diff --git a/modules/examples/CMakeLists.txt b/modules/examples/CMakeLists.txt
index ea9871e4..60c6ea6b 100644
--- a/modules/examples/CMakeLists.txt
+++ b/modules/examples/CMakeLists.txt
@@ -29,19 +29,19 @@ define_module_library(
 )
 
 # library sources
-set(TYPES_PROTOBUF_SOURCES
-    src/types_protobuf/geometry.cpp src/types_protobuf/pose.cpp src/types_protobuf/sample.cpp
-    include/hephaestus/examples/types_protobuf/geometry.h include/hephaestus/examples/types_protobuf/pose.h
-    include/hephaestus/examples/types_protobuf/sample.h
+set(types_proto_SOURCES
+    src/types_proto/geometry.cpp src/types_proto/pose.cpp src/types_proto/sample.cpp
+    include/hephaestus/examples/types_proto/geometry.h include/hephaestus/examples/types_proto/pose.h
+    include/hephaestus/examples/types_proto/sample.h
 )
 
 # library target
 define_module_library(
-  NAME examples_types_protobuf
+  NAME examples_types_proto
   PUBLIC_LINK_LIBS hephaestus::utils hephaestus::serdes hephaestus::random hephaestus::examples_types
-                   hephaestus::examples_types_proto Eigen3::Eigen
+                   hephaestus::examples_types_gen_proto Eigen3::Eigen
   PRIVATE_LINK_LIBS ""
-  SOURCES ${TYPES_PROTOBUF_SOURCES}
+  SOURCES ${types_proto_SOURCES}
   PUBLIC_INCLUDE_PATHS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>
   PRIVATE_INCLUDE_PATHS ""
   SYSTEM_PRIVATE_INCLUDE_PATHS ""
diff --git a/modules/examples/examples/mcap_writer.cpp b/modules/examples/examples/mcap_writer.cpp
index ebda159f..218bfd54 100644
--- a/modules/examples/examples/mcap_writer.cpp
+++ b/modules/examples/examples/mcap_writer.cpp
@@ -13,7 +13,7 @@
 
 #include "hephaestus/bag/writer.h"
 #include "hephaestus/examples/types/pose.h"
-#include "hephaestus/examples/types_protobuf/pose.h"  // NOLINT(misc-include-cleaner)
+#include "hephaestus/examples/types_proto/pose.h"  // NOLINT(misc-include-cleaner)
 #include "hephaestus/ipc/zenoh/raw_subscriber.h"
 #include "hephaestus/serdes/serdes.h"
 
diff --git a/modules/examples/examples/serdes_examples.cpp b/modules/examples/examples/serdes_examples.cpp
index 44c8bf24..2894d73f 100644
--- a/modules/examples/examples/serdes_examples.cpp
+++ b/modules/examples/examples/serdes_examples.cpp
@@ -7,7 +7,7 @@
 #include <fmt/core.h>
 
 #include "hephaestus/examples/types/pose.h"
-#include "hephaestus/examples/types_protobuf/pose.h"  // NOLINT(misc-include-cleaner)
+#include "hephaestus/examples/types_proto/pose.h"  // NOLINT(misc-include-cleaner)
 #include "hephaestus/serdes/json.h"
 #include "hephaestus/serdes/serdes.h"
 
diff --git a/modules/examples/examples/zenoh_action_server.cpp b/modules/examples/examples/zenoh_action_server.cpp
index 2d33f54e..80fe252f 100644
--- a/modules/examples/examples/zenoh_action_server.cpp
+++ b/modules/examples/examples/zenoh_action_server.cpp
@@ -18,7 +18,7 @@
 
 #include "hephaestus/cli/program_options.h"
 #include "hephaestus/examples/types/sample.h"
-#include "hephaestus/examples/types_protobuf/sample.h"  // NOLINT(misc-include-cleaner)
+#include "hephaestus/examples/types_proto/sample.h"  // NOLINT(misc-include-cleaner)
 #include "hephaestus/ipc/zenoh/action_server/action_server.h"
 #include "hephaestus/ipc/zenoh/program_options.h"
 #include "hephaestus/ipc/zenoh/publisher.h"
diff --git a/modules/examples/examples/zenoh_action_server_client.cpp b/modules/examples/examples/zenoh_action_server_client.cpp
index d0bff794..6b136081 100644
--- a/modules/examples/examples/zenoh_action_server_client.cpp
+++ b/modules/examples/examples/zenoh_action_server_client.cpp
@@ -16,7 +16,7 @@
 
