diff --git a/tf_roslibrust/src/bin/publisher.rs b/tf_roslibrust/src/bin/publisher.rs
index 1e5914ac..aee7715a 100644
--- a/tf_roslibrust/src/bin/publisher.rs
+++ b/tf_roslibrust/src/bin/publisher.rs
@@ -1,5 +1,5 @@
 use tf_roslibrust::tf_util;
-use tf_roslibrust::tf_util::tf2_msgs;
+use tf_roslibrust::transforms::tf2_msgs;
 
 /// Load a toml file of a list of transforms and publish them
 /// tf_publisher examples/transforms.toml
diff --git a/tf_roslibrust/src/lib.rs b/tf_roslibrust/src/lib.rs
index fada4c13..9ac97253 100644
--- a/tf_roslibrust/src/lib.rs
+++ b/tf_roslibrust/src/lib.rs
@@ -25,11 +25,10 @@ mod tf_buffer;
 mod tf_error;
 mod tf_graph_node;
 mod tf_individual_transform_chain;
-pub mod transforms;
-pub use transforms::geometry_msgs::TransformStamped;
 mod tf_listener;
+pub mod tf_util;
+pub mod transforms;
 pub use tf_broadcaster::TfBroadcaster;
 pub use tf_buffer::TfBuffer;
 pub use tf_error::TfError;
 pub use tf_listener::TfListener;
-pub mod tf_util;
diff --git a/tf_roslibrust/src/tf_util.rs b/tf_roslibrust/src/tf_util.rs
index 825dc110..5846ca39 100644
--- a/tf_roslibrust/src/tf_util.rs
+++ b/tf_roslibrust/src/tf_util.rs
@@ -4,7 +4,7 @@ use serde_derive::Deserialize;
 use std::collections::HashMap;
 use std::time::SystemTime;
 
-roslibrust_codegen_macro::find_and_generate_ros_messages!();
+use crate::transforms::{geometry_msgs, tf2_msgs};
 
 pub fn to_stamp(secs: u32, nsecs: u32) -> Time {
     roslibrust_codegen::Time { secs, nsecs }