diff --git a/plugins/codegen/org.eclipse.papyrus.robotics.codegen.common/src/org/eclipse/papyrus/robotics/codegen/common/utils/Helpers.java b/plugins/codegen/org.eclipse.papyrus.robotics.codegen.common/src/org/eclipse/papyrus/robotics/codegen/common/utils/Helpers.java
index e34a561..625dc0a 100644
--- a/plugins/codegen/org.eclipse.papyrus.robotics.codegen.common/src/org/eclipse/papyrus/robotics/codegen/common/utils/Helpers.java
+++ b/plugins/codegen/org.eclipse.papyrus.robotics.codegen.common/src/org/eclipse/papyrus/robotics/codegen/common/utils/Helpers.java
@@ -93,37 +93,4 @@
 		Ptr ptr = StereotypeUtil.applyApp(typedElement, Ptr.class);
 		ptr.setDeclaration("::SharedPtr"); //$NON-NLS-1$
 	}
-
-	/**
-	 * Return a small_caps string (for file names) in which CamlCase is prefixed with "_"
-	 * e.g. ServiceType is transformed into service_type. The "_" is added to upper case
-	 * characters following previous alphabetic or digit characters. I.e. it is not added
-	 * after special characters including in particular the FileSeparator.
-	 * This function is not only used by ROS, but also by protobuf
-	 *
-	 * @param str
-	 *            a string
-	 * @return the transformed string
-	 */
-	public static String escapeCamlCase(String str) {
-		String out = ""; //$NON-NLS-1$
-		boolean previousLC = false;
-		boolean previousUC = false;
-		int i = 1;
-		for (char c : str.toCharArray()) {
-			// underscore prefix also depends on next character
-			boolean nextLC = i < str.length() ?
-					Character.isLowerCase(str.charAt(i++)) :
-					false;
-			if (Character.isUpperCase(c)) {
-				if (previousLC || (previousUC && nextLC)) {
-					out += "_"; //$NON-NLS-1$
-				}
-			}
-			previousLC = Character.isLowerCase(c);
-			previousUC = Character.isUpperCase(c);
-			out += Character.toLowerCase(c);
-		}
-		return out;
-	}
 }
diff --git a/plugins/customization/org.eclipse.papyrus.robotics.core/src/org/eclipse/papyrus/robotics/core/commands/CreateFunctionsCommand.java b/plugins/customization/org.eclipse.papyrus.robotics.core/src/org/eclipse/papyrus/robotics/core/commands/CreateFunctionsCommand.java
index 490276c..5db9eb8 100644
--- a/plugins/customization/org.eclipse.papyrus.robotics.core/src/org/eclipse/papyrus/robotics/core/commands/CreateFunctionsCommand.java
+++ b/plugins/customization/org.eclipse.papyrus.robotics.core/src/org/eclipse/papyrus/robotics/core/commands/CreateFunctionsCommand.java
@@ -1,5 +1,5 @@
 /*****************************************************************************
- * Copyright (c) 2020 CEA LIST
+ * Copyright (c) 2023 CEA LIST
  *
  * All rights reserved. This program and the accompanying materials
  * are made available under the terms of the Eclipse Public License 2.0
@@ -9,7 +9,8 @@
  * SPDX-License-Identifier: EPL-2.0
  *
  * Contributors:
- *    Ansgar Radermacher - initial API and implementation 
+ *    Ansgar Radermacher - initial API and implementation
+ *    Ansgar Radermacher - Bug 582095 
  *   
  *****************************************************************************/
 