 #include "hephaestus/cli/program_options.h"
 #include "hephaestus/examples/types/sample.h"
-#include "hephaestus/examples/types_protobuf/sample.h"  // NOLINT(misc-include-cleaner)
+#include "hephaestus/examples/types_proto/sample.h"  // NOLINT(misc-include-cleaner)
 #include "hephaestus/ipc/zenoh/action_server/action_server.h"
 #include "hephaestus/ipc/zenoh/program_options.h"
 #include "hephaestus/ipc/zenoh/session.h"
diff --git a/modules/examples/examples/zenoh_pub.cpp b/modules/examples/examples/zenoh_pub.cpp
index b01c4746..eb48a9de 100644
--- a/modules/examples/examples/zenoh_pub.cpp
+++ b/modules/examples/examples/zenoh_pub.cpp
@@ -14,7 +14,7 @@
 
 #include "hephaestus/cli/program_options.h"
 #include "hephaestus/examples/types/pose.h"
-#include "hephaestus/examples/types_protobuf/pose.h"  // NOLINT(misc-include-cleaner)
+#include "hephaestus/examples/types_proto/pose.h"  // NOLINT(misc-include-cleaner)
 #include "hephaestus/ipc/zenoh/program_options.h"
 #include "hephaestus/ipc/zenoh/publisher.h"
 #include "hephaestus/ipc/zenoh/session.h"
diff --git a/modules/examples/examples/zenoh_service_client.cpp b/modules/examples/examples/zenoh_service_client.cpp
index b5d9cddf..73305b1b 100644
--- a/modules/examples/examples/zenoh_service_client.cpp
+++ b/modules/examples/examples/zenoh_service_client.cpp
@@ -17,7 +17,7 @@
 
 #include "hephaestus/cli/program_options.h"
 #include "hephaestus/examples/types/pose.h"
-#include "hephaestus/examples/types_protobuf/pose.h"  // NOLINT(misc-include-cleaner)
+#include "hephaestus/examples/types_proto/pose.h"  // NOLINT(misc-include-cleaner)
 #include "hephaestus/ipc/zenoh/program_options.h"
 #include "hephaestus/ipc/zenoh/service.h"
 #include "hephaestus/ipc/zenoh/session.h"
diff --git a/modules/examples/examples/zenoh_service_server.cpp b/modules/examples/examples/zenoh_service_server.cpp
index a8d2da51..9f083d06 100644
--- a/modules/examples/examples/zenoh_service_server.cpp
+++ b/modules/examples/examples/zenoh_service_server.cpp
@@ -13,7 +13,7 @@
 
 #include "hephaestus/cli/program_options.h"
 #include "hephaestus/examples/types/pose.h"
-#include "hephaestus/examples/types_protobuf/pose.h"  // NOLINT(misc-include-cleaner)
+#include "hephaestus/examples/types_proto/pose.h"  // NOLINT(misc-include-cleaner)
 #include "hephaestus/ipc/zenoh/program_options.h"
 #include "hephaestus/ipc/zenoh/service.h"
 #include "hephaestus/ipc/zenoh/session.h"
diff --git a/modules/examples/examples/zenoh_string_service_client.cpp b/modules/examples/examples/zenoh_string_service_client.cpp
index 65071165..8ba74d95 100644
--- a/modules/examples/examples/zenoh_string_service_client.cpp
+++ b/modules/examples/examples/zenoh_string_service_client.cpp
@@ -16,7 +16,7 @@
 #include <fmt/core.h>
 
 #include "hephaestus/cli/program_options.h"
-#include "hephaestus/examples/types_protobuf/pose.h"  // NOLINT(misc-include-cleaner)
+#include "hephaestus/examples/types_proto/pose.h"  // NOLINT(misc-include-cleaner)
 #include "hephaestus/ipc/zenoh/program_options.h"
 #include "hephaestus/ipc/zenoh/service.h"
 #include "hephaestus/ipc/zenoh/session.h"
diff --git a/modules/examples/examples/zenoh_sub.cpp b/modules/examples/examples/zenoh_sub.cpp
index 3c9408cd..c6727e10 100644
--- a/modules/examples/examples/zenoh_sub.cpp
+++ b/modules/examples/examples/zenoh_sub.cpp
@@ -16,7 +16,7 @@
 
