumer2 infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_myInteger(self, msg):
+        # Handle myInteger msg
+        self.get_logger().info(f"Received myInteger: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_producer_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_producer_src.py
new file mode 100644
index 000000000..e0b8706ad
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_producer_src.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanOut_producer_base_src import fanOut_producer_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanOut_producer(fanOut_producer_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanOut_producer infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        myInteger = Integer64()
+        self.put_myInteger(myInteger)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/package.xml b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/package.xml
new file mode 100644
index 000000000..0bd3d8e5a
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/package.xml
@@ -0,0 +1,26 @@
+<?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>fan_in_fan_out_system_py_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="todo.todo@todo.com">ed</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>rosidl_runtime_py</depend>
+  <depend>fan_in_fan_out_system_py_pkg_interfaces</depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/resource/fan_in_fan_out_system_py_pkg b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/resource/fan_in_fan_out_system_py_pkg
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/resource/fan_in_fan_out_system_py_pkg
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/setup.cfg b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/setup.cfg
new file mode 100644
index 000000000..716fb99fe
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/setup.cfg
@@ -0,0 +1,5 @@
+# setup.cfg   in  src/fan_in_fan_out_system_py_pkg
+[develop]
+script_dir=$base/lib/fan_in_fan_out_system_py_pkg
+[install]
+install_scripts=$base/lib/fan_in_fan_out_system_py_pkg
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/setup.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/setup.py
new file mode 100644
index 000000000..82fed3b3e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/setup.py
@@ -0,0 +1,33 @@
+# setup.py   in  src/fan_in_fan_out_system_py_pkg
+
+from setuptools import find_packages, setup
+
+package_name = 'fan_in_fan_out_system_py_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sireum',
+    maintainer_email='sireum@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "fanIn_producer1_exe = fan_in_fan_out_system_py_pkg.base_code.fanIn_producer1_runner:main",
+            "fanIn_producer2_exe = fan_in_fan_out_system_py_pkg.base_code.fanIn_producer2_runner:main",
+            "fanIn_consumer_exe = fan_in_fan_out_system_py_pkg.base_code.fanIn_consumer_runner:main",
+            "fanOut_producer_exe = fan_in_fan_out_system_py_pkg.base_code.fanOut_producer_runner:main",
+            "fanOut_consumer1_exe = fan_in_fan_out_system_py_pkg.base_code.fanOut_consumer1_runner:main",
+            "fanOut_consumer2_exe = fan_in_fan_out_system_py_pkg.base_code.fanOut_consumer2_runner:main"
+        ],
+    },
+)
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/test/test_copyright.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/test/test_copyright.py
new file mode 100644
index 000000000..97a39196e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/test/test_flake8.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/test/test_flake8.py
new file mode 100644
index 000000000..7dc87a490
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \\
+        'Found %d code style errors / warnings:\n' % len(errors) + \\
+        '\n'.join(errors)
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/test/test_prep257.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/test/test_prep257.py
new file mode 100644
index 000000000..b234a3840
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg/test/test_prep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_bringup/CMakeLists.txt b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_bringup/CMakeLists.txt
new file mode 100644
index 000000000..bf77748ca
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_bringup/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(fan_in_fan_out_system_py_pkg_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+    launch
+    DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py
new file mode 100644
index 000000000..3a92bf73f
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py
@@ -0,0 +1,49 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    fanIn_producer1_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanIn_producer1_exe"
+    )
+
+    fanIn_producer2_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanIn_producer2_exe"
+    )
+
+    fanIn_consumer_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanIn_consumer_exe"
+    )
+
+    fanOut_producer_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanOut_producer_exe"
+    )
+
+    fanOut_consumer1_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanOut_consumer1_exe"
+    )
+
+    fanOut_consumer2_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanOut_consumer2_exe"
+    )
+
+    ld.add_action(fanIn_producer1_node)
+    ld.add_action(fanIn_producer2_node)
+    ld.add_action(fanIn_consumer_node)
+    ld.add_action(fanOut_producer_node)
+    ld.add_action(fanOut_consumer1_node)
+    ld.add_action(fanOut_consumer2_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_bringup/package.xml b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_bringup/package.xml
new file mode 100644
index 000000000..e61722118
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_bringup/package.xml
@@ -0,0 +1,24 @@
+<?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>fan_in_fan_out_system_py_pkg_bringup</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <exec_depend>fan_in_fan_out_system_py_pkg</exec_depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_interfaces/CMakeLists.txt b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_interfaces/CMakeLists.txt
new file mode 100644
index 000000000..f98ffff4c
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_interfaces/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.8)
+project(fan_in_fan_out_system_py_pkg_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Integer64.msg
+  msg/Empty.msg
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Empty.msg b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Empty.msg
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Integer64.msg b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Integer64.msg
new file mode 100644
index 000000000..6961e00f5
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Integer64.msg
@@ -0,0 +1 @@
+int64 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_interfaces/package.xml b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_interfaces/package.xml
new file mode 100644
index 000000000..289bcb4f4
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/lax/src/fan_in_fan_out_system_py_pkg_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?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>fan_in_fan_out_system_py_pkg_interfaces</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <build_depend>rosidl_default_generators</build_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/__init__.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/__init__.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_base_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_base_src.py
new file mode 100644
index 000000000..86643c12d
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_base_src.py
@@ -0,0 +1,113 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanIn_consumer_base(Node):
+    def __init__(self):
+        super().__init__("fanIn_consumer")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.fanIn_consumer_myInteger_subscription_1 = self.create_subscription(
+            Integer64,
+            "fanIn_producer1_myInteger",
+            self.accept_myInteger,
+            1,
+            callback_group=self.cb_group_)
+
+        self.fanIn_consumer_myInteger_subscription_2 = self.create_subscription(
+            Integer64,
+            "fanIn_producer2_myInteger",
+            self.accept_myInteger,
+            1,
+            callback_group=self.cb_group_)
+
+        self.infrastructureIn_myInteger = deque()
+        self.applicationIn_myInteger = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def myInteger_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myInteger, self.applicationIn_myInteger)
+            if len(self.applicationIn_myInteger) == 0: return
+            self.handle_myInteger_base(self.applicationIn_myInteger[0])
+            self.applicationIn_myInteger.pop()
+            self.sendOutputs()
+
+    def accept_myInteger(self, msg):
+        self.enqueue(self.infrastructureIn_myInteger, msg)
+        thread = threading.Thread(target=self.myInteger_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_myInteger(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myInteger_base(self, msg):
+        if type(msg) is Integer64:
+            self.handle_myInteger(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myInteger.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+
+    def receiveInputs(self, infrastructureQueue, applicationQueue):
+        if not(len(infrastructureQueue) == 0):
+            eventMsg = infrastructureQueue[0]
+            infrastructureQueue.pop()
+            self.enqueue(applicationQueue, eventMsg)
+
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_runner.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_runner.py
new file mode 100644
index 000000000..9ede1544f
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_consumer_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanIn_consumer_src import fanIn_consumer
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanIn_consumer()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_base_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_base_src.py
new file mode 100644
index 000000000..9e93bd200
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_base_src.py
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanIn_producer1_base(Node):
+    def __init__(self):
+        super().__init__("fanIn_producer1")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.fanIn_producer1_myInteger_publisher_ = self.create_publisher(
+            Integer64,
+            "fanIn_producer1_myInteger",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureOut_myInteger = deque()
+        self.applicationOut_myInteger = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_myInteger, self.infrastructureOut_myInteger, self.sendOut_myInteger]
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def sendOut_myInteger(self, msg):
+        if type(msg) is Integer64:
+            self.fanIn_producer1_myInteger_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myInteger.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_myInteger(self, msg):
+        self.enqueue(self.applicationOut_myInteger, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_runner.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_runner.py
new file mode 100644
index 000000000..37092de01
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer1_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanIn_producer1_src import fanIn_producer1
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanIn_producer1()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_base_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_base_src.py
new file mode 100644
index 000000000..426fab014
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_base_src.py
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanIn_producer2_base(Node):
+    def __init__(self):
+        super().__init__("fanIn_producer2")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.fanIn_producer2_myInteger_publisher_ = self.create_publisher(
+            Integer64,
+            "fanIn_producer2_myInteger",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureOut_myInteger = deque()
+        self.applicationOut_myInteger = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_myInteger, self.infrastructureOut_myInteger, self.sendOut_myInteger]
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def sendOut_myInteger(self, msg):
+        if type(msg) is Integer64:
+            self.fanIn_producer2_myInteger_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myInteger.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_myInteger(self, msg):
+        self.enqueue(self.applicationOut_myInteger, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_runner.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_runner.py
new file mode 100644
index 000000000..273f79c9a
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanIn_producer2_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanIn_producer2_src import fanIn_producer2
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanIn_producer2()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_base_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_base_src.py
new file mode 100644
index 000000000..7819b4be3
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_base_src.py
@@ -0,0 +1,106 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanOut_consumer1_base(Node):
+    def __init__(self):
+        super().__init__("fanOut_consumer1")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.fanOut_consumer1_myInteger_subscription_ = self.create_subscription(
+            Integer64,
+            "fanOut_producer_myInteger",
+            self.accept_myInteger,
+            1,
+            callback_group=self.cb_group_)
+
+        self.infrastructureIn_myInteger = deque()
+        self.applicationIn_myInteger = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def myInteger_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myInteger, self.applicationIn_myInteger)
+            if len(self.applicationIn_myInteger) == 0: return
+            self.handle_myInteger_base(self.applicationIn_myInteger[0])
+            self.applicationIn_myInteger.pop()
+            self.sendOutputs()
+
+    def accept_myInteger(self, msg):
+        self.enqueue(self.infrastructureIn_myInteger, msg)
+        thread = threading.Thread(target=self.myInteger_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_myInteger(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myInteger_base(self, msg):
+        if type(msg) is Integer64:
+            self.handle_myInteger(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myInteger.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+
+    def receiveInputs(self, infrastructureQueue, applicationQueue):
+        if not(len(infrastructureQueue) == 0):
+            eventMsg = infrastructureQueue[0]
+            infrastructureQueue.pop()
+            self.enqueue(applicationQueue, eventMsg)
+
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_runner.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_runner.py
new file mode 100644
index 000000000..b45f071dc
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer1_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanOut_consumer1_src import fanOut_consumer1
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanOut_consumer1()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_base_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_base_src.py
new file mode 100644
index 000000000..63f667acf
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_base_src.py
@@ -0,0 +1,106 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanOut_consumer2_base(Node):
+    def __init__(self):
+        super().__init__("fanOut_consumer2")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.fanOut_consumer2_myInteger_subscription_ = self.create_subscription(
+            Integer64,
+            "fanOut_producer_myInteger",
+            self.accept_myInteger,
+            1,
+            callback_group=self.cb_group_)
+
+        self.infrastructureIn_myInteger = deque()
+        self.applicationIn_myInteger = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def myInteger_thread(self):
+        with self.lock_:
+            self.receiveInputs(self.infrastructureIn_myInteger, self.applicationIn_myInteger)
+            if len(self.applicationIn_myInteger) == 0: return
+            self.handle_myInteger_base(self.applicationIn_myInteger[0])
+            self.applicationIn_myInteger.pop()
+            self.sendOutputs()
+
+    def accept_myInteger(self, msg):
+        self.enqueue(self.infrastructureIn_myInteger, msg)
+        thread = threading.Thread(target=self.myInteger_thread)
+        thread.daemon = True
+        thread.start()
+
+
+    #=================================================
+    #  C o m p u t e    E n t r y    P o i n t
+    #=================================================
+    def handle_myInteger(self, msg):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    def handle_myInteger_base(self, msg):
+        if type(msg) is Integer64:
+            self.handle_myInteger(msg)
+        else:
+            self.get_logger.error("Receiving wrong type of variable on port myInteger.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+
+    def receiveInputs(self, infrastructureQueue, applicationQueue):
+        if not(len(infrastructureQueue) == 0):
+            eventMsg = infrastructureQueue[0]
+            infrastructureQueue.pop()
+            self.enqueue(applicationQueue, eventMsg)
+
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_runner.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_runner.py
new file mode 100644
index 000000000..771b13baf
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_consumer2_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanOut_consumer2_src import fanOut_consumer2
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanOut_consumer2()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_base_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_base_src.py
new file mode 100644
index 000000000..8e317e552
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_base_src.py
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class fanOut_producer_base(Node):
+    def __init__(self):
+        super().__init__("fanOut_producer")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.fanOut_producer_myInteger_publisher_ = self.create_publisher(
+            Integer64,
+            "fanOut_producer_myInteger",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureOut_myInteger = deque()
+        self.applicationOut_myInteger = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_myInteger, self.infrastructureOut_myInteger, self.sendOut_myInteger]
+        ]
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def sendOut_myInteger(self, msg):
+        if type(msg) is Integer64:
+            self.fanOut_producer_myInteger_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port myInteger.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_myInteger(self, msg):
+        self.enqueue(self.applicationOut_myInteger, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_runner.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_runner.py
new file mode 100644
index 000000000..36e6c97d2
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/base_code/fanOut_producer_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from fan_in_fan_out_system_py_pkg.user_code.fanOut_producer_src import fanOut_producer
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = fanOut_producer()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/__init__.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_consumer_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_consumer_src.py
new file mode 100644
index 000000000..f9b3efe05
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_consumer_src.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanIn_consumer_base_src import fanIn_consumer_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanIn_consumer(fanIn_consumer_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanIn_consumer infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_myInteger(self, msg):
+        # Handle myInteger msg
+        self.get_logger().info(f"Received myInteger: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer1_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer1_src.py
new file mode 100644
index 000000000..cab202331
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer1_src.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanIn_producer1_base_src import fanIn_producer1_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanIn_producer1(fanIn_producer1_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanIn_producer1 infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        myInteger = Integer64()
+        self.put_myInteger(myInteger)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer2_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer2_src.py
new file mode 100644
index 000000000..7f16fe979
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanIn_producer2_src.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanIn_producer2_base_src import fanIn_producer2_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanIn_producer2(fanIn_producer2_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanIn_producer2 infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        myInteger = Integer64()
+        self.put_myInteger(myInteger)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer1_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer1_src.py
new file mode 100644
index 000000000..7b4f98097
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer1_src.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanOut_consumer1_base_src import fanOut_consumer1_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanOut_consumer1(fanOut_consumer1_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanOut_consumer1 infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_myInteger(self, msg):
+        # Handle myInteger msg
+        self.get_logger().info(f"Received myInteger: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer2_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer2_src.py
new file mode 100644
index 000000000..7400c9d85
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_consumer2_src.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanOut_consumer2_base_src import fanOut_consumer2_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanOut_consumer2(fanOut_consumer2_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanOut_consumer2 infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_myInteger(self, msg):
+        # Handle myInteger msg
+        self.get_logger().info(f"Received myInteger: {self.message_to_string(msg)}")
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_producer_src.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_producer_src.py
new file mode 100644
index 000000000..e0b8706ad
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/fan_in_fan_out_system_py_pkg/user_code/fanOut_producer_src.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from fan_in_fan_out_system_py_pkg.base_code.fanOut_producer_base_src import fanOut_producer_base
+from fan_in_fan_out_system_py_pkg_interfaces.msg import Integer64
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class fanOut_producer(fanOut_producer_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("fanOut_producer infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example publishing messages
+        myInteger = Integer64()
+        self.put_myInteger(myInteger)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/package.xml b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/package.xml
new file mode 100644
index 000000000..0bd3d8e5a
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/package.xml
@@ -0,0 +1,26 @@
+<?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>fan_in_fan_out_system_py_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="todo.todo@todo.com">ed</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>rosidl_runtime_py</depend>
+  <depend>fan_in_fan_out_system_py_pkg_interfaces</depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/resource/fan_in_fan_out_system_py_pkg b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/resource/fan_in_fan_out_system_py_pkg
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/resource/fan_in_fan_out_system_py_pkg
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/setup.cfg b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/setup.cfg
new file mode 100644
index 000000000..716fb99fe
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/setup.cfg
@@ -0,0 +1,5 @@
+# setup.cfg   in  src/fan_in_fan_out_system_py_pkg
+[develop]
+script_dir=$base/lib/fan_in_fan_out_system_py_pkg
+[install]
+install_scripts=$base/lib/fan_in_fan_out_system_py_pkg
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/setup.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/setup.py
new file mode 100644
index 000000000..82fed3b3e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/setup.py
@@ -0,0 +1,33 @@
+# setup.py   in  src/fan_in_fan_out_system_py_pkg
+
+from setuptools import find_packages, setup
+
+package_name = 'fan_in_fan_out_system_py_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sireum',
+    maintainer_email='sireum@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "fanIn_producer1_exe = fan_in_fan_out_system_py_pkg.base_code.fanIn_producer1_runner:main",
+            "fanIn_producer2_exe = fan_in_fan_out_system_py_pkg.base_code.fanIn_producer2_runner:main",
+            "fanIn_consumer_exe = fan_in_fan_out_system_py_pkg.base_code.fanIn_consumer_runner:main",
+            "fanOut_producer_exe = fan_in_fan_out_system_py_pkg.base_code.fanOut_producer_runner:main",
+            "fanOut_consumer1_exe = fan_in_fan_out_system_py_pkg.base_code.fanOut_consumer1_runner:main",
+            "fanOut_consumer2_exe = fan_in_fan_out_system_py_pkg.base_code.fanOut_consumer2_runner:main"
+        ],
+    },
+)
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/test/test_copyright.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/test/test_copyright.py
new file mode 100644
index 000000000..97a39196e
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/test/test_flake8.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/test/test_flake8.py
new file mode 100644
index 000000000..7dc87a490
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \\
+        'Found %d code style errors / warnings:\n' % len(errors) + \\
+        '\n'.join(errors)
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/test/test_prep257.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/test/test_prep257.py
new file mode 100644
index 000000000..b234a3840
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg/test/test_prep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_bringup/CMakeLists.txt b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_bringup/CMakeLists.txt
new file mode 100644
index 000000000..bf77748ca
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_bringup/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(fan_in_fan_out_system_py_pkg_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+    launch
+    DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py
new file mode 100644
index 000000000..3a92bf73f
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_bringup/launch/Sys_i_Instance.launch.py
@@ -0,0 +1,49 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    fanIn_producer1_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanIn_producer1_exe"
+    )
+
+    fanIn_producer2_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanIn_producer2_exe"
+    )
+
+    fanIn_consumer_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanIn_consumer_exe"
+    )
+
+    fanOut_producer_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanOut_producer_exe"
+    )
+
+    fanOut_consumer1_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanOut_consumer1_exe"
+    )
+
+    fanOut_consumer2_node = Node(
+        package = "fan_in_fan_out_system_py_pkg",
+        executable = "fanOut_consumer2_exe"
+    )
+
+    ld.add_action(fanIn_producer1_node)
+    ld.add_action(fanIn_producer2_node)
+    ld.add_action(fanIn_consumer_node)
+    ld.add_action(fanOut_producer_node)
+    ld.add_action(fanOut_consumer1_node)
+    ld.add_action(fanOut_consumer2_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_bringup/package.xml b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_bringup/package.xml
new file mode 100644
index 000000000..e61722118
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_bringup/package.xml
@@ -0,0 +1,24 @@
+<?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>fan_in_fan_out_system_py_pkg_bringup</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <exec_depend>fan_in_fan_out_system_py_pkg</exec_depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_interfaces/CMakeLists.txt b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_interfaces/CMakeLists.txt
new file mode 100644
index 000000000..f98ffff4c
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_interfaces/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.8)
+project(fan_in_fan_out_system_py_pkg_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Integer64.msg
+  msg/Empty.msg
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Empty.msg b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Empty.msg
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Integer64.msg b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Integer64.msg
new file mode 100644
index 000000000..6961e00f5
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_interfaces/msg/Integer64.msg
@@ -0,0 +1 @@
+int64 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_interfaces/package.xml b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_interfaces/package.xml
new file mode 100644
index 000000000..289bcb4f4
--- /dev/null
+++ b/resources/expected/ros2/python-fan_in_fan_out_inverted_topics/strict/src/fan_in_fan_out_system_py_pkg_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?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>fan_in_fan_out_system_py_pkg_interfaces</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <build_depend>rosidl_default_generators</build_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/__init__.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/__init__.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/enum_converter.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/enum_converter.py
new file mode 100644
index 000000000..92bc818f8
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/enum_converter.py
@@ -0,0 +1,92 @@
+#!/usr/bin/env python3
+from isolette_py_pkg_interfaces.msg import Heat
+from isolette_py_pkg_interfaces.msg import InterfaceInteraction
+from isolette_py_pkg_interfaces.msg import ValueStatus
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import MonitorMode
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+def enumToString(value):
+    typedValue = Heat()
+    typedValue.data = value
+    match (typedValue.heat):
+        case Heat.HEAT_DUMMY_HEAD_ENUM:
+            return "Heat Dummy_Head_Enum"
+        case default:
+            return "Unknown value for Heat"
+
+def enumToString(value):
+    typedValue = InterfaceInteraction()
+    typedValue.data = value
+    match (typedValue.interface_interaction):
+        case InterfaceInteraction.INTERFACE_INTERACTION_DUMMY_INTERFACE_INTERACTION_ENUM:
+            return "InterfaceInteraction Dummy_Interface_Interaction_Enum"
+        case default:
+            return "Unknown value for InterfaceInteraction"
+
+def enumToString(value):
+    typedValue = ValueStatus()
+    typedValue.data = value
+    match (typedValue.value_status):
+        case ValueStatus.VALUE_STATUS_VALID:
+            return "ValueStatus Valid"
+        case ValueStatus.VALUE_STATUS_INVALID:
+            return "ValueStatus Invalid"
+        case default:
+            return "Unknown value for ValueStatus"
+
+def enumToString(value):
+    typedValue = OnOff()
+    typedValue.data = value
+    match (typedValue.on_off):
+        case OnOff.ON_OFF_ONN:
+            return "OnOff Onn"
+        case OnOff.ON_OFF_OFF:
+            return "OnOff Off"
+        case default:
+            return "Unknown value for OnOff"
+
+def enumToString(value):
+    typedValue = Status()
+    typedValue.data = value
+    match (typedValue.status):
+        case Status.STATUS_INIT_STATUS:
+            return "Status Init_Status"
+        case Status.STATUS_ON_STATUS:
+            return "Status On_Status"
+        case Status.STATUS_FAILED_STATUS:
+            return "Status Failed_Status"
+        case default:
+            return "Unknown value for Status"
+
+def enumToString(value):
+    typedValue = RegulatorMode()
+    typedValue.data = value
+    match (typedValue.regulator_mode):
+        case RegulatorMode.REGULATOR_MODE_INIT_REGULATOR_MODE:
+            return "RegulatorMode Init_Regulator_Mode"
+        case RegulatorMode.REGULATOR_MODE_NORMAL_REGULATOR_MODE:
+            return "RegulatorMode Normal_Regulator_Mode"
+        case RegulatorMode.REGULATOR_MODE_FAILED_REGULATOR_MODE:
+            return "RegulatorMode Failed_Regulator_Mode"
+        case default:
+            return "Unknown value for RegulatorMode"
+
+def enumToString(value):
+    typedValue = MonitorMode()
+    typedValue.data = value
+    match (typedValue.monitor_mode):
+        case MonitorMode.MONITOR_MODE_INIT_MONITOR_MODE:
+            return "MonitorMode Init_Monitor_Mode"
+        case MonitorMode.MONITOR_MODE_NORMAL_MONITOR_MODE:
+            return "MonitorMode Normal_Monitor_Mode"
+        case MonitorMode.MONITOR_MODE_FAILED_MONITOR_MODE:
+            return "MonitorMode Failed_Monitor_Mode"
+        case default:
+            return "Unknown value for MonitorMode"
+
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_base_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_base_src.py
new file mode 100644
index 000000000..c7afe1fb5
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_base_src.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.heat_source_cpi_heat_controller_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import Heat
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class heat_source_cpi_heat_controller_base(Node):
+    def __init__(self):
+        super().__init__("heat_source_cpi_heat_controller")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.heat_source_cpi_heat_controller_heat_control_subscription_ = self.create_subscription(
+            OnOff,
+            "heat_source_cpi_heat_controller_heat_control",
+            self.handle_heat_control,
+            1,
+            callback_group=self.cb_group_)
+
+        self.heat_source_cpi_heat_controller_heat_out_publisher_ = self.create_publisher(
+            Heat,
+            "heat_source_cpi_heat_controller_heat_out",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.heat_control_msg_holder = None
+
+    def init_heat_control(self, val):
+        self.heat_control_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_heat_control(self, msg):
+        self.heat_control_msg_holder = msg
+
+    def get_heat_control(self):
+        return self.heat_control_msg_holder
+
+    def put_heat_out(self, msg):
+        self.heat_source_cpi_heat_controller_heat_out_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_runner.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_runner.py
new file mode 100644
index 000000000..dfdc41ce7
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.heat_source_cpi_heat_controller_src import heat_source_cpi_heat_controller
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = heat_source_cpi_heat_controller()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_base_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_base_src.py
new file mode 100644
index 000000000..ebd8ba206
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_base_src.py
@@ -0,0 +1,139 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.operator_interface_oip_oit_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class operator_interface_oip_oit_base(Node):
+    def __init__(self):
+        super().__init__("operator_interface_oip_oit")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.operator_interface_oip_oit_regulator_status_subscription_ = self.create_subscription(
+            Status,
+            "operator_interface_oip_oit_regulator_status",
+            self.handle_regulator_status,
+            1,
+            callback_group=self.cb_group_)
+
+        self.operator_interface_oip_oit_monitor_status_subscription_ = self.create_subscription(
+            Status,
+            "operator_interface_oip_oit_monitor_status",
+            self.handle_monitor_status,
+            1,
+            callback_group=self.cb_group_)
+
+        self.operator_interface_oip_oit_display_temperature_subscription_ = self.create_subscription(
+            Tempimpl,
+            "operator_interface_oip_oit_display_temperature",
+            self.handle_display_temperature,
+            1,
+            callback_group=self.cb_group_)
+
+        self.operator_interface_oip_oit_alarm_control_subscription_ = self.create_subscription(
+            OnOff,
+            "operator_interface_oip_oit_alarm_control",
+            self.handle_alarm_control,
+            1,
+            callback_group=self.cb_group_)
+
+        self.operator_interface_oip_oit_lower_desired_tempWstatus_publisher_ = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_tempWstatus",
+            1)
+
+        self.operator_interface_oip_oit_upper_desired_tempWstatus_publisher_ = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_tempWstatus",
+            1)
+
+        self.operator_interface_oip_oit_lower_alarm_tempWstatus_publisher_ = self.create_publisher(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_lower_alarm_tempWstatus",
+            1)
+
+        self.operator_interface_oip_oit_upper_alarm_tempWstatus_publisher_1 = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_tempWstatus",
+            1)
+
+        self.operator_interface_oip_oit_upper_alarm_tempWstatus_publisher_2 = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_tempWstatus",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.regulator_status_msg_holder = None
+        self.monitor_status_msg_holder = None
+        self.display_temperature_msg_holder = None
+        self.alarm_control_msg_holder = None
+
+    def init_regulator_status(self, val):
+        self.regulator_status_msg_holder = val
+
+    def init_monitor_status(self, val):
+        self.monitor_status_msg_holder = val
+
+    def init_display_temperature(self, val):
+        self.display_temperature_msg_holder = val
+
+    def init_alarm_control(self, val):
+        self.alarm_control_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_regulator_status(self, msg):
+        self.regulator_status_msg_holder = msg
+
+    def handle_monitor_status(self, msg):
+        self.monitor_status_msg_holder = msg
+
+    def handle_display_temperature(self, msg):
+        self.display_temperature_msg_holder = msg
+
+    def handle_alarm_control(self, msg):
+        self.alarm_control_msg_holder = msg
+
+    def get_regulator_status(self):
+        return self.regulator_status_msg_holder
+
+    def get_monitor_status(self):
+        return self.monitor_status_msg_holder
+
+    def get_display_temperature(self):
+        return self.display_temperature_msg_holder
+
+    def get_alarm_control(self):
+        return self.alarm_control_msg_holder
+
+    def put_lower_desired_tempWstatus(self, msg):
+        self.operator_interface_oip_oit_lower_desired_tempWstatus_publisher_.publish(msg)
+
+    def put_upper_desired_tempWstatus(self, msg):
+        self.operator_interface_oip_oit_upper_desired_tempWstatus_publisher_.publish(msg)
+
+    def put_lower_alarm_tempWstatus(self, msg):
+        self.operator_interface_oip_oit_lower_alarm_tempWstatus_publisher_.publish(msg)
+
+    def put_upper_alarm_tempWstatus(self, msg):
+        self.operator_interface_oip_oit_upper_alarm_tempWstatus_publisher_1.publish(msg)
+        self.operator_interface_oip_oit_upper_alarm_tempWstatus_publisher_2.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_runner.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_runner.py
new file mode 100644
index 000000000..6a5d84ad4
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.operator_interface_oip_oit_src import operator_interface_oip_oit
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = operator_interface_oip_oit()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_base_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_base_src.py
new file mode 100644
index 000000000..b6161e4bd
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_base_src.py
@@ -0,0 +1,86 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.temperature_sensor_cpi_thermostat_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import PhysicalTempimpl
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class temperature_sensor_cpi_thermostat_base(Node):
+    def __init__(self):
+        super().__init__("temperature_sensor_cpi_thermostat")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.temperature_sensor_cpi_thermostat_air_subscription_ = self.create_subscription(
