diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.tests/expectedResult/simple/CMakeLists.txt b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.tests/expectedResult/simple/CMakeLists.txt
index e401319..b75ffc6 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.tests/expectedResult/simple/CMakeLists.txt
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.tests/expectedResult/simple/CMakeLists.txt
@@ -22,7 +22,7 @@
 
 find_package(rosidl_default_generators REQUIRED)
 
-## Generate messages in the 'msg' folder
+# Generate messages, services or actions
 rosidl_generate_interfaces(
 	simple
 	"msg/OccupancyGridMap.msg"
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/build/CreateMsgPkgCMakeLists.xtend b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/build/CreateMsgPkgCMakeLists.xtend
index 02c8d08..f3703d2 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/build/CreateMsgPkgCMakeLists.xtend
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/build/CreateMsgPkgCMakeLists.xtend
@@ -50,10 +50,10 @@
 		«val msgFileNames = model.getMsgFileNames»
 		«val srvFileNames = model.getSrvFileNames»
 		«val actFileNames = model.getActFileNames»
-		«IF msgFileNames.size > 0 || srvFileNames.size > 0»
+		«IF msgFileNames.size > 0 || srvFileNames.size > 0 || actFileNames.size > 0»
 			find_package(rosidl_default_generators REQUIRED)
 
-			## Generate messages in the 'msg' folder
+			# Generate messages, services or actions
 			rosidl_generate_interfaces(
 				«model.pkgName»
 				«FOR messageFN : msgFileNames»