 #include "hephaestus/cli/program_options.h"
 #include "hephaestus/examples/types/pose.h"
-#include "hephaestus/examples/types_protobuf/pose.h"  // NOLINT(misc-include-cleaner)
+#include "hephaestus/examples/types_proto/pose.h"  // NOLINT(misc-include-cleaner)
 #include "hephaestus/ipc/zenoh/program_options.h"
 #include "hephaestus/ipc/zenoh/raw_subscriber.h"
 #include "hephaestus/ipc/zenoh/session.h"
diff --git a/modules/examples/include/hephaestus/examples/types_protobuf/geometry.h b/modules/examples/include/hephaestus/examples/types_proto/geometry.h
similarity index 100%
rename from modules/examples/include/hephaestus/examples/types_protobuf/geometry.h
rename to modules/examples/include/hephaestus/examples/types_proto/geometry.h
diff --git a/modules/examples/include/hephaestus/examples/types_protobuf/pose.h b/modules/examples/include/hephaestus/examples/types_proto/pose.h
similarity index 100%
rename from modules/examples/include/hephaestus/examples/types_protobuf/pose.h
rename to modules/examples/include/hephaestus/examples/types_proto/pose.h
diff --git a/modules/examples/include/hephaestus/examples/types_protobuf/sample.h b/modules/examples/include/hephaestus/examples/types_proto/sample.h
similarity index 100%
rename from modules/examples/include/hephaestus/examples/types_protobuf/sample.h
rename to modules/examples/include/hephaestus/examples/types_proto/sample.h
diff --git a/modules/examples/proto/CMakeLists.txt b/modules/examples/proto/CMakeLists.txt
index 0e3997aa..f20bb38e 100644
--- a/modules/examples/proto/CMakeLists.txt
+++ b/modules/examples/proto/CMakeLists.txt
@@ -8,4 +8,4 @@ set(SOURCES
     hephaestus/examples/types/proto/pose.proto
 )
 
-define_module_proto_library(NAME examples_types_proto SOURCES ${SOURCES})
+define_module_proto_library(NAME examples_types_gen_proto  SOURCES ${SOURCES})
diff --git a/modules/examples/src/types_protobuf/geometry.cpp b/modules/examples/src/types_proto/geometry.cpp
similarity index 73%
rename from modules/examples/src/types_protobuf/geometry.cpp
rename to modules/examples/src/types_proto/geometry.cpp
index 9c500717..58f9a265 100644
--- a/modules/examples/src/types_protobuf/geometry.cpp
+++ b/modules/examples/src/types_proto/geometry.cpp
@@ -2,4 +2,4 @@
 // Copyright (C) 2023-2024 HEPHAESTUS Contributors
 //=================================================================================================
 
-#include "hephaestus/examples/types_protobuf/geometry.h"  // NOLINT(misc-include-cleaner)
+#include "hephaestus/examples/types_proto/geometry.h"  // NOLINT(misc-include-cleaner)
diff --git a/modules/examples/src/types_protobuf/pose.cpp b/modules/examples/src/types_proto/pose.cpp
similarity index 90%
rename from modules/examples/src/types_protobuf/pose.cpp
rename to modules/examples/src/types_proto/pose.cpp
index c6d2b62f..1729e193 100644
--- a/modules/examples/src/types_protobuf/pose.cpp
+++ b/modules/examples/src/types_proto/pose.cpp
@@ -2,11 +2,11 @@
 // Copyright (C) 2023-2024 HEPHAESTUS Contributors
 //=================================================================================================
 
-#include "hephaestus/examples/types_protobuf/pose.h"
+#include "hephaestus/examples/types_proto/pose.h"
 
 #include "hephaestus/examples/types/pose.h"
 #include "hephaestus/examples/types/proto/pose.pb.h"
-#include "hephaestus/examples/types_protobuf/geometry.h"
+#include "hephaestus/examples/types_proto/geometry.h"
 
 namespace heph::examples::types {
 void toProto(proto::Pose& proto_pose, const Pose& pose) {
diff --git a/modules/examples/src/types_protobuf/sample.cpp b/modules/examples/src/types_proto/sample.cpp
similarity index 95%
rename from modules/examples/src/types_protobuf/sample.cpp
rename to modules/examples/src/types_proto/sample.cpp
index a7a8cd77..d810e5e7 100644
--- a/modules/examples/src/types_protobuf/sample.cpp
+++ b/modules/examples/src/types_proto/sample.cpp
@@ -5,7 +5,7 @@
 #include "hephaestus/examples/types/sample.h"
 