+            PhysicalTempimpl,
+            "temperature_sensor_cpi_thermostat_air",
+            self.handle_air,
+            1,
+            callback_group=self.cb_group_)
+
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_1 = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_current_tempWstatus",
+            1)
+
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_2 = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_alarm_mat_current_tempWstatus",
+            1)
+
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_3 = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_current_tempWstatus",
+            1)
+
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_4 = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_current_tempWstatus",
+            1)
+
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_5 = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_current_tempWstatus",
+            1)
+
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_6 = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_current_tempWstatus",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.air_msg_holder = None
+
+    def init_air(self, val):
+        self.air_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_air(self, msg):
+        self.air_msg_holder = msg
+
+    def get_air(self):
+        return self.air_msg_holder
+
+    def put_current_tempWstatus(self, msg):
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_1.publish(msg)
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_2.publish(msg)
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_3.publish(msg)
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_4.publish(msg)
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_5.publish(msg)
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_6.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_runner.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_runner.py
new file mode 100644
index 000000000..98fb35b96
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.temperature_sensor_cpi_thermostat_src import temperature_sensor_cpi_thermostat
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = temperature_sensor_cpi_thermostat()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_base_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_base_src.py
new file mode 100644
index 000000000..975467ac0
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_base_src.py
@@ -0,0 +1,109 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_alarm_mat_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg_interfaces.msg import OnOff
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_monitor_temperature_manage_alarm_mat_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_monitor_temperature_manage_alarm_mat")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.thermostat_monitor_temperature_manage_alarm_mat_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_alarm_mat_current_tempWstatus",
+            self.handle_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_alarm_mat_lower_alarm_temp_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_monitor_temperature_manage_alarm_mat_lower_alarm_temp",
+            self.handle_lower_alarm_temp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_alarm_mat_upper_alarm_temp_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_monitor_temperature_manage_alarm_mat_upper_alarm_temp",
+            self.handle_upper_alarm_temp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_alarm_mat_monitor_mode_subscription_ = self.create_subscription(
+            MonitorMode,
+            "thermostat_monitor_temperature_manage_alarm_mat_monitor_mode",
+            self.handle_monitor_mode,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_alarm_mat_alarm_control_publisher_ = self.create_publisher(
+            OnOff,
+            "operator_interface_oip_oit_alarm_control",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.current_tempWstatus_msg_holder = None
+        self.lower_alarm_temp_msg_holder = None
+        self.upper_alarm_temp_msg_holder = None
+        self.monitor_mode_msg_holder = None
+
+    def init_current_tempWstatus(self, val):
+        self.current_tempWstatus_msg_holder = val
+
+    def init_lower_alarm_temp(self, val):
+        self.lower_alarm_temp_msg_holder = val
+
+    def init_upper_alarm_temp(self, val):
+        self.upper_alarm_temp_msg_holder = val
+
+    def init_monitor_mode(self, val):
+        self.monitor_mode_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_current_tempWstatus(self, msg):
+        self.current_tempWstatus_msg_holder = msg
+
+    def handle_lower_alarm_temp(self, msg):
+        self.lower_alarm_temp_msg_holder = msg
+
+    def handle_upper_alarm_temp(self, msg):
+        self.upper_alarm_temp_msg_holder = msg
+
+    def handle_monitor_mode(self, msg):
+        self.monitor_mode_msg_holder = msg
+
+    def get_current_tempWstatus(self):
+        return self.current_tempWstatus_msg_holder
+
+    def get_lower_alarm_temp(self):
+        return self.lower_alarm_temp_msg_holder
+
+    def get_upper_alarm_temp(self):
+        return self.upper_alarm_temp_msg_holder
+
+    def get_monitor_mode(self):
+        return self.monitor_mode_msg_holder
+
+    def put_alarm_control(self, msg):
+        self.thermostat_monitor_temperature_manage_alarm_mat_alarm_control_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_runner.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_runner.py
new file mode 100644
index 000000000..fb00dc3f0
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_alarm_mat_src import thermostat_monitor_temperature_manage_alarm_mat
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_monitor_temperature_manage_alarm_mat()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_base_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_base_src.py
new file mode 100644
index 000000000..1edeecc01
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_base_src.py
@@ -0,0 +1,134 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_monitor_interface_mmit_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_monitor_temperature_manage_monitor_interface_mmit_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_monitor_temperature_manage_monitor_interface_mmit")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_tempWstatus",
+            self.handle_upper_alarm_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_tempWstatus",
+            self.handle_lower_alarm_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_current_tempWstatus",
+            self.handle_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_mode_subscription_ = self.create_subscription(
+            MonitorMode,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_mode",
+            self.handle_monitor_mode,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_monitor_temperature_manage_alarm_mat_upper_alarm_temp",
+            1)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_monitor_temperature_manage_alarm_mat_lower_alarm_temp",
+            1)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_status_publisher_ = self.create_publisher(
+            Status,
+            "operator_interface_oip_oit_monitor_status",
+            1)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_interface_failure_publisher_ = self.create_publisher(
+            FailureFlagimpl,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_interface_failure",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.upper_alarm_tempWstatus_msg_holder = None
+        self.lower_alarm_tempWstatus_msg_holder = None
+        self.current_tempWstatus_msg_holder = None
+        self.monitor_mode_msg_holder = None
+
+    def init_upper_alarm_tempWstatus(self, val):
+        self.upper_alarm_tempWstatus_msg_holder = val
+
+    def init_lower_alarm_tempWstatus(self, val):
+        self.lower_alarm_tempWstatus_msg_holder = val
+
+    def init_current_tempWstatus(self, val):
+        self.current_tempWstatus_msg_holder = val
+
+    def init_monitor_mode(self, val):
+        self.monitor_mode_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_upper_alarm_tempWstatus(self, msg):
+        self.upper_alarm_tempWstatus_msg_holder = msg
+
+    def handle_lower_alarm_tempWstatus(self, msg):
+        self.lower_alarm_tempWstatus_msg_holder = msg
+
+    def handle_current_tempWstatus(self, msg):
+        self.current_tempWstatus_msg_holder = msg
+
+    def handle_monitor_mode(self, msg):
+        self.monitor_mode_msg_holder = msg
+
+    def get_upper_alarm_tempWstatus(self):
+        return self.upper_alarm_tempWstatus_msg_holder
+
+    def get_lower_alarm_tempWstatus(self):
+        return self.lower_alarm_tempWstatus_msg_holder
+
+    def get_current_tempWstatus(self):
+        return self.current_tempWstatus_msg_holder
+
+    def get_monitor_mode(self):
+        return self.monitor_mode_msg_holder
+
+    def put_upper_alarm_temp(self, msg):
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_temp_publisher_.publish(msg)
+
+    def put_lower_alarm_temp(self, msg):
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_temp_publisher_.publish(msg)
+
+    def put_monitor_status(self, msg):
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_status_publisher_.publish(msg)
+
+    def put_interface_failure(self, msg):
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_interface_failure_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_runner.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_runner.py
new file mode 100644
index 000000000..4e4b756ea
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_monitor_interface_mmit_src import thermostat_monitor_temperature_manage_monitor_interface_mmit
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_monitor_temperature_manage_monitor_interface_mmit()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_base_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_base_src.py
new file mode 100644
index 000000000..f60508e08
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_base_src.py
@@ -0,0 +1,97 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_monitor_mode_mmmt_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_monitor_temperature_manage_monitor_mode_mmmt_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_monitor_temperature_manage_monitor_mode_mmmt")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_current_tempWstatus",
+            self.handle_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_interface_failure_subscription_ = self.create_subscription(
+            FailureFlagimpl,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_interface_failure",
+            self.handle_interface_failure,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_internal_failure_subscription_ = self.create_subscription(
+            FailureFlagimpl,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_internal_failure",
+            self.handle_internal_failure,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode_publisher_1 = self.create_publisher(
+            MonitorMode,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_mode",
+            1)
+
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode_publisher_2 = self.create_publisher(
+            MonitorMode,
+            "thermostat_monitor_temperature_manage_alarm_mat_monitor_mode",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.current_tempWstatus_msg_holder = None
+        self.interface_failure_msg_holder = None
+        self.internal_failure_msg_holder = None
+
+    def init_current_tempWstatus(self, val):
+        self.current_tempWstatus_msg_holder = val
+
+    def init_interface_failure(self, val):
+        self.interface_failure_msg_holder = val
+
+    def init_internal_failure(self, val):
+        self.internal_failure_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_current_tempWstatus(self, msg):
+        self.current_tempWstatus_msg_holder = msg
+
+    def handle_interface_failure(self, msg):
+        self.interface_failure_msg_holder = msg
+
+    def handle_internal_failure(self, msg):
+        self.internal_failure_msg_holder = msg
+
+    def get_current_tempWstatus(self):
+        return self.current_tempWstatus_msg_holder
+
+    def get_interface_failure(self):
+        return self.interface_failure_msg_holder
+
+    def get_internal_failure(self):
+        return self.internal_failure_msg_holder
+
+    def put_monitor_mode(self, msg):
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode_publisher_1.publish(msg)
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode_publisher_2.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_runner.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_runner.py
new file mode 100644
index 000000000..c19f85dc4
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_monitor_mode_mmmt_src import thermostat_monitor_temperature_manage_monitor_mode_mmmt
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_monitor_temperature_manage_monitor_mode_mmmt()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_base_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_base_src.py
new file mode 100644
index 000000000..78f782a2e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_base_src.py
@@ -0,0 +1,109 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_heat_source_mhst_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import OnOff
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_regulate_temperature_manage_heat_source_mhst_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_regulate_temperature_manage_heat_source_mhst")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_current_tempWstatus",
+            self.handle_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_lower_desired_temp_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_lower_desired_temp",
+            self.handle_lower_desired_temp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_upper_desired_temp_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_upper_desired_temp",
+            self.handle_upper_desired_temp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_regulator_mode_subscription_ = self.create_subscription(
+            RegulatorMode,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_regulator_mode",
+            self.handle_regulator_mode,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_heat_control_publisher_ = self.create_publisher(
+            OnOff,
+            "heat_source_cpi_heat_controller_heat_control",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.current_tempWstatus_msg_holder = None
+        self.lower_desired_temp_msg_holder = None
+        self.upper_desired_temp_msg_holder = None
+        self.regulator_mode_msg_holder = None
+
+    def init_current_tempWstatus(self, val):
+        self.current_tempWstatus_msg_holder = val
+
+    def init_lower_desired_temp(self, val):
+        self.lower_desired_temp_msg_holder = val
+
+    def init_upper_desired_temp(self, val):
+        self.upper_desired_temp_msg_holder = val
+
+    def init_regulator_mode(self, val):
+        self.regulator_mode_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_current_tempWstatus(self, msg):
+        self.current_tempWstatus_msg_holder = msg
+
+    def handle_lower_desired_temp(self, msg):
+        self.lower_desired_temp_msg_holder = msg
+
+    def handle_upper_desired_temp(self, msg):
+        self.upper_desired_temp_msg_holder = msg
+
+    def handle_regulator_mode(self, msg):
+        self.regulator_mode_msg_holder = msg
+
+    def get_current_tempWstatus(self):
+        return self.current_tempWstatus_msg_holder
+
+    def get_lower_desired_temp(self):
+        return self.lower_desired_temp_msg_holder
+
+    def get_upper_desired_temp(self):
+        return self.upper_desired_temp_msg_holder
+
+    def get_regulator_mode(self):
+        return self.regulator_mode_msg_holder
+
+    def put_heat_control(self, msg):
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_heat_control_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_runner.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_runner.py
new file mode 100644
index 000000000..63044f20a
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_heat_source_mhst_src import thermostat_regulate_temperature_manage_heat_source_mhst
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_regulate_temperature_manage_heat_source_mhst()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_base_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_base_src.py
new file mode 100644
index 000000000..93b996481
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_base_src.py
@@ -0,0 +1,142 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_regulator_interface_mrit_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_regulate_temperature_manage_regulator_interface_mrit_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_regulate_temperature_manage_regulator_interface_mrit")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_current_tempWstatus",
+            self.handle_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_tempWstatus",
+            self.handle_lower_desired_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_tempWstatus",
+            self.handle_upper_desired_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_mode_subscription_ = self.create_subscription(
+            RegulatorMode,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_mode",
+            self.handle_regulator_mode,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_upper_desired_temp",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_lower_desired_temp",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_displayed_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "operator_interface_oip_oit_display_temperature",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_status_publisher_ = self.create_publisher(
+            Status,
+            "operator_interface_oip_oit_regulator_status",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_interface_failure_publisher_ = self.create_publisher(
+            FailureFlagimpl,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_interface_failure",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.current_tempWstatus_msg_holder = None
+        self.lower_desired_tempWstatus_msg_holder = None
+        self.upper_desired_tempWstatus_msg_holder = None
+        self.regulator_mode_msg_holder = None
+
+    def init_current_tempWstatus(self, val):
+        self.current_tempWstatus_msg_holder = val
+
+    def init_lower_desired_tempWstatus(self, val):
+        self.lower_desired_tempWstatus_msg_holder = val
+
+    def init_upper_desired_tempWstatus(self, val):
+        self.upper_desired_tempWstatus_msg_holder = val
+
+    def init_regulator_mode(self, val):
+        self.regulator_mode_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_current_tempWstatus(self, msg):
+        self.current_tempWstatus_msg_holder = msg
+
+    def handle_lower_desired_tempWstatus(self, msg):
+        self.lower_desired_tempWstatus_msg_holder = msg
+
+    def handle_upper_desired_tempWstatus(self, msg):
+        self.upper_desired_tempWstatus_msg_holder = msg
+
+    def handle_regulator_mode(self, msg):
+        self.regulator_mode_msg_holder = msg
+
+    def get_current_tempWstatus(self):
+        return self.current_tempWstatus_msg_holder
+
+    def get_lower_desired_tempWstatus(self):
+        return self.lower_desired_tempWstatus_msg_holder
+
+    def get_upper_desired_tempWstatus(self):
+        return self.upper_desired_tempWstatus_msg_holder
+
+    def get_regulator_mode(self):
+        return self.regulator_mode_msg_holder
+
+    def put_upper_desired_temp(self, msg):
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_temp_publisher_.publish(msg)
+
+    def put_lower_desired_temp(self, msg):
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_temp_publisher_.publish(msg)
+
+    def put_displayed_temp(self, msg):
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_displayed_temp_publisher_.publish(msg)
+
+    def put_regulator_status(self, msg):
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_status_publisher_.publish(msg)
+
+    def put_interface_failure(self, msg):
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_interface_failure_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_runner.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_runner.py
new file mode 100644
index 000000000..0ce8e2d1e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_regulator_interface_mrit_src import thermostat_regulate_temperature_manage_regulator_interface_mrit
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_regulate_temperature_manage_regulator_interface_mrit()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_base_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_base_src.py
new file mode 100644
index 000000000..5b5b1fcfc
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_base_src.py
@@ -0,0 +1,97 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_regulator_mode_mrmt_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_regulate_temperature_manage_regulator_mode_mrmt_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_regulate_temperature_manage_regulator_mode_mrmt")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_current_tempWstatus",
+            self.handle_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_interface_failure_subscription_ = self.create_subscription(
+            FailureFlagimpl,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_interface_failure",
+            self.handle_interface_failure,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_internal_failure_subscription_ = self.create_subscription(
+            FailureFlagimpl,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_internal_failure",
+            self.handle_internal_failure,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode_publisher_1 = self.create_publisher(
+            RegulatorMode,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_mode",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode_publisher_2 = self.create_publisher(
+            RegulatorMode,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_regulator_mode",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.current_tempWstatus_msg_holder = None
+        self.interface_failure_msg_holder = None
+        self.internal_failure_msg_holder = None
+
+    def init_current_tempWstatus(self, val):
+        self.current_tempWstatus_msg_holder = val
+
+    def init_interface_failure(self, val):
+        self.interface_failure_msg_holder = val
+
+    def init_internal_failure(self, val):
+        self.internal_failure_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_current_tempWstatus(self, msg):
+        self.current_tempWstatus_msg_holder = msg
+
+    def handle_interface_failure(self, msg):
+        self.interface_failure_msg_holder = msg
+
+    def handle_internal_failure(self, msg):
+        self.internal_failure_msg_holder = msg
+
+    def get_current_tempWstatus(self):
+        return self.current_tempWstatus_msg_holder
+
+    def get_interface_failure(self):
+        return self.interface_failure_msg_holder
+
+    def get_internal_failure(self):
+        return self.internal_failure_msg_holder
+
+    def put_regulator_mode(self, msg):
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode_publisher_1.publish(msg)
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode_publisher_2.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_runner.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_runner.py
new file mode 100644
index 000000000..b7d9a68ee
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_regulator_mode_mrmt_src import thermostat_regulate_temperature_manage_regulator_mode_mrmt
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_regulate_temperature_manage_regulator_mode_mrmt()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/__init__.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/heat_source_cpi_heat_controller_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/heat_source_cpi_heat_controller_src.py
new file mode 100644
index 000000000..3ded2b5fa
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/heat_source_cpi_heat_controller_src.py
@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.heat_source_cpi_heat_controller_base_src import heat_source_cpi_heat_controller_base
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import Heat
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class heat_source_cpi_heat_controller(heat_source_cpi_heat_controller_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("heat_source_cpi_heat_controller infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        heat_control = OnOff()
+        self.init_heat_control(heat_control)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        heat_control = self.get_heat_control()
+        self.get_logger().info(f"Received heat_control: {self.message_to_string(heat_control)}")
+
+
+        # Example publishing messages
+        heat_out = Heat()
+        self.put_heat_out(heat_out)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/operator_interface_oip_oit_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/operator_interface_oip_oit_src.py
new file mode 100644
index 000000000..ac40b469a
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/operator_interface_oip_oit_src.py
@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.operator_interface_oip_oit_base_src import operator_interface_oip_oit_base
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class operator_interface_oip_oit(operator_interface_oip_oit_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("operator_interface_oip_oit infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        regulator_status = Status()
+        self.init_regulator_status(regulator_status)
+
+        monitor_status = Status()
+        self.init_monitor_status(monitor_status)
+
+        display_temperature = Tempimpl()
+        self.init_display_temperature(display_temperature)
+
+        alarm_control = OnOff()
+        self.init_alarm_control(alarm_control)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        regulator_status = self.get_regulator_status()
+        self.get_logger().info(f"Received regulator_status: {self.message_to_string(regulator_status)}")
+
+        monitor_status = self.get_monitor_status()
+        self.get_logger().info(f"Received monitor_status: {self.message_to_string(monitor_status)}")
+
+        display_temperature = self.get_display_temperature()
+        self.get_logger().info(f"Received display_temperature: {self.message_to_string(display_temperature)}")
+
+        alarm_control = self.get_alarm_control()
+        self.get_logger().info(f"Received alarm_control: {self.message_to_string(alarm_control)}")
+
+
+        # Example publishing messages
+        lower_desired_tempWstatus = TempWstatusimpl()
+        self.put_lower_desired_tempWstatus(lower_desired_tempWstatus)
+
+        upper_desired_tempWstatus = TempWstatusimpl()
+        self.put_upper_desired_tempWstatus(upper_desired_tempWstatus)
+
+        lower_alarm_tempWstatus = TempWstatusimpl()
+        self.put_lower_alarm_tempWstatus(lower_alarm_tempWstatus)
+
+        upper_alarm_tempWstatus = TempWstatusimpl()
+        self.put_upper_alarm_tempWstatus(upper_alarm_tempWstatus)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/temperature_sensor_cpi_thermostat_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/temperature_sensor_cpi_thermostat_src.py
new file mode 100644
index 000000000..e1c1ca3af
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/temperature_sensor_cpi_thermostat_src.py
@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.temperature_sensor_cpi_thermostat_base_src import temperature_sensor_cpi_thermostat_base
+from isolette_py_pkg_interfaces.msg import PhysicalTempimpl
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class temperature_sensor_cpi_thermostat(temperature_sensor_cpi_thermostat_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("temperature_sensor_cpi_thermostat infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        air = PhysicalTempimpl()
+        self.init_air(air)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        air = self.get_air()
+        self.get_logger().info(f"Received air: {self.message_to_string(air)}")
+
+
+        # Example publishing messages
+        current_tempWstatus = TempWstatusimpl()
+        self.put_current_tempWstatus(current_tempWstatus)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_alarm_mat_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_alarm_mat_src.py
new file mode 100644
index 000000000..f67a7c036
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_alarm_mat_src.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_alarm_mat_base_src import thermostat_monitor_temperature_manage_alarm_mat_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_monitor_temperature_manage_alarm_mat(thermostat_monitor_temperature_manage_alarm_mat_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_monitor_temperature_manage_alarm_mat infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        lower_alarm_temp = Tempimpl()
+        self.init_lower_alarm_temp(lower_alarm_temp)
+
+        upper_alarm_temp = Tempimpl()
+        self.init_upper_alarm_temp(upper_alarm_temp)
+
+        monitor_mode = MonitorMode()
+        self.init_monitor_mode(monitor_mode)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        lower_alarm_temp = self.get_lower_alarm_temp()
+        self.get_logger().info(f"Received lower_alarm_temp: {self.message_to_string(lower_alarm_temp)}")
+
+        upper_alarm_temp = self.get_upper_alarm_temp()
+        self.get_logger().info(f"Received upper_alarm_temp: {self.message_to_string(upper_alarm_temp)}")
+
+        monitor_mode = self.get_monitor_mode()
+        self.get_logger().info(f"Received monitor_mode: {self.message_to_string(monitor_mode)}")
+
+
+        # Example publishing messages
+        alarm_control = OnOff()
+        self.put_alarm_control(alarm_control)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_src.py
new file mode 100644
index 000000000..4f3930578
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_src.py
@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_monitor_interface_mmit_base_src import thermostat_monitor_temperature_manage_monitor_interface_mmit_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_monitor_temperature_manage_monitor_interface_mmit(thermostat_monitor_temperature_manage_monitor_interface_mmit_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_monitor_temperature_manage_monitor_interface_mmit infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        upper_alarm_tempWstatus = TempWstatusimpl()
+        self.init_upper_alarm_tempWstatus(upper_alarm_tempWstatus)
+
+        lower_alarm_tempWstatus = TempWstatusimpl()
+        self.init_lower_alarm_tempWstatus(lower_alarm_tempWstatus)
+
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        monitor_mode = MonitorMode()
+        self.init_monitor_mode(monitor_mode)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        upper_alarm_tempWstatus = self.get_upper_alarm_tempWstatus()
+        self.get_logger().info(f"Received upper_alarm_tempWstatus: {self.message_to_string(upper_alarm_tempWstatus)}")
+
+        lower_alarm_tempWstatus = self.get_lower_alarm_tempWstatus()
+        self.get_logger().info(f"Received lower_alarm_tempWstatus: {self.message_to_string(lower_alarm_tempWstatus)}")
+
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        monitor_mode = self.get_monitor_mode()
+        self.get_logger().info(f"Received monitor_mode: {self.message_to_string(monitor_mode)}")
+
+
+        # Example publishing messages
+        upper_alarm_temp = Tempimpl()
+        self.put_upper_alarm_temp(upper_alarm_temp)
+
+        lower_alarm_temp = Tempimpl()
+        self.put_lower_alarm_temp(lower_alarm_temp)
+
+        monitor_status = Status()
+        self.put_monitor_status(monitor_status)
+
+        interface_failure = FailureFlagimpl()
+        self.put_interface_failure(interface_failure)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_src.py
new file mode 100644
index 000000000..973aa609c
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_src.py
@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_monitor_mode_mmmt_base_src import thermostat_monitor_temperature_manage_monitor_mode_mmmt_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_monitor_temperature_manage_monitor_mode_mmmt(thermostat_monitor_temperature_manage_monitor_mode_mmmt_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_monitor_temperature_manage_monitor_mode_mmmt infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        interface_failure = FailureFlagimpl()
+        self.init_interface_failure(interface_failure)
+
+        internal_failure = FailureFlagimpl()
+        self.init_internal_failure(internal_failure)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        interface_failure = self.get_interface_failure()
+        self.get_logger().info(f"Received interface_failure: {self.message_to_string(interface_failure)}")
+
+        internal_failure = self.get_internal_failure()
+        self.get_logger().info(f"Received internal_failure: {self.message_to_string(internal_failure)}")
+
+
+        # Example publishing messages
+        monitor_mode = MonitorMode()
+        self.put_monitor_mode(monitor_mode)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_heat_source_mhst_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_heat_source_mhst_src.py
new file mode 100644
index 000000000..4826e5681
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_heat_source_mhst_src.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_heat_source_mhst_base_src import thermostat_regulate_temperature_manage_heat_source_mhst_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_regulate_temperature_manage_heat_source_mhst(thermostat_regulate_temperature_manage_heat_source_mhst_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_regulate_temperature_manage_heat_source_mhst infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        lower_desired_temp = Tempimpl()
+        self.init_lower_desired_temp(lower_desired_temp)
+
+        upper_desired_temp = Tempimpl()
+        self.init_upper_desired_temp(upper_desired_temp)
+
+        regulator_mode = RegulatorMode()
+        self.init_regulator_mode(regulator_mode)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        lower_desired_temp = self.get_lower_desired_temp()
+        self.get_logger().info(f"Received lower_desired_temp: {self.message_to_string(lower_desired_temp)}")
+
+        upper_desired_temp = self.get_upper_desired_temp()
+        self.get_logger().info(f"Received upper_desired_temp: {self.message_to_string(upper_desired_temp)}")
+
+        regulator_mode = self.get_regulator_mode()
+        self.get_logger().info(f"Received regulator_mode: {self.message_to_string(regulator_mode)}")
+
+
+        # Example publishing messages
+        heat_control = OnOff()
+        self.put_heat_control(heat_control)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_src.py
new file mode 100644
index 000000000..94513c84d
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_src.py
@@ -0,0 +1,94 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_regulator_interface_mrit_base_src import thermostat_regulate_temperature_manage_regulator_interface_mrit_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_regulate_temperature_manage_regulator_interface_mrit(thermostat_regulate_temperature_manage_regulator_interface_mrit_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_regulate_temperature_manage_regulator_interface_mrit infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        lower_desired_tempWstatus = TempWstatusimpl()
+        self.init_lower_desired_tempWstatus(lower_desired_tempWstatus)
+
+        upper_desired_tempWstatus = TempWstatusimpl()
+        self.init_upper_desired_tempWstatus(upper_desired_tempWstatus)
+
+        regulator_mode = RegulatorMode()
+        self.init_regulator_mode(regulator_mode)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        lower_desired_tempWstatus = self.get_lower_desired_tempWstatus()
+        self.get_logger().info(f"Received lower_desired_tempWstatus: {self.message_to_string(lower_desired_tempWstatus)}")
+
+        upper_desired_tempWstatus = self.get_upper_desired_tempWstatus()
+        self.get_logger().info(f"Received upper_desired_tempWstatus: {self.message_to_string(upper_desired_tempWstatus)}")
+
+        regulator_mode = self.get_regulator_mode()
+        self.get_logger().info(f"Received regulator_mode: {self.message_to_string(regulator_mode)}")
+
+
+        # Example publishing messages
+        upper_desired_temp = Tempimpl()
+        self.put_upper_desired_temp(upper_desired_temp)
+
+        lower_desired_temp = Tempimpl()
+        self.put_lower_desired_temp(lower_desired_temp)
+
+        displayed_temp = Tempimpl()
+        self.put_displayed_temp(displayed_temp)
+
+        regulator_status = Status()
+        self.put_regulator_status(regulator_status)
+
+        interface_failure = FailureFlagimpl()
+        self.put_interface_failure(interface_failure)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_src.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_src.py
new file mode 100644
index 000000000..ea5e59937
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_src.py
@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_regulator_mode_mrmt_base_src import thermostat_regulate_temperature_manage_regulator_mode_mrmt_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_regulate_temperature_manage_regulator_mode_mrmt(thermostat_regulate_temperature_manage_regulator_mode_mrmt_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_regulate_temperature_manage_regulator_mode_mrmt infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        interface_failure = FailureFlagimpl()
+        self.init_interface_failure(interface_failure)
+
+        internal_failure = FailureFlagimpl()
+        self.init_internal_failure(internal_failure)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        interface_failure = self.get_interface_failure()
+        self.get_logger().info(f"Received interface_failure: {self.message_to_string(interface_failure)}")
+
+        internal_failure = self.get_internal_failure()
+        self.get_logger().info(f"Received internal_failure: {self.message_to_string(internal_failure)}")
+
+
+        # Example publishing messages
+        regulator_mode = RegulatorMode()
+        self.put_regulator_mode(regulator_mode)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/package.xml b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/package.xml
new file mode 100644
index 000000000..ddc125c8a
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/package.xml
@@ -0,0 +1,26 @@
+<?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>isolette_py_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="todo.todo@todo.com">ed</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>rosidl_runtime_py</depend>
+  <depend>isolette_py_pkg_interfaces</depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/resource/isolette_py_pkg b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/resource/isolette_py_pkg
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/resource/isolette_py_pkg
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/setup.cfg b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/setup.cfg
new file mode 100644
index 000000000..de71f7785
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/setup.cfg
@@ -0,0 +1,5 @@
+# setup.cfg   in  src/isolette_py_pkg
+[develop]
+script_dir=$base/lib/isolette_py_pkg
+[install]
+install_scripts=$base/lib/isolette_py_pkg
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/setup.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/setup.py
new file mode 100644
index 000000000..4db5def61
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/setup.py
@@ -0,0 +1,36 @@
+# setup.py   in  src/isolette_py_pkg
+
+from setuptools import find_packages, setup
+
+package_name = 'isolette_py_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sireum',
+    maintainer_email='sireum@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_exe = isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_regulator_interface_mrit_runner:main",
+            "thermostat_regulate_temperature_manage_heat_source_mhst_exe = isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_heat_source_mhst_runner:main",
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_exe = isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_regulator_mode_mrmt_runner:main",
+            "thermostat_monitor_temperature_manage_alarm_mat_exe = isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_alarm_mat_runner:main",
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_exe = isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_monitor_interface_mmit_runner:main",
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_exe = isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_monitor_mode_mmmt_runner:main",
+            "operator_interface_oip_oit_exe = isolette_py_pkg.base_code.operator_interface_oip_oit_runner:main",
+            "temperature_sensor_cpi_thermostat_exe = isolette_py_pkg.base_code.temperature_sensor_cpi_thermostat_runner:main",
+            "heat_source_cpi_heat_controller_exe = isolette_py_pkg.base_code.heat_source_cpi_heat_controller_runner:main"
