diff --git a/README.md b/README.md
index 2126a12..b51f804 100644
--- a/README.md
+++ b/README.md
@@ -120,6 +120,10 @@ resolved in the past.
   is enough to resolve this if you're using old pyro unsupported
   release.
 
+  ros2topic (and few more recipes when ROS_USE_PYTHON3 is set to yes)
+  depends on python3-pyyaml which was added in
+  1161ab8f8dda272eb5d09917446cc5b971be1335@meta-openembedded.
+
   cv-bridge and dependent recipes, e.g., the image-transport recipes, depend on
   7568bfdd114597956a1da68746f207ec7f93a48d@openembedded-core.
   For native python-numpy support, these recipes also depend on
diff --git a/classes/ament.bbclass b/classes/ament.bbclass
index 2c9e80a..ed1b57f 100644
--- a/classes/ament.bbclass
+++ b/classes/ament.bbclass
@@ -44,6 +44,8 @@ do_install_append() {
 FILES_${PN} = " \
     ${datadir}/${ROS_BPN}/package.xml \
     ${datadir}/${ROS_BPN}/resource/* \
+    ${datadir}/${ROS_BPN}/msg/* \
+    ${datadir}/${ROS_BPN}/srv/* \
     ${datadir}/ament_index/* \
     ${libdir}/${PYTHON_DIR}/* \
     ${libdir}/${ROS_BPN}/* \
@@ -52,7 +54,5 @@ FILES_${PN} = " \
 
 FILES_${PN}-dev = " \
     ${datadir}/${ROS_BPN}/cmake/* \
-    ${datadir}/${ROS_BPN}/msg/* \
-    ${datadir}/${ROS_BPN}/srv/* \
     ${includedir} \
 "
diff --git a/recipes-ros2/packagegroups/packagegroup-ros2-demos.bb b/recipes-ros2/packagegroups/packagegroup-ros2-demos.bb
index 4949ef9..dc6894e 100644
--- a/recipes-ros2/packagegroups/packagegroup-ros2-demos.bb
+++ b/recipes-ros2/packagegroups/packagegroup-ros2-demos.bb
@@ -8,4 +8,5 @@ PACKAGES = "${PN}"
 RDEPENDS_${PN} = "\
         ros2-demo-nodes-cpp \
         ros2run \
+        ros2topic \
 "
diff --git a/recipes-ros2/ros2cli/ros2msg_git.bb b/recipes-ros2/ros2cli/ros2msg_git.bb
new file mode 100644
index 0000000..38d30ae
--- /dev/null
+++ b/recipes-ros2/ros2cli/ros2msg_git.bb
@@ -0,0 +1,7 @@
+SUMMARY = "The run command for ROS 2 command line tools."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include ros2cli.inc
+
+inherit setuptools3
diff --git a/recipes-ros2/ros2cli/ros2topic_git.bb b/recipes-ros2/ros2cli/ros2topic_git.bb
new file mode 100644
index 0000000..c6518be
--- /dev/null
+++ b/recipes-ros2/ros2cli/ros2topic_git.bb
@@ -0,0 +1,9 @@
+SUMMARY = "The run command for ROS 2 command line tools."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include ros2cli.inc
+
+inherit setuptools3
+
+RDEPENDS_${PN} += "ros2msg ${PYTHON_PN}-pyyaml"