diff --git a/examples/node_simple.js b/examples/node_simple.js
index 5829fa46d..e4144eda2 100644
--- a/examples/node_simple.js
+++ b/examples/node_simple.js
@@ -28,7 +28,7 @@ var cmdVel = new ROSLIB.Topic({
   messageType: 'geometry_msgs/Twist'
 });
 
-var twist = new ROSLIB.Message({
+var twist = {
 linear: {
   x: 0.1,
   y: 0.2,
@@ -39,7 +39,7 @@ angular: {
   y: -0.2,
   z: -0.3
 }
-});
+};
 
 console.log('Publishing cmd_vel');
 cmdVel.publish(twist);
diff --git a/examples/react-example/src/component_examples/example_functions.jsx b/examples/react-example/src/component_examples/example_functions.jsx
index 0ab415678..4b9d4cade 100644
--- a/examples/react-example/src/component_examples/example_functions.jsx
+++ b/examples/react-example/src/component_examples/example_functions.jsx
@@ -46,11 +46,11 @@ function SendMessage() {
       messageType: 'geometry_msgs/Pose2D'
     })
 
-    const data = new ROSLIB.Message({
-            x: linear.x,
-            y: linear.y,
-            theta: angular.z
-    })
+    const data = {
+      x: linear.x,
+      y: linear.y,
+      theta: angular.z
+    }
 
     // publishes to the queue
     console.log('msg', data)
diff --git a/examples/ros2_simple.html b/examples/ros2_simple.html
index 4d61b99a9..927d46901 100644
--- a/examples/ros2_simple.html
+++ b/examples/ros2_simple.html
@@ -49,7 +49,7 @@
 
   // Then we create the payload to be published. The object we pass in to ros.Message matches the
   // fields defined in the geometry_msgs/Twist.msg definition.
-  var twist = new ROSLIB.Message({
+  var twist = {
     linear : {
       x : 0.1,
       y : 0.2,
@@ -60,7 +60,7 @@
       y : -0.2,
       z : -0.3
     }
-  });
+  };
 
   // And finally, publish.
   cmdVel.publish(twist);
@@ -96,10 +96,10 @@
 
   // Then we create a Service Request. The object we pass in to ROSLIB.ServiceRequest matches the
   // fields defined in the rospy_tutorials AddTwoInts.srv file.
-  var request = new ROSLIB.ServiceRequest({
+  var request = {
     a : 1,
     b : 2
-  });
+  };
 
   // Finally, we call the /add_two_ints service and get back the results in the callback. The result
   // is a ROSLIB.ServiceResponse object.
diff --git a/examples/simple.html b/examples/simple.html
index 00661209b..93b193dcf 100644
--- a/examples/simple.html
+++ b/examples/simple.html
@@ -49,7 +49,7 @@
 
   // Then we create the payload to be published. The object we pass in to ros.Message matches the
   // fields defined in the geometry_msgs/Twist.msg definition.
-  var twist = new ROSLIB.Message({
+  var twist = {
     linear : {
       x : 0.1,
       y : 0.2,
@@ -60,7 +60,7 @@
       y : -0.2,
       z : -0.3
     }
-  });
+  };
 
   // And finally, publish.
   cmdVel.publish(twist);
@@ -96,10 +96,10 @@
 
   // Then we create a Service Request. The object we pass in to ROSLIB.ServiceRequest matches the
   // fields defined in the rospy_tutorials AddTwoInts.srv file.
-  var request = new ROSLIB.ServiceRequest({
+  var request = {
     a : 1,
     b : 2
-  });
+  };
 
   // Finally, we call the /add_two_ints service and get back the results in the callback. The result
   // is a ROSLIB.ServiceResponse object.
diff --git a/src/actionlib/ActionClient.js b/src/actionlib/ActionClient.js
index 77ff25c64..7baeb6090 100644
--- a/src/actionlib/ActionClient.js
+++ b/src/actionlib/ActionClient.js
@@ -128,7 +128,7 @@ export default class ActionClient extends EventEmitter {
    * Cancel all goals associated with this ActionClient.
    */
   cancel() {
-    var cancelMessage = new Message();
+    var cancelMessage = {};
     this.cancelTopic.publish(cancelMessage);
   }
   /**
diff --git a/src/actionlib/Goal.js b/src/actionlib/Goal.js
index cad25f939..b7f0100a4 100644
--- a/src/actionlib/Goal.js
+++ b/src/actionlib/Goal.js
@@ -35,7 +35,7 @@ export default class Goal extends EventEmitter {
     // Create a random ID
     this.goalID = 'goal_' + Math.random() + '_' + date.getTime();
     // Fill in the goal message
-    this.goalMessage = new Message({
+    this.goalMessage = {
       goal_id: {
         stamp: {
           secs: 0,
@@ -44,7 +44,7 @@ export default class Goal extends EventEmitter {
         id: this.goalID
       },
       goal: this.goalMessage
-    });
+    };
 