+        ],
+    },
+)
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/test/test_copyright.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/test/test_copyright.py
new file mode 100644
index 000000000..97a39196e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/test/test_flake8.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/test/test_flake8.py
new file mode 100644
index 000000000..7dc87a490
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \\
+        'Found %d code style errors / warnings:\n' % len(errors) + \\
+        '\n'.join(errors)
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/test/test_prep257.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/test/test_prep257.py
new file mode 100644
index 000000000..b234a3840
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg/test/test_prep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/CMakeLists.txt b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/CMakeLists.txt
new file mode 100644
index 000000000..7ef2c8397
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(isolette_py_pkg_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+    launch
+    DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/heat_source.launch.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/heat_source.launch.py
new file mode 100644
index 000000000..19d78f040
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/heat_source.launch.py
@@ -0,0 +1,19 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    heat_source_cpi_heat_controller_node = Node(
+        package = "isolette_py_pkg",
+        executable = "heat_source_cpi_heat_controller_exe"
+    )
+
+    ld.add_action(heat_source_cpi_heat_controller_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/isolette_single_sensor_Instance.launch.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/isolette_single_sensor_Instance.launch.py
new file mode 100644
index 000000000..265c24dc0
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/isolette_single_sensor_Instance.launch.py
@@ -0,0 +1,45 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    thermostat_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/thermostat.launch.py')
+        )
+    )
+
+    operator_interface_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/operator_interface.launch.py')
+        )
+    )
+
+    temperature_sensor_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/temperature_sensor.launch.py')
+        )
+    )
+
+    heat_source_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/heat_source.launch.py')
+        )
+    )
+
+    ld.add_action(thermostat_node)
+    ld.add_action(operator_interface_node)
+    ld.add_action(temperature_sensor_node)
+    ld.add_action(heat_source_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/monitor_temperature.launch.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/monitor_temperature.launch.py
new file mode 100644
index 000000000..b9e2c624f
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/monitor_temperature.launch.py
@@ -0,0 +1,31 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    thermostat_monitor_temperature_manage_alarm_mat_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_monitor_temperature_manage_alarm_mat_exe"
+    )
+
+    thermostat_monitor_temperature_manage_monitor_interface_mmit_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_monitor_temperature_manage_monitor_interface_mmit_exe"
+    )
+
+    thermostat_monitor_temperature_manage_monitor_mode_mmmt_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_monitor_temperature_manage_monitor_mode_mmmt_exe"
+    )
+
+    ld.add_action(thermostat_monitor_temperature_manage_alarm_mat_node)
+    ld.add_action(thermostat_monitor_temperature_manage_monitor_interface_mmit_node)
+    ld.add_action(thermostat_monitor_temperature_manage_monitor_mode_mmmt_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/operator_interface.launch.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/operator_interface.launch.py
new file mode 100644
index 000000000..5f488a919
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/operator_interface.launch.py
@@ -0,0 +1,19 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    operator_interface_oip_oit_node = Node(
+        package = "isolette_py_pkg",
+        executable = "operator_interface_oip_oit_exe"
+    )
+
+    ld.add_action(operator_interface_oip_oit_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/regulate_temperature.launch.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/regulate_temperature.launch.py
new file mode 100644
index 000000000..014c61c26
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/regulate_temperature.launch.py
@@ -0,0 +1,31 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    thermostat_regulate_temperature_manage_regulator_interface_mrit_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_regulate_temperature_manage_regulator_interface_mrit_exe"
+    )
+
+    thermostat_regulate_temperature_manage_heat_source_mhst_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_regulate_temperature_manage_heat_source_mhst_exe"
+    )
+
+    thermostat_regulate_temperature_manage_regulator_mode_mrmt_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_regulate_temperature_manage_regulator_mode_mrmt_exe"
+    )
+
+    ld.add_action(thermostat_regulate_temperature_manage_regulator_interface_mrit_node)
+    ld.add_action(thermostat_regulate_temperature_manage_heat_source_mhst_node)
+    ld.add_action(thermostat_regulate_temperature_manage_regulator_mode_mrmt_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/temperature_sensor.launch.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/temperature_sensor.launch.py
new file mode 100644
index 000000000..04c0d9de3
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/temperature_sensor.launch.py
@@ -0,0 +1,19 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    temperature_sensor_cpi_thermostat_node = Node(
+        package = "isolette_py_pkg",
+        executable = "temperature_sensor_cpi_thermostat_exe"
+    )
+
+    ld.add_action(temperature_sensor_cpi_thermostat_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/thermostat.launch.py b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/thermostat.launch.py
new file mode 100644
index 000000000..383d3f3b9
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/launch/thermostat.launch.py
@@ -0,0 +1,29 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    regulate_temperature_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/regulate_temperature.launch.py')
+        )
+    )
+
+    monitor_temperature_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/monitor_temperature.launch.py')
+        )
+    )
+
+    ld.add_action(regulate_temperature_node)
+    ld.add_action(monitor_temperature_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/package.xml b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/package.xml
new file mode 100644
index 000000000..c0ef1c8bb
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_bringup/package.xml
@@ -0,0 +1,24 @@
+<?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>isolette_py_pkg_bringup</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <exec_depend>isolette_py_pkg</exec_depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/CMakeLists.txt b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/CMakeLists.txt
new file mode 100644
index 000000000..3c237e7ba
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/CMakeLists.txt
@@ -0,0 +1,31 @@
+cmake_minimum_required(VERSION 3.8)
+project(isolette_py_pkg_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Heat.msg
+  msg/InterfaceInteraction.msg
+  msg/Float32.msg
+  msg/PhysicalTempimpl.msg
+  msg/ValueStatus.msg
+  msg/TempWstatusimpl.msg
+  msg/OnOff.msg
+  msg/Status.msg
+  msg/Tempimpl.msg
+  msg/RegulatorMode.msg
+  msg/Boolean.msg
+  msg/FailureFlagimpl.msg
+  msg/MonitorMode.msg
+  msg/Empty.msg
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Boolean.msg b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Boolean.msg
new file mode 100644
index 000000000..f7cabb94f
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Boolean.msg
@@ -0,0 +1 @@
+bool data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Empty.msg b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Empty.msg
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/FailureFlagimpl.msg b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/FailureFlagimpl.msg
new file mode 100644
index 000000000..85e9459f2
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/FailureFlagimpl.msg
@@ -0,0 +1 @@
+Boolean value
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Float32.msg b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Float32.msg
new file mode 100644
index 000000000..e89740534
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Float32.msg
@@ -0,0 +1 @@
+float32 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Heat.msg b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Heat.msg
new file mode 100644
index 000000000..8510ca2f7
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Heat.msg
@@ -0,0 +1,2 @@
+uint8 heat
+uint8 HEAT_DUMMY_HEAD_ENUM=0
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/InterfaceInteraction.msg b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/InterfaceInteraction.msg
new file mode 100644
index 000000000..74fd55b51
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/InterfaceInteraction.msg
@@ -0,0 +1,2 @@
+uint8 interface_interaction
+uint8 INTERFACE_INTERACTION_DUMMY_INTERFACE_INTERACTION_ENUM=0
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/MonitorMode.msg b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/MonitorMode.msg
new file mode 100644
index 000000000..23c152693
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/MonitorMode.msg
@@ -0,0 +1,4 @@
+uint8 monitor_mode
+uint8 MONITOR_MODE_INIT_MONITOR_MODE=0
+uint8 MONITOR_MODE_NORMAL_MONITOR_MODE=1
+uint8 MONITOR_MODE_FAILED_MONITOR_MODE=2
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/OnOff.msg b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/OnOff.msg
new file mode 100644
index 000000000..2b93a6e9b
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/OnOff.msg
@@ -0,0 +1,3 @@
+uint8 on_off
+uint8 ON_OFF_ONN=0
+uint8 ON_OFF_OFF=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/PhysicalTempimpl.msg b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/PhysicalTempimpl.msg
new file mode 100644
index 000000000..f974a1a52
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/PhysicalTempimpl.msg
@@ -0,0 +1 @@
+Float32 value
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/RegulatorMode.msg b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/RegulatorMode.msg
new file mode 100644
index 000000000..3e575ec38
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/RegulatorMode.msg
@@ -0,0 +1,4 @@
+uint8 regulator_mode
+uint8 REGULATOR_MODE_INIT_REGULATOR_MODE=0
+uint8 REGULATOR_MODE_NORMAL_REGULATOR_MODE=1
+uint8 REGULATOR_MODE_FAILED_REGULATOR_MODE=2
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Status.msg b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Status.msg
new file mode 100644
index 000000000..f921080e2
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Status.msg
@@ -0,0 +1,4 @@
+uint8 status
+uint8 STATUS_INIT_STATUS=0
+uint8 STATUS_ON_STATUS=1
+uint8 STATUS_FAILED_STATUS=2
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/TempWstatusimpl.msg b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/TempWstatusimpl.msg
new file mode 100644
index 000000000..013b4d370
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/TempWstatusimpl.msg
@@ -0,0 +1,2 @@
+Float32 value
+ValueStatus status
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Tempimpl.msg b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Tempimpl.msg
new file mode 100644
index 000000000..f974a1a52
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/Tempimpl.msg
@@ -0,0 +1 @@
+Float32 value
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/ValueStatus.msg b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/ValueStatus.msg
new file mode 100644
index 000000000..cd93b8a5e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/msg/ValueStatus.msg
@@ -0,0 +1,3 @@
+uint8 value_status
+uint8 VALUE_STATUS_VALID=0
+uint8 VALUE_STATUS_INVALID=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/package.xml b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/package.xml
new file mode 100644
index 000000000..c0d3e4f59
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/lax/src/isolette_py_pkg_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?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>isolette_py_pkg_interfaces</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <build_depend>rosidl_default_generators</build_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/__init__.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/__init__.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/enum_converter.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/enum_converter.py
new file mode 100644
index 000000000..92bc818f8
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/enum_converter.py
@@ -0,0 +1,92 @@
+#!/usr/bin/env python3
+from isolette_py_pkg_interfaces.msg import Heat
+from isolette_py_pkg_interfaces.msg import InterfaceInteraction
+from isolette_py_pkg_interfaces.msg import ValueStatus
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import MonitorMode
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+def enumToString(value):
+    typedValue = Heat()
+    typedValue.data = value
+    match (typedValue.heat):
+        case Heat.HEAT_DUMMY_HEAD_ENUM:
+            return "Heat Dummy_Head_Enum"
+        case default:
+            return "Unknown value for Heat"
+
+def enumToString(value):
+    typedValue = InterfaceInteraction()
+    typedValue.data = value
+    match (typedValue.interface_interaction):
+        case InterfaceInteraction.INTERFACE_INTERACTION_DUMMY_INTERFACE_INTERACTION_ENUM:
+            return "InterfaceInteraction Dummy_Interface_Interaction_Enum"
+        case default:
+            return "Unknown value for InterfaceInteraction"
+
+def enumToString(value):
+    typedValue = ValueStatus()
+    typedValue.data = value
+    match (typedValue.value_status):
+        case ValueStatus.VALUE_STATUS_VALID:
+            return "ValueStatus Valid"
+        case ValueStatus.VALUE_STATUS_INVALID:
+            return "ValueStatus Invalid"
+        case default:
+            return "Unknown value for ValueStatus"
+
+def enumToString(value):
+    typedValue = OnOff()
+    typedValue.data = value
+    match (typedValue.on_off):
+        case OnOff.ON_OFF_ONN:
+            return "OnOff Onn"
+        case OnOff.ON_OFF_OFF:
+            return "OnOff Off"
+        case default:
+            return "Unknown value for OnOff"
+
+def enumToString(value):
+    typedValue = Status()
+    typedValue.data = value
+    match (typedValue.status):
+        case Status.STATUS_INIT_STATUS:
+            return "Status Init_Status"
+        case Status.STATUS_ON_STATUS:
+            return "Status On_Status"
+        case Status.STATUS_FAILED_STATUS:
+            return "Status Failed_Status"
+        case default:
+            return "Unknown value for Status"
+
+def enumToString(value):
+    typedValue = RegulatorMode()
+    typedValue.data = value
+    match (typedValue.regulator_mode):
+        case RegulatorMode.REGULATOR_MODE_INIT_REGULATOR_MODE:
+            return "RegulatorMode Init_Regulator_Mode"
+        case RegulatorMode.REGULATOR_MODE_NORMAL_REGULATOR_MODE:
+            return "RegulatorMode Normal_Regulator_Mode"
+        case RegulatorMode.REGULATOR_MODE_FAILED_REGULATOR_MODE:
+            return "RegulatorMode Failed_Regulator_Mode"
+        case default:
+            return "Unknown value for RegulatorMode"
+
+def enumToString(value):
+    typedValue = MonitorMode()
+    typedValue.data = value
+    match (typedValue.monitor_mode):
+        case MonitorMode.MONITOR_MODE_INIT_MONITOR_MODE:
+            return "MonitorMode Init_Monitor_Mode"
+        case MonitorMode.MONITOR_MODE_NORMAL_MONITOR_MODE:
+            return "MonitorMode Normal_Monitor_Mode"
+        case MonitorMode.MONITOR_MODE_FAILED_MONITOR_MODE:
+            return "MonitorMode Failed_Monitor_Mode"
+        case default:
+            return "Unknown value for MonitorMode"
+
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_base_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_base_src.py
new file mode 100644
index 000000000..622693c1f
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_base_src.py
@@ -0,0 +1,124 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import Heat
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class heat_source_cpi_heat_controller_base(Node):
+    def __init__(self):
+        super().__init__("heat_source_cpi_heat_controller")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.heat_source_cpi_heat_controller_heat_control_subscription_ = self.create_subscription(
+            OnOff,
+            "heat_source_cpi_heat_controller_heat_control",
+            self.accept_heat_control,
+            1,
+            callback_group=self.cb_group_)
+
+        self.heat_source_cpi_heat_controller_heat_out_publisher_ = self.create_publisher(
+            Heat,
+            "heat_source_cpi_heat_controller_heat_out",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_heat_control = deque()
+        self.applicationIn_heat_control = deque()
+
+        self.infrastructureOut_heat_out = deque()
+        self.applicationOut_heat_out = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_heat_control, self.applicationIn_heat_control]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_heat_control, self.applicationIn_heat_control]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_heat_out, self.infrastructureOut_heat_out, self.sendOut_heat_out]
+        ]
+
+    def init_heat_control(self, val):
+        self.enqueue(self.infrastructureIn_heat_control, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_heat_control(self, msg):
+        self.enqueue(self.infrastructureIn_heat_control, msg)
+
+    def get_heat_control(self):
+        msg = self.applicationIn_heat_control[0]
+        return msg
+
+    def sendOut_heat_out(self, msg):
+        if type(msg) is Heat:
+            self.heat_source_cpi_heat_controller_heat_out_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port heat_out.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_heat_out(self, msg):
+        self.enqueue(self.applicationOut_heat_out, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_runner.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_runner.py
new file mode 100644
index 000000000..dfdc41ce7
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.heat_source_cpi_heat_controller_src import heat_source_cpi_heat_controller
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = heat_source_cpi_heat_controller()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_base_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_base_src.py
new file mode 100644
index 000000000..7cbdfb982
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_base_src.py
@@ -0,0 +1,249 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class operator_interface_oip_oit_base(Node):
+    def __init__(self):
+        super().__init__("operator_interface_oip_oit")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.operator_interface_oip_oit_regulator_status_subscription_ = self.create_subscription(
+            Status,
+            "operator_interface_oip_oit_regulator_status",
+            self.accept_regulator_status,
+            1,
+            callback_group=self.cb_group_)
+
+        self.operator_interface_oip_oit_monitor_status_subscription_ = self.create_subscription(
+            Status,
+            "operator_interface_oip_oit_monitor_status",
+            self.accept_monitor_status,
+            1,
+            callback_group=self.cb_group_)
+
+        self.operator_interface_oip_oit_display_temperature_subscription_ = self.create_subscription(
+            Tempimpl,
+            "operator_interface_oip_oit_display_temperature",
+            self.accept_display_temperature,
+            1,
+            callback_group=self.cb_group_)
+
+        self.operator_interface_oip_oit_alarm_control_subscription_ = self.create_subscription(
+            OnOff,
+            "operator_interface_oip_oit_alarm_control",
+            self.accept_alarm_control,
+            1,
+            callback_group=self.cb_group_)
+
+        self.operator_interface_oip_oit_lower_desired_tempWstatus_publisher_ = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_tempWstatus",
+            1)
+
+        self.operator_interface_oip_oit_upper_desired_tempWstatus_publisher_ = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_tempWstatus",
+            1)
+
+        self.operator_interface_oip_oit_lower_alarm_tempWstatus_publisher_ = self.create_publisher(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_lower_alarm_tempWstatus",
+            1)
+
+        self.operator_interface_oip_oit_upper_alarm_tempWstatus_publisher_1 = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_tempWstatus",
+            1)
+
+        self.operator_interface_oip_oit_upper_alarm_tempWstatus_publisher_2 = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_tempWstatus",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_regulator_status = deque()
+        self.applicationIn_regulator_status = deque()
+        self.infrastructureIn_monitor_status = deque()
+        self.applicationIn_monitor_status = deque()
+        self.infrastructureIn_display_temperature = deque()
+        self.applicationIn_display_temperature = deque()
+        self.infrastructureIn_alarm_control = deque()
+        self.applicationIn_alarm_control = deque()
+
+        self.infrastructureOut_lower_desired_tempWstatus = deque()
+        self.applicationOut_lower_desired_tempWstatus = deque()
+        self.infrastructureOut_upper_desired_tempWstatus = deque()
+        self.applicationOut_upper_desired_tempWstatus = deque()
+        self.infrastructureOut_lower_alarm_tempWstatus = deque()
+        self.applicationOut_lower_alarm_tempWstatus = deque()
+        self.infrastructureOut_upper_alarm_tempWstatus = deque()
+        self.applicationOut_upper_alarm_tempWstatus = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_regulator_status, self.applicationIn_regulator_status],
+            [self.infrastructureIn_monitor_status, self.applicationIn_monitor_status],
+            [self.infrastructureIn_display_temperature, self.applicationIn_display_temperature],
+            [self.infrastructureIn_alarm_control, self.applicationIn_alarm_control]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_regulator_status, self.applicationIn_regulator_status],
+            [self.infrastructureIn_monitor_status, self.applicationIn_monitor_status],
+            [self.infrastructureIn_display_temperature, self.applicationIn_display_temperature],
+            [self.infrastructureIn_alarm_control, self.applicationIn_alarm_control]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_lower_desired_tempWstatus, self.infrastructureOut_lower_desired_tempWstatus, self.sendOut_lower_desired_tempWstatus],
+            [self.applicationOut_upper_desired_tempWstatus, self.infrastructureOut_upper_desired_tempWstatus, self.sendOut_upper_desired_tempWstatus],
+            [self.applicationOut_lower_alarm_tempWstatus, self.infrastructureOut_lower_alarm_tempWstatus, self.sendOut_lower_alarm_tempWstatus],
+            [self.applicationOut_upper_alarm_tempWstatus, self.infrastructureOut_upper_alarm_tempWstatus, self.sendOut_upper_alarm_tempWstatus]
+        ]
+
+    def init_regulator_status(self, val):
+        self.enqueue(self.infrastructureIn_regulator_status, val)
+
+
+    def init_monitor_status(self, val):
+        self.enqueue(self.infrastructureIn_monitor_status, val)
+
+
+    def init_display_temperature(self, val):
+        self.enqueue(self.infrastructureIn_display_temperature, val)
+
+
+    def init_alarm_control(self, val):
+        self.enqueue(self.infrastructureIn_alarm_control, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_regulator_status(self, msg):
+        self.enqueue(self.infrastructureIn_regulator_status, msg)
+
+    def accept_monitor_status(self, msg):
+        self.enqueue(self.infrastructureIn_monitor_status, msg)
+
+    def accept_display_temperature(self, msg):
+        self.enqueue(self.infrastructureIn_display_temperature, msg)
+
+    def accept_alarm_control(self, msg):
+        self.enqueue(self.infrastructureIn_alarm_control, msg)
+
+    def get_regulator_status(self):
+        msg = self.applicationIn_regulator_status[0]
+        return msg
+
+    def get_monitor_status(self):
+        msg = self.applicationIn_monitor_status[0]
+        return msg
+
+    def get_display_temperature(self):
+        msg = self.applicationIn_display_temperature[0]
+        return msg
+
+    def get_alarm_control(self):
+        msg = self.applicationIn_alarm_control[0]
+        return msg
+
+    def sendOut_lower_desired_tempWstatus(self, msg):
+        if type(msg) is TempWstatusimpl:
+            self.operator_interface_oip_oit_lower_desired_tempWstatus_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port lower_desired_tempWstatus.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_upper_desired_tempWstatus(self, msg):
+        if type(msg) is TempWstatusimpl:
+            self.operator_interface_oip_oit_upper_desired_tempWstatus_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port upper_desired_tempWstatus.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_lower_alarm_tempWstatus(self, msg):
+        if type(msg) is TempWstatusimpl:
+            self.operator_interface_oip_oit_lower_alarm_tempWstatus_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port lower_alarm_tempWstatus.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_upper_alarm_tempWstatus(self, msg):
+        if type(msg) is TempWstatusimpl:
+            self.operator_interface_oip_oit_upper_alarm_tempWstatus_publisher_1.publish(msg)
+            self.operator_interface_oip_oit_upper_alarm_tempWstatus_publisher_2.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port upper_alarm_tempWstatus.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_lower_desired_tempWstatus(self, msg):
+        self.enqueue(self.applicationOut_lower_desired_tempWstatus, msg)
+
+    def put_upper_desired_tempWstatus(self, msg):
+        self.enqueue(self.applicationOut_upper_desired_tempWstatus, msg)
+
+    def put_lower_alarm_tempWstatus(self, msg):
+        self.enqueue(self.applicationOut_lower_alarm_tempWstatus, msg)
+
+    def put_upper_alarm_tempWstatus(self, msg):
+        self.enqueue(self.applicationOut_upper_alarm_tempWstatus, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_runner.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_runner.py
new file mode 100644
index 000000000..6a5d84ad4
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.operator_interface_oip_oit_src import operator_interface_oip_oit
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = operator_interface_oip_oit()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_base_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_base_src.py
new file mode 100644
index 000000000..aed48c6fa
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_base_src.py
@@ -0,0 +1,154 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import PhysicalTempimpl
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class temperature_sensor_cpi_thermostat_base(Node):
+    def __init__(self):
+        super().__init__("temperature_sensor_cpi_thermostat")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.temperature_sensor_cpi_thermostat_air_subscription_ = self.create_subscription(
+            PhysicalTempimpl,
+            "temperature_sensor_cpi_thermostat_air",
+            self.accept_air,
+            1,
+            callback_group=self.cb_group_)
+
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_1 = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_current_tempWstatus",
+            1)
+
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_2 = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_alarm_mat_current_tempWstatus",
+            1)
+
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_3 = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_current_tempWstatus",
+            1)
+
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_4 = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_current_tempWstatus",
+            1)
+
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_5 = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_current_tempWstatus",
+            1)
+
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_6 = self.create_publisher(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_current_tempWstatus",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_air = deque()
+        self.applicationIn_air = deque()
+
+        self.infrastructureOut_current_tempWstatus = deque()
+        self.applicationOut_current_tempWstatus = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_air, self.applicationIn_air]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_air, self.applicationIn_air]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_current_tempWstatus, self.infrastructureOut_current_tempWstatus, self.sendOut_current_tempWstatus]
+        ]
+
+    def init_air(self, val):
+        self.enqueue(self.infrastructureIn_air, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_air(self, msg):
+        self.enqueue(self.infrastructureIn_air, msg)
+
+    def get_air(self):
+        msg = self.applicationIn_air[0]
+        return msg
+
+    def sendOut_current_tempWstatus(self, msg):
+        if type(msg) is TempWstatusimpl:
+            self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_1.publish(msg)
+            self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_2.publish(msg)
+            self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_3.publish(msg)
+            self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_4.publish(msg)
+            self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_5.publish(msg)
+            self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_6.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port current_tempWstatus.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_current_tempWstatus(self, msg):
+        self.enqueue(self.applicationOut_current_tempWstatus, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_runner.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_runner.py
new file mode 100644
index 000000000..98fb35b96
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.temperature_sensor_cpi_thermostat_src import temperature_sensor_cpi_thermostat
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = temperature_sensor_cpi_thermostat()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_base_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_base_src.py
new file mode 100644
index 000000000..bb515e7d3
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_base_src.py
@@ -0,0 +1,192 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg_interfaces.msg import OnOff
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_monitor_temperature_manage_alarm_mat_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_monitor_temperature_manage_alarm_mat")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.thermostat_monitor_temperature_manage_alarm_mat_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_alarm_mat_current_tempWstatus",
+            self.accept_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_alarm_mat_lower_alarm_temp_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_monitor_temperature_manage_alarm_mat_lower_alarm_temp",
+            self.accept_lower_alarm_temp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_alarm_mat_upper_alarm_temp_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_monitor_temperature_manage_alarm_mat_upper_alarm_temp",
+            self.accept_upper_alarm_temp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_alarm_mat_monitor_mode_subscription_ = self.create_subscription(
+            MonitorMode,
+            "thermostat_monitor_temperature_manage_alarm_mat_monitor_mode",
+            self.accept_monitor_mode,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_alarm_mat_alarm_control_publisher_ = self.create_publisher(
+            OnOff,
+            "operator_interface_oip_oit_alarm_control",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_current_tempWstatus = deque()
+        self.applicationIn_current_tempWstatus = deque()
+        self.infrastructureIn_lower_alarm_temp = deque()
+        self.applicationIn_lower_alarm_temp = deque()
+        self.infrastructureIn_upper_alarm_temp = deque()
+        self.applicationIn_upper_alarm_temp = deque()
+        self.infrastructureIn_monitor_mode = deque()
+        self.applicationIn_monitor_mode = deque()
+
+        self.infrastructureOut_alarm_control = deque()
+        self.applicationOut_alarm_control = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_lower_alarm_temp, self.applicationIn_lower_alarm_temp],
+            [self.infrastructureIn_upper_alarm_temp, self.applicationIn_upper_alarm_temp],
+            [self.infrastructureIn_monitor_mode, self.applicationIn_monitor_mode]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_lower_alarm_temp, self.applicationIn_lower_alarm_temp],
+            [self.infrastructureIn_upper_alarm_temp, self.applicationIn_upper_alarm_temp],
+            [self.infrastructureIn_monitor_mode, self.applicationIn_monitor_mode]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_alarm_control, self.infrastructureOut_alarm_control, self.sendOut_alarm_control]
+        ]
+
+    def init_current_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, val)
+
+
+    def init_lower_alarm_temp(self, val):
+        self.enqueue(self.infrastructureIn_lower_alarm_temp, val)
+
+
+    def init_upper_alarm_temp(self, val):
+        self.enqueue(self.infrastructureIn_upper_alarm_temp, val)
+
+
+    def init_monitor_mode(self, val):
+        self.enqueue(self.infrastructureIn_monitor_mode, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_current_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, msg)
+
+    def accept_lower_alarm_temp(self, msg):
+        self.enqueue(self.infrastructureIn_lower_alarm_temp, msg)
+
+    def accept_upper_alarm_temp(self, msg):
+        self.enqueue(self.infrastructureIn_upper_alarm_temp, msg)
+
+    def accept_monitor_mode(self, msg):
+        self.enqueue(self.infrastructureIn_monitor_mode, msg)
+
+    def get_current_tempWstatus(self):
+        msg = self.applicationIn_current_tempWstatus[0]
+        return msg
+
+    def get_lower_alarm_temp(self):
+        msg = self.applicationIn_lower_alarm_temp[0]
+        return msg
+
+    def get_upper_alarm_temp(self):
+        msg = self.applicationIn_upper_alarm_temp[0]
+        return msg
+
+    def get_monitor_mode(self):
+        msg = self.applicationIn_monitor_mode[0]
+        return msg
+
+    def sendOut_alarm_control(self, msg):
+        if type(msg) is OnOff:
+            self.thermostat_monitor_temperature_manage_alarm_mat_alarm_control_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port alarm_control.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_alarm_control(self, msg):
+        self.enqueue(self.applicationOut_alarm_control, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_runner.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_runner.py
new file mode 100644
index 000000000..fb00dc3f0
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_alarm_mat_src import thermostat_monitor_temperature_manage_alarm_mat
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_monitor_temperature_manage_alarm_mat()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_base_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_base_src.py
new file mode 100644
index 000000000..5d7183c73
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_base_src.py
@@ -0,0 +1,244 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_monitor_temperature_manage_monitor_interface_mmit_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_monitor_temperature_manage_monitor_interface_mmit")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_tempWstatus",
+            self.accept_upper_alarm_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_tempWstatus",
+            self.accept_lower_alarm_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_current_tempWstatus",
+            self.accept_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_mode_subscription_ = self.create_subscription(
+            MonitorMode,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_mode",
+            self.accept_monitor_mode,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_monitor_temperature_manage_alarm_mat_upper_alarm_temp",
+            1)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_monitor_temperature_manage_alarm_mat_lower_alarm_temp",
+            1)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_status_publisher_ = self.create_publisher(
+            Status,
+            "operator_interface_oip_oit_monitor_status",
+            1)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_interface_failure_publisher_ = self.create_publisher(
+            FailureFlagimpl,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_interface_failure",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_upper_alarm_tempWstatus = deque()
+        self.applicationIn_upper_alarm_tempWstatus = deque()
+        self.infrastructureIn_lower_alarm_tempWstatus = deque()
+        self.applicationIn_lower_alarm_tempWstatus = deque()
+        self.infrastructureIn_current_tempWstatus = deque()
+        self.applicationIn_current_tempWstatus = deque()
+        self.infrastructureIn_monitor_mode = deque()
+        self.applicationIn_monitor_mode = deque()
+
+        self.infrastructureOut_upper_alarm_temp = deque()
+        self.applicationOut_upper_alarm_temp = deque()
+        self.infrastructureOut_lower_alarm_temp = deque()
+        self.applicationOut_lower_alarm_temp = deque()
+        self.infrastructureOut_monitor_status = deque()
+        self.applicationOut_monitor_status = deque()
+        self.infrastructureOut_interface_failure = deque()
+        self.applicationOut_interface_failure = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_upper_alarm_tempWstatus, self.applicationIn_upper_alarm_tempWstatus],
+            [self.infrastructureIn_lower_alarm_tempWstatus, self.applicationIn_lower_alarm_tempWstatus],
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_monitor_mode, self.applicationIn_monitor_mode]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_upper_alarm_tempWstatus, self.applicationIn_upper_alarm_tempWstatus],
+            [self.infrastructureIn_lower_alarm_tempWstatus, self.applicationIn_lower_alarm_tempWstatus],
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_monitor_mode, self.applicationIn_monitor_mode]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_upper_alarm_temp, self.infrastructureOut_upper_alarm_temp, self.sendOut_upper_alarm_temp],
+            [self.applicationOut_lower_alarm_temp, self.infrastructureOut_lower_alarm_temp, self.sendOut_lower_alarm_temp],
+            [self.applicationOut_monitor_status, self.infrastructureOut_monitor_status, self.sendOut_monitor_status],
+            [self.applicationOut_interface_failure, self.infrastructureOut_interface_failure, self.sendOut_interface_failure]
+        ]
+
+    def init_upper_alarm_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_upper_alarm_tempWstatus, val)
+
+
+    def init_lower_alarm_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_lower_alarm_tempWstatus, val)
+
+
+    def init_current_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, val)
+
+
+    def init_monitor_mode(self, val):
+        self.enqueue(self.infrastructureIn_monitor_mode, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_upper_alarm_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_upper_alarm_tempWstatus, msg)
+
+    def accept_lower_alarm_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_lower_alarm_tempWstatus, msg)
+
+    def accept_current_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, msg)
+
+    def accept_monitor_mode(self, msg):
+        self.enqueue(self.infrastructureIn_monitor_mode, msg)
+
+    def get_upper_alarm_tempWstatus(self):
+        msg = self.applicationIn_upper_alarm_tempWstatus[0]
+        return msg
+
+    def get_lower_alarm_tempWstatus(self):
+        msg = self.applicationIn_lower_alarm_tempWstatus[0]
+        return msg
+
+    def get_current_tempWstatus(self):
+        msg = self.applicationIn_current_tempWstatus[0]
+        return msg
+
+    def get_monitor_mode(self):
+        msg = self.applicationIn_monitor_mode[0]
+        return msg
+
+    def sendOut_upper_alarm_temp(self, msg):
+        if type(msg) is Tempimpl:
+            self.thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_temp_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port upper_alarm_temp.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_lower_alarm_temp(self, msg):
+        if type(msg) is Tempimpl:
+            self.thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_temp_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port lower_alarm_temp.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_monitor_status(self, msg):
+        if type(msg) is Status:
+            self.thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_status_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port monitor_status.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_interface_failure(self, msg):
+        if type(msg) is FailureFlagimpl:
+            self.thermostat_monitor_temperature_manage_monitor_interface_mmit_interface_failure_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port interface_failure.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_upper_alarm_temp(self, msg):
+        self.enqueue(self.applicationOut_upper_alarm_temp, msg)
+
+    def put_lower_alarm_temp(self, msg):
+        self.enqueue(self.applicationOut_lower_alarm_temp, msg)
+
+    def put_monitor_status(self, msg):
+        self.enqueue(self.applicationOut_monitor_status, msg)
+
+    def put_interface_failure(self, msg):
+        self.enqueue(self.applicationOut_interface_failure, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_runner.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_runner.py
new file mode 100644
index 000000000..4e4b756ea
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_monitor_interface_mmit_src import thermostat_monitor_temperature_manage_monitor_interface_mmit
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_monitor_temperature_manage_monitor_interface_mmit()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_base_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_base_src.py
new file mode 100644
index 000000000..f7a7a5dc2
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_base_src.py
@@ -0,0 +1,175 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_monitor_temperature_manage_monitor_mode_mmmt_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_monitor_temperature_manage_monitor_mode_mmmt")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_current_tempWstatus",
+            self.accept_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_interface_failure_subscription_ = self.create_subscription(
+            FailureFlagimpl,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_interface_failure",
+            self.accept_interface_failure,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_internal_failure_subscription_ = self.create_subscription(
+            FailureFlagimpl,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_internal_failure",
+            self.accept_internal_failure,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode_publisher_1 = self.create_publisher(
+            MonitorMode,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_mode",
+            1)
+
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode_publisher_2 = self.create_publisher(
+            MonitorMode,
+            "thermostat_monitor_temperature_manage_alarm_mat_monitor_mode",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_current_tempWstatus = deque()
+        self.applicationIn_current_tempWstatus = deque()
+        self.infrastructureIn_interface_failure = deque()
+        self.applicationIn_interface_failure = deque()
+        self.infrastructureIn_internal_failure = deque()
+        self.applicationIn_internal_failure = deque()
+
+        self.infrastructureOut_monitor_mode = deque()
+        self.applicationOut_monitor_mode = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_interface_failure, self.applicationIn_interface_failure],
+            [self.infrastructureIn_internal_failure, self.applicationIn_internal_failure]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_interface_failure, self.applicationIn_interface_failure],
+            [self.infrastructureIn_internal_failure, self.applicationIn_internal_failure]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_monitor_mode, self.infrastructureOut_monitor_mode, self.sendOut_monitor_mode]
+        ]
+
+    def init_current_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, val)
+
+
+    def init_interface_failure(self, val):
+        self.enqueue(self.infrastructureIn_interface_failure, val)
+
+
+    def init_internal_failure(self, val):
+        self.enqueue(self.infrastructureIn_internal_failure, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_current_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, msg)
+
+    def accept_interface_failure(self, msg):
+        self.enqueue(self.infrastructureIn_interface_failure, msg)
+
+    def accept_internal_failure(self, msg):
+        self.enqueue(self.infrastructureIn_internal_failure, msg)
+
+    def get_current_tempWstatus(self):
+        msg = self.applicationIn_current_tempWstatus[0]
+        return msg
+
+    def get_interface_failure(self):
+        msg = self.applicationIn_interface_failure[0]
+        return msg
+
+    def get_internal_failure(self):
+        msg = self.applicationIn_internal_failure[0]
+        return msg
+
+    def sendOut_monitor_mode(self, msg):
+        if type(msg) is MonitorMode:
+            self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode_publisher_1.publish(msg)
+            self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode_publisher_2.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port monitor_mode.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_monitor_mode(self, msg):
+        self.enqueue(self.applicationOut_monitor_mode, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_runner.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_runner.py
new file mode 100644
index 000000000..c19f85dc4
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_monitor_mode_mmmt_src import thermostat_monitor_temperature_manage_monitor_mode_mmmt
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_monitor_temperature_manage_monitor_mode_mmmt()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_base_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_base_src.py
new file mode 100644
index 000000000..280843911
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_base_src.py
@@ -0,0 +1,192 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import OnOff
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_regulate_temperature_manage_heat_source_mhst_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_regulate_temperature_manage_heat_source_mhst")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_current_tempWstatus",
+            self.accept_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_lower_desired_temp_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_lower_desired_temp",
+            self.accept_lower_desired_temp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_upper_desired_temp_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_upper_desired_temp",
+            self.accept_upper_desired_temp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_regulator_mode_subscription_ = self.create_subscription(
+            RegulatorMode,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_regulator_mode",
+            self.accept_regulator_mode,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_heat_control_publisher_ = self.create_publisher(
+            OnOff,
+            "heat_source_cpi_heat_controller_heat_control",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_current_tempWstatus = deque()
+        self.applicationIn_current_tempWstatus = deque()
+        self.infrastructureIn_lower_desired_temp = deque()
+        self.applicationIn_lower_desired_temp = deque()
+        self.infrastructureIn_upper_desired_temp = deque()
+        self.applicationIn_upper_desired_temp = deque()
+        self.infrastructureIn_regulator_mode = deque()
+        self.applicationIn_regulator_mode = deque()
+
+        self.infrastructureOut_heat_control = deque()
+        self.applicationOut_heat_control = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_lower_desired_temp, self.applicationIn_lower_desired_temp],
+            [self.infrastructureIn_upper_desired_temp, self.applicationIn_upper_desired_temp],
+            [self.infrastructureIn_regulator_mode, self.applicationIn_regulator_mode]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_lower_desired_temp, self.applicationIn_lower_desired_temp],
+            [self.infrastructureIn_upper_desired_temp, self.applicationIn_upper_desired_temp],
+            [self.infrastructureIn_regulator_mode, self.applicationIn_regulator_mode]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_heat_control, self.infrastructureOut_heat_control, self.sendOut_heat_control]
+        ]
+
+    def init_current_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, val)
+
+
+    def init_lower_desired_temp(self, val):
+        self.enqueue(self.infrastructureIn_lower_desired_temp, val)
+
+
+    def init_upper_desired_temp(self, val):
+        self.enqueue(self.infrastructureIn_upper_desired_temp, val)
+
+
+    def init_regulator_mode(self, val):
+        self.enqueue(self.infrastructureIn_regulator_mode, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_current_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, msg)
+
+    def accept_lower_desired_temp(self, msg):
+        self.enqueue(self.infrastructureIn_lower_desired_temp, msg)
+
+    def accept_upper_desired_temp(self, msg):
+        self.enqueue(self.infrastructureIn_upper_desired_temp, msg)
+
+    def accept_regulator_mode(self, msg):
+        self.enqueue(self.infrastructureIn_regulator_mode, msg)
+
+    def get_current_tempWstatus(self):
+        msg = self.applicationIn_current_tempWstatus[0]
+        return msg
+
+    def get_lower_desired_temp(self):
+        msg = self.applicationIn_lower_desired_temp[0]
+        return msg
+
+    def get_upper_desired_temp(self):
+        msg = self.applicationIn_upper_desired_temp[0]
+        return msg
+
+    def get_regulator_mode(self):
+        msg = self.applicationIn_regulator_mode[0]
+        return msg
+
+    def sendOut_heat_control(self, msg):
+        if type(msg) is OnOff:
+            self.thermostat_regulate_temperature_manage_heat_source_mhst_heat_control_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port heat_control.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_heat_control(self, msg):
+        self.enqueue(self.applicationOut_heat_control, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_runner.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_runner.py
new file mode 100644
index 000000000..63044f20a
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_heat_source_mhst_src import thermostat_regulate_temperature_manage_heat_source_mhst
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_regulate_temperature_manage_heat_source_mhst()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_base_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_base_src.py
new file mode 100644
index 000000000..344e2fce2
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_base_src.py
@@ -0,0 +1,261 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_regulate_temperature_manage_regulator_interface_mrit_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_regulate_temperature_manage_regulator_interface_mrit")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_current_tempWstatus",
+            self.accept_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_tempWstatus",
+            self.accept_lower_desired_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_tempWstatus",
+            self.accept_upper_desired_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_mode_subscription_ = self.create_subscription(
+            RegulatorMode,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_mode",
+            self.accept_regulator_mode,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_upper_desired_temp",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_lower_desired_temp",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_displayed_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "operator_interface_oip_oit_display_temperature",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_status_publisher_ = self.create_publisher(
+            Status,
+            "operator_interface_oip_oit_regulator_status",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_interface_failure_publisher_ = self.create_publisher(
+            FailureFlagimpl,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_interface_failure",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_current_tempWstatus = deque()
+        self.applicationIn_current_tempWstatus = deque()
+        self.infrastructureIn_lower_desired_tempWstatus = deque()
+        self.applicationIn_lower_desired_tempWstatus = deque()
+        self.infrastructureIn_upper_desired_tempWstatus = deque()
+        self.applicationIn_upper_desired_tempWstatus = deque()
+        self.infrastructureIn_regulator_mode = deque()
+        self.applicationIn_regulator_mode = deque()
+
+        self.infrastructureOut_upper_desired_temp = deque()
+        self.applicationOut_upper_desired_temp = deque()
+        self.infrastructureOut_lower_desired_temp = deque()
+        self.applicationOut_lower_desired_temp = deque()
+        self.infrastructureOut_displayed_temp = deque()
+        self.applicationOut_displayed_temp = deque()
+        self.infrastructureOut_regulator_status = deque()
+        self.applicationOut_regulator_status = deque()
+        self.infrastructureOut_interface_failure = deque()
+        self.applicationOut_interface_failure = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_lower_desired_tempWstatus, self.applicationIn_lower_desired_tempWstatus],
+            [self.infrastructureIn_upper_desired_tempWstatus, self.applicationIn_upper_desired_tempWstatus],
+            [self.infrastructureIn_regulator_mode, self.applicationIn_regulator_mode]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_lower_desired_tempWstatus, self.applicationIn_lower_desired_tempWstatus],
+            [self.infrastructureIn_upper_desired_tempWstatus, self.applicationIn_upper_desired_tempWstatus],
+            [self.infrastructureIn_regulator_mode, self.applicationIn_regulator_mode]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_upper_desired_temp, self.infrastructureOut_upper_desired_temp, self.sendOut_upper_desired_temp],
+            [self.applicationOut_lower_desired_temp, self.infrastructureOut_lower_desired_temp, self.sendOut_lower_desired_temp],
+            [self.applicationOut_displayed_temp, self.infrastructureOut_displayed_temp, self.sendOut_displayed_temp],
+            [self.applicationOut_regulator_status, self.infrastructureOut_regulator_status, self.sendOut_regulator_status],
+            [self.applicationOut_interface_failure, self.infrastructureOut_interface_failure, self.sendOut_interface_failure]
+        ]
+
+    def init_current_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, val)
+
+
+    def init_lower_desired_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_lower_desired_tempWstatus, val)
+
+
+    def init_upper_desired_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_upper_desired_tempWstatus, val)
+
+
+    def init_regulator_mode(self, val):
+        self.enqueue(self.infrastructureIn_regulator_mode, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_current_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, msg)
+
+    def accept_lower_desired_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_lower_desired_tempWstatus, msg)
+
+    def accept_upper_desired_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_upper_desired_tempWstatus, msg)
+
+    def accept_regulator_mode(self, msg):
+        self.enqueue(self.infrastructureIn_regulator_mode, msg)
+
+    def get_current_tempWstatus(self):
+        msg = self.applicationIn_current_tempWstatus[0]
+        return msg
+
+    def get_lower_desired_tempWstatus(self):
+        msg = self.applicationIn_lower_desired_tempWstatus[0]
+        return msg
+
+    def get_upper_desired_tempWstatus(self):
+        msg = self.applicationIn_upper_desired_tempWstatus[0]
+        return msg
+
+    def get_regulator_mode(self):
+        msg = self.applicationIn_regulator_mode[0]
+        return msg
+
+    def sendOut_upper_desired_temp(self, msg):
+        if type(msg) is Tempimpl:
+            self.thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_temp_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port upper_desired_temp.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_lower_desired_temp(self, msg):
+        if type(msg) is Tempimpl:
+            self.thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_temp_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port lower_desired_temp.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_displayed_temp(self, msg):
+        if type(msg) is Tempimpl:
+            self.thermostat_regulate_temperature_manage_regulator_interface_mrit_displayed_temp_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port displayed_temp.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_regulator_status(self, msg):
+        if type(msg) is Status:
+            self.thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_status_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port regulator_status.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_interface_failure(self, msg):
+        if type(msg) is FailureFlagimpl:
+            self.thermostat_regulate_temperature_manage_regulator_interface_mrit_interface_failure_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port interface_failure.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_upper_desired_temp(self, msg):
+        self.enqueue(self.applicationOut_upper_desired_temp, msg)
+
+    def put_lower_desired_temp(self, msg):
+        self.enqueue(self.applicationOut_lower_desired_temp, msg)
+
+    def put_displayed_temp(self, msg):
+        self.enqueue(self.applicationOut_displayed_temp, msg)
+
+    def put_regulator_status(self, msg):
+        self.enqueue(self.applicationOut_regulator_status, msg)
+
+    def put_interface_failure(self, msg):
+        self.enqueue(self.applicationOut_interface_failure, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_runner.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_runner.py
new file mode 100644
index 000000000..0ce8e2d1e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_regulator_interface_mrit_src import thermostat_regulate_temperature_manage_regulator_interface_mrit
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_regulate_temperature_manage_regulator_interface_mrit()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_base_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_base_src.py
new file mode 100644
index 000000000..fdb159497
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_base_src.py
@@ -0,0 +1,175 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_regulate_temperature_manage_regulator_mode_mrmt_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_regulate_temperature_manage_regulator_mode_mrmt")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_current_tempWstatus",
+            self.accept_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_interface_failure_subscription_ = self.create_subscription(
+            FailureFlagimpl,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_interface_failure",
+            self.accept_interface_failure,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_internal_failure_subscription_ = self.create_subscription(
+            FailureFlagimpl,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_internal_failure",
+            self.accept_internal_failure,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode_publisher_1 = self.create_publisher(
+            RegulatorMode,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_mode",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode_publisher_2 = self.create_publisher(
+            RegulatorMode,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_regulator_mode",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_current_tempWstatus = deque()
+        self.applicationIn_current_tempWstatus = deque()
+        self.infrastructureIn_interface_failure = deque()
+        self.applicationIn_interface_failure = deque()
+        self.infrastructureIn_internal_failure = deque()
+        self.applicationIn_internal_failure = deque()
+
+        self.infrastructureOut_regulator_mode = deque()
+        self.applicationOut_regulator_mode = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_interface_failure, self.applicationIn_interface_failure],
+            [self.infrastructureIn_internal_failure, self.applicationIn_internal_failure]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_interface_failure, self.applicationIn_interface_failure],
+            [self.infrastructureIn_internal_failure, self.applicationIn_internal_failure]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_regulator_mode, self.infrastructureOut_regulator_mode, self.sendOut_regulator_mode]
+        ]
+
+    def init_current_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, val)
+
+
+    def init_interface_failure(self, val):
+        self.enqueue(self.infrastructureIn_interface_failure, val)
+
+
+    def init_internal_failure(self, val):
+        self.enqueue(self.infrastructureIn_internal_failure, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_current_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, msg)
+
+    def accept_interface_failure(self, msg):
+        self.enqueue(self.infrastructureIn_interface_failure, msg)
+
+    def accept_internal_failure(self, msg):
+        self.enqueue(self.infrastructureIn_internal_failure, msg)
+
+    def get_current_tempWstatus(self):
+        msg = self.applicationIn_current_tempWstatus[0]
+        return msg
+
+    def get_interface_failure(self):
+        msg = self.applicationIn_interface_failure[0]
+        return msg
+
+    def get_internal_failure(self):
+        msg = self.applicationIn_internal_failure[0]
+        return msg
+
+    def sendOut_regulator_mode(self, msg):
+        if type(msg) is RegulatorMode:
+            self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode_publisher_1.publish(msg)
+            self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode_publisher_2.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port regulator_mode.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_regulator_mode(self, msg):
+        self.enqueue(self.applicationOut_regulator_mode, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_runner.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_runner.py
new file mode 100644
index 000000000..b7d9a68ee
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_regulator_mode_mrmt_src import thermostat_regulate_temperature_manage_regulator_mode_mrmt
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_regulate_temperature_manage_regulator_mode_mrmt()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/__init__.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/heat_source_cpi_heat_controller_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/heat_source_cpi_heat_controller_src.py
new file mode 100644
index 000000000..3ded2b5fa
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/heat_source_cpi_heat_controller_src.py
@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.heat_source_cpi_heat_controller_base_src import heat_source_cpi_heat_controller_base
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import Heat
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class heat_source_cpi_heat_controller(heat_source_cpi_heat_controller_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("heat_source_cpi_heat_controller infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        heat_control = OnOff()
+        self.init_heat_control(heat_control)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        heat_control = self.get_heat_control()
+        self.get_logger().info(f"Received heat_control: {self.message_to_string(heat_control)}")
+
+
+        # Example publishing messages
+        heat_out = Heat()
+        self.put_heat_out(heat_out)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/operator_interface_oip_oit_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/operator_interface_oip_oit_src.py
new file mode 100644
index 000000000..ac40b469a
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/operator_interface_oip_oit_src.py
@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.operator_interface_oip_oit_base_src import operator_interface_oip_oit_base
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class operator_interface_oip_oit(operator_interface_oip_oit_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("operator_interface_oip_oit infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        regulator_status = Status()
+        self.init_regulator_status(regulator_status)
+
+        monitor_status = Status()
+        self.init_monitor_status(monitor_status)
+
+        display_temperature = Tempimpl()
+        self.init_display_temperature(display_temperature)
+
+        alarm_control = OnOff()
+        self.init_alarm_control(alarm_control)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        regulator_status = self.get_regulator_status()
+        self.get_logger().info(f"Received regulator_status: {self.message_to_string(regulator_status)}")
+
+        monitor_status = self.get_monitor_status()
+        self.get_logger().info(f"Received monitor_status: {self.message_to_string(monitor_status)}")
+
+        display_temperature = self.get_display_temperature()
+        self.get_logger().info(f"Received display_temperature: {self.message_to_string(display_temperature)}")
+
+        alarm_control = self.get_alarm_control()
+        self.get_logger().info(f"Received alarm_control: {self.message_to_string(alarm_control)}")
+
+
+        # Example publishing messages
+        lower_desired_tempWstatus = TempWstatusimpl()
+        self.put_lower_desired_tempWstatus(lower_desired_tempWstatus)
+
+        upper_desired_tempWstatus = TempWstatusimpl()
+        self.put_upper_desired_tempWstatus(upper_desired_tempWstatus)
+
+        lower_alarm_tempWstatus = TempWstatusimpl()
+        self.put_lower_alarm_tempWstatus(lower_alarm_tempWstatus)
+
+        upper_alarm_tempWstatus = TempWstatusimpl()
+        self.put_upper_alarm_tempWstatus(upper_alarm_tempWstatus)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/temperature_sensor_cpi_thermostat_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/temperature_sensor_cpi_thermostat_src.py
new file mode 100644
index 000000000..e1c1ca3af
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/temperature_sensor_cpi_thermostat_src.py
@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.temperature_sensor_cpi_thermostat_base_src import temperature_sensor_cpi_thermostat_base
+from isolette_py_pkg_interfaces.msg import PhysicalTempimpl
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class temperature_sensor_cpi_thermostat(temperature_sensor_cpi_thermostat_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("temperature_sensor_cpi_thermostat infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        air = PhysicalTempimpl()
+        self.init_air(air)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        air = self.get_air()
+        self.get_logger().info(f"Received air: {self.message_to_string(air)}")
+
+
+        # Example publishing messages
+        current_tempWstatus = TempWstatusimpl()
+        self.put_current_tempWstatus(current_tempWstatus)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_alarm_mat_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_alarm_mat_src.py
new file mode 100644
index 000000000..f67a7c036
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_alarm_mat_src.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_alarm_mat_base_src import thermostat_monitor_temperature_manage_alarm_mat_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_monitor_temperature_manage_alarm_mat(thermostat_monitor_temperature_manage_alarm_mat_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_monitor_temperature_manage_alarm_mat infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        lower_alarm_temp = Tempimpl()
+        self.init_lower_alarm_temp(lower_alarm_temp)
+
+        upper_alarm_temp = Tempimpl()
+        self.init_upper_alarm_temp(upper_alarm_temp)
+
+        monitor_mode = MonitorMode()
+        self.init_monitor_mode(monitor_mode)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        lower_alarm_temp = self.get_lower_alarm_temp()
+        self.get_logger().info(f"Received lower_alarm_temp: {self.message_to_string(lower_alarm_temp)}")
+
+        upper_alarm_temp = self.get_upper_alarm_temp()
+        self.get_logger().info(f"Received upper_alarm_temp: {self.message_to_string(upper_alarm_temp)}")
+
+        monitor_mode = self.get_monitor_mode()
+        self.get_logger().info(f"Received monitor_mode: {self.message_to_string(monitor_mode)}")
+
+
+        # Example publishing messages
+        alarm_control = OnOff()
+        self.put_alarm_control(alarm_control)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_src.py
new file mode 100644
index 000000000..4f3930578
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_src.py
@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_monitor_interface_mmit_base_src import thermostat_monitor_temperature_manage_monitor_interface_mmit_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_monitor_temperature_manage_monitor_interface_mmit(thermostat_monitor_temperature_manage_monitor_interface_mmit_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_monitor_temperature_manage_monitor_interface_mmit infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        upper_alarm_tempWstatus = TempWstatusimpl()
+        self.init_upper_alarm_tempWstatus(upper_alarm_tempWstatus)
+
+        lower_alarm_tempWstatus = TempWstatusimpl()
+        self.init_lower_alarm_tempWstatus(lower_alarm_tempWstatus)
+
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        monitor_mode = MonitorMode()
+        self.init_monitor_mode(monitor_mode)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        upper_alarm_tempWstatus = self.get_upper_alarm_tempWstatus()
+        self.get_logger().info(f"Received upper_alarm_tempWstatus: {self.message_to_string(upper_alarm_tempWstatus)}")
+
+        lower_alarm_tempWstatus = self.get_lower_alarm_tempWstatus()
+        self.get_logger().info(f"Received lower_alarm_tempWstatus: {self.message_to_string(lower_alarm_tempWstatus)}")
+
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        monitor_mode = self.get_monitor_mode()
+        self.get_logger().info(f"Received monitor_mode: {self.message_to_string(monitor_mode)}")
+
+
+        # Example publishing messages
+        upper_alarm_temp = Tempimpl()
+        self.put_upper_alarm_temp(upper_alarm_temp)
+
+        lower_alarm_temp = Tempimpl()
+        self.put_lower_alarm_temp(lower_alarm_temp)
+
+        monitor_status = Status()
+        self.put_monitor_status(monitor_status)
+
+        interface_failure = FailureFlagimpl()
+        self.put_interface_failure(interface_failure)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_src.py
new file mode 100644
index 000000000..973aa609c
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_src.py
@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_monitor_mode_mmmt_base_src import thermostat_monitor_temperature_manage_monitor_mode_mmmt_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_monitor_temperature_manage_monitor_mode_mmmt(thermostat_monitor_temperature_manage_monitor_mode_mmmt_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_monitor_temperature_manage_monitor_mode_mmmt infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        interface_failure = FailureFlagimpl()
+        self.init_interface_failure(interface_failure)
+
+        internal_failure = FailureFlagimpl()
+        self.init_internal_failure(internal_failure)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        interface_failure = self.get_interface_failure()
+        self.get_logger().info(f"Received interface_failure: {self.message_to_string(interface_failure)}")
+
+        internal_failure = self.get_internal_failure()
+        self.get_logger().info(f"Received internal_failure: {self.message_to_string(internal_failure)}")
+
+
+        # Example publishing messages
+        monitor_mode = MonitorMode()
+        self.put_monitor_mode(monitor_mode)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_heat_source_mhst_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_heat_source_mhst_src.py
new file mode 100644
index 000000000..4826e5681
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_heat_source_mhst_src.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_heat_source_mhst_base_src import thermostat_regulate_temperature_manage_heat_source_mhst_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_regulate_temperature_manage_heat_source_mhst(thermostat_regulate_temperature_manage_heat_source_mhst_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_regulate_temperature_manage_heat_source_mhst infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        lower_desired_temp = Tempimpl()
+        self.init_lower_desired_temp(lower_desired_temp)
+
+        upper_desired_temp = Tempimpl()
+        self.init_upper_desired_temp(upper_desired_temp)
+
+        regulator_mode = RegulatorMode()
+        self.init_regulator_mode(regulator_mode)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        lower_desired_temp = self.get_lower_desired_temp()
+        self.get_logger().info(f"Received lower_desired_temp: {self.message_to_string(lower_desired_temp)}")
+
+        upper_desired_temp = self.get_upper_desired_temp()
+        self.get_logger().info(f"Received upper_desired_temp: {self.message_to_string(upper_desired_temp)}")
+
+        regulator_mode = self.get_regulator_mode()
+        self.get_logger().info(f"Received regulator_mode: {self.message_to_string(regulator_mode)}")
+
+
+        # Example publishing messages
+        heat_control = OnOff()
+        self.put_heat_control(heat_control)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_src.py
new file mode 100644
index 000000000..94513c84d
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_src.py
@@ -0,0 +1,94 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_regulator_interface_mrit_base_src import thermostat_regulate_temperature_manage_regulator_interface_mrit_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_regulate_temperature_manage_regulator_interface_mrit(thermostat_regulate_temperature_manage_regulator_interface_mrit_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_regulate_temperature_manage_regulator_interface_mrit infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        lower_desired_tempWstatus = TempWstatusimpl()
+        self.init_lower_desired_tempWstatus(lower_desired_tempWstatus)
+
+        upper_desired_tempWstatus = TempWstatusimpl()
+        self.init_upper_desired_tempWstatus(upper_desired_tempWstatus)
+
+        regulator_mode = RegulatorMode()
+        self.init_regulator_mode(regulator_mode)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        lower_desired_tempWstatus = self.get_lower_desired_tempWstatus()
+        self.get_logger().info(f"Received lower_desired_tempWstatus: {self.message_to_string(lower_desired_tempWstatus)}")
+
+        upper_desired_tempWstatus = self.get_upper_desired_tempWstatus()
+        self.get_logger().info(f"Received upper_desired_tempWstatus: {self.message_to_string(upper_desired_tempWstatus)}")
+
+        regulator_mode = self.get_regulator_mode()
+        self.get_logger().info(f"Received regulator_mode: {self.message_to_string(regulator_mode)}")
+
+
+        # Example publishing messages
+        upper_desired_temp = Tempimpl()
+        self.put_upper_desired_temp(upper_desired_temp)
+
+        lower_desired_temp = Tempimpl()
+        self.put_lower_desired_temp(lower_desired_temp)
+
+        displayed_temp = Tempimpl()
+        self.put_displayed_temp(displayed_temp)
+
+        regulator_status = Status()
+        self.put_regulator_status(regulator_status)
+
+        interface_failure = FailureFlagimpl()
+        self.put_interface_failure(interface_failure)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_src.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_src.py
new file mode 100644
index 000000000..ea5e59937
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_src.py
@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_regulator_mode_mrmt_base_src import thermostat_regulate_temperature_manage_regulator_mode_mrmt_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_regulate_temperature_manage_regulator_mode_mrmt(thermostat_regulate_temperature_manage_regulator_mode_mrmt_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_regulate_temperature_manage_regulator_mode_mrmt infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        interface_failure = FailureFlagimpl()
+        self.init_interface_failure(interface_failure)
+
+        internal_failure = FailureFlagimpl()
+        self.init_internal_failure(internal_failure)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        interface_failure = self.get_interface_failure()
+        self.get_logger().info(f"Received interface_failure: {self.message_to_string(interface_failure)}")
+
+        internal_failure = self.get_internal_failure()
+        self.get_logger().info(f"Received internal_failure: {self.message_to_string(internal_failure)}")
+
+
+        # Example publishing messages
+        regulator_mode = RegulatorMode()
+        self.put_regulator_mode(regulator_mode)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/package.xml b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/package.xml
new file mode 100644
index 000000000..ddc125c8a
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/package.xml
@@ -0,0 +1,26 @@
+<?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>isolette_py_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="todo.todo@todo.com">ed</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>rosidl_runtime_py</depend>
+  <depend>isolette_py_pkg_interfaces</depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/resource/isolette_py_pkg b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/resource/isolette_py_pkg
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/resource/isolette_py_pkg
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/setup.cfg b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/setup.cfg
new file mode 100644
index 000000000..de71f7785
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/setup.cfg
@@ -0,0 +1,5 @@
+# setup.cfg   in  src/isolette_py_pkg
+[develop]
+script_dir=$base/lib/isolette_py_pkg
+[install]
+install_scripts=$base/lib/isolette_py_pkg
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/setup.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/setup.py
new file mode 100644
index 000000000..4db5def61
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/setup.py
@@ -0,0 +1,36 @@
+# setup.py   in  src/isolette_py_pkg
+
+from setuptools import find_packages, setup
+
+package_name = 'isolette_py_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sireum',
+    maintainer_email='sireum@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_exe = isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_regulator_interface_mrit_runner:main",
+            "thermostat_regulate_temperature_manage_heat_source_mhst_exe = isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_heat_source_mhst_runner:main",
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_exe = isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_regulator_mode_mrmt_runner:main",
+            "thermostat_monitor_temperature_manage_alarm_mat_exe = isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_alarm_mat_runner:main",
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_exe = isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_monitor_interface_mmit_runner:main",
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_exe = isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_monitor_mode_mmmt_runner:main",
+            "operator_interface_oip_oit_exe = isolette_py_pkg.base_code.operator_interface_oip_oit_runner:main",
+            "temperature_sensor_cpi_thermostat_exe = isolette_py_pkg.base_code.temperature_sensor_cpi_thermostat_runner:main",
+            "heat_source_cpi_heat_controller_exe = isolette_py_pkg.base_code.heat_source_cpi_heat_controller_runner:main"
+        ],
+    },
+)
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/test/test_copyright.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/test/test_copyright.py
new file mode 100644
index 000000000..97a39196e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/test/test_flake8.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/test/test_flake8.py
new file mode 100644
index 000000000..7dc87a490
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \\
+        'Found %d code style errors / warnings:\n' % len(errors) + \\
+        '\n'.join(errors)
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/test/test_prep257.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/test/test_prep257.py
new file mode 100644
index 000000000..b234a3840
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg/test/test_prep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/CMakeLists.txt b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/CMakeLists.txt
