diff --git a/rosidl_generator_py/CMakeLists.txt b/rosidl_generator_py/CMakeLists.txt
index e5ff834f..e28afa99 100644
--- a/rosidl_generator_py/CMakeLists.txt
+++ b/rosidl_generator_py/CMakeLists.txt
@@ -49,6 +49,7 @@ if(BUILD_TESTING)
       msg/BuiltinTypeSequencesIdl.idl
       msg/StringArrays.msg
       msg/Property.msg
+      srv/GetBuffer.srv
       ADD_LINTER_TESTS
       SKIP_INSTALL
     )
diff --git a/rosidl_generator_py/resource/_msg_support.c.em b/rosidl_generator_py/resource/_msg_support.c.em
index 62941b29..cc992179 100644
--- a/rosidl_generator_py/resource/_msg_support.c.em
+++ b/rosidl_generator_py/resource/_msg_support.c.em
@@ -29,14 +29,6 @@ def primitive_msg_type_to_c(type_):
     return BASIC_IDL_TYPES_TO_C[type_.typename]
 
 
-# Check if this message has any uint8[] buffer fields
-has_buffer_fields = False
-for member in message.structure.members:
-    if isinstance(member.type, UnboundedSequence) and isinstance(member.type.value_type, BasicType) and member.type.value_type.typename == 'uint8':
-        has_buffer_fields = True
-        break
-
-
 include_parts = [package_name] + list(interface_path.parents[0].parts) + [
     'detail', convert_camel_case_to_lower_case_underscore(interface_path.stem)]
 include_base = '/'.join(include_parts)
@@ -44,9 +36,8 @@ include_base = '/'.join(include_parts)
 header_files = [
     'Python.h',
     'stdbool.h',
+    'stdint.h',
 ]
-if has_buffer_fields:
-    header_files.append('stdint.h')
 header_files += [
     'numpy/ndarrayobject.h',
     'rosidl_runtime_c/visibility_control.h',
diff --git a/rosidl_generator_py/srv/GetBuffer.srv b/rosidl_generator_py/srv/GetBuffer.srv
new file mode 100644
index 00000000..51598241
--- /dev/null
+++ b/rosidl_generator_py/srv/GetBuffer.srv
@@ -0,0 +1,2 @@
+---
+uint8[] res