@@ -17,6 +18,7 @@
 
 import org.eclipse.emf.transaction.RecordingCommand;
 import org.eclipse.emf.transaction.util.TransactionUtil;
+import org.eclipse.papyrus.designer.infra.base.StringUtils;
 import org.eclipse.papyrus.robotics.core.utils.FunctionUtils;
 import org.eclipse.papyrus.robotics.core.utils.InteractionUtils;
 import org.eclipse.papyrus.robotics.profile.robotics.commpattern.CommunicationPattern;
@@ -90,7 +92,8 @@
 	
 	protected void setName(Property fctAttr, String postFix) {
 		Type function = fctAttr.getType();
-		function.setName(componentPortUml.getName() + "_" + postFix); //$NON-NLS-1$
+		// use varName to assure that created function name is compatible with most programming languages 
+		function.setName(StringUtils.varName(componentPortUml.getName()) + "_" + postFix); //$NON-NLS-1$
 	}
 	
 	protected void createFunction(String postFix) {
diff --git a/plugins/customization/org.eclipse.papyrus.robotics.core/src/org/eclipse/papyrus/robotics/core/utils/InteractionUtils.java b/plugins/customization/org.eclipse.papyrus.robotics.core/src/org/eclipse/papyrus/robotics/core/utils/InteractionUtils.java
index 819b94d..b127948 100644
--- a/plugins/customization/org.eclipse.papyrus.robotics.core/src/org/eclipse/papyrus/robotics/core/utils/InteractionUtils.java
+++ b/plugins/customization/org.eclipse.papyrus.robotics.core/src/org/eclipse/papyrus/robotics/core/utils/InteractionUtils.java
@@ -110,7 +110,7 @@
 	}
 
 	/**
-	 * Get the communication object from a template binding (first template parameter)
+	 * Get the communication object from a template binding (all parameter substitutions)
 	 * 
 	 * @param tb
 	 *            a template binding
@@ -119,8 +119,8 @@
 	public static List<Type> getCommObjects(TemplateBinding tb) {
 		List<Type> commObjects = new ArrayList<Type>();
 		if (tb != null) {
-			if (tb.getParameterSubstitutions().size() > 0) {
-				ParameterableElement pe = tb.getParameterSubstitutions().get(0).getActual();
+			for (TemplateParameterSubstitution tps : tb.getParameterSubstitutions()) {
+				ParameterableElement pe = tps.getActual();
 				if (pe instanceof Type) {
 					commObjects.add((Type) pe);
 				}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/message/CreateMessage.xtend b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/message/CreateMessage.xtend
index a5f6d98..71b83f6 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/message/CreateMessage.xtend
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/message/CreateMessage.xtend
@@ -102,7 +102,7 @@
 		«ENDFOR»
 		---
 		# attributes of feedback «feedback.qualifiedName»
-		«FOR attribute : response.getAllAttributes»
+		«FOR attribute : feedback.getAllAttributes»
 			«attribute.createAttributeMsg»
 		«ENDFOR»
 	'''
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/message/CreateMsgPackage.xtend b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/message/CreateMsgPackage.xtend
index bc68d75..442df89 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/message/CreateMsgPackage.xtend
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/message/CreateMsgPackage.xtend
@@ -30,6 +30,7 @@
 import org.eclipse.uml2.uml.TemplateBinding
 
 import static extension org.eclipse.papyrus.robotics.codegen.common.utils.PackageTools.pkgName
+import static extension org.eclipse.papyrus.robotics.ros2.codegen.common.utils.RosHelpers.escapeUnderscore
 import static extension org.eclipse.papyrus.robotics.core.utils.InteractionUtils.*
 import static extension org.eclipse.papyrus.robotics.ros2.codegen.common.utils.MessageUtils.*
 