new file mode 100644
index 000000000..7ef2c8397
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(isolette_py_pkg_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+    launch
+    DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/heat_source.launch.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/heat_source.launch.py
new file mode 100644
index 000000000..19d78f040
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/heat_source.launch.py
@@ -0,0 +1,19 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    heat_source_cpi_heat_controller_node = Node(
+        package = "isolette_py_pkg",
+        executable = "heat_source_cpi_heat_controller_exe"
+    )
+
+    ld.add_action(heat_source_cpi_heat_controller_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/isolette_single_sensor_Instance.launch.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/isolette_single_sensor_Instance.launch.py
new file mode 100644
index 000000000..265c24dc0
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/isolette_single_sensor_Instance.launch.py
@@ -0,0 +1,45 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    thermostat_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/thermostat.launch.py')
+        )
+    )
+
+    operator_interface_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/operator_interface.launch.py')
+        )
+    )
+
+    temperature_sensor_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/temperature_sensor.launch.py')
+        )
+    )
+
+    heat_source_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/heat_source.launch.py')
+        )
+    )
+
+    ld.add_action(thermostat_node)
+    ld.add_action(operator_interface_node)
+    ld.add_action(temperature_sensor_node)
+    ld.add_action(heat_source_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/monitor_temperature.launch.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/monitor_temperature.launch.py
new file mode 100644
index 000000000..b9e2c624f
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/monitor_temperature.launch.py
@@ -0,0 +1,31 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    thermostat_monitor_temperature_manage_alarm_mat_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_monitor_temperature_manage_alarm_mat_exe"
+    )
+
+    thermostat_monitor_temperature_manage_monitor_interface_mmit_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_monitor_temperature_manage_monitor_interface_mmit_exe"
+    )
+
+    thermostat_monitor_temperature_manage_monitor_mode_mmmt_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_monitor_temperature_manage_monitor_mode_mmmt_exe"
+    )
+
+    ld.add_action(thermostat_monitor_temperature_manage_alarm_mat_node)
+    ld.add_action(thermostat_monitor_temperature_manage_monitor_interface_mmit_node)
+    ld.add_action(thermostat_monitor_temperature_manage_monitor_mode_mmmt_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/operator_interface.launch.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/operator_interface.launch.py
new file mode 100644
index 000000000..5f488a919
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/operator_interface.launch.py
@@ -0,0 +1,19 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    operator_interface_oip_oit_node = Node(
+        package = "isolette_py_pkg",
+        executable = "operator_interface_oip_oit_exe"
+    )
+
+    ld.add_action(operator_interface_oip_oit_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/regulate_temperature.launch.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/regulate_temperature.launch.py
new file mode 100644
index 000000000..014c61c26
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/regulate_temperature.launch.py
@@ -0,0 +1,31 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    thermostat_regulate_temperature_manage_regulator_interface_mrit_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_regulate_temperature_manage_regulator_interface_mrit_exe"
+    )
+
+    thermostat_regulate_temperature_manage_heat_source_mhst_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_regulate_temperature_manage_heat_source_mhst_exe"
+    )
+
+    thermostat_regulate_temperature_manage_regulator_mode_mrmt_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_regulate_temperature_manage_regulator_mode_mrmt_exe"
+    )
+
+    ld.add_action(thermostat_regulate_temperature_manage_regulator_interface_mrit_node)
+    ld.add_action(thermostat_regulate_temperature_manage_heat_source_mhst_node)
+    ld.add_action(thermostat_regulate_temperature_manage_regulator_mode_mrmt_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/temperature_sensor.launch.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/temperature_sensor.launch.py
new file mode 100644
index 000000000..04c0d9de3
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/temperature_sensor.launch.py
@@ -0,0 +1,19 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    temperature_sensor_cpi_thermostat_node = Node(
+        package = "isolette_py_pkg",
+        executable = "temperature_sensor_cpi_thermostat_exe"
+    )
+
+    ld.add_action(temperature_sensor_cpi_thermostat_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/thermostat.launch.py b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/thermostat.launch.py
new file mode 100644
index 000000000..383d3f3b9
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/launch/thermostat.launch.py
@@ -0,0 +1,29 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    regulate_temperature_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/regulate_temperature.launch.py')
+        )
+    )
+
+    monitor_temperature_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/monitor_temperature.launch.py')
+        )
+    )
+
+    ld.add_action(regulate_temperature_node)
+    ld.add_action(monitor_temperature_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/package.xml b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/package.xml
new file mode 100644
index 000000000..c0ef1c8bb
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_bringup/package.xml
@@ -0,0 +1,24 @@
+<?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>isolette_py_pkg_bringup</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <exec_depend>isolette_py_pkg</exec_depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/CMakeLists.txt b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/CMakeLists.txt
new file mode 100644
index 000000000..3c237e7ba
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/CMakeLists.txt
@@ -0,0 +1,31 @@
+cmake_minimum_required(VERSION 3.8)
+project(isolette_py_pkg_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Heat.msg
+  msg/InterfaceInteraction.msg
+  msg/Float32.msg
+  msg/PhysicalTempimpl.msg
+  msg/ValueStatus.msg
+  msg/TempWstatusimpl.msg
+  msg/OnOff.msg
+  msg/Status.msg
+  msg/Tempimpl.msg
+  msg/RegulatorMode.msg
+  msg/Boolean.msg
+  msg/FailureFlagimpl.msg
+  msg/MonitorMode.msg
+  msg/Empty.msg
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Boolean.msg b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Boolean.msg
new file mode 100644
index 000000000..f7cabb94f
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Boolean.msg
@@ -0,0 +1 @@
+bool data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Empty.msg b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Empty.msg
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/FailureFlagimpl.msg b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/FailureFlagimpl.msg
new file mode 100644
index 000000000..85e9459f2
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/FailureFlagimpl.msg
@@ -0,0 +1 @@
+Boolean value
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Float32.msg b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Float32.msg
new file mode 100644
index 000000000..e89740534
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Float32.msg
@@ -0,0 +1 @@
+float32 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Heat.msg b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Heat.msg
new file mode 100644
index 000000000..8510ca2f7
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Heat.msg
@@ -0,0 +1,2 @@
+uint8 heat
+uint8 HEAT_DUMMY_HEAD_ENUM=0
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/InterfaceInteraction.msg b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/InterfaceInteraction.msg
new file mode 100644
index 000000000..74fd55b51
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/InterfaceInteraction.msg
@@ -0,0 +1,2 @@
+uint8 interface_interaction
+uint8 INTERFACE_INTERACTION_DUMMY_INTERFACE_INTERACTION_ENUM=0
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/MonitorMode.msg b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/MonitorMode.msg
new file mode 100644
index 000000000..23c152693
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/MonitorMode.msg
@@ -0,0 +1,4 @@
+uint8 monitor_mode
+uint8 MONITOR_MODE_INIT_MONITOR_MODE=0
+uint8 MONITOR_MODE_NORMAL_MONITOR_MODE=1
+uint8 MONITOR_MODE_FAILED_MONITOR_MODE=2
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/OnOff.msg b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/OnOff.msg
new file mode 100644
index 000000000..2b93a6e9b
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/OnOff.msg
@@ -0,0 +1,3 @@
+uint8 on_off
+uint8 ON_OFF_ONN=0
+uint8 ON_OFF_OFF=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/PhysicalTempimpl.msg b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/PhysicalTempimpl.msg
new file mode 100644
index 000000000..f974a1a52
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/PhysicalTempimpl.msg
@@ -0,0 +1 @@
+Float32 value
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/RegulatorMode.msg b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/RegulatorMode.msg
new file mode 100644
index 000000000..3e575ec38
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/RegulatorMode.msg
@@ -0,0 +1,4 @@
+uint8 regulator_mode
+uint8 REGULATOR_MODE_INIT_REGULATOR_MODE=0
+uint8 REGULATOR_MODE_NORMAL_REGULATOR_MODE=1
+uint8 REGULATOR_MODE_FAILED_REGULATOR_MODE=2
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Status.msg b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Status.msg
new file mode 100644
index 000000000..f921080e2
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Status.msg
@@ -0,0 +1,4 @@
+uint8 status
+uint8 STATUS_INIT_STATUS=0
+uint8 STATUS_ON_STATUS=1
+uint8 STATUS_FAILED_STATUS=2
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/TempWstatusimpl.msg b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/TempWstatusimpl.msg
new file mode 100644
index 000000000..013b4d370
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/TempWstatusimpl.msg
@@ -0,0 +1,2 @@
+Float32 value
+ValueStatus status
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Tempimpl.msg b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Tempimpl.msg
new file mode 100644
index 000000000..f974a1a52
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/Tempimpl.msg
@@ -0,0 +1 @@
+Float32 value
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/ValueStatus.msg b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/ValueStatus.msg
new file mode 100644
index 000000000..cd93b8a5e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/msg/ValueStatus.msg
@@ -0,0 +1,3 @@
+uint8 value_status
+uint8 VALUE_STATUS_VALID=0
+uint8 VALUE_STATUS_INVALID=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/package.xml b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/package.xml
new file mode 100644
index 000000000..c0d3e4f59
--- /dev/null
+++ b/resources/expected/ros2/python-isolette/strict/src/isolette_py_pkg_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?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>isolette_py_pkg_interfaces</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <build_depend>rosidl_default_generators</build_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/__init__.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/__init__.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/enum_converter.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/enum_converter.py
new file mode 100644
index 000000000..92bc818f8
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/enum_converter.py
@@ -0,0 +1,92 @@
+#!/usr/bin/env python3
+from isolette_py_pkg_interfaces.msg import Heat
+from isolette_py_pkg_interfaces.msg import InterfaceInteraction
+from isolette_py_pkg_interfaces.msg import ValueStatus
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import MonitorMode
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+def enumToString(value):
+    typedValue = Heat()
+    typedValue.data = value
+    match (typedValue.heat):
+        case Heat.HEAT_DUMMY_HEAD_ENUM:
+            return "Heat Dummy_Head_Enum"
+        case default:
+            return "Unknown value for Heat"
+
+def enumToString(value):
+    typedValue = InterfaceInteraction()
+    typedValue.data = value
+    match (typedValue.interface_interaction):
+        case InterfaceInteraction.INTERFACE_INTERACTION_DUMMY_INTERFACE_INTERACTION_ENUM:
+            return "InterfaceInteraction Dummy_Interface_Interaction_Enum"
+        case default:
+            return "Unknown value for InterfaceInteraction"
+
+def enumToString(value):
+    typedValue = ValueStatus()
+    typedValue.data = value
+    match (typedValue.value_status):
+        case ValueStatus.VALUE_STATUS_VALID:
+            return "ValueStatus Valid"
+        case ValueStatus.VALUE_STATUS_INVALID:
+            return "ValueStatus Invalid"
+        case default:
+            return "Unknown value for ValueStatus"
+
+def enumToString(value):
+    typedValue = OnOff()
+    typedValue.data = value
+    match (typedValue.on_off):
+        case OnOff.ON_OFF_ONN:
+            return "OnOff Onn"
+        case OnOff.ON_OFF_OFF:
+            return "OnOff Off"
+        case default:
+            return "Unknown value for OnOff"
+
+def enumToString(value):
+    typedValue = Status()
+    typedValue.data = value
+    match (typedValue.status):
+        case Status.STATUS_INIT_STATUS:
+            return "Status Init_Status"
+        case Status.STATUS_ON_STATUS:
+            return "Status On_Status"
+        case Status.STATUS_FAILED_STATUS:
+            return "Status Failed_Status"
+        case default:
+            return "Unknown value for Status"
+
+def enumToString(value):
+    typedValue = RegulatorMode()
+    typedValue.data = value
+    match (typedValue.regulator_mode):
+        case RegulatorMode.REGULATOR_MODE_INIT_REGULATOR_MODE:
+            return "RegulatorMode Init_Regulator_Mode"
+        case RegulatorMode.REGULATOR_MODE_NORMAL_REGULATOR_MODE:
+            return "RegulatorMode Normal_Regulator_Mode"
+        case RegulatorMode.REGULATOR_MODE_FAILED_REGULATOR_MODE:
+            return "RegulatorMode Failed_Regulator_Mode"
+        case default:
+            return "Unknown value for RegulatorMode"
+
+def enumToString(value):
+    typedValue = MonitorMode()
+    typedValue.data = value
+    match (typedValue.monitor_mode):
+        case MonitorMode.MONITOR_MODE_INIT_MONITOR_MODE:
+            return "MonitorMode Init_Monitor_Mode"
+        case MonitorMode.MONITOR_MODE_NORMAL_MONITOR_MODE:
+            return "MonitorMode Normal_Monitor_Mode"
+        case MonitorMode.MONITOR_MODE_FAILED_MONITOR_MODE:
+            return "MonitorMode Failed_Monitor_Mode"
+        case default:
+            return "Unknown value for MonitorMode"
+
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_base_src.py
new file mode 100644
index 000000000..f5f4223a1
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_base_src.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.heat_source_cpi_heat_controller_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import Heat
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class heat_source_cpi_heat_controller_base(Node):
+    def __init__(self):
+        super().__init__("heat_source_cpi_heat_controller")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.heat_source_cpi_heat_controller_heat_control_subscription_ = self.create_subscription(
+            OnOff,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_heat_control",
+            self.handle_heat_control,
+            1,
+            callback_group=self.cb_group_)
+
+        self.heat_source_cpi_heat_controller_heat_out_publisher_ = self.create_publisher(
+            Heat,
+            "heat_source_cpi_heat_controller_heat_out",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.heat_control_msg_holder = None
+
+    def init_heat_control(self, val):
+        self.heat_control_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_heat_control(self, msg):
+        self.heat_control_msg_holder = msg
+
+    def get_heat_control(self):
+        return self.heat_control_msg_holder
+
+    def put_heat_out(self, msg):
+        self.heat_source_cpi_heat_controller_heat_out_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_runner.py
new file mode 100644
index 000000000..dfdc41ce7
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.heat_source_cpi_heat_controller_src import heat_source_cpi_heat_controller
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = heat_source_cpi_heat_controller()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_base_src.py
new file mode 100644
index 000000000..a3d1e6367
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_base_src.py
@@ -0,0 +1,133 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.operator_interface_oip_oit_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class operator_interface_oip_oit_base(Node):
+    def __init__(self):
+        super().__init__("operator_interface_oip_oit")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.operator_interface_oip_oit_regulator_status_subscription_ = self.create_subscription(
+            Status,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_status",
+            self.handle_regulator_status,
+            1,
+            callback_group=self.cb_group_)
+
+        self.operator_interface_oip_oit_monitor_status_subscription_ = self.create_subscription(
+            Status,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_status",
+            self.handle_monitor_status,
+            1,
+            callback_group=self.cb_group_)
+
+        self.operator_interface_oip_oit_display_temperature_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_displayed_temp",
+            self.handle_display_temperature,
+            1,
+            callback_group=self.cb_group_)
+
+        self.operator_interface_oip_oit_alarm_control_subscription_ = self.create_subscription(
+            OnOff,
+            "thermostat_monitor_temperature_manage_alarm_mat_alarm_control",
+            self.handle_alarm_control,
+            1,
+            callback_group=self.cb_group_)
+
+        self.operator_interface_oip_oit_lower_desired_tempWstatus_publisher_ = self.create_publisher(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_lower_desired_tempWstatus",
+            1)
+
+        self.operator_interface_oip_oit_upper_desired_tempWstatus_publisher_ = self.create_publisher(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_upper_desired_tempWstatus",
+            1)
+
+        self.operator_interface_oip_oit_lower_alarm_tempWstatus_publisher_ = self.create_publisher(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_lower_alarm_tempWstatus",
+            1)
+
+        self.operator_interface_oip_oit_upper_alarm_tempWstatus_publisher_ = self.create_publisher(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_upper_alarm_tempWstatus",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.regulator_status_msg_holder = None
+        self.monitor_status_msg_holder = None
+        self.display_temperature_msg_holder = None
+        self.alarm_control_msg_holder = None
+
+    def init_regulator_status(self, val):
+        self.regulator_status_msg_holder = val
+
+    def init_monitor_status(self, val):
+        self.monitor_status_msg_holder = val
+
+    def init_display_temperature(self, val):
+        self.display_temperature_msg_holder = val
+
+    def init_alarm_control(self, val):
+        self.alarm_control_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_regulator_status(self, msg):
+        self.regulator_status_msg_holder = msg
+
+    def handle_monitor_status(self, msg):
+        self.monitor_status_msg_holder = msg
+
+    def handle_display_temperature(self, msg):
+        self.display_temperature_msg_holder = msg
+
+    def handle_alarm_control(self, msg):
+        self.alarm_control_msg_holder = msg
+
+    def get_regulator_status(self):
+        return self.regulator_status_msg_holder
+
+    def get_monitor_status(self):
+        return self.monitor_status_msg_holder
+
+    def get_display_temperature(self):
+        return self.display_temperature_msg_holder
+
+    def get_alarm_control(self):
+        return self.alarm_control_msg_holder
+
+    def put_lower_desired_tempWstatus(self, msg):
+        self.operator_interface_oip_oit_lower_desired_tempWstatus_publisher_.publish(msg)
+
+    def put_upper_desired_tempWstatus(self, msg):
+        self.operator_interface_oip_oit_upper_desired_tempWstatus_publisher_.publish(msg)
+
+    def put_lower_alarm_tempWstatus(self, msg):
+        self.operator_interface_oip_oit_lower_alarm_tempWstatus_publisher_.publish(msg)
+
+    def put_upper_alarm_tempWstatus(self, msg):
+        self.operator_interface_oip_oit_upper_alarm_tempWstatus_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_runner.py
new file mode 100644
index 000000000..6a5d84ad4
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.operator_interface_oip_oit_src import operator_interface_oip_oit
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = operator_interface_oip_oit()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_base_src.py
new file mode 100644
index 000000000..3c240b402
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_base_src.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.temperature_sensor_cpi_thermostat_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import PhysicalTempimpl
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class temperature_sensor_cpi_thermostat_base(Node):
+    def __init__(self):
+        super().__init__("temperature_sensor_cpi_thermostat")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.temperature_sensor_cpi_thermostat_air_subscription_ = self.create_subscription(
+            PhysicalTempimpl,
+            "temperature_sensor_cpi_thermostat_air",
+            self.handle_air,
+            1,
+            callback_group=self.cb_group_)
+
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_ = self.create_publisher(
+            TempWstatusimpl,
+            "temperature_sensor_cpi_thermostat_current_tempWstatus",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.air_msg_holder = None
+
+    def init_air(self, val):
+        self.air_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_air(self, msg):
+        self.air_msg_holder = msg
+
+    def get_air(self):
+        return self.air_msg_holder
+
+    def put_current_tempWstatus(self, msg):
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_runner.py
new file mode 100644
index 000000000..98fb35b96
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.temperature_sensor_cpi_thermostat_src import temperature_sensor_cpi_thermostat
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = temperature_sensor_cpi_thermostat()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_base_src.py
new file mode 100644
index 000000000..3b029ee71
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_base_src.py
@@ -0,0 +1,109 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_alarm_mat_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg_interfaces.msg import OnOff
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_monitor_temperature_manage_alarm_mat_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_monitor_temperature_manage_alarm_mat")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.thermostat_monitor_temperature_manage_alarm_mat_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "temperature_sensor_cpi_thermostat_current_tempWstatus",
+            self.handle_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_alarm_mat_lower_alarm_temp_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_temp",
+            self.handle_lower_alarm_temp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_alarm_mat_upper_alarm_temp_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_temp",
+            self.handle_upper_alarm_temp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_alarm_mat_monitor_mode_subscription_ = self.create_subscription(
+            MonitorMode,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode",
+            self.handle_monitor_mode,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_alarm_mat_alarm_control_publisher_ = self.create_publisher(
+            OnOff,
+            "thermostat_monitor_temperature_manage_alarm_mat_alarm_control",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.current_tempWstatus_msg_holder = None
+        self.lower_alarm_temp_msg_holder = None
+        self.upper_alarm_temp_msg_holder = None
+        self.monitor_mode_msg_holder = None
+
+    def init_current_tempWstatus(self, val):
+        self.current_tempWstatus_msg_holder = val
+
+    def init_lower_alarm_temp(self, val):
+        self.lower_alarm_temp_msg_holder = val
+
+    def init_upper_alarm_temp(self, val):
+        self.upper_alarm_temp_msg_holder = val
+
+    def init_monitor_mode(self, val):
+        self.monitor_mode_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_current_tempWstatus(self, msg):
+        self.current_tempWstatus_msg_holder = msg
+
+    def handle_lower_alarm_temp(self, msg):
+        self.lower_alarm_temp_msg_holder = msg
+
+    def handle_upper_alarm_temp(self, msg):
+        self.upper_alarm_temp_msg_holder = msg
+
+    def handle_monitor_mode(self, msg):
+        self.monitor_mode_msg_holder = msg
+
+    def get_current_tempWstatus(self):
+        return self.current_tempWstatus_msg_holder
+
+    def get_lower_alarm_temp(self):
+        return self.lower_alarm_temp_msg_holder
+
+    def get_upper_alarm_temp(self):
+        return self.upper_alarm_temp_msg_holder
+
+    def get_monitor_mode(self):
+        return self.monitor_mode_msg_holder
+
+    def put_alarm_control(self, msg):
+        self.thermostat_monitor_temperature_manage_alarm_mat_alarm_control_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_runner.py
new file mode 100644
index 000000000..fb00dc3f0
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_alarm_mat_src import thermostat_monitor_temperature_manage_alarm_mat
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_monitor_temperature_manage_alarm_mat()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_base_src.py
new file mode 100644
index 000000000..433293153
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_base_src.py
@@ -0,0 +1,134 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_monitor_interface_mmit_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_monitor_temperature_manage_monitor_interface_mmit_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_monitor_temperature_manage_monitor_interface_mmit")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_upper_alarm_tempWstatus",
+            self.handle_upper_alarm_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_upper_alarm_tempWstatus",
+            self.handle_lower_alarm_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "temperature_sensor_cpi_thermostat_current_tempWstatus",
+            self.handle_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_mode_subscription_ = self.create_subscription(
+            MonitorMode,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode",
+            self.handle_monitor_mode,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_temp",
+            1)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_temp",
+            1)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_status_publisher_ = self.create_publisher(
+            Status,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_status",
+            1)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_interface_failure_publisher_ = self.create_publisher(
+            FailureFlagimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_interface_failure",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.upper_alarm_tempWstatus_msg_holder = None
+        self.lower_alarm_tempWstatus_msg_holder = None
+        self.current_tempWstatus_msg_holder = None
+        self.monitor_mode_msg_holder = None
+
+    def init_upper_alarm_tempWstatus(self, val):
+        self.upper_alarm_tempWstatus_msg_holder = val
+
+    def init_lower_alarm_tempWstatus(self, val):
+        self.lower_alarm_tempWstatus_msg_holder = val
+
+    def init_current_tempWstatus(self, val):
+        self.current_tempWstatus_msg_holder = val
+
+    def init_monitor_mode(self, val):
+        self.monitor_mode_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_upper_alarm_tempWstatus(self, msg):
+        self.upper_alarm_tempWstatus_msg_holder = msg
+
+    def handle_lower_alarm_tempWstatus(self, msg):
+        self.lower_alarm_tempWstatus_msg_holder = msg
+
+    def handle_current_tempWstatus(self, msg):
+        self.current_tempWstatus_msg_holder = msg
+
+    def handle_monitor_mode(self, msg):
+        self.monitor_mode_msg_holder = msg
+
+    def get_upper_alarm_tempWstatus(self):
+        return self.upper_alarm_tempWstatus_msg_holder
+
+    def get_lower_alarm_tempWstatus(self):
+        return self.lower_alarm_tempWstatus_msg_holder
+
+    def get_current_tempWstatus(self):
+        return self.current_tempWstatus_msg_holder
+
+    def get_monitor_mode(self):
+        return self.monitor_mode_msg_holder
+
+    def put_upper_alarm_temp(self, msg):
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_temp_publisher_.publish(msg)
+
+    def put_lower_alarm_temp(self, msg):
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_temp_publisher_.publish(msg)
+
+    def put_monitor_status(self, msg):
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_status_publisher_.publish(msg)
+
+    def put_interface_failure(self, msg):
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_interface_failure_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_runner.py
new file mode 100644
index 000000000..4e4b756ea
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_monitor_interface_mmit_src import thermostat_monitor_temperature_manage_monitor_interface_mmit
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_monitor_temperature_manage_monitor_interface_mmit()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_base_src.py
new file mode 100644
index 000000000..26a632dd1
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_base_src.py
@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_monitor_mode_mmmt_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_monitor_temperature_manage_monitor_mode_mmmt_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_monitor_temperature_manage_monitor_mode_mmmt")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "temperature_sensor_cpi_thermostat_current_tempWstatus",
+            self.handle_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_interface_failure_subscription_ = self.create_subscription(
+            FailureFlagimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_interface_failure",
+            self.handle_interface_failure,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_internal_failure_subscription_ = self.create_subscription(
+            FailureFlagimpl,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_internal_failure",
+            self.handle_internal_failure,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode_publisher_ = self.create_publisher(
+            MonitorMode,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.current_tempWstatus_msg_holder = None
+        self.interface_failure_msg_holder = None
+        self.internal_failure_msg_holder = None
+
+    def init_current_tempWstatus(self, val):
+        self.current_tempWstatus_msg_holder = val
+
+    def init_interface_failure(self, val):
+        self.interface_failure_msg_holder = val
+
+    def init_internal_failure(self, val):
+        self.internal_failure_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_current_tempWstatus(self, msg):
+        self.current_tempWstatus_msg_holder = msg
+
+    def handle_interface_failure(self, msg):
+        self.interface_failure_msg_holder = msg
+
+    def handle_internal_failure(self, msg):
+        self.internal_failure_msg_holder = msg
+
+    def get_current_tempWstatus(self):
+        return self.current_tempWstatus_msg_holder
+
+    def get_interface_failure(self):
+        return self.interface_failure_msg_holder
+
+    def get_internal_failure(self):
+        return self.internal_failure_msg_holder
+
+    def put_monitor_mode(self, msg):
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_runner.py
new file mode 100644
index 000000000..c19f85dc4
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_monitor_mode_mmmt_src import thermostat_monitor_temperature_manage_monitor_mode_mmmt
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_monitor_temperature_manage_monitor_mode_mmmt()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_base_src.py
new file mode 100644
index 000000000..e747e800e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_base_src.py
@@ -0,0 +1,109 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_heat_source_mhst_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import OnOff
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_regulate_temperature_manage_heat_source_mhst_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_regulate_temperature_manage_heat_source_mhst")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "temperature_sensor_cpi_thermostat_current_tempWstatus",
+            self.handle_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_lower_desired_temp_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_temp",
+            self.handle_lower_desired_temp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_upper_desired_temp_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_temp",
+            self.handle_upper_desired_temp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_regulator_mode_subscription_ = self.create_subscription(
+            RegulatorMode,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode",
+            self.handle_regulator_mode,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_heat_control_publisher_ = self.create_publisher(
+            OnOff,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_heat_control",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.current_tempWstatus_msg_holder = None
+        self.lower_desired_temp_msg_holder = None
+        self.upper_desired_temp_msg_holder = None
+        self.regulator_mode_msg_holder = None
+
+    def init_current_tempWstatus(self, val):
+        self.current_tempWstatus_msg_holder = val
+
+    def init_lower_desired_temp(self, val):
+        self.lower_desired_temp_msg_holder = val
+
+    def init_upper_desired_temp(self, val):
+        self.upper_desired_temp_msg_holder = val
+
+    def init_regulator_mode(self, val):
+        self.regulator_mode_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_current_tempWstatus(self, msg):
+        self.current_tempWstatus_msg_holder = msg
+
+    def handle_lower_desired_temp(self, msg):
+        self.lower_desired_temp_msg_holder = msg
+
+    def handle_upper_desired_temp(self, msg):
+        self.upper_desired_temp_msg_holder = msg
+
+    def handle_regulator_mode(self, msg):
+        self.regulator_mode_msg_holder = msg
+
+    def get_current_tempWstatus(self):
+        return self.current_tempWstatus_msg_holder
+
+    def get_lower_desired_temp(self):
+        return self.lower_desired_temp_msg_holder
+
+    def get_upper_desired_temp(self):
+        return self.upper_desired_temp_msg_holder
+
+    def get_regulator_mode(self):
+        return self.regulator_mode_msg_holder
+
+    def put_heat_control(self, msg):
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_heat_control_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_runner.py
new file mode 100644
index 000000000..63044f20a
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_heat_source_mhst_src import thermostat_regulate_temperature_manage_heat_source_mhst
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_regulate_temperature_manage_heat_source_mhst()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_base_src.py
new file mode 100644
index 000000000..8598ecb7d
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_base_src.py
@@ -0,0 +1,142 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_regulator_interface_mrit_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_regulate_temperature_manage_regulator_interface_mrit_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_regulate_temperature_manage_regulator_interface_mrit")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "temperature_sensor_cpi_thermostat_current_tempWstatus",
+            self.handle_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_lower_desired_tempWstatus",
+            self.handle_lower_desired_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_upper_desired_tempWstatus",
+            self.handle_upper_desired_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_mode_subscription_ = self.create_subscription(
+            RegulatorMode,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode",
+            self.handle_regulator_mode,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_temp",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_temp",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_displayed_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_displayed_temp",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_status_publisher_ = self.create_publisher(
+            Status,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_status",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_interface_failure_publisher_ = self.create_publisher(
+            FailureFlagimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_interface_failure",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.current_tempWstatus_msg_holder = None
+        self.lower_desired_tempWstatus_msg_holder = None
+        self.upper_desired_tempWstatus_msg_holder = None
+        self.regulator_mode_msg_holder = None
+
+    def init_current_tempWstatus(self, val):
+        self.current_tempWstatus_msg_holder = val
+
+    def init_lower_desired_tempWstatus(self, val):
+        self.lower_desired_tempWstatus_msg_holder = val
+
+    def init_upper_desired_tempWstatus(self, val):
+        self.upper_desired_tempWstatus_msg_holder = val
+
+    def init_regulator_mode(self, val):
+        self.regulator_mode_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_current_tempWstatus(self, msg):
+        self.current_tempWstatus_msg_holder = msg
+
+    def handle_lower_desired_tempWstatus(self, msg):
+        self.lower_desired_tempWstatus_msg_holder = msg
+
+    def handle_upper_desired_tempWstatus(self, msg):
+        self.upper_desired_tempWstatus_msg_holder = msg
+
+    def handle_regulator_mode(self, msg):
+        self.regulator_mode_msg_holder = msg
+
+    def get_current_tempWstatus(self):
+        return self.current_tempWstatus_msg_holder
+
+    def get_lower_desired_tempWstatus(self):
+        return self.lower_desired_tempWstatus_msg_holder
+
+    def get_upper_desired_tempWstatus(self):
+        return self.upper_desired_tempWstatus_msg_holder
+
+    def get_regulator_mode(self):
+        return self.regulator_mode_msg_holder
+
+    def put_upper_desired_temp(self, msg):
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_temp_publisher_.publish(msg)
+
+    def put_lower_desired_temp(self, msg):
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_temp_publisher_.publish(msg)
+
+    def put_displayed_temp(self, msg):
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_displayed_temp_publisher_.publish(msg)
+
+    def put_regulator_status(self, msg):
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_status_publisher_.publish(msg)
+
+    def put_interface_failure(self, msg):
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_interface_failure_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_runner.py
new file mode 100644
index 000000000..0ce8e2d1e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_regulator_interface_mrit_src import thermostat_regulate_temperature_manage_regulator_interface_mrit
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_regulate_temperature_manage_regulator_interface_mrit()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_base_src.py
new file mode 100644
index 000000000..8cc2f2397
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_base_src.py
@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_regulator_mode_mrmt_src import *
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_regulate_temperature_manage_regulator_mode_mrmt_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_regulate_temperature_manage_regulator_mode_mrmt")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        # Setting up connections
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "temperature_sensor_cpi_thermostat_current_tempWstatus",