     this.on('status', function (status) {
       that.status = status;
@@ -82,9 +82,9 @@ export default class Goal extends EventEmitter {
    * Cancel the current goal.
    */
   cancel() {
-    var cancelMessage = new Message({
+    var cancelMessage = {
       id: this.goalID
-    });
+    };
     this.actionClient.cancelTopic.publish(cancelMessage);
   }
 }
diff --git a/src/actionlib/SimpleActionServer.js b/src/actionlib/SimpleActionServer.js
index 768032bef..3816cf0d6 100644
--- a/src/actionlib/SimpleActionServer.js
+++ b/src/actionlib/SimpleActionServer.js
@@ -4,7 +4,6 @@
  */
 
 import Topic from '../core/Topic.js';
-import Message from '../core/Message.js';
 import Ros from '../core/Ros.js';
 import { EventEmitter } from 'eventemitter3';
 
@@ -65,13 +64,14 @@ export default class SimpleActionServer extends EventEmitter {
     });
 
     // Track the goals and their status in order to publish status...
-    this.statusMessage = new Message({
+    this.statusMessage = {
       header: {
         stamp: { secs: 0, nsecs: 100 },
         frame_id: ''
       },
+      /** @type {{goal_id: any, status: number}[]} */
       status_list: []
-    });
+    };
 
     // needed for handling preemption prompted by a new goal being received
     this.currentGoal = null; // currently tracked goal
@@ -83,10 +83,7 @@ export default class SimpleActionServer extends EventEmitter {
         // needs to happen AFTER rest is set up
         that.emit('cancel');
       } else {
-        // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
-        that.statusMessage.status_list = [
-          { goal_id: goalMessage.goal_id, status: 1 }
-        ];
+        that.statusMessage.status_list = [{ goal_id: goalMessage.goal_id, status: 1 }];
         that.currentGoal = goalMessage;
         that.emit('goal', goalMessage.goal);
       }
@@ -157,9 +154,7 @@ export default class SimpleActionServer extends EventEmitter {
       var nsecs = Math.round(
         1000000000 * (currentTime.getTime() / 1000 - secs)
       );
-      // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
       that.statusMessage.header.stamp.secs = secs;
-      // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
       that.statusMessage.header.stamp.nsecs = nsecs;
       statusPublisher.publish(that.statusMessage);
     }, 500); // publish every 500ms
@@ -170,13 +165,12 @@ export default class SimpleActionServer extends EventEmitter {
    * @param {Object} result - The result to return to the client.
    */
   setSucceeded(result) {
-    var resultMessage = new Message({
+    var resultMessage = {
       status: { goal_id: this.currentGoal.goal_id, status: 3 },
       result: result
-    });
+    };
     this.resultPublisher.publish(resultMessage);
 
-    // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
     this.statusMessage.status_list = [];
     if (this.nextGoal) {
       this.currentGoal = this.nextGoal;
@@ -192,13 +186,12 @@ export default class SimpleActionServer extends EventEmitter {
    * @param {Object} result - The result to return to the client.
    */
   setAborted(result) {
-    var resultMessage = new Message({
+    var resultMessage = {
       status: { goal_id: this.currentGoal.goal_id, status: 4 },
       result: result
-    });
+    };
     this.resultPublisher.publish(resultMessage);
 
