diff --git a/lifecycle_msgs/CMakeLists.txt b/lifecycle_msgs/CMakeLists.txt
index 709b9904..2585964f 100644
--- a/lifecycle_msgs/CMakeLists.txt
+++ b/lifecycle_msgs/CMakeLists.txt
@@ -13,6 +13,7 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
+find_package(builtin_interfaces REQUIRED)
 
 set(msg_files
   "msg/State.msg"
@@ -30,6 +31,7 @@ set(srv_files
 rosidl_generate_interfaces(${PROJECT_NAME}
   ${msg_files}
   ${srv_files}
+  DEPENDENCIES builtin_interfaces
   ADD_LINTER_TESTS
 )
 
diff --git a/lifecycle_msgs/msg/TransitionEvent.msg b/lifecycle_msgs/msg/TransitionEvent.msg
index 48c84995..ac910d78 100644
--- a/lifecycle_msgs/msg/TransitionEvent.msg
+++ b/lifecycle_msgs/msg/TransitionEvent.msg
@@ -1,5 +1,5 @@
 # The time point at which this event occurred.
-uint64 timestamp
+builtin_interfaces/Time stamp
 
 # The id and label of this transition event.
 Transition transition
diff --git a/lifecycle_msgs/package.xml b/lifecycle_msgs/package.xml
index 1afad4ce..3cc247c5 100644
--- a/lifecycle_msgs/package.xml
+++ b/lifecycle_msgs/package.xml
@@ -16,6 +16,9 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <build_depend>builtin_interfaces</build_depend>
+
+  <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>