+            self.handle_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_interface_failure_subscription_ = self.create_subscription(
+            FailureFlagimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_interface_failure",
+            self.handle_interface_failure,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_internal_failure_subscription_ = self.create_subscription(
+            FailureFlagimpl,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_internal_failure",
+            self.handle_internal_failure,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode_publisher_ = self.create_publisher(
+            RegulatorMode,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode",
+            1)
+
+        # timeTriggered callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
+
+        self.current_tempWstatus_msg_holder = None
+        self.interface_failure_msg_holder = None
+        self.internal_failure_msg_holder = None
+
+    def init_current_tempWstatus(self, val):
+        self.current_tempWstatus_msg_holder = val
+
+    def init_interface_failure(self, val):
+        self.interface_failure_msg_holder = val
+
+    def init_internal_failure(self, val):
+        self.internal_failure_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def handle_current_tempWstatus(self, msg):
+        self.current_tempWstatus_msg_holder = msg
+
+    def handle_interface_failure(self, msg):
+        self.interface_failure_msg_holder = msg
+
+    def handle_internal_failure(self, msg):
+        self.internal_failure_msg_holder = msg
+
+    def get_current_tempWstatus(self):
+        return self.current_tempWstatus_msg_holder
+
+    def get_interface_failure(self):
+        return self.interface_failure_msg_holder
+
+    def get_internal_failure(self):
+        return self.internal_failure_msg_holder
+
+    def put_regulator_mode(self, msg):
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode_publisher_.publish(msg)
+
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_runner.py
new file mode 100644
index 000000000..b7d9a68ee
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_regulator_mode_mrmt_src import thermostat_regulate_temperature_manage_regulator_mode_mrmt
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_regulate_temperature_manage_regulator_mode_mrmt()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/__init__.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/heat_source_cpi_heat_controller_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/heat_source_cpi_heat_controller_src.py
new file mode 100644
index 000000000..3ded2b5fa
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/heat_source_cpi_heat_controller_src.py
@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.heat_source_cpi_heat_controller_base_src import heat_source_cpi_heat_controller_base
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import Heat
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class heat_source_cpi_heat_controller(heat_source_cpi_heat_controller_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("heat_source_cpi_heat_controller infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        heat_control = OnOff()
+        self.init_heat_control(heat_control)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        heat_control = self.get_heat_control()
+        self.get_logger().info(f"Received heat_control: {self.message_to_string(heat_control)}")
+
+
+        # Example publishing messages
+        heat_out = Heat()
+        self.put_heat_out(heat_out)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/operator_interface_oip_oit_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/operator_interface_oip_oit_src.py
new file mode 100644
index 000000000..ac40b469a
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/operator_interface_oip_oit_src.py
@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.operator_interface_oip_oit_base_src import operator_interface_oip_oit_base
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class operator_interface_oip_oit(operator_interface_oip_oit_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("operator_interface_oip_oit infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        regulator_status = Status()
+        self.init_regulator_status(regulator_status)
+
+        monitor_status = Status()
+        self.init_monitor_status(monitor_status)
+
+        display_temperature = Tempimpl()
+        self.init_display_temperature(display_temperature)
+
+        alarm_control = OnOff()
+        self.init_alarm_control(alarm_control)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        regulator_status = self.get_regulator_status()
+        self.get_logger().info(f"Received regulator_status: {self.message_to_string(regulator_status)}")
+
+        monitor_status = self.get_monitor_status()
+        self.get_logger().info(f"Received monitor_status: {self.message_to_string(monitor_status)}")
+
+        display_temperature = self.get_display_temperature()
+        self.get_logger().info(f"Received display_temperature: {self.message_to_string(display_temperature)}")
+
+        alarm_control = self.get_alarm_control()
+        self.get_logger().info(f"Received alarm_control: {self.message_to_string(alarm_control)}")
+
+
+        # Example publishing messages
+        lower_desired_tempWstatus = TempWstatusimpl()
+        self.put_lower_desired_tempWstatus(lower_desired_tempWstatus)
+
+        upper_desired_tempWstatus = TempWstatusimpl()
+        self.put_upper_desired_tempWstatus(upper_desired_tempWstatus)
+
+        lower_alarm_tempWstatus = TempWstatusimpl()
+        self.put_lower_alarm_tempWstatus(lower_alarm_tempWstatus)
+
+        upper_alarm_tempWstatus = TempWstatusimpl()
+        self.put_upper_alarm_tempWstatus(upper_alarm_tempWstatus)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/temperature_sensor_cpi_thermostat_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/temperature_sensor_cpi_thermostat_src.py
new file mode 100644
index 000000000..e1c1ca3af
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/temperature_sensor_cpi_thermostat_src.py
@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.temperature_sensor_cpi_thermostat_base_src import temperature_sensor_cpi_thermostat_base
+from isolette_py_pkg_interfaces.msg import PhysicalTempimpl
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class temperature_sensor_cpi_thermostat(temperature_sensor_cpi_thermostat_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("temperature_sensor_cpi_thermostat infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        air = PhysicalTempimpl()
+        self.init_air(air)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        air = self.get_air()
+        self.get_logger().info(f"Received air: {self.message_to_string(air)}")
+
+
+        # Example publishing messages
+        current_tempWstatus = TempWstatusimpl()
+        self.put_current_tempWstatus(current_tempWstatus)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_alarm_mat_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_alarm_mat_src.py
new file mode 100644
index 000000000..f67a7c036
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_alarm_mat_src.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_alarm_mat_base_src import thermostat_monitor_temperature_manage_alarm_mat_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_monitor_temperature_manage_alarm_mat(thermostat_monitor_temperature_manage_alarm_mat_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_monitor_temperature_manage_alarm_mat infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        lower_alarm_temp = Tempimpl()
+        self.init_lower_alarm_temp(lower_alarm_temp)
+
+        upper_alarm_temp = Tempimpl()
+        self.init_upper_alarm_temp(upper_alarm_temp)
+
+        monitor_mode = MonitorMode()
+        self.init_monitor_mode(monitor_mode)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        lower_alarm_temp = self.get_lower_alarm_temp()
+        self.get_logger().info(f"Received lower_alarm_temp: {self.message_to_string(lower_alarm_temp)}")
+
+        upper_alarm_temp = self.get_upper_alarm_temp()
+        self.get_logger().info(f"Received upper_alarm_temp: {self.message_to_string(upper_alarm_temp)}")
+
+        monitor_mode = self.get_monitor_mode()
+        self.get_logger().info(f"Received monitor_mode: {self.message_to_string(monitor_mode)}")
+
+
+        # Example publishing messages
+        alarm_control = OnOff()
+        self.put_alarm_control(alarm_control)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_src.py
new file mode 100644
index 000000000..4f3930578
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_src.py
@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_monitor_interface_mmit_base_src import thermostat_monitor_temperature_manage_monitor_interface_mmit_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_monitor_temperature_manage_monitor_interface_mmit(thermostat_monitor_temperature_manage_monitor_interface_mmit_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_monitor_temperature_manage_monitor_interface_mmit infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        upper_alarm_tempWstatus = TempWstatusimpl()
+        self.init_upper_alarm_tempWstatus(upper_alarm_tempWstatus)
+
+        lower_alarm_tempWstatus = TempWstatusimpl()
+        self.init_lower_alarm_tempWstatus(lower_alarm_tempWstatus)
+
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        monitor_mode = MonitorMode()
+        self.init_monitor_mode(monitor_mode)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        upper_alarm_tempWstatus = self.get_upper_alarm_tempWstatus()
+        self.get_logger().info(f"Received upper_alarm_tempWstatus: {self.message_to_string(upper_alarm_tempWstatus)}")
+
+        lower_alarm_tempWstatus = self.get_lower_alarm_tempWstatus()
+        self.get_logger().info(f"Received lower_alarm_tempWstatus: {self.message_to_string(lower_alarm_tempWstatus)}")
+
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        monitor_mode = self.get_monitor_mode()
+        self.get_logger().info(f"Received monitor_mode: {self.message_to_string(monitor_mode)}")
+
+
+        # Example publishing messages
+        upper_alarm_temp = Tempimpl()
+        self.put_upper_alarm_temp(upper_alarm_temp)
+
+        lower_alarm_temp = Tempimpl()
+        self.put_lower_alarm_temp(lower_alarm_temp)
+
+        monitor_status = Status()
+        self.put_monitor_status(monitor_status)
+
+        interface_failure = FailureFlagimpl()
+        self.put_interface_failure(interface_failure)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_src.py
new file mode 100644
index 000000000..973aa609c
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_src.py
@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_monitor_mode_mmmt_base_src import thermostat_monitor_temperature_manage_monitor_mode_mmmt_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_monitor_temperature_manage_monitor_mode_mmmt(thermostat_monitor_temperature_manage_monitor_mode_mmmt_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_monitor_temperature_manage_monitor_mode_mmmt infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        interface_failure = FailureFlagimpl()
+        self.init_interface_failure(interface_failure)
+
+        internal_failure = FailureFlagimpl()
+        self.init_internal_failure(internal_failure)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        interface_failure = self.get_interface_failure()
+        self.get_logger().info(f"Received interface_failure: {self.message_to_string(interface_failure)}")
+
+        internal_failure = self.get_internal_failure()
+        self.get_logger().info(f"Received internal_failure: {self.message_to_string(internal_failure)}")
+
+
+        # Example publishing messages
+        monitor_mode = MonitorMode()
+        self.put_monitor_mode(monitor_mode)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_heat_source_mhst_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_heat_source_mhst_src.py
new file mode 100644
index 000000000..4826e5681
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_heat_source_mhst_src.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_heat_source_mhst_base_src import thermostat_regulate_temperature_manage_heat_source_mhst_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_regulate_temperature_manage_heat_source_mhst(thermostat_regulate_temperature_manage_heat_source_mhst_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_regulate_temperature_manage_heat_source_mhst infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        lower_desired_temp = Tempimpl()
+        self.init_lower_desired_temp(lower_desired_temp)
+
+        upper_desired_temp = Tempimpl()
+        self.init_upper_desired_temp(upper_desired_temp)
+
+        regulator_mode = RegulatorMode()
+        self.init_regulator_mode(regulator_mode)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        lower_desired_temp = self.get_lower_desired_temp()
+        self.get_logger().info(f"Received lower_desired_temp: {self.message_to_string(lower_desired_temp)}")
+
+        upper_desired_temp = self.get_upper_desired_temp()
+        self.get_logger().info(f"Received upper_desired_temp: {self.message_to_string(upper_desired_temp)}")
+
+        regulator_mode = self.get_regulator_mode()
+        self.get_logger().info(f"Received regulator_mode: {self.message_to_string(regulator_mode)}")
+
+
+        # Example publishing messages
+        heat_control = OnOff()
+        self.put_heat_control(heat_control)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_src.py
new file mode 100644
index 000000000..94513c84d
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_src.py
@@ -0,0 +1,94 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_regulator_interface_mrit_base_src import thermostat_regulate_temperature_manage_regulator_interface_mrit_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_regulate_temperature_manage_regulator_interface_mrit(thermostat_regulate_temperature_manage_regulator_interface_mrit_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_regulate_temperature_manage_regulator_interface_mrit infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        lower_desired_tempWstatus = TempWstatusimpl()
+        self.init_lower_desired_tempWstatus(lower_desired_tempWstatus)
+
+        upper_desired_tempWstatus = TempWstatusimpl()
+        self.init_upper_desired_tempWstatus(upper_desired_tempWstatus)
+
+        regulator_mode = RegulatorMode()
+        self.init_regulator_mode(regulator_mode)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        lower_desired_tempWstatus = self.get_lower_desired_tempWstatus()
+        self.get_logger().info(f"Received lower_desired_tempWstatus: {self.message_to_string(lower_desired_tempWstatus)}")
+
+        upper_desired_tempWstatus = self.get_upper_desired_tempWstatus()
+        self.get_logger().info(f"Received upper_desired_tempWstatus: {self.message_to_string(upper_desired_tempWstatus)}")
+
+        regulator_mode = self.get_regulator_mode()
+        self.get_logger().info(f"Received regulator_mode: {self.message_to_string(regulator_mode)}")
+
+
+        # Example publishing messages
+        upper_desired_temp = Tempimpl()
+        self.put_upper_desired_temp(upper_desired_temp)
+
+        lower_desired_temp = Tempimpl()
+        self.put_lower_desired_temp(lower_desired_temp)
+
+        displayed_temp = Tempimpl()
+        self.put_displayed_temp(displayed_temp)
+
+        regulator_status = Status()
+        self.put_regulator_status(regulator_status)
+
+        interface_failure = FailureFlagimpl()
+        self.put_interface_failure(interface_failure)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_src.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_src.py
new file mode 100644
index 000000000..ea5e59937
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_src.py
@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_regulator_mode_mrmt_base_src import thermostat_regulate_temperature_manage_regulator_mode_mrmt_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_regulate_temperature_manage_regulator_mode_mrmt(thermostat_regulate_temperature_manage_regulator_mode_mrmt_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_regulate_temperature_manage_regulator_mode_mrmt infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        interface_failure = FailureFlagimpl()
+        self.init_interface_failure(interface_failure)
+
+        internal_failure = FailureFlagimpl()
+        self.init_internal_failure(internal_failure)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        interface_failure = self.get_interface_failure()
+        self.get_logger().info(f"Received interface_failure: {self.message_to_string(interface_failure)}")
+
+        internal_failure = self.get_internal_failure()
+        self.get_logger().info(f"Received internal_failure: {self.message_to_string(internal_failure)}")
+
+
+        # Example publishing messages
+        regulator_mode = RegulatorMode()
+        self.put_regulator_mode(regulator_mode)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/package.xml b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/package.xml
new file mode 100644
index 000000000..ddc125c8a
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/package.xml
@@ -0,0 +1,26 @@
+<?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>isolette_py_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="todo.todo@todo.com">ed</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>rosidl_runtime_py</depend>
+  <depend>isolette_py_pkg_interfaces</depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/resource/isolette_py_pkg b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/resource/isolette_py_pkg
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/resource/isolette_py_pkg
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/setup.cfg b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/setup.cfg
new file mode 100644
index 000000000..de71f7785
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/setup.cfg
@@ -0,0 +1,5 @@
+# setup.cfg   in  src/isolette_py_pkg
+[develop]
+script_dir=$base/lib/isolette_py_pkg
+[install]
+install_scripts=$base/lib/isolette_py_pkg
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/setup.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/setup.py
new file mode 100644
index 000000000..4db5def61
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/setup.py
@@ -0,0 +1,36 @@
+# setup.py   in  src/isolette_py_pkg
+
+from setuptools import find_packages, setup
+
+package_name = 'isolette_py_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sireum',
+    maintainer_email='sireum@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_exe = isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_regulator_interface_mrit_runner:main",
+            "thermostat_regulate_temperature_manage_heat_source_mhst_exe = isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_heat_source_mhst_runner:main",
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_exe = isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_regulator_mode_mrmt_runner:main",
+            "thermostat_monitor_temperature_manage_alarm_mat_exe = isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_alarm_mat_runner:main",
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_exe = isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_monitor_interface_mmit_runner:main",
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_exe = isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_monitor_mode_mmmt_runner:main",
+            "operator_interface_oip_oit_exe = isolette_py_pkg.base_code.operator_interface_oip_oit_runner:main",
+            "temperature_sensor_cpi_thermostat_exe = isolette_py_pkg.base_code.temperature_sensor_cpi_thermostat_runner:main",
+            "heat_source_cpi_heat_controller_exe = isolette_py_pkg.base_code.heat_source_cpi_heat_controller_runner:main"
+        ],
+    },
+)
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/test/test_copyright.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/test/test_copyright.py
new file mode 100644
index 000000000..97a39196e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/test/test_flake8.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/test/test_flake8.py
new file mode 100644
index 000000000..7dc87a490
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \\
+        'Found %d code style errors / warnings:\n' % len(errors) + \\
+        '\n'.join(errors)
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/test/test_prep257.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/test/test_prep257.py
new file mode 100644
index 000000000..b234a3840
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg/test/test_prep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/CMakeLists.txt b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/CMakeLists.txt
new file mode 100644
index 000000000..7ef2c8397
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(isolette_py_pkg_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+    launch
+    DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/heat_source.launch.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/heat_source.launch.py
new file mode 100644
index 000000000..19d78f040
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/heat_source.launch.py
@@ -0,0 +1,19 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    heat_source_cpi_heat_controller_node = Node(
+        package = "isolette_py_pkg",
+        executable = "heat_source_cpi_heat_controller_exe"
+    )
+
+    ld.add_action(heat_source_cpi_heat_controller_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/isolette_single_sensor_Instance.launch.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/isolette_single_sensor_Instance.launch.py
new file mode 100644
index 000000000..265c24dc0
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/isolette_single_sensor_Instance.launch.py
@@ -0,0 +1,45 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    thermostat_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/thermostat.launch.py')
+        )
+    )
+
+    operator_interface_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/operator_interface.launch.py')
+        )
+    )
+
+    temperature_sensor_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/temperature_sensor.launch.py')
+        )
+    )
+
+    heat_source_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/heat_source.launch.py')
+        )
+    )
+
+    ld.add_action(thermostat_node)
+    ld.add_action(operator_interface_node)
+    ld.add_action(temperature_sensor_node)
+    ld.add_action(heat_source_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/monitor_temperature.launch.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/monitor_temperature.launch.py
new file mode 100644
index 000000000..b9e2c624f
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/monitor_temperature.launch.py
@@ -0,0 +1,31 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    thermostat_monitor_temperature_manage_alarm_mat_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_monitor_temperature_manage_alarm_mat_exe"
+    )
+
+    thermostat_monitor_temperature_manage_monitor_interface_mmit_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_monitor_temperature_manage_monitor_interface_mmit_exe"
+    )
+
+    thermostat_monitor_temperature_manage_monitor_mode_mmmt_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_monitor_temperature_manage_monitor_mode_mmmt_exe"
+    )
+
+    ld.add_action(thermostat_monitor_temperature_manage_alarm_mat_node)
+    ld.add_action(thermostat_monitor_temperature_manage_monitor_interface_mmit_node)
+    ld.add_action(thermostat_monitor_temperature_manage_monitor_mode_mmmt_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/operator_interface.launch.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/operator_interface.launch.py
new file mode 100644
index 000000000..5f488a919
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/operator_interface.launch.py
@@ -0,0 +1,19 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    operator_interface_oip_oit_node = Node(
+        package = "isolette_py_pkg",
+        executable = "operator_interface_oip_oit_exe"
+    )
+
+    ld.add_action(operator_interface_oip_oit_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/regulate_temperature.launch.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/regulate_temperature.launch.py
new file mode 100644
index 000000000..014c61c26
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/regulate_temperature.launch.py
@@ -0,0 +1,31 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    thermostat_regulate_temperature_manage_regulator_interface_mrit_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_regulate_temperature_manage_regulator_interface_mrit_exe"
+    )
+
+    thermostat_regulate_temperature_manage_heat_source_mhst_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_regulate_temperature_manage_heat_source_mhst_exe"
+    )
+
+    thermostat_regulate_temperature_manage_regulator_mode_mrmt_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_regulate_temperature_manage_regulator_mode_mrmt_exe"
+    )
+
+    ld.add_action(thermostat_regulate_temperature_manage_regulator_interface_mrit_node)
+    ld.add_action(thermostat_regulate_temperature_manage_heat_source_mhst_node)
+    ld.add_action(thermostat_regulate_temperature_manage_regulator_mode_mrmt_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/temperature_sensor.launch.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/temperature_sensor.launch.py
new file mode 100644
index 000000000..04c0d9de3
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/temperature_sensor.launch.py
@@ -0,0 +1,19 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    temperature_sensor_cpi_thermostat_node = Node(
+        package = "isolette_py_pkg",
+        executable = "temperature_sensor_cpi_thermostat_exe"
+    )
+
+    ld.add_action(temperature_sensor_cpi_thermostat_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/thermostat.launch.py b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/thermostat.launch.py
new file mode 100644
index 000000000..383d3f3b9
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/launch/thermostat.launch.py
@@ -0,0 +1,29 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    regulate_temperature_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/regulate_temperature.launch.py')
+        )
+    )
+
+    monitor_temperature_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/monitor_temperature.launch.py')
+        )
+    )
+
+    ld.add_action(regulate_temperature_node)
+    ld.add_action(monitor_temperature_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/package.xml b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/package.xml
new file mode 100644
index 000000000..c0ef1c8bb
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_bringup/package.xml
@@ -0,0 +1,24 @@
+<?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>isolette_py_pkg_bringup</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <exec_depend>isolette_py_pkg</exec_depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/CMakeLists.txt b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/CMakeLists.txt
new file mode 100644
index 000000000..3c237e7ba
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/CMakeLists.txt
@@ -0,0 +1,31 @@
+cmake_minimum_required(VERSION 3.8)
+project(isolette_py_pkg_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Heat.msg
+  msg/InterfaceInteraction.msg
+  msg/Float32.msg
+  msg/PhysicalTempimpl.msg
+  msg/ValueStatus.msg
+  msg/TempWstatusimpl.msg
+  msg/OnOff.msg
+  msg/Status.msg
+  msg/Tempimpl.msg
+  msg/RegulatorMode.msg
+  msg/Boolean.msg
+  msg/FailureFlagimpl.msg
+  msg/MonitorMode.msg
+  msg/Empty.msg
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Boolean.msg b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Boolean.msg
new file mode 100644
index 000000000..f7cabb94f
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Boolean.msg
@@ -0,0 +1 @@
+bool data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Empty.msg b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Empty.msg
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/FailureFlagimpl.msg b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/FailureFlagimpl.msg
new file mode 100644
index 000000000..85e9459f2
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/FailureFlagimpl.msg
@@ -0,0 +1 @@
+Boolean value
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Float32.msg b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Float32.msg
new file mode 100644
index 000000000..e89740534
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Float32.msg
@@ -0,0 +1 @@
+float32 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Heat.msg b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Heat.msg
new file mode 100644
index 000000000..8510ca2f7
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Heat.msg
@@ -0,0 +1,2 @@
+uint8 heat
+uint8 HEAT_DUMMY_HEAD_ENUM=0
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/InterfaceInteraction.msg b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/InterfaceInteraction.msg
new file mode 100644
index 000000000..74fd55b51
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/InterfaceInteraction.msg
@@ -0,0 +1,2 @@
+uint8 interface_interaction
+uint8 INTERFACE_INTERACTION_DUMMY_INTERFACE_INTERACTION_ENUM=0
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/MonitorMode.msg b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/MonitorMode.msg
new file mode 100644
index 000000000..23c152693
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/MonitorMode.msg
@@ -0,0 +1,4 @@
+uint8 monitor_mode
+uint8 MONITOR_MODE_INIT_MONITOR_MODE=0
+uint8 MONITOR_MODE_NORMAL_MONITOR_MODE=1
+uint8 MONITOR_MODE_FAILED_MONITOR_MODE=2
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/OnOff.msg b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/OnOff.msg
new file mode 100644
index 000000000..2b93a6e9b
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/OnOff.msg
@@ -0,0 +1,3 @@
+uint8 on_off
+uint8 ON_OFF_ONN=0
+uint8 ON_OFF_OFF=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/PhysicalTempimpl.msg b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/PhysicalTempimpl.msg
new file mode 100644
index 000000000..f974a1a52
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/PhysicalTempimpl.msg
@@ -0,0 +1 @@
+Float32 value
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/RegulatorMode.msg b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/RegulatorMode.msg
new file mode 100644
index 000000000..3e575ec38
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/RegulatorMode.msg
@@ -0,0 +1,4 @@
+uint8 regulator_mode
+uint8 REGULATOR_MODE_INIT_REGULATOR_MODE=0
+uint8 REGULATOR_MODE_NORMAL_REGULATOR_MODE=1
+uint8 REGULATOR_MODE_FAILED_REGULATOR_MODE=2
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Status.msg b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Status.msg
new file mode 100644
index 000000000..f921080e2
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Status.msg
@@ -0,0 +1,4 @@
+uint8 status
+uint8 STATUS_INIT_STATUS=0
+uint8 STATUS_ON_STATUS=1
+uint8 STATUS_FAILED_STATUS=2
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/TempWstatusimpl.msg b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/TempWstatusimpl.msg
new file mode 100644
index 000000000..013b4d370
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/TempWstatusimpl.msg
@@ -0,0 +1,2 @@
+Float32 value
+ValueStatus status
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Tempimpl.msg b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Tempimpl.msg
new file mode 100644
index 000000000..f974a1a52
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/Tempimpl.msg
@@ -0,0 +1 @@
+Float32 value
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/ValueStatus.msg b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/ValueStatus.msg
new file mode 100644
index 000000000..cd93b8a5e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/msg/ValueStatus.msg
@@ -0,0 +1,3 @@
+uint8 value_status
+uint8 VALUE_STATUS_VALID=0
+uint8 VALUE_STATUS_INVALID=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/package.xml b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/package.xml
new file mode 100644
index 000000000..c0d3e4f59
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/lax/src/isolette_py_pkg_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?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>isolette_py_pkg_interfaces</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <build_depend>rosidl_default_generators</build_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/__init__.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/__init__.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/enum_converter.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/enum_converter.py
new file mode 100644
index 000000000..92bc818f8
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/enum_converter.py
@@ -0,0 +1,92 @@
+#!/usr/bin/env python3
+from isolette_py_pkg_interfaces.msg import Heat
+from isolette_py_pkg_interfaces.msg import InterfaceInteraction
+from isolette_py_pkg_interfaces.msg import ValueStatus
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import MonitorMode
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+def enumToString(value):
+    typedValue = Heat()
+    typedValue.data = value
+    match (typedValue.heat):
+        case Heat.HEAT_DUMMY_HEAD_ENUM:
+            return "Heat Dummy_Head_Enum"
+        case default:
+            return "Unknown value for Heat"
+
+def enumToString(value):
+    typedValue = InterfaceInteraction()
+    typedValue.data = value
+    match (typedValue.interface_interaction):
+        case InterfaceInteraction.INTERFACE_INTERACTION_DUMMY_INTERFACE_INTERACTION_ENUM:
+            return "InterfaceInteraction Dummy_Interface_Interaction_Enum"
+        case default:
+            return "Unknown value for InterfaceInteraction"
+
+def enumToString(value):
+    typedValue = ValueStatus()
+    typedValue.data = value
+    match (typedValue.value_status):
+        case ValueStatus.VALUE_STATUS_VALID:
+            return "ValueStatus Valid"
+        case ValueStatus.VALUE_STATUS_INVALID:
+            return "ValueStatus Invalid"
+        case default:
+            return "Unknown value for ValueStatus"
+
+def enumToString(value):
+    typedValue = OnOff()
+    typedValue.data = value
+    match (typedValue.on_off):
+        case OnOff.ON_OFF_ONN:
+            return "OnOff Onn"
+        case OnOff.ON_OFF_OFF:
+            return "OnOff Off"
+        case default:
+            return "Unknown value for OnOff"
+
+def enumToString(value):
+    typedValue = Status()
+    typedValue.data = value
+    match (typedValue.status):
+        case Status.STATUS_INIT_STATUS:
+            return "Status Init_Status"
+        case Status.STATUS_ON_STATUS:
+            return "Status On_Status"
+        case Status.STATUS_FAILED_STATUS:
+            return "Status Failed_Status"
+        case default:
+            return "Unknown value for Status"
+
+def enumToString(value):
+    typedValue = RegulatorMode()
+    typedValue.data = value
+    match (typedValue.regulator_mode):
+        case RegulatorMode.REGULATOR_MODE_INIT_REGULATOR_MODE:
+            return "RegulatorMode Init_Regulator_Mode"
+        case RegulatorMode.REGULATOR_MODE_NORMAL_REGULATOR_MODE:
+            return "RegulatorMode Normal_Regulator_Mode"
+        case RegulatorMode.REGULATOR_MODE_FAILED_REGULATOR_MODE:
+            return "RegulatorMode Failed_Regulator_Mode"
+        case default:
+            return "Unknown value for RegulatorMode"
+
+def enumToString(value):
+    typedValue = MonitorMode()
+    typedValue.data = value
+    match (typedValue.monitor_mode):
+        case MonitorMode.MONITOR_MODE_INIT_MONITOR_MODE:
+            return "MonitorMode Init_Monitor_Mode"
+        case MonitorMode.MONITOR_MODE_NORMAL_MONITOR_MODE:
+            return "MonitorMode Normal_Monitor_Mode"
+        case MonitorMode.MONITOR_MODE_FAILED_MONITOR_MODE:
+            return "MonitorMode Failed_Monitor_Mode"
+        case default:
+            return "Unknown value for MonitorMode"
+
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_base_src.py
new file mode 100644
index 000000000..a57b22ec8
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_base_src.py
@@ -0,0 +1,124 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import Heat
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class heat_source_cpi_heat_controller_base(Node):
+    def __init__(self):
+        super().__init__("heat_source_cpi_heat_controller")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.heat_source_cpi_heat_controller_heat_control_subscription_ = self.create_subscription(
+            OnOff,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_heat_control",
+            self.accept_heat_control,
+            1,
+            callback_group=self.cb_group_)
+
+        self.heat_source_cpi_heat_controller_heat_out_publisher_ = self.create_publisher(
+            Heat,
+            "heat_source_cpi_heat_controller_heat_out",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_heat_control = deque()
+        self.applicationIn_heat_control = deque()
+
+        self.infrastructureOut_heat_out = deque()
+        self.applicationOut_heat_out = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_heat_control, self.applicationIn_heat_control]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_heat_control, self.applicationIn_heat_control]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_heat_out, self.infrastructureOut_heat_out, self.sendOut_heat_out]
+        ]
+
+    def init_heat_control(self, val):
+        self.enqueue(self.infrastructureIn_heat_control, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_heat_control(self, msg):
+        self.enqueue(self.infrastructureIn_heat_control, msg)
+
+    def get_heat_control(self):
+        msg = self.applicationIn_heat_control[0]
+        return msg
+
+    def sendOut_heat_out(self, msg):
+        if type(msg) is Heat:
+            self.heat_source_cpi_heat_controller_heat_out_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port heat_out.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_heat_out(self, msg):
+        self.enqueue(self.applicationOut_heat_out, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_runner.py
new file mode 100644
index 000000000..dfdc41ce7
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/heat_source_cpi_heat_controller_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.heat_source_cpi_heat_controller_src import heat_source_cpi_heat_controller
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = heat_source_cpi_heat_controller()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_base_src.py
new file mode 100644
index 000000000..812f95bed
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_base_src.py
@@ -0,0 +1,243 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class operator_interface_oip_oit_base(Node):
+    def __init__(self):
+        super().__init__("operator_interface_oip_oit")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.operator_interface_oip_oit_regulator_status_subscription_ = self.create_subscription(
+            Status,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_status",
+            self.accept_regulator_status,
+            1,
+            callback_group=self.cb_group_)
+
+        self.operator_interface_oip_oit_monitor_status_subscription_ = self.create_subscription(
+            Status,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_status",
+            self.accept_monitor_status,
+            1,
+            callback_group=self.cb_group_)
+
+        self.operator_interface_oip_oit_display_temperature_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_displayed_temp",
+            self.accept_display_temperature,
+            1,
+            callback_group=self.cb_group_)
+
+        self.operator_interface_oip_oit_alarm_control_subscription_ = self.create_subscription(
+            OnOff,
+            "thermostat_monitor_temperature_manage_alarm_mat_alarm_control",
+            self.accept_alarm_control,
+            1,
+            callback_group=self.cb_group_)
+
+        self.operator_interface_oip_oit_lower_desired_tempWstatus_publisher_ = self.create_publisher(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_lower_desired_tempWstatus",
+            1)
+
+        self.operator_interface_oip_oit_upper_desired_tempWstatus_publisher_ = self.create_publisher(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_upper_desired_tempWstatus",
+            1)
+
+        self.operator_interface_oip_oit_lower_alarm_tempWstatus_publisher_ = self.create_publisher(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_lower_alarm_tempWstatus",
+            1)
+
+        self.operator_interface_oip_oit_upper_alarm_tempWstatus_publisher_ = self.create_publisher(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_upper_alarm_tempWstatus",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_regulator_status = deque()
+        self.applicationIn_regulator_status = deque()
+        self.infrastructureIn_monitor_status = deque()
+        self.applicationIn_monitor_status = deque()