-    // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
     this.statusMessage.status_list = [];
     if (this.nextGoal) {
       this.currentGoal = this.nextGoal;
@@ -214,21 +207,20 @@ export default class SimpleActionServer extends EventEmitter {
    * @param {Object} feedback - The feedback to send to the client.
    */
   sendFeedback(feedback) {
-    var feedbackMessage = new Message({
+    var feedbackMessage = {
       status: { goal_id: this.currentGoal.goal_id, status: 1 },
       feedback: feedback
-    });
+    };
     this.feedbackPublisher.publish(feedbackMessage);
   }
   /**
    * Handle case where client requests preemption.
    */
   setPreempted() {
-    // @ts-expect-error -- we need to design a way to handle arbitrary fields in Message types.
     this.statusMessage.status_list = [];
-    var resultMessage = new Message({
+    var resultMessage = {
       status: { goal_id: this.currentGoal.goal_id, status: 2 }
-    });
+    };
     this.resultPublisher.publish(resultMessage);
 
     if (this.nextGoal) {
diff --git a/src/core/Param.js b/src/core/Param.js
index ccc534358..cbaad60c7 100644
--- a/src/core/Param.js
+++ b/src/core/Param.js
@@ -4,7 +4,6 @@
  */
 
 import Service from './Service.js';
-import ServiceRequest from './ServiceRequest.js';
 import Ros from '../core/Ros.js';
 
 /**
@@ -41,9 +40,7 @@ export default class Param {
       serviceType: 'rosapi/GetParam'
     });
 
-    var request = new ServiceRequest({
-      name: this.name
-    });
+    var request = {name: this.name};
 
     paramClient.callService(
       request,
@@ -76,10 +73,10 @@ export default class Param {
       serviceType: 'rosapi/SetParam'
     });
 
-    var request = new ServiceRequest({
+    var request = {
       name: this.name,
       value: JSON.stringify(value)
-    });
+    };
 
     paramClient.callService(request, callback, failedCallback);
   }
@@ -96,9 +93,9 @@ export default class Param {
       serviceType: 'rosapi/DeleteParam'
     });
 
-    var request = new ServiceRequest({
+    var request = {
       name: this.name
-    });
+    };
 
     paramClient.callService(request, callback, failedCallback);
   }
diff --git a/src/core/Ros.js b/src/core/Ros.js
index 913ddb49e..b834a9b81 100644
--- a/src/core/Ros.js
+++ b/src/core/Ros.js
@@ -5,12 +5,9 @@
 
 import socketAdapter from './SocketAdapter.js';
 
-import Service from './Service.js';
-import ServiceRequest from './ServiceRequest.js';
-import ServiceResponse from './ServiceResponse.js';
-
 import assign from 'object-assign';
 import Topic from './Topic.js';
+import Service from './Service.js';
 import Param from './Param.js';
 import TFClient from '../tf/TFClient.js';
 import ActionClient from '../actionlib/ActionClient.js';
@@ -181,7 +178,7 @@ export default class Ros extends EventEmitter {
       serviceType: 'rosapi/GetActionServers'
     });
 
-    var request = new ServiceRequest({});
+    var request = {};
     if (typeof failedCallback === 'function') {
       getActionServers.callService(
         request,
@@ -221,7 +218,7 @@ export default class Ros extends EventEmitter {
       serviceType: 'rosapi/Topics'
     });
 
-    var request = new ServiceRequest();
+    var request = {};
     if (typeof failedCallback === 'function') {
       topicsClient.callService(
         request,
@@ -260,9 +257,9 @@ export default class Ros extends EventEmitter {
       serviceType: 'rosapi/TopicsForType'
     });
 
-    var request = new ServiceRequest({
+    var request = {
       type: topicType
-    });
+    };
     if (typeof failedCallback === 'function') {
       topicsForTypeClient.callService(
         request,
@@ -300,7 +297,7 @@ export default class Ros extends EventEmitter {
       serviceType: 'rosapi/Services'
     });
 
-    var request = new ServiceRequest();
+    var request = {};
     if (typeof failedCallback === 'function') {
       servicesClient.callService(
         request,
@@ -339,9 +336,9 @@ export default class Ros extends EventEmitter {
       serviceType: 'rosapi/ServicesForType'
     });
 
-    var request = new ServiceRequest({
+    var request = {
       type: serviceType
-    });
+    };
     if (typeof failedCallback === 'function') {
       servicesForTypeClient.callService(
         request,
@@ -380,9 +377,9 @@ export default class Ros extends EventEmitter {
       name: '/rosapi/service_request_details',
       serviceType: 'rosapi/ServiceRequestDetails'
     });
-    var request = new ServiceRequest({
+    var request = {
       type: type
-    });
+    };
 
     if (typeof failedCallback === 'function') {
       serviceTypeClient.callService(
@@ -402,7 +399,7 @@ export default class Ros extends EventEmitter {
   