 #include "hephaestus/examples/types/proto/sample.pb.h"
-#include "hephaestus/examples/types_protobuf/sample.h"
+#include "hephaestus/examples/types_proto/sample.h"
 
 namespace heph::examples::types {
 
diff --git a/modules/examples/tests/CMakeLists.txt b/modules/examples/tests/CMakeLists.txt
index a9e16762..74eebc01 100644
--- a/modules/examples/tests/CMakeLists.txt
+++ b/modules/examples/tests/CMakeLists.txt
@@ -3,8 +3,8 @@
 #=================================================================================================
 
 define_module_test(
-        NAME types_protobuf_tests
-        SOURCES types_protobuf_tests.cpp helpers.h
+        NAME types_proto_tests
+        SOURCES types_proto_tests.cpp helpers.h
         PUBLIC_INCLUDE_PATHS
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include>
         PUBLIC_LINK_LIBS "")
diff --git a/modules/examples/tests/types_protobuf_tests.cpp b/modules/examples/tests/types_proto_tests.cpp
similarity index 97%
rename from modules/examples/tests/types_protobuf_tests.cpp
rename to modules/examples/tests/types_proto_tests.cpp
index d6e003d9..603c27c4 100644
--- a/modules/examples/tests/types_protobuf_tests.cpp
+++ b/modules/examples/tests/types_proto_tests.cpp
@@ -10,8 +10,8 @@
 #include "hephaestus/examples/types/pose.h"
 #include "hephaestus/examples/types/proto/geometry.pb.h"
 #include "hephaestus/examples/types/proto/pose.pb.h"
-#include "hephaestus/examples/types_protobuf/geometry.h"
-#include "hephaestus/examples/types_protobuf/pose.h"
+#include "hephaestus/examples/types_proto/geometry.h"
+#include "hephaestus/examples/types_proto/pose.h"
 
 // NOLINTNEXTLINE(google-build-using-namespace)
 using namespace ::testing;
diff --git a/modules/examples/tests/zenoh_tests.cpp b/modules/examples/tests/zenoh_tests.cpp
index 8ac6ef07..4c655a5e 100644
--- a/modules/examples/tests/zenoh_tests.cpp
+++ b/modules/examples/tests/zenoh_tests.cpp
@@ -10,8 +10,8 @@
 
 #include "helpers.h"
 #include "hephaestus/examples/types/pose.h"
-#include "hephaestus/examples/types_protobuf/geometry.h"  // NOLINT(misc-include-cleaner)
-#include "hephaestus/examples/types_protobuf/pose.h"      // NOLINT(misc-include-cleaner)
+#include "hephaestus/examples/types_proto/geometry.h"  // NOLINT(misc-include-cleaner)
+#include "hephaestus/examples/types_proto/pose.h"      // NOLINT(misc-include-cleaner)
 #include "hephaestus/ipc/topic.h"
 #include "hephaestus/ipc/zenoh/publisher.h"
 #include "hephaestus/ipc/zenoh/raw_subscriber.h"
diff --git a/modules/ipc/CMakeLists.txt b/modules/ipc/CMakeLists.txt
index 00f4f8e5..109ce812 100644
--- a/modules/ipc/CMakeLists.txt
+++ b/modules/ipc/CMakeLists.txt
@@ -36,7 +36,7 @@ set(SOURCES
     src/zenoh/action_server/action_server.cpp
     src/zenoh/action_server/client_helper.cpp
     src/zenoh/action_server/types.cpp
-    src/zenoh/action_server/types_protobuf.cpp
+    src/zenoh/action_server/types_proto.cpp
     README.md
     include/hephaestus/ipc/topic.h
     include/hephaestus/ipc/topic_database.h
@@ -53,7 +53,7 @@ set(SOURCES
     include/hephaestus/ipc/zenoh/action_server/action_server.h
     include/hephaestus/ipc/zenoh/action_server/client_helper.h
     include/hephaestus/ipc/zenoh/action_server/types.h
-    include/hephaestus/ipc/zenoh/action_server/types_protobuf.h
+    include/hephaestus/ipc/zenoh/action_server/types_proto.h
 )
 