+        self.infrastructureIn_display_temperature = deque()
+        self.applicationIn_display_temperature = deque()
+        self.infrastructureIn_alarm_control = deque()
+        self.applicationIn_alarm_control = deque()
+
+        self.infrastructureOut_lower_desired_tempWstatus = deque()
+        self.applicationOut_lower_desired_tempWstatus = deque()
+        self.infrastructureOut_upper_desired_tempWstatus = deque()
+        self.applicationOut_upper_desired_tempWstatus = deque()
+        self.infrastructureOut_lower_alarm_tempWstatus = deque()
+        self.applicationOut_lower_alarm_tempWstatus = deque()
+        self.infrastructureOut_upper_alarm_tempWstatus = deque()
+        self.applicationOut_upper_alarm_tempWstatus = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_regulator_status, self.applicationIn_regulator_status],
+            [self.infrastructureIn_monitor_status, self.applicationIn_monitor_status],
+            [self.infrastructureIn_display_temperature, self.applicationIn_display_temperature],
+            [self.infrastructureIn_alarm_control, self.applicationIn_alarm_control]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_regulator_status, self.applicationIn_regulator_status],
+            [self.infrastructureIn_monitor_status, self.applicationIn_monitor_status],
+            [self.infrastructureIn_display_temperature, self.applicationIn_display_temperature],
+            [self.infrastructureIn_alarm_control, self.applicationIn_alarm_control]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_lower_desired_tempWstatus, self.infrastructureOut_lower_desired_tempWstatus, self.sendOut_lower_desired_tempWstatus],
+            [self.applicationOut_upper_desired_tempWstatus, self.infrastructureOut_upper_desired_tempWstatus, self.sendOut_upper_desired_tempWstatus],
+            [self.applicationOut_lower_alarm_tempWstatus, self.infrastructureOut_lower_alarm_tempWstatus, self.sendOut_lower_alarm_tempWstatus],
+            [self.applicationOut_upper_alarm_tempWstatus, self.infrastructureOut_upper_alarm_tempWstatus, self.sendOut_upper_alarm_tempWstatus]
+        ]
+
+    def init_regulator_status(self, val):
+        self.enqueue(self.infrastructureIn_regulator_status, val)
+
+
+    def init_monitor_status(self, val):
+        self.enqueue(self.infrastructureIn_monitor_status, val)
+
+
+    def init_display_temperature(self, val):
+        self.enqueue(self.infrastructureIn_display_temperature, val)
+
+
+    def init_alarm_control(self, val):
+        self.enqueue(self.infrastructureIn_alarm_control, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_regulator_status(self, msg):
+        self.enqueue(self.infrastructureIn_regulator_status, msg)
+
+    def accept_monitor_status(self, msg):
+        self.enqueue(self.infrastructureIn_monitor_status, msg)
+
+    def accept_display_temperature(self, msg):
+        self.enqueue(self.infrastructureIn_display_temperature, msg)
+
+    def accept_alarm_control(self, msg):
+        self.enqueue(self.infrastructureIn_alarm_control, msg)
+
+    def get_regulator_status(self):
+        msg = self.applicationIn_regulator_status[0]
+        return msg
+
+    def get_monitor_status(self):
+        msg = self.applicationIn_monitor_status[0]
+        return msg
+
+    def get_display_temperature(self):
+        msg = self.applicationIn_display_temperature[0]
+        return msg
+
+    def get_alarm_control(self):
+        msg = self.applicationIn_alarm_control[0]
+        return msg
+
+    def sendOut_lower_desired_tempWstatus(self, msg):
+        if type(msg) is TempWstatusimpl:
+            self.operator_interface_oip_oit_lower_desired_tempWstatus_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port lower_desired_tempWstatus.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_upper_desired_tempWstatus(self, msg):
+        if type(msg) is TempWstatusimpl:
+            self.operator_interface_oip_oit_upper_desired_tempWstatus_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port upper_desired_tempWstatus.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_lower_alarm_tempWstatus(self, msg):
+        if type(msg) is TempWstatusimpl:
+            self.operator_interface_oip_oit_lower_alarm_tempWstatus_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port lower_alarm_tempWstatus.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_upper_alarm_tempWstatus(self, msg):
+        if type(msg) is TempWstatusimpl:
+            self.operator_interface_oip_oit_upper_alarm_tempWstatus_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port upper_alarm_tempWstatus.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_lower_desired_tempWstatus(self, msg):
+        self.enqueue(self.applicationOut_lower_desired_tempWstatus, msg)
+
+    def put_upper_desired_tempWstatus(self, msg):
+        self.enqueue(self.applicationOut_upper_desired_tempWstatus, msg)
+
+    def put_lower_alarm_tempWstatus(self, msg):
+        self.enqueue(self.applicationOut_lower_alarm_tempWstatus, msg)
+
+    def put_upper_alarm_tempWstatus(self, msg):
+        self.enqueue(self.applicationOut_upper_alarm_tempWstatus, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_runner.py
new file mode 100644
index 000000000..6a5d84ad4
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/operator_interface_oip_oit_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.operator_interface_oip_oit_src import operator_interface_oip_oit
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = operator_interface_oip_oit()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_base_src.py
new file mode 100644
index 000000000..a42c80b37
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_base_src.py
@@ -0,0 +1,124 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import PhysicalTempimpl
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class temperature_sensor_cpi_thermostat_base(Node):
+    def __init__(self):
+        super().__init__("temperature_sensor_cpi_thermostat")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.temperature_sensor_cpi_thermostat_air_subscription_ = self.create_subscription(
+            PhysicalTempimpl,
+            "temperature_sensor_cpi_thermostat_air",
+            self.accept_air,
+            1,
+            callback_group=self.cb_group_)
+
+        self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_ = self.create_publisher(
+            TempWstatusimpl,
+            "temperature_sensor_cpi_thermostat_current_tempWstatus",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_air = deque()
+        self.applicationIn_air = deque()
+
+        self.infrastructureOut_current_tempWstatus = deque()
+        self.applicationOut_current_tempWstatus = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_air, self.applicationIn_air]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_air, self.applicationIn_air]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_current_tempWstatus, self.infrastructureOut_current_tempWstatus, self.sendOut_current_tempWstatus]
+        ]
+
+    def init_air(self, val):
+        self.enqueue(self.infrastructureIn_air, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_air(self, msg):
+        self.enqueue(self.infrastructureIn_air, msg)
+
+    def get_air(self):
+        msg = self.applicationIn_air[0]
+        return msg
+
+    def sendOut_current_tempWstatus(self, msg):
+        if type(msg) is TempWstatusimpl:
+            self.temperature_sensor_cpi_thermostat_current_tempWstatus_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port current_tempWstatus.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_current_tempWstatus(self, msg):
+        self.enqueue(self.applicationOut_current_tempWstatus, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_runner.py
new file mode 100644
index 000000000..98fb35b96
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/temperature_sensor_cpi_thermostat_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.temperature_sensor_cpi_thermostat_src import temperature_sensor_cpi_thermostat
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = temperature_sensor_cpi_thermostat()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_base_src.py
new file mode 100644
index 000000000..15f7a559e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_base_src.py
@@ -0,0 +1,192 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg_interfaces.msg import OnOff
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_monitor_temperature_manage_alarm_mat_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_monitor_temperature_manage_alarm_mat")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.thermostat_monitor_temperature_manage_alarm_mat_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "temperature_sensor_cpi_thermostat_current_tempWstatus",
+            self.accept_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_alarm_mat_lower_alarm_temp_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_temp",
+            self.accept_lower_alarm_temp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_alarm_mat_upper_alarm_temp_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_temp",
+            self.accept_upper_alarm_temp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_alarm_mat_monitor_mode_subscription_ = self.create_subscription(
+            MonitorMode,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode",
+            self.accept_monitor_mode,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_alarm_mat_alarm_control_publisher_ = self.create_publisher(
+            OnOff,
+            "thermostat_monitor_temperature_manage_alarm_mat_alarm_control",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_current_tempWstatus = deque()
+        self.applicationIn_current_tempWstatus = deque()
+        self.infrastructureIn_lower_alarm_temp = deque()
+        self.applicationIn_lower_alarm_temp = deque()
+        self.infrastructureIn_upper_alarm_temp = deque()
+        self.applicationIn_upper_alarm_temp = deque()
+        self.infrastructureIn_monitor_mode = deque()
+        self.applicationIn_monitor_mode = deque()
+
+        self.infrastructureOut_alarm_control = deque()
+        self.applicationOut_alarm_control = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_lower_alarm_temp, self.applicationIn_lower_alarm_temp],
+            [self.infrastructureIn_upper_alarm_temp, self.applicationIn_upper_alarm_temp],
+            [self.infrastructureIn_monitor_mode, self.applicationIn_monitor_mode]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_lower_alarm_temp, self.applicationIn_lower_alarm_temp],
+            [self.infrastructureIn_upper_alarm_temp, self.applicationIn_upper_alarm_temp],
+            [self.infrastructureIn_monitor_mode, self.applicationIn_monitor_mode]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_alarm_control, self.infrastructureOut_alarm_control, self.sendOut_alarm_control]
+        ]
+
+    def init_current_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, val)
+
+
+    def init_lower_alarm_temp(self, val):
+        self.enqueue(self.infrastructureIn_lower_alarm_temp, val)
+
+
+    def init_upper_alarm_temp(self, val):
+        self.enqueue(self.infrastructureIn_upper_alarm_temp, val)
+
+
+    def init_monitor_mode(self, val):
+        self.enqueue(self.infrastructureIn_monitor_mode, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_current_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, msg)
+
+    def accept_lower_alarm_temp(self, msg):
+        self.enqueue(self.infrastructureIn_lower_alarm_temp, msg)
+
+    def accept_upper_alarm_temp(self, msg):
+        self.enqueue(self.infrastructureIn_upper_alarm_temp, msg)
+
+    def accept_monitor_mode(self, msg):
+        self.enqueue(self.infrastructureIn_monitor_mode, msg)
+
+    def get_current_tempWstatus(self):
+        msg = self.applicationIn_current_tempWstatus[0]
+        return msg
+
+    def get_lower_alarm_temp(self):
+        msg = self.applicationIn_lower_alarm_temp[0]
+        return msg
+
+    def get_upper_alarm_temp(self):
+        msg = self.applicationIn_upper_alarm_temp[0]
+        return msg
+
+    def get_monitor_mode(self):
+        msg = self.applicationIn_monitor_mode[0]
+        return msg
+
+    def sendOut_alarm_control(self, msg):
+        if type(msg) is OnOff:
+            self.thermostat_monitor_temperature_manage_alarm_mat_alarm_control_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port alarm_control.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_alarm_control(self, msg):
+        self.enqueue(self.applicationOut_alarm_control, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_runner.py
new file mode 100644
index 000000000..fb00dc3f0
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_alarm_mat_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_alarm_mat_src import thermostat_monitor_temperature_manage_alarm_mat
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_monitor_temperature_manage_alarm_mat()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_base_src.py
new file mode 100644
index 000000000..6fb98ff3b
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_base_src.py
@@ -0,0 +1,244 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_monitor_temperature_manage_monitor_interface_mmit_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_monitor_temperature_manage_monitor_interface_mmit")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_upper_alarm_tempWstatus",
+            self.accept_upper_alarm_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_upper_alarm_tempWstatus",
+            self.accept_lower_alarm_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "temperature_sensor_cpi_thermostat_current_tempWstatus",
+            self.accept_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_mode_subscription_ = self.create_subscription(
+            MonitorMode,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode",
+            self.accept_monitor_mode,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_temp",
+            1)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_temp",
+            1)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_status_publisher_ = self.create_publisher(
+            Status,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_status",
+            1)
+
+        self.thermostat_monitor_temperature_manage_monitor_interface_mmit_interface_failure_publisher_ = self.create_publisher(
+            FailureFlagimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_interface_failure",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_upper_alarm_tempWstatus = deque()
+        self.applicationIn_upper_alarm_tempWstatus = deque()
+        self.infrastructureIn_lower_alarm_tempWstatus = deque()
+        self.applicationIn_lower_alarm_tempWstatus = deque()
+        self.infrastructureIn_current_tempWstatus = deque()
+        self.applicationIn_current_tempWstatus = deque()
+        self.infrastructureIn_monitor_mode = deque()
+        self.applicationIn_monitor_mode = deque()
+
+        self.infrastructureOut_upper_alarm_temp = deque()
+        self.applicationOut_upper_alarm_temp = deque()
+        self.infrastructureOut_lower_alarm_temp = deque()
+        self.applicationOut_lower_alarm_temp = deque()
+        self.infrastructureOut_monitor_status = deque()
+        self.applicationOut_monitor_status = deque()
+        self.infrastructureOut_interface_failure = deque()
+        self.applicationOut_interface_failure = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_upper_alarm_tempWstatus, self.applicationIn_upper_alarm_tempWstatus],
+            [self.infrastructureIn_lower_alarm_tempWstatus, self.applicationIn_lower_alarm_tempWstatus],
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_monitor_mode, self.applicationIn_monitor_mode]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_upper_alarm_tempWstatus, self.applicationIn_upper_alarm_tempWstatus],
+            [self.infrastructureIn_lower_alarm_tempWstatus, self.applicationIn_lower_alarm_tempWstatus],
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_monitor_mode, self.applicationIn_monitor_mode]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_upper_alarm_temp, self.infrastructureOut_upper_alarm_temp, self.sendOut_upper_alarm_temp],
+            [self.applicationOut_lower_alarm_temp, self.infrastructureOut_lower_alarm_temp, self.sendOut_lower_alarm_temp],
+            [self.applicationOut_monitor_status, self.infrastructureOut_monitor_status, self.sendOut_monitor_status],
+            [self.applicationOut_interface_failure, self.infrastructureOut_interface_failure, self.sendOut_interface_failure]
+        ]
+
+    def init_upper_alarm_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_upper_alarm_tempWstatus, val)
+
+
+    def init_lower_alarm_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_lower_alarm_tempWstatus, val)
+
+
+    def init_current_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, val)
+
+
+    def init_monitor_mode(self, val):
+        self.enqueue(self.infrastructureIn_monitor_mode, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_upper_alarm_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_upper_alarm_tempWstatus, msg)
+
+    def accept_lower_alarm_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_lower_alarm_tempWstatus, msg)
+
+    def accept_current_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, msg)
+
+    def accept_monitor_mode(self, msg):
+        self.enqueue(self.infrastructureIn_monitor_mode, msg)
+
+    def get_upper_alarm_tempWstatus(self):
+        msg = self.applicationIn_upper_alarm_tempWstatus[0]
+        return msg
+
+    def get_lower_alarm_tempWstatus(self):
+        msg = self.applicationIn_lower_alarm_tempWstatus[0]
+        return msg
+
+    def get_current_tempWstatus(self):
+        msg = self.applicationIn_current_tempWstatus[0]
+        return msg
+
+    def get_monitor_mode(self):
+        msg = self.applicationIn_monitor_mode[0]
+        return msg
+
+    def sendOut_upper_alarm_temp(self, msg):
+        if type(msg) is Tempimpl:
+            self.thermostat_monitor_temperature_manage_monitor_interface_mmit_upper_alarm_temp_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port upper_alarm_temp.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_lower_alarm_temp(self, msg):
+        if type(msg) is Tempimpl:
+            self.thermostat_monitor_temperature_manage_monitor_interface_mmit_lower_alarm_temp_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port lower_alarm_temp.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_monitor_status(self, msg):
+        if type(msg) is Status:
+            self.thermostat_monitor_temperature_manage_monitor_interface_mmit_monitor_status_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port monitor_status.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_interface_failure(self, msg):
+        if type(msg) is FailureFlagimpl:
+            self.thermostat_monitor_temperature_manage_monitor_interface_mmit_interface_failure_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port interface_failure.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_upper_alarm_temp(self, msg):
+        self.enqueue(self.applicationOut_upper_alarm_temp, msg)
+
+    def put_lower_alarm_temp(self, msg):
+        self.enqueue(self.applicationOut_lower_alarm_temp, msg)
+
+    def put_monitor_status(self, msg):
+        self.enqueue(self.applicationOut_monitor_status, msg)
+
+    def put_interface_failure(self, msg):
+        self.enqueue(self.applicationOut_interface_failure, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_runner.py
new file mode 100644
index 000000000..4e4b756ea
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_monitor_interface_mmit_src import thermostat_monitor_temperature_manage_monitor_interface_mmit
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_monitor_temperature_manage_monitor_interface_mmit()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_base_src.py
new file mode 100644
index 000000000..d42f5e65e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_base_src.py
@@ -0,0 +1,169 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_monitor_temperature_manage_monitor_mode_mmmt_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_monitor_temperature_manage_monitor_mode_mmmt")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "temperature_sensor_cpi_thermostat_current_tempWstatus",
+            self.accept_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_interface_failure_subscription_ = self.create_subscription(
+            FailureFlagimpl,
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_interface_failure",
+            self.accept_interface_failure,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_internal_failure_subscription_ = self.create_subscription(
+            FailureFlagimpl,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_internal_failure",
+            self.accept_internal_failure,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode_publisher_ = self.create_publisher(
+            MonitorMode,
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_current_tempWstatus = deque()
+        self.applicationIn_current_tempWstatus = deque()
+        self.infrastructureIn_interface_failure = deque()
+        self.applicationIn_interface_failure = deque()
+        self.infrastructureIn_internal_failure = deque()
+        self.applicationIn_internal_failure = deque()
+
+        self.infrastructureOut_monitor_mode = deque()
+        self.applicationOut_monitor_mode = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_interface_failure, self.applicationIn_interface_failure],
+            [self.infrastructureIn_internal_failure, self.applicationIn_internal_failure]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_interface_failure, self.applicationIn_interface_failure],
+            [self.infrastructureIn_internal_failure, self.applicationIn_internal_failure]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_monitor_mode, self.infrastructureOut_monitor_mode, self.sendOut_monitor_mode]
+        ]
+
+    def init_current_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, val)
+
+
+    def init_interface_failure(self, val):
+        self.enqueue(self.infrastructureIn_interface_failure, val)
+
+
+    def init_internal_failure(self, val):
+        self.enqueue(self.infrastructureIn_internal_failure, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_current_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, msg)
+
+    def accept_interface_failure(self, msg):
+        self.enqueue(self.infrastructureIn_interface_failure, msg)
+
+    def accept_internal_failure(self, msg):
+        self.enqueue(self.infrastructureIn_internal_failure, msg)
+
+    def get_current_tempWstatus(self):
+        msg = self.applicationIn_current_tempWstatus[0]
+        return msg
+
+    def get_interface_failure(self):
+        msg = self.applicationIn_interface_failure[0]
+        return msg
+
+    def get_internal_failure(self):
+        msg = self.applicationIn_internal_failure[0]
+        return msg
+
+    def sendOut_monitor_mode(self, msg):
+        if type(msg) is MonitorMode:
+            self.thermostat_monitor_temperature_manage_monitor_mode_mmmt_monitor_mode_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port monitor_mode.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_monitor_mode(self, msg):
+        self.enqueue(self.applicationOut_monitor_mode, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_runner.py
new file mode 100644
index 000000000..c19f85dc4
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_monitor_temperature_manage_monitor_mode_mmmt_src import thermostat_monitor_temperature_manage_monitor_mode_mmmt
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_monitor_temperature_manage_monitor_mode_mmmt()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_base_src.py
new file mode 100644
index 000000000..e9a9c4345
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_base_src.py
@@ -0,0 +1,192 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import OnOff
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_regulate_temperature_manage_heat_source_mhst_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_regulate_temperature_manage_heat_source_mhst")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "temperature_sensor_cpi_thermostat_current_tempWstatus",
+            self.accept_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_lower_desired_temp_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_temp",
+            self.accept_lower_desired_temp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_upper_desired_temp_subscription_ = self.create_subscription(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_temp",
+            self.accept_upper_desired_temp,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_regulator_mode_subscription_ = self.create_subscription(
+            RegulatorMode,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode",
+            self.accept_regulator_mode,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_heat_source_mhst_heat_control_publisher_ = self.create_publisher(
+            OnOff,
+            "thermostat_regulate_temperature_manage_heat_source_mhst_heat_control",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_current_tempWstatus = deque()
+        self.applicationIn_current_tempWstatus = deque()
+        self.infrastructureIn_lower_desired_temp = deque()
+        self.applicationIn_lower_desired_temp = deque()
+        self.infrastructureIn_upper_desired_temp = deque()
+        self.applicationIn_upper_desired_temp = deque()
+        self.infrastructureIn_regulator_mode = deque()
+        self.applicationIn_regulator_mode = deque()
+
+        self.infrastructureOut_heat_control = deque()
+        self.applicationOut_heat_control = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_lower_desired_temp, self.applicationIn_lower_desired_temp],
+            [self.infrastructureIn_upper_desired_temp, self.applicationIn_upper_desired_temp],
+            [self.infrastructureIn_regulator_mode, self.applicationIn_regulator_mode]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_lower_desired_temp, self.applicationIn_lower_desired_temp],
+            [self.infrastructureIn_upper_desired_temp, self.applicationIn_upper_desired_temp],
+            [self.infrastructureIn_regulator_mode, self.applicationIn_regulator_mode]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_heat_control, self.infrastructureOut_heat_control, self.sendOut_heat_control]
+        ]
+
+    def init_current_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, val)
+
+
+    def init_lower_desired_temp(self, val):
+        self.enqueue(self.infrastructureIn_lower_desired_temp, val)
+
+
+    def init_upper_desired_temp(self, val):
+        self.enqueue(self.infrastructureIn_upper_desired_temp, val)
+
+
+    def init_regulator_mode(self, val):
+        self.enqueue(self.infrastructureIn_regulator_mode, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_current_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, msg)
+
+    def accept_lower_desired_temp(self, msg):
+        self.enqueue(self.infrastructureIn_lower_desired_temp, msg)
+
+    def accept_upper_desired_temp(self, msg):
+        self.enqueue(self.infrastructureIn_upper_desired_temp, msg)
+
+    def accept_regulator_mode(self, msg):
+        self.enqueue(self.infrastructureIn_regulator_mode, msg)
+
+    def get_current_tempWstatus(self):
+        msg = self.applicationIn_current_tempWstatus[0]
+        return msg
+
+    def get_lower_desired_temp(self):
+        msg = self.applicationIn_lower_desired_temp[0]
+        return msg
+
+    def get_upper_desired_temp(self):
+        msg = self.applicationIn_upper_desired_temp[0]
+        return msg
+
+    def get_regulator_mode(self):
+        msg = self.applicationIn_regulator_mode[0]
+        return msg
+
+    def sendOut_heat_control(self, msg):
+        if type(msg) is OnOff:
+            self.thermostat_regulate_temperature_manage_heat_source_mhst_heat_control_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port heat_control.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_heat_control(self, msg):
+        self.enqueue(self.applicationOut_heat_control, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_runner.py
new file mode 100644
index 000000000..63044f20a
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_heat_source_mhst_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_heat_source_mhst_src import thermostat_regulate_temperature_manage_heat_source_mhst
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_regulate_temperature_manage_heat_source_mhst()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_base_src.py
new file mode 100644
index 000000000..cc337e52b
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_base_src.py
@@ -0,0 +1,261 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_regulate_temperature_manage_regulator_interface_mrit_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_regulate_temperature_manage_regulator_interface_mrit")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "temperature_sensor_cpi_thermostat_current_tempWstatus",
+            self.accept_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_lower_desired_tempWstatus",
+            self.accept_lower_desired_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "operator_interface_oip_oit_upper_desired_tempWstatus",
+            self.accept_upper_desired_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_mode_subscription_ = self.create_subscription(
+            RegulatorMode,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode",
+            self.accept_regulator_mode,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_temp",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_temp",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_displayed_temp_publisher_ = self.create_publisher(
+            Tempimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_displayed_temp",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_status_publisher_ = self.create_publisher(
+            Status,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_status",
+            1)
+
+        self.thermostat_regulate_temperature_manage_regulator_interface_mrit_interface_failure_publisher_ = self.create_publisher(
+            FailureFlagimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_interface_failure",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_current_tempWstatus = deque()
+        self.applicationIn_current_tempWstatus = deque()
+        self.infrastructureIn_lower_desired_tempWstatus = deque()
+        self.applicationIn_lower_desired_tempWstatus = deque()
+        self.infrastructureIn_upper_desired_tempWstatus = deque()
+        self.applicationIn_upper_desired_tempWstatus = deque()
+        self.infrastructureIn_regulator_mode = deque()
+        self.applicationIn_regulator_mode = deque()
+
+        self.infrastructureOut_upper_desired_temp = deque()
+        self.applicationOut_upper_desired_temp = deque()
+        self.infrastructureOut_lower_desired_temp = deque()
+        self.applicationOut_lower_desired_temp = deque()
+        self.infrastructureOut_displayed_temp = deque()
+        self.applicationOut_displayed_temp = deque()
+        self.infrastructureOut_regulator_status = deque()
+        self.applicationOut_regulator_status = deque()
+        self.infrastructureOut_interface_failure = deque()
+        self.applicationOut_interface_failure = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_lower_desired_tempWstatus, self.applicationIn_lower_desired_tempWstatus],
+            [self.infrastructureIn_upper_desired_tempWstatus, self.applicationIn_upper_desired_tempWstatus],
+            [self.infrastructureIn_regulator_mode, self.applicationIn_regulator_mode]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_lower_desired_tempWstatus, self.applicationIn_lower_desired_tempWstatus],
+            [self.infrastructureIn_upper_desired_tempWstatus, self.applicationIn_upper_desired_tempWstatus],
+            [self.infrastructureIn_regulator_mode, self.applicationIn_regulator_mode]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_upper_desired_temp, self.infrastructureOut_upper_desired_temp, self.sendOut_upper_desired_temp],
+            [self.applicationOut_lower_desired_temp, self.infrastructureOut_lower_desired_temp, self.sendOut_lower_desired_temp],
+            [self.applicationOut_displayed_temp, self.infrastructureOut_displayed_temp, self.sendOut_displayed_temp],
+            [self.applicationOut_regulator_status, self.infrastructureOut_regulator_status, self.sendOut_regulator_status],
+            [self.applicationOut_interface_failure, self.infrastructureOut_interface_failure, self.sendOut_interface_failure]
+        ]
+
+    def init_current_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, val)
+
+
+    def init_lower_desired_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_lower_desired_tempWstatus, val)
+
+
+    def init_upper_desired_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_upper_desired_tempWstatus, val)
+
+
+    def init_regulator_mode(self, val):
+        self.enqueue(self.infrastructureIn_regulator_mode, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_current_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, msg)
+
+    def accept_lower_desired_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_lower_desired_tempWstatus, msg)
+
+    def accept_upper_desired_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_upper_desired_tempWstatus, msg)
+
+    def accept_regulator_mode(self, msg):
+        self.enqueue(self.infrastructureIn_regulator_mode, msg)
+
+    def get_current_tempWstatus(self):
+        msg = self.applicationIn_current_tempWstatus[0]
+        return msg
+
+    def get_lower_desired_tempWstatus(self):
+        msg = self.applicationIn_lower_desired_tempWstatus[0]
+        return msg
+
+    def get_upper_desired_tempWstatus(self):
+        msg = self.applicationIn_upper_desired_tempWstatus[0]
+        return msg
+
+    def get_regulator_mode(self):
+        msg = self.applicationIn_regulator_mode[0]
+        return msg
+
+    def sendOut_upper_desired_temp(self, msg):
+        if type(msg) is Tempimpl:
+            self.thermostat_regulate_temperature_manage_regulator_interface_mrit_upper_desired_temp_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port upper_desired_temp.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_lower_desired_temp(self, msg):
+        if type(msg) is Tempimpl:
+            self.thermostat_regulate_temperature_manage_regulator_interface_mrit_lower_desired_temp_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port lower_desired_temp.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_displayed_temp(self, msg):
+        if type(msg) is Tempimpl:
+            self.thermostat_regulate_temperature_manage_regulator_interface_mrit_displayed_temp_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port displayed_temp.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_regulator_status(self, msg):
+        if type(msg) is Status:
+            self.thermostat_regulate_temperature_manage_regulator_interface_mrit_regulator_status_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port regulator_status.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def sendOut_interface_failure(self, msg):
+        if type(msg) is FailureFlagimpl:
+            self.thermostat_regulate_temperature_manage_regulator_interface_mrit_interface_failure_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port interface_failure.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_upper_desired_temp(self, msg):
+        self.enqueue(self.applicationOut_upper_desired_temp, msg)
+
+    def put_lower_desired_temp(self, msg):
+        self.enqueue(self.applicationOut_lower_desired_temp, msg)
+
+    def put_displayed_temp(self, msg):
+        self.enqueue(self.applicationOut_displayed_temp, msg)
+
+    def put_regulator_status(self, msg):
+        self.enqueue(self.applicationOut_regulator_status, msg)
+
+    def put_interface_failure(self, msg):
+        self.enqueue(self.applicationOut_interface_failure, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_runner.py
new file mode 100644
index 000000000..0ce8e2d1e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_regulator_interface_mrit_src import thermostat_regulate_temperature_manage_regulator_interface_mrit
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_regulate_temperature_manage_regulator_interface_mrit()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_base_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_base_src.py
new file mode 100644
index 000000000..b49b79005
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_base_src.py
@@ -0,0 +1,169 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from collections import deque
+from typing import Union
+import threading
+from rclpy.callback_groups import ReentrantCallbackGroup
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+
+class thermostat_regulate_temperature_manage_regulator_mode_mrmt_base(Node):
+    def __init__(self):
+        super().__init__("thermostat_regulate_temperature_manage_regulator_mode_mrmt")
+
+        self.cb_group_ = ReentrantCallbackGroup()
+
+        self.lock_ = threading.Lock()
+
+        # Setting up connections
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_current_tempWstatus_subscription_ = self.create_subscription(
+            TempWstatusimpl,
+            "temperature_sensor_cpi_thermostat_current_tempWstatus",
+            self.accept_current_tempWstatus,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_interface_failure_subscription_ = self.create_subscription(
+            FailureFlagimpl,
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_interface_failure",
+            self.accept_interface_failure,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_internal_failure_subscription_ = self.create_subscription(
+            FailureFlagimpl,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_internal_failure",
+            self.accept_internal_failure,
+            1,
+            callback_group=self.cb_group_)
+
+        self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode_publisher_ = self.create_publisher(
+            RegulatorMode,
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode",
+            1)
+
+        # timeTriggeredCaller callback timer
+        self.periodTimer_ = self.create_timer(1, self.timeTriggeredCaller, callback_group=self.cb_group_)
+
+        self.infrastructureIn_current_tempWstatus = deque()
+        self.applicationIn_current_tempWstatus = deque()
+        self.infrastructureIn_interface_failure = deque()
+        self.applicationIn_interface_failure = deque()
+        self.infrastructureIn_internal_failure = deque()
+        self.applicationIn_internal_failure = deque()
+
+        self.infrastructureOut_regulator_mode = deque()
+        self.applicationOut_regulator_mode = deque()
+
+        # Used by receiveInputs
+        self.inDataPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_interface_failure, self.applicationIn_interface_failure],
+            [self.infrastructureIn_internal_failure, self.applicationIn_internal_failure]
+        ]
+
+        # Used by receiveInputs
+        self.inEventPortTupleVector = [
+            [self.infrastructureIn_current_tempWstatus, self.applicationIn_current_tempWstatus],
+            [self.infrastructureIn_interface_failure, self.applicationIn_interface_failure],
+            [self.infrastructureIn_internal_failure, self.applicationIn_internal_failure]
+        ]
+
+        # Used by sendOutputs
+        self.outPortTupleVector = [
+            [self.applicationOut_regulator_mode, self.infrastructureOut_regulator_mode, self.sendOut_regulator_mode]
+        ]
+
+    def init_current_tempWstatus(self, val):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, val)
+
+
+    def init_interface_failure(self, val):
+        self.enqueue(self.infrastructureIn_interface_failure, val)
+
+
+    def init_internal_failure(self, val):
+        self.enqueue(self.infrastructureIn_internal_failure, val)
+
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
+    #=================================================
+    #  C o m m u n i c a t i o n
+    #=================================================
+
+    def accept_current_tempWstatus(self, msg):
+        self.enqueue(self.infrastructureIn_current_tempWstatus, msg)
+
+    def accept_interface_failure(self, msg):
+        self.enqueue(self.infrastructureIn_interface_failure, msg)
+
+    def accept_internal_failure(self, msg):
+        self.enqueue(self.infrastructureIn_internal_failure, msg)
+
+    def get_current_tempWstatus(self):
+        msg = self.applicationIn_current_tempWstatus[0]
+        return msg
+
+    def get_interface_failure(self):
+        msg = self.applicationIn_interface_failure[0]
+        return msg
+
+    def get_internal_failure(self):
+        msg = self.applicationIn_internal_failure[0]
+        return msg
+
+    def sendOut_regulator_mode(self, msg):
+        if type(msg) is RegulatorMode:
+            self.thermostat_regulate_temperature_manage_regulator_mode_mrmt_regulator_mode_publisher_.publish(msg)
+        else:
+            self.get_logger().error("Sending out wrong type of variable on port regulator_mode.\nThis shouldn't be possible.  If you are seeing this message, please notify this tool's current maintainer.")
+
+    def put_regulator_mode(self, msg):
+        self.enqueue(self.applicationOut_regulator_mode, msg)
+
+    def timeTriggeredCaller(self):
+        self.receiveInputs()
+        self.timeTriggered()
+        self.sendOutputs()
+
+    def receiveInputs(self):
+        for port in self.inDataPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                self.enqueue(port[1], msg)
+
+        for port in self.inEventPortTupleVector:
+            infrastructureQueue = port[0]
+            if not(len(infrastructureQueue) == 0):
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                self.enqueue(port[1], msg)
+
+    def enqueue(self, queue, val):
+        if len(queue) >= 1:
+            queue.pop()
+        queue.append(val)
+
+    def sendOutputs(self):
+        for port in self.outPortTupleVector:
+            applicationQueue = port[0]
+            if len(applicationQueue) != 0:
+                msg = applicationQueue[0]
+                applicationQueue.pop()
+                self.enqueue(port[1], msg)
+
+        for port in self.outPortTupleVector:
+            infrastructureQueue = port[1]
+            if len(infrastructureQueue) != 0:
+                msg = infrastructureQueue[0]
+                infrastructureQueue.pop()
+                (port[2])(msg)
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_runner.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_runner.py
new file mode 100644
index 000000000..b7d9a68ee
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/base_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_runner.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from isolette_py_pkg.user_code.thermostat_regulate_temperature_manage_regulator_mode_mrmt_src import thermostat_regulate_temperature_manage_regulator_mode_mrmt
+#========================================================
+# Re-running Codegen will overwrite changes to this file
+#========================================================
+def main(args=None):
+    rclpy.init(args=args)
+    node = thermostat_regulate_temperature_manage_regulator_mode_mrmt()
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/__init__.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/__init__.py
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/__init__.py
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/heat_source_cpi_heat_controller_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/heat_source_cpi_heat_controller_src.py
new file mode 100644
index 000000000..3ded2b5fa
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/heat_source_cpi_heat_controller_src.py
@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.heat_source_cpi_heat_controller_base_src import heat_source_cpi_heat_controller_base
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import Heat
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class heat_source_cpi_heat_controller(heat_source_cpi_heat_controller_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("heat_source_cpi_heat_controller infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        heat_control = OnOff()
+        self.init_heat_control(heat_control)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        heat_control = self.get_heat_control()
+        self.get_logger().info(f"Received heat_control: {self.message_to_string(heat_control)}")
+
+
+        # Example publishing messages
+        heat_out = Heat()
+        self.put_heat_out(heat_out)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/operator_interface_oip_oit_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/operator_interface_oip_oit_src.py
new file mode 100644
index 000000000..ac40b469a
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/operator_interface_oip_oit_src.py
@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.operator_interface_oip_oit_base_src import operator_interface_oip_oit_base
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class operator_interface_oip_oit(operator_interface_oip_oit_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("operator_interface_oip_oit infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        regulator_status = Status()
+        self.init_regulator_status(regulator_status)
+
+        monitor_status = Status()
+        self.init_monitor_status(monitor_status)
+
+        display_temperature = Tempimpl()
+        self.init_display_temperature(display_temperature)
+
+        alarm_control = OnOff()
+        self.init_alarm_control(alarm_control)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        regulator_status = self.get_regulator_status()
+        self.get_logger().info(f"Received regulator_status: {self.message_to_string(regulator_status)}")
+
+        monitor_status = self.get_monitor_status()
+        self.get_logger().info(f"Received monitor_status: {self.message_to_string(monitor_status)}")
+
+        display_temperature = self.get_display_temperature()
+        self.get_logger().info(f"Received display_temperature: {self.message_to_string(display_temperature)}")
+
+        alarm_control = self.get_alarm_control()
+        self.get_logger().info(f"Received alarm_control: {self.message_to_string(alarm_control)}")
+
+
+        # Example publishing messages
+        lower_desired_tempWstatus = TempWstatusimpl()
+        self.put_lower_desired_tempWstatus(lower_desired_tempWstatus)
+
+        upper_desired_tempWstatus = TempWstatusimpl()
+        self.put_upper_desired_tempWstatus(upper_desired_tempWstatus)
+
+        lower_alarm_tempWstatus = TempWstatusimpl()
+        self.put_lower_alarm_tempWstatus(lower_alarm_tempWstatus)
+
+        upper_alarm_tempWstatus = TempWstatusimpl()
+        self.put_upper_alarm_tempWstatus(upper_alarm_tempWstatus)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/temperature_sensor_cpi_thermostat_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/temperature_sensor_cpi_thermostat_src.py
new file mode 100644
index 000000000..e1c1ca3af
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/temperature_sensor_cpi_thermostat_src.py
@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.temperature_sensor_cpi_thermostat_base_src import temperature_sensor_cpi_thermostat_base
+from isolette_py_pkg_interfaces.msg import PhysicalTempimpl
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class temperature_sensor_cpi_thermostat(temperature_sensor_cpi_thermostat_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("temperature_sensor_cpi_thermostat infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        air = PhysicalTempimpl()
+        self.init_air(air)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        air = self.get_air()
+        self.get_logger().info(f"Received air: {self.message_to_string(air)}")
+
+
+        # Example publishing messages
+        current_tempWstatus = TempWstatusimpl()
+        self.put_current_tempWstatus(current_tempWstatus)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_alarm_mat_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_alarm_mat_src.py
new file mode 100644
index 000000000..f67a7c036
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_alarm_mat_src.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_alarm_mat_base_src import thermostat_monitor_temperature_manage_alarm_mat_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_monitor_temperature_manage_alarm_mat(thermostat_monitor_temperature_manage_alarm_mat_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_monitor_temperature_manage_alarm_mat infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        lower_alarm_temp = Tempimpl()
+        self.init_lower_alarm_temp(lower_alarm_temp)
+
+        upper_alarm_temp = Tempimpl()
+        self.init_upper_alarm_temp(upper_alarm_temp)
+
+        monitor_mode = MonitorMode()
+        self.init_monitor_mode(monitor_mode)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        lower_alarm_temp = self.get_lower_alarm_temp()
+        self.get_logger().info(f"Received lower_alarm_temp: {self.message_to_string(lower_alarm_temp)}")
+
+        upper_alarm_temp = self.get_upper_alarm_temp()
+        self.get_logger().info(f"Received upper_alarm_temp: {self.message_to_string(upper_alarm_temp)}")
+
+        monitor_mode = self.get_monitor_mode()
+        self.get_logger().info(f"Received monitor_mode: {self.message_to_string(monitor_mode)}")
+
+
+        # Example publishing messages
+        alarm_control = OnOff()
+        self.put_alarm_control(alarm_control)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_src.py
new file mode 100644
index 000000000..4f3930578
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_interface_mmit_src.py
@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_monitor_interface_mmit_base_src import thermostat_monitor_temperature_manage_monitor_interface_mmit_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_monitor_temperature_manage_monitor_interface_mmit(thermostat_monitor_temperature_manage_monitor_interface_mmit_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_monitor_temperature_manage_monitor_interface_mmit infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        upper_alarm_tempWstatus = TempWstatusimpl()
+        self.init_upper_alarm_tempWstatus(upper_alarm_tempWstatus)
+
+        lower_alarm_tempWstatus = TempWstatusimpl()
+        self.init_lower_alarm_tempWstatus(lower_alarm_tempWstatus)
+
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        monitor_mode = MonitorMode()
+        self.init_monitor_mode(monitor_mode)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        upper_alarm_tempWstatus = self.get_upper_alarm_tempWstatus()
+        self.get_logger().info(f"Received upper_alarm_tempWstatus: {self.message_to_string(upper_alarm_tempWstatus)}")
+
+        lower_alarm_tempWstatus = self.get_lower_alarm_tempWstatus()
+        self.get_logger().info(f"Received lower_alarm_tempWstatus: {self.message_to_string(lower_alarm_tempWstatus)}")
+
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        monitor_mode = self.get_monitor_mode()
+        self.get_logger().info(f"Received monitor_mode: {self.message_to_string(monitor_mode)}")
+
+
+        # Example publishing messages
+        upper_alarm_temp = Tempimpl()
+        self.put_upper_alarm_temp(upper_alarm_temp)
+
+        lower_alarm_temp = Tempimpl()
+        self.put_lower_alarm_temp(lower_alarm_temp)
+
+        monitor_status = Status()
+        self.put_monitor_status(monitor_status)
+
+        interface_failure = FailureFlagimpl()
+        self.put_interface_failure(interface_failure)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_src.py
new file mode 100644
index 000000000..973aa609c
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_monitor_temperature_manage_monitor_mode_mmmt_src.py
@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_monitor_mode_mmmt_base_src import thermostat_monitor_temperature_manage_monitor_mode_mmmt_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg_interfaces.msg import MonitorMode
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_monitor_temperature_manage_monitor_mode_mmmt(thermostat_monitor_temperature_manage_monitor_mode_mmmt_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_monitor_temperature_manage_monitor_mode_mmmt infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        interface_failure = FailureFlagimpl()
+        self.init_interface_failure(interface_failure)
+
+        internal_failure = FailureFlagimpl()
+        self.init_internal_failure(internal_failure)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        interface_failure = self.get_interface_failure()
+        self.get_logger().info(f"Received interface_failure: {self.message_to_string(interface_failure)}")
+
+        internal_failure = self.get_internal_failure()
+        self.get_logger().info(f"Received internal_failure: {self.message_to_string(internal_failure)}")
+
+
+        # Example publishing messages
+        monitor_mode = MonitorMode()
+        self.put_monitor_mode(monitor_mode)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_heat_source_mhst_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_heat_source_mhst_src.py
new file mode 100644
index 000000000..4826e5681
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_heat_source_mhst_src.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_heat_source_mhst_base_src import thermostat_regulate_temperature_manage_heat_source_mhst_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import OnOff
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_regulate_temperature_manage_heat_source_mhst(thermostat_regulate_temperature_manage_heat_source_mhst_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_regulate_temperature_manage_heat_source_mhst infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        lower_desired_temp = Tempimpl()
+        self.init_lower_desired_temp(lower_desired_temp)
+
+        upper_desired_temp = Tempimpl()
+        self.init_upper_desired_temp(upper_desired_temp)
+
+        regulator_mode = RegulatorMode()
+        self.init_regulator_mode(regulator_mode)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        lower_desired_temp = self.get_lower_desired_temp()
+        self.get_logger().info(f"Received lower_desired_temp: {self.message_to_string(lower_desired_temp)}")
+
+        upper_desired_temp = self.get_upper_desired_temp()
+        self.get_logger().info(f"Received upper_desired_temp: {self.message_to_string(upper_desired_temp)}")
+
+        regulator_mode = self.get_regulator_mode()
+        self.get_logger().info(f"Received regulator_mode: {self.message_to_string(regulator_mode)}")
+
+
+        # Example publishing messages
+        heat_control = OnOff()
+        self.put_heat_control(heat_control)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_src.py
new file mode 100644
index 000000000..94513c84d
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_interface_mrit_src.py
@@ -0,0 +1,94 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_regulator_interface_mrit_base_src import thermostat_regulate_temperature_manage_regulator_interface_mrit_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg_interfaces.msg import Tempimpl
+from isolette_py_pkg_interfaces.msg import Status
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_regulate_temperature_manage_regulator_interface_mrit(thermostat_regulate_temperature_manage_regulator_interface_mrit_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_regulate_temperature_manage_regulator_interface_mrit infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        lower_desired_tempWstatus = TempWstatusimpl()
+        self.init_lower_desired_tempWstatus(lower_desired_tempWstatus)
+
+        upper_desired_tempWstatus = TempWstatusimpl()
+        self.init_upper_desired_tempWstatus(upper_desired_tempWstatus)
+
+        regulator_mode = RegulatorMode()
+        self.init_regulator_mode(regulator_mode)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        lower_desired_tempWstatus = self.get_lower_desired_tempWstatus()
+        self.get_logger().info(f"Received lower_desired_tempWstatus: {self.message_to_string(lower_desired_tempWstatus)}")
+
+        upper_desired_tempWstatus = self.get_upper_desired_tempWstatus()
+        self.get_logger().info(f"Received upper_desired_tempWstatus: {self.message_to_string(upper_desired_tempWstatus)}")
+
+        regulator_mode = self.get_regulator_mode()
+        self.get_logger().info(f"Received regulator_mode: {self.message_to_string(regulator_mode)}")
+
+
+        # Example publishing messages
+        upper_desired_temp = Tempimpl()
+        self.put_upper_desired_temp(upper_desired_temp)
+
+        lower_desired_temp = Tempimpl()
+        self.put_lower_desired_temp(lower_desired_temp)
+
+        displayed_temp = Tempimpl()
+        self.put_displayed_temp(displayed_temp)
+
+        regulator_status = Status()
+        self.put_regulator_status(regulator_status)
+
+        interface_failure = FailureFlagimpl()
+        self.put_interface_failure(interface_failure)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_src.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_src.py
new file mode 100644
index 000000000..ea5e59937
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/isolette_py_pkg/user_code/thermostat_regulate_temperature_manage_regulator_mode_mrmt_src.py
@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_regulator_mode_mrmt_base_src import thermostat_regulate_temperature_manage_regulator_mode_mrmt_base
+from isolette_py_pkg_interfaces.msg import TempWstatusimpl
+from isolette_py_pkg_interfaces.msg import FailureFlagimpl
+from isolette_py_pkg_interfaces.msg import RegulatorMode
+from isolette_py_pkg.base_code.enum_converter import *
+
+#===========================================================
+# This file will not be overwritten when re-running Codegen
+#===========================================================
+class thermostat_regulate_temperature_manage_regulator_mode_mrmt(thermostat_regulate_temperature_manage_regulator_mode_mrmt_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("thermostat_regulate_temperature_manage_regulator_mode_mrmt infrastructure set up")
+
+#=================================================
+#  I n i t i a l i z e    E n t r y    P o i n t
+#=================================================
+    def initialize(self):
+        self.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
+
+        # Initialize the node's incoming data port values here
+        current_tempWstatus = TempWstatusimpl()
+        self.init_current_tempWstatus(current_tempWstatus)
+
+        interface_failure = FailureFlagimpl()
+        self.init_interface_failure(interface_failure)
+
+        internal_failure = FailureFlagimpl()
+        self.init_internal_failure(internal_failure)
+
+
+#=================================================
+#  C o m p u t e    E n t r y    P o i n t
+#=================================================
+    def message_to_string(self, msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
+
+        # Example receiving messages on data ports
+        current_tempWstatus = self.get_current_tempWstatus()
+        self.get_logger().info(f"Received current_tempWstatus: {self.message_to_string(current_tempWstatus)}")
+
+        interface_failure = self.get_interface_failure()
+        self.get_logger().info(f"Received interface_failure: {self.message_to_string(interface_failure)}")
+
+        internal_failure = self.get_internal_failure()
+        self.get_logger().info(f"Received internal_failure: {self.message_to_string(internal_failure)}")
+
+
+        # Example publishing messages
+        regulator_mode = RegulatorMode()
+        self.put_regulator_mode(regulator_mode)
+
+
+#=================================================
+#  Include any additional declarations here
+#=================================================
+# Additions within these tags will be preserved when re-running Codegen
+
+# Additions within these tags will be preserved when re-running Codegen
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/package.xml b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/package.xml
new file mode 100644
index 000000000..ddc125c8a
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/package.xml
@@ -0,0 +1,26 @@
+<?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>isolette_py_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="todo.todo@todo.com">ed</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>rosidl_runtime_py</depend>
+  <depend>isolette_py_pkg_interfaces</depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/resource/isolette_py_pkg b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/resource/isolette_py_pkg
new file mode 100644
index 000000000..d8a39898e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/resource/isolette_py_pkg
@@ -0,0 +1 @@
+       
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/setup.cfg b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/setup.cfg
new file mode 100644
index 000000000..de71f7785
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/setup.cfg
@@ -0,0 +1,5 @@
+# setup.cfg   in  src/isolette_py_pkg
+[develop]
+script_dir=$base/lib/isolette_py_pkg
+[install]
+install_scripts=$base/lib/isolette_py_pkg
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/setup.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/setup.py
new file mode 100644
index 000000000..4db5def61
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/setup.py
@@ -0,0 +1,36 @@
+# setup.py   in  src/isolette_py_pkg
+
+from setuptools import find_packages, setup
+
+package_name = 'isolette_py_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sireum',
+    maintainer_email='sireum@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "thermostat_regulate_temperature_manage_regulator_interface_mrit_exe = isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_regulator_interface_mrit_runner:main",
+            "thermostat_regulate_temperature_manage_heat_source_mhst_exe = isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_heat_source_mhst_runner:main",
+            "thermostat_regulate_temperature_manage_regulator_mode_mrmt_exe = isolette_py_pkg.base_code.thermostat_regulate_temperature_manage_regulator_mode_mrmt_runner:main",
+            "thermostat_monitor_temperature_manage_alarm_mat_exe = isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_alarm_mat_runner:main",
+            "thermostat_monitor_temperature_manage_monitor_interface_mmit_exe = isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_monitor_interface_mmit_runner:main",
+            "thermostat_monitor_temperature_manage_monitor_mode_mmmt_exe = isolette_py_pkg.base_code.thermostat_monitor_temperature_manage_monitor_mode_mmmt_runner:main",
+            "operator_interface_oip_oit_exe = isolette_py_pkg.base_code.operator_interface_oip_oit_runner:main",
+            "temperature_sensor_cpi_thermostat_exe = isolette_py_pkg.base_code.temperature_sensor_cpi_thermostat_runner:main",
+            "heat_source_cpi_heat_controller_exe = isolette_py_pkg.base_code.heat_source_cpi_heat_controller_runner:main"
+        ],
+    },
+)
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/test/test_copyright.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/test/test_copyright.py
new file mode 100644
index 000000000..97a39196e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/test/test_flake8.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/test/test_flake8.py
new file mode 100644
index 000000000..7dc87a490
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \\
+        'Found %d code style errors / warnings:\n' % len(errors) + \\
+        '\n'.join(errors)
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/test/test_prep257.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/test/test_prep257.py
new file mode 100644
index 000000000..b234a3840
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg/test/test_prep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/CMakeLists.txt b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/CMakeLists.txt
new file mode 100644
index 000000000..7ef2c8397
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(isolette_py_pkg_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+    launch
+    DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/heat_source.launch.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/heat_source.launch.py
new file mode 100644
index 000000000..19d78f040
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/heat_source.launch.py
@@ -0,0 +1,19 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    heat_source_cpi_heat_controller_node = Node(
+        package = "isolette_py_pkg",
+        executable = "heat_source_cpi_heat_controller_exe"
+    )
+
+    ld.add_action(heat_source_cpi_heat_controller_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/isolette_single_sensor_Instance.launch.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/isolette_single_sensor_Instance.launch.py
new file mode 100644
index 000000000..265c24dc0
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/isolette_single_sensor_Instance.launch.py
@@ -0,0 +1,45 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    thermostat_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/thermostat.launch.py')
+        )
+    )
+
+    operator_interface_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/operator_interface.launch.py')
+        )
+    )
+
+    temperature_sensor_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/temperature_sensor.launch.py')
+        )
+    )
+
+    heat_source_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/heat_source.launch.py')
+        )
+    )
+
+    ld.add_action(thermostat_node)
+    ld.add_action(operator_interface_node)
+    ld.add_action(temperature_sensor_node)
+    ld.add_action(heat_source_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/monitor_temperature.launch.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/monitor_temperature.launch.py
new file mode 100644
index 000000000..b9e2c624f
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/monitor_temperature.launch.py
@@ -0,0 +1,31 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    thermostat_monitor_temperature_manage_alarm_mat_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_monitor_temperature_manage_alarm_mat_exe"
+    )
+
+    thermostat_monitor_temperature_manage_monitor_interface_mmit_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_monitor_temperature_manage_monitor_interface_mmit_exe"
+    )
+
+    thermostat_monitor_temperature_manage_monitor_mode_mmmt_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_monitor_temperature_manage_monitor_mode_mmmt_exe"
+    )
+
+    ld.add_action(thermostat_monitor_temperature_manage_alarm_mat_node)
+    ld.add_action(thermostat_monitor_temperature_manage_monitor_interface_mmit_node)
+    ld.add_action(thermostat_monitor_temperature_manage_monitor_mode_mmmt_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/operator_interface.launch.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/operator_interface.launch.py
new file mode 100644
index 000000000..5f488a919
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/operator_interface.launch.py
@@ -0,0 +1,19 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    operator_interface_oip_oit_node = Node(
+        package = "isolette_py_pkg",
+        executable = "operator_interface_oip_oit_exe"
+    )
+
+    ld.add_action(operator_interface_oip_oit_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/regulate_temperature.launch.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/regulate_temperature.launch.py
new file mode 100644
index 000000000..014c61c26
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/regulate_temperature.launch.py
@@ -0,0 +1,31 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    thermostat_regulate_temperature_manage_regulator_interface_mrit_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_regulate_temperature_manage_regulator_interface_mrit_exe"
+    )
+
+    thermostat_regulate_temperature_manage_heat_source_mhst_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_regulate_temperature_manage_heat_source_mhst_exe"
+    )
+
+    thermostat_regulate_temperature_manage_regulator_mode_mrmt_node = Node(
+        package = "isolette_py_pkg",
+        executable = "thermostat_regulate_temperature_manage_regulator_mode_mrmt_exe"
+    )
+
+    ld.add_action(thermostat_regulate_temperature_manage_regulator_interface_mrit_node)
+    ld.add_action(thermostat_regulate_temperature_manage_heat_source_mhst_node)
+    ld.add_action(thermostat_regulate_temperature_manage_regulator_mode_mrmt_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/temperature_sensor.launch.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/temperature_sensor.launch.py
new file mode 100644
index 000000000..04c0d9de3
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/temperature_sensor.launch.py
@@ -0,0 +1,19 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    temperature_sensor_cpi_thermostat_node = Node(
+        package = "isolette_py_pkg",
+        executable = "temperature_sensor_cpi_thermostat_exe"
+    )
+
+    ld.add_action(temperature_sensor_cpi_thermostat_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/thermostat.launch.py b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/thermostat.launch.py
new file mode 100644
index 000000000..383d3f3b9
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/launch/thermostat.launch.py
@@ -0,0 +1,29 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    regulate_temperature_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/regulate_temperature.launch.py')
+        )
+    )
+
+    monitor_temperature_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('isolette_py_pkg_bringup'),
+                         'launch/monitor_temperature.launch.py')
+        )
+    )
+
+    ld.add_action(regulate_temperature_node)
+    ld.add_action(monitor_temperature_node)
+
+    return ld
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/package.xml b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/package.xml
new file mode 100644
index 000000000..c0ef1c8bb
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_bringup/package.xml
@@ -0,0 +1,24 @@
+<?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>isolette_py_pkg_bringup</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <exec_depend>isolette_py_pkg</exec_depend>
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <!-- Additions within these tags will be preserved when re-running Codegen -->
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/CMakeLists.txt b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/CMakeLists.txt
new file mode 100644
index 000000000..3c237e7ba
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/CMakeLists.txt
@@ -0,0 +1,31 @@
+cmake_minimum_required(VERSION 3.8)
+project(isolette_py_pkg_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Heat.msg
+  msg/InterfaceInteraction.msg
+  msg/Float32.msg
+  msg/PhysicalTempimpl.msg
+  msg/ValueStatus.msg
+  msg/TempWstatusimpl.msg
+  msg/OnOff.msg
+  msg/Status.msg
+  msg/Tempimpl.msg
+  msg/RegulatorMode.msg
+  msg/Boolean.msg
+  msg/FailureFlagimpl.msg
+  msg/MonitorMode.msg
+  msg/Empty.msg
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Boolean.msg b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Boolean.msg
new file mode 100644
index 000000000..f7cabb94f
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Boolean.msg
@@ -0,0 +1 @@
+bool data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Empty.msg b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Empty.msg
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/FailureFlagimpl.msg b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/FailureFlagimpl.msg
new file mode 100644
index 000000000..85e9459f2
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/FailureFlagimpl.msg
@@ -0,0 +1 @@
+Boolean value
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Float32.msg b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Float32.msg
new file mode 100644
index 000000000..e89740534
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Float32.msg
@@ -0,0 +1 @@
+float32 data
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Heat.msg b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Heat.msg
new file mode 100644
index 000000000..8510ca2f7
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Heat.msg
@@ -0,0 +1,2 @@
+uint8 heat
+uint8 HEAT_DUMMY_HEAD_ENUM=0
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/InterfaceInteraction.msg b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/InterfaceInteraction.msg
new file mode 100644
index 000000000..74fd55b51
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/InterfaceInteraction.msg
@@ -0,0 +1,2 @@
+uint8 interface_interaction
+uint8 INTERFACE_INTERACTION_DUMMY_INTERFACE_INTERACTION_ENUM=0
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/MonitorMode.msg b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/MonitorMode.msg
new file mode 100644
index 000000000..23c152693
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/MonitorMode.msg
@@ -0,0 +1,4 @@
+uint8 monitor_mode
+uint8 MONITOR_MODE_INIT_MONITOR_MODE=0
+uint8 MONITOR_MODE_NORMAL_MONITOR_MODE=1
+uint8 MONITOR_MODE_FAILED_MONITOR_MODE=2
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/OnOff.msg b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/OnOff.msg
new file mode 100644
index 000000000..2b93a6e9b
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/OnOff.msg
@@ -0,0 +1,3 @@
+uint8 on_off
+uint8 ON_OFF_ONN=0
+uint8 ON_OFF_OFF=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/PhysicalTempimpl.msg b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/PhysicalTempimpl.msg
new file mode 100644
index 000000000..f974a1a52
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/PhysicalTempimpl.msg
@@ -0,0 +1 @@
+Float32 value
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/RegulatorMode.msg b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/RegulatorMode.msg
new file mode 100644
index 000000000..3e575ec38
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/RegulatorMode.msg
@@ -0,0 +1,4 @@
+uint8 regulator_mode
+uint8 REGULATOR_MODE_INIT_REGULATOR_MODE=0
+uint8 REGULATOR_MODE_NORMAL_REGULATOR_MODE=1
+uint8 REGULATOR_MODE_FAILED_REGULATOR_MODE=2
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Status.msg b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Status.msg
new file mode 100644
index 000000000..f921080e2
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Status.msg
@@ -0,0 +1,4 @@
+uint8 status
+uint8 STATUS_INIT_STATUS=0
+uint8 STATUS_ON_STATUS=1
+uint8 STATUS_FAILED_STATUS=2
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/TempWstatusimpl.msg b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/TempWstatusimpl.msg
new file mode 100644
index 000000000..013b4d370
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/TempWstatusimpl.msg
@@ -0,0 +1,2 @@
+Float32 value
+ValueStatus status
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Tempimpl.msg b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Tempimpl.msg
new file mode 100644
index 000000000..f974a1a52
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/Tempimpl.msg
@@ -0,0 +1 @@
+Float32 value
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/ValueStatus.msg b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/ValueStatus.msg
new file mode 100644
index 000000000..cd93b8a5e
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/msg/ValueStatus.msg
@@ -0,0 +1,3 @@
+uint8 value_status
+uint8 VALUE_STATUS_VALID=0
+uint8 VALUE_STATUS_INVALID=1
\ No newline at end of file
diff --git a/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/package.xml b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/package.xml
new file mode 100644
index 000000000..c0d3e4f59
--- /dev/null
+++ b/resources/expected/ros2/python-isolette_inverted_topics/strict/src/isolette_py_pkg_interfaces/package.xml
@@ -0,0 +1,22 @@
+<?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>isolette_py_pkg_interfaces</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="sireum@todo.todo">sireum</maintainer>
+    <license>TODO: License declaration</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <build_depend>rosidl_default_generators</build_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/scala/org/sireum/hamr/codegen/test/ros2/Ros2TestUtil.scala b/scala/org/sireum/hamr/codegen/test/ros2/Ros2TestUtil.scala
index 52079acf7..5b0c770e4 100644
--- a/scala/org/sireum/hamr/codegen/test/ros2/Ros2TestUtil.scala
+++ b/scala/org/sireum/hamr/codegen/test/ros2/Ros2TestUtil.scala
@@ -12,7 +12,9 @@ trait  Ros2TestUtil {
 
   def verbose: B
 
-  assert (!isCI || !verbose, "verbose must be F when pushed to github")
+  def generateExpected: B
+
+  assert (!isCI || !generateExpected, "generate expected must be F when pushed to github")
 
   val ros2SetupPath: Option[Os.Path] = Os.env("ROS2_HOME") match {
     case Some(dist) =>
diff --git a/scala/org/sireum/hamr/codegen/test/ros2/Ros2Tests.scala b/scala/org/sireum/hamr/codegen/test/ros2/Ros2Tests.scala
index 2633d49f4..c0dbfe64d 100644
--- a/scala/org/sireum/hamr/codegen/test/ros2/Ros2Tests.scala
+++ b/scala/org/sireum/hamr/codegen/test/ros2/Ros2Tests.scala
@@ -45,6 +45,26 @@ class Ros2Tests extends TestSuite with Ros2TestUtil {
     testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = true, invertTopicBinding = false), T, verbose)
   }
 
+  "python-building_control_gen_mixed_lax" in {
+    val testName = "python-building_control_gen_mixed"
+    val rootName = "building_control_gen_mixed"
+    val root = codegen_base / rootName
+    val airFile = getAir(root)
+    assert (root.exists)
+
+    testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = false, invertTopicBinding = false, ros2NodesLanguage = CodegenNodesCodeLanguage.Python, ros2LaunchLanguage = CodegenLaunchCodeLanguage.Python), T, verbose)
+  }
+
+  "python-building_control_gen_mixed_strict" in {
+    val testName = "python-building_control_gen_mixed"
+    val rootName = "building_control_gen_mixed"
+    val root = codegen_base / rootName
+    val airFile = getAir(root)
+    assert (root.exists)
+
+    testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = true, invertTopicBinding = false, ros2NodesLanguage = CodegenNodesCodeLanguage.Python, ros2LaunchLanguage = CodegenLaunchCodeLanguage.Python), T, verbose)
+  }
+
   "isolette_lax" in {
     val testName = "isolette"
     val root = codegen_base / testName
@@ -63,6 +83,26 @@ class Ros2Tests extends TestSuite with Ros2TestUtil {
     testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = true, invertTopicBinding = false), T, verbose)
   }
 
+  "python-isolette_lax" in {
+    val testName = "python-isolette"
+    val rootName = "isolette"
+    val root = codegen_base / rootName
+    val airFile = getAir(root)
+    assert (root.exists)
+
+    testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = false, invertTopicBinding = false, ros2NodesLanguage = CodegenNodesCodeLanguage.Python, ros2LaunchLanguage = CodegenLaunchCodeLanguage.Python), T, verbose)
+  }
+
+  "python-isolette_strict" in {
+    val testName = "python-isolette"
+    val rootName = "isolette"
+    val root = codegen_base / rootName
+    val airFile = getAir(root)
+    assert (root.exists)
+
+    testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = true, invertTopicBinding = false, ros2NodesLanguage = CodegenNodesCodeLanguage.Python, ros2LaunchLanguage = CodegenLaunchCodeLanguage.Python), T, verbose)
+  }
+
   // TODO: Fix/implement PCA Pump to-do types
   "pca-pump_lax" ignore {
     val testName = "pca-pump"
@@ -101,6 +141,26 @@ class Ros2Tests extends TestSuite with Ros2TestUtil {
     testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = true, invertTopicBinding = false), T, verbose)
   }
 
+  "python-datatype-examples_lax" in {
+    val testName = "python-datatype-examples"
+    val rootName = "datatype-examples"
+    val root = codegen_base / rootName
+    val airFile = getAir(root)
+    assert (root.exists)
+
+    testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = false, invertTopicBinding = false, ros2NodesLanguage = CodegenNodesCodeLanguage.Python, ros2LaunchLanguage = CodegenLaunchCodeLanguage.Python), T, verbose)
+  }
+
+  "python-datatype-examples_strict" in {
+    val testName = "python-datatype-examples"
+    val rootName = "datatype-examples"
+    val root = codegen_base / rootName
+    val airFile = getAir(root)
+    assert (root.exists)
+
+    testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = true, invertTopicBinding = false, ros2NodesLanguage = CodegenNodesCodeLanguage.Python, ros2LaunchLanguage = CodegenLaunchCodeLanguage.Python), T, verbose)
+  }
+
   "fan_in_fan_out_lax" in {
     val testName = "fan_in_fan_out"
     val root = codegen_base / testName
@@ -119,6 +179,26 @@ class Ros2Tests extends TestSuite with Ros2TestUtil {
     testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = true, invertTopicBinding = false), T, verbose)
   }
 
+  "python-fan_in_fan_out_lax" in {
+    val testName = "python-fan_in_fan_out"
+    val rootName = "fan_in_fan_out"
+    val root = codegen_base / rootName
+    val airFile = getAir(root)
+    assert (root.exists)
+
+    testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = false, invertTopicBinding = false, ros2NodesLanguage = CodegenNodesCodeLanguage.Python, ros2LaunchLanguage = CodegenLaunchCodeLanguage.Python), T, verbose)
+  }
+
+  "python-fan_in_fan_out_strict" in {
+    val testName = "python-fan_in_fan_out"
+    val rootName = "fan_in_fan_out"
+    val root = codegen_base / rootName
+    val airFile = getAir(root)
+    assert (root.exists)
+
+    testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = true, invertTopicBinding = false, ros2NodesLanguage = CodegenNodesCodeLanguage.Python, ros2LaunchLanguage = CodegenLaunchCodeLanguage.Python), T, verbose)
+  }
+
   // ----------------------------------
   // Inverted Port/Topic Binding Tests
   // ----------------------------------
@@ -143,6 +223,26 @@ class Ros2Tests extends TestSuite with Ros2TestUtil {
     testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = true, invertTopicBinding = true), T, verbose)
   }
 
+  "python-building_control_gen_mixed_lax_inverted_topics" in {
+    val testName = "python-building_control_gen_mixed_inverted_topics"
+    val rootName = "building_control_gen_mixed"
+    val root = codegen_base / rootName
+    val airFile = getAir(root)
+    assert (root.exists)
+
+    testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = false, invertTopicBinding = true, ros2NodesLanguage = CodegenNodesCodeLanguage.Python, ros2LaunchLanguage = CodegenLaunchCodeLanguage.Python), T, verbose)
+  }
+
+  "python-building_control_gen_mixed_strict_inverted_topics" in {
+    val testName = "python-building_control_gen_mixed_inverted_topics"
+    val rootName = "building_control_gen_mixed"
+    val root = codegen_base / rootName
+    val airFile = getAir(root)
+    assert (root.exists)
+
+    testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = true, invertTopicBinding = true, ros2NodesLanguage = CodegenNodesCodeLanguage.Python, ros2LaunchLanguage = CodegenLaunchCodeLanguage.Python), T, verbose)
+  }
+
   "isolette_lax_inverted_topics" in {
     val testName = "isolette_inverted_topics"
     val rootName = "isolette"
@@ -163,6 +263,26 @@ class Ros2Tests extends TestSuite with Ros2TestUtil {
     testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = true, invertTopicBinding = true), T, verbose)
   }
 
+  "python-isolette_lax_inverted_topics" in {
+    val testName = "python-isolette_inverted_topics"
+    val rootName = "isolette"
+    val root = codegen_base / rootName
+    val airFile = getAir(root)
+    assert (root.exists)
+
+    testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = false, invertTopicBinding = true, ros2NodesLanguage = CodegenNodesCodeLanguage.Python, ros2LaunchLanguage = CodegenLaunchCodeLanguage.Python), T, verbose)
+  }
+
+  "python-isolette_strict_inverted_topics" in {
+    val testName = "python-isolette_inverted_topics"
+    val rootName = "isolette"
+    val root = codegen_base / rootName
+    val airFile = getAir(root)
+    assert (root.exists)
+
+    testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = true, invertTopicBinding = true, ros2NodesLanguage = CodegenNodesCodeLanguage.Python, ros2LaunchLanguage = CodegenLaunchCodeLanguage.Python), T, verbose)
+  }
+
   "fan_in_fan_out_lax_inverted_topics" in {
     val testName = "fan_in_fan_out_inverted_topics"
     val rootName = "fan_in_fan_out"
@@ -183,6 +303,26 @@ class Ros2Tests extends TestSuite with Ros2TestUtil {
     testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = true, invertTopicBinding = true), T, verbose)
   }
 
+  "python-fan_in_fan_out_lax_inverted_topics" in {
+    val testName = "python-fan_in_fan_out_inverted_topics"
+    val rootName = "fan_in_fan_out"
+    val root = codegen_base / rootName
+    val airFile = getAir(root)
+    assert (root.exists)
+
+    testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = false, invertTopicBinding = true, ros2NodesLanguage = CodegenNodesCodeLanguage.Python, ros2LaunchLanguage = CodegenLaunchCodeLanguage.Python), T, verbose)
+  }
+
+  "python-fan_in_fan_out_strict_inverted_topics" in {
+    val testName = "python-fan_in_fan_out_inverted_topics"
+    val rootName = "fan_in_fan_out"
+    val root = codegen_base / rootName
+    val airFile = getAir(root)
+    assert (root.exists)
+
+    testRos(testName, airFile, airFile.up, baseOptions.apply(strictAadlMode = true, invertTopicBinding = true, ros2NodesLanguage = CodegenNodesCodeLanguage.Python, ros2LaunchLanguage = CodegenLaunchCodeLanguage.Python), T, verbose)
+  }
+
   // ----------------------------------
   // File Change Persistence Tests
   // ----------------------------------
@@ -229,11 +369,10 @@ class Ros2Tests extends TestSuite with Ros2TestUtil {
       workspaceRootDir = if (config.workspaceRootDir.nonEmpty) config.workspaceRootDir else Some(modelDir.canon.value)
     )
 
-    // TODO: Currently hardcoded, since I'm just working on cpp and xml
     testOps = testOps.apply(
       ros2OutputWorkspaceDir = Some(destDir.value),
-      ros2NodesLanguage = CodegenNodesCodeLanguage.Cpp,
-      ros2LaunchLanguage = CodegenLaunchCodeLanguage.Xml
+      ros2NodesLanguage = config.ros2NodesLanguage,
+      ros2LaunchLanguage = config.ros2LaunchLanguage
     )
 
     if (clearDestDir) {