@@ -118,14 +119,14 @@
 
 		// messages covers push and send (and enumerations)
 		for (msg : srcPkg.messages) {
-			cm.generateFile(fileAccess, msg.name, MessageUtils.MESSAGE, cm.createDtOrEnumMsg(msg))
+			cm.generateFile(fileAccess, msg.name.escapeUnderscore, MessageUtils.MESSAGE, cm.createDtOrEnumMsg(msg))
 		}
 		for (sd : srcPkg.queries) {
 			// request and reply data types are found in communication package
 			val tb = sd.templateBinding
 			val req = MessageUtils.getRequest(tb)
 			val res = MessageUtils.getResponse(tb)
-			cm.generateFile(fileAccess, sd.nameWoPrefix, MessageUtils.SERVICE, cm.createServiceMsg(req as DataType, res as DataType))
+			cm.generateFile(fileAccess, sd.nameWoPrefix.escapeUnderscore, MessageUtils.SERVICE, cm.createServiceMsg(req as DataType, res as DataType))
 		}
 		for (sd : srcPkg.actions) {
 			// request and reply data types are found in communication package
@@ -133,7 +134,7 @@
 			val goal = MessageUtils.getGoal(tb)
 			val res = MessageUtils.getResponse(tb)
 			val feedback = MessageUtils.getFeedback(tb)
-			cm.generateFile(fileAccess, sd.nameWoPrefix, MessageUtils.ACTION, cm.createActionMsg(goal as DataType, res as DataType, feedback as DataType))
+			cm.generateFile(fileAccess, sd.nameWoPrefix.escapeUnderscore, MessageUtils.ACTION, cm.createActionMsg(goal as DataType, res as DataType, feedback as DataType))
 		}
 		try {
 			fileAccess.cleanUntouched(project.getFolder(MessageUtils.MESSAGE), new NullProgressMonitor);
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/utils/MessageUtils.xtend b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/utils/MessageUtils.xtend
index 476ebb1..958f2b9 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/utils/MessageUtils.xtend
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/utils/MessageUtils.xtend
@@ -51,7 +51,8 @@
 import org.eclipse.uml2.uml.Type
 
 import static extension org.eclipse.papyrus.robotics.codegen.common.utils.ComponentUtils.isRegistered
-import static extension org.eclipse.papyrus.robotics.codegen.common.utils.Helpers.escapeCamlCase
+import static extension org.eclipse.papyrus.robotics.ros2.codegen.common.utils.RosHelpers.escapeCamlCase
+import static extension org.eclipse.papyrus.robotics.ros2.codegen.common.utils.RosHelpers.escapeUnderscore
 import static extension org.eclipse.papyrus.robotics.core.utils.InteractionUtils.*
 
 class MessageUtils {
@@ -197,7 +198,7 @@
 		val msgFileNames = new UniqueEList<String>
 
 		for (msg : msgPackage.messages) {
-			msgFileNames.add(msg.name + ".msg")
+			msgFileNames.add(msg.name.escapeUnderscore + ".msg")
 		}
 		return msgFileNames
 	}
@@ -206,7 +207,7 @@
 		val srvFileNames = new UniqueEList<String>
 		for (sd : msgPackage.queries) {
 			// use name of service definition, typically consisting of a query and a request
-			srvFileNames.add(sd.nameWoPrefix + ".srv")
+			srvFileNames.add(sd.nameWoPrefix.escapeUnderscore + ".srv")
 		}
 		return srvFileNames
 	}
@@ -215,7 +216,7 @@
 		val actFileNames = new UniqueEList<String>
 		for (sd : msgPackage.actions) {
 			// use name of service definition, typically consisting of a query and a request
-			actFileNames.add(sd.nameWoPrefix + ".action")
+			actFileNames.add(sd.nameWoPrefix.escapeUnderscore + ".action")
 		}
 		return actFileNames
 	}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/utils/RosHelpers.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/utils/RosHelpers.java
index d955757..6283c1a 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/utils/RosHelpers.java
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/utils/RosHelpers.java
@@ -15,6 +15,7 @@
 package org.eclipse.papyrus.robotics.ros2.codegen.common.utils;
 