 # library target
diff --git a/modules/ipc/include/hephaestus/ipc/zenoh/action_server/action_server.h b/modules/ipc/include/hephaestus/ipc/zenoh/action_server/action_server.h
index b78f77b7..a9a75b33 100644
--- a/modules/ipc/include/hephaestus/ipc/zenoh/action_server/action_server.h
+++ b/modules/ipc/include/hephaestus/ipc/zenoh/action_server/action_server.h
@@ -15,7 +15,7 @@
 #include "hephaestus/ipc/topic.h"
 #include "hephaestus/ipc/zenoh/action_server/client_helper.h"
 #include "hephaestus/ipc/zenoh/action_server/types.h"
-#include "hephaestus/ipc/zenoh/action_server/types_protobuf.h"  // NOLINT(misc-include-cleaner)
+#include "hephaestus/ipc/zenoh/action_server/types_proto.h"  // NOLINT(misc-include-cleaner)
 #include "hephaestus/ipc/zenoh/publisher.h"
 #include "hephaestus/ipc/zenoh/service.h"
 #include "hephaestus/ipc/zenoh/session.h"
diff --git a/modules/ipc/include/hephaestus/ipc/zenoh/action_server/client_helper.h b/modules/ipc/include/hephaestus/ipc/zenoh/action_server/client_helper.h
index b4b57936..f7367b5c 100644
--- a/modules/ipc/include/hephaestus/ipc/zenoh/action_server/client_helper.h
+++ b/modules/ipc/include/hephaestus/ipc/zenoh/action_server/client_helper.h
@@ -10,7 +10,7 @@
 
 #include "hephaestus/ipc/topic.h"
 #include "hephaestus/ipc/zenoh/action_server/types.h"
-#include "hephaestus/ipc/zenoh/action_server/types_protobuf.h"  // NOLINT(misc-include-cleaner)
+#include "hephaestus/ipc/zenoh/action_server/types_proto.h"  // NOLINT(misc-include-cleaner)
 #include "hephaestus/ipc/zenoh/service.h"
 #include "hephaestus/ipc/zenoh/session.h"
 #include "hephaestus/ipc/zenoh/subscriber.h"
diff --git a/modules/ipc/include/hephaestus/ipc/zenoh/action_server/types_protobuf.h b/modules/ipc/include/hephaestus/ipc/zenoh/action_server/types_proto.h
similarity index 100%
rename from modules/ipc/include/hephaestus/ipc/zenoh/action_server/types_protobuf.h
rename to modules/ipc/include/hephaestus/ipc/zenoh/action_server/types_proto.h
diff --git a/modules/ipc/src/zenoh/action_server/types_protobuf.cpp b/modules/ipc/src/zenoh/action_server/types_proto.cpp
similarity index 100%
rename from modules/ipc/src/zenoh/action_server/types_protobuf.cpp
rename to modules/ipc/src/zenoh/action_server/types_proto.cpp
diff --git a/modules/types_proto/README.md b/modules/types_proto/README.md
index bfd49063..6414026d 100644
--- a/modules/types_proto/README.md
+++ b/modules/types_proto/README.md
@@ -1,8 +1,8 @@
-# README: types_protobuf
+# README: types_proto
 
 ## Brief
 
-Module **types_protobuf** provides mapping of **types** data structures to proto IDL.
+Module **types_proto** provides mapping of **types** data structures to proto IDL.
 
 ## Detailed description
 
@@ -18,7 +18,7 @@ define_module_proto_library(NAME types_proto SOURCES ${SOURCES} PUBLIC_LINK_LIBS
 * provide generic helper functions for serialization (e.g for `std::chrono::time_point`)
 
 ### Non-goals
-* similar to module **types**, **types_protobuf** is meant to be generic, and project specific (non-generalizable) methods shall not be added
+* similar to module **types**, **types_proto** is meant to be generic, and project specific (non-generalizable) methods shall not be added
 
 ### Requirements
-* Types are independent of their serialization method, but the module **types_protobuf** depends on module **types**.
+* Types are independent of their serialization method, but the module **types_proto** depends on module **types**.