 import org.eclipse.emf.common.util.URI;
+import org.eclipse.papyrus.designer.infra.base.StringConstants;
 import org.eclipse.papyrus.designer.languages.cpp.profile.C_Cpp.External;
 import org.eclipse.papyrus.designer.languages.cpp.profile.C_Cpp.Ptr;
 import org.eclipse.papyrus.robotics.codegen.common.utils.Helpers;
@@ -82,4 +83,47 @@
 		Ptr ptr = StereotypeUtil.applyApp(typedElement, Ptr.class);
 		ptr.setDeclaration("::SharedPtr"); //$NON-NLS-1$
 	}
+
+	/**
+	 * Return a small_caps string (for file names) in which CamlCase is prefixed with "_"
+	 * e.g. ServiceType is transformed into service_type. The "_" is added to upper case
+	 * characters following previous alphabetic or digit characters. I.e. it is not added
+	 * after special characters including in particular the FileSeparator.
+	 * This function is not only used by ROS, but also by protobuf
+	 *
+	 * @param str
+	 *            a string
+	 * @return the transformed string
+	 */
+	public static String escapeCamlCase(String str) {
+		String out = StringConstants.EMPTY;
+		boolean previousLC = false;
+		boolean previousUC = false;
+		int i = 1;
+		for (char c : str.toCharArray()) {
+			// underscore prefix also depends on next character
+			boolean nextLC = i < str.length() ? Character.isLowerCase(str.charAt(i++)) : false;
+			if (Character.isUpperCase(c)) {
+				if (previousLC || (previousUC && nextLC)) {
+					out += StringConstants.UNDERSCORE;
+				}
+			}
+			previousLC = Character.isLowerCase(c);
+			previousUC = Character.isUpperCase(c);
+			out += Character.toLowerCase(c);
+		}
+		return out;
+	}
+
+	/**
+	 * Simple implementation of avoiding underscores by just removing them (for service definition filenames)
+	 *
+	 * @param str
+	 *            a string
+	 * @return the string without underscore
+	 */
+	public static String escapeUnderscore(String str) {
+		return str.replaceAll(StringConstants.UNDERSCORE, StringConstants.SPACE);
+	}
+
 }
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/utils/SkillUtils.xtend b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/utils/SkillUtils.xtend
index a75b5f3..5df19e0 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/utils/SkillUtils.xtend
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/utils/SkillUtils.xtend
@@ -27,7 +27,7 @@
 import org.eclipse.uml2.uml.util.UMLUtil
 
 import static extension org.eclipse.papyrus.robotics.core.utils.InteractionUtils.*
-import static extension org.eclipse.papyrus.robotics.codegen.common.utils.Helpers.escapeCamlCase
+import static extension org.eclipse.papyrus.robotics.ros2.codegen.common.utils.RosHelpers.escapeCamlCase
 import static extension org.eclipse.papyrus.robotics.codegen.common.utils.PackageTools.pkgName
 import static extension org.eclipse.papyrus.robotics.ros2.codegen.common.utils.MessageUtils.*
 import org.eclipse.uml2.uml.Namespace
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.python/src/org/eclipse/papyrus/robotics/ros2/codegen/python/component/ComponentTransformations.xtend b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.python/src/org/eclipse/papyrus/robotics/ros2/codegen/python/component/ComponentTransformations.xtend
index fec1a2f..a89ece1 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.python/src/org/eclipse/papyrus/robotics/ros2/codegen/python/component/ComponentTransformations.xtend
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.python/src/org/eclipse/papyrus/robotics/ros2/codegen/python/component/ComponentTransformations.xtend
@@ -96,14 +96,20 @@
 	}
 
 	/**
-	 * 
+	 * Convert a method that uses a unit in seconds or milliseconds to a number
+	 * passed to the Python call (unlike in C++, there are no ChronoLiterals)
 	 */
 	def static convertPeriod(String period) {
 		if (period.contains("ms")) {
 			val floatPeriod = Float.parseFloat(period.replace("ms", "")) / 1000
 			return floatPeriod.toString
-		} else if (period.contains("s"))
+		} else if (period.contains("s")) {
 			return period.replace("s", "")
+		}
+		else {
+			// return unmodified period
+			return period;
+		}
 	}
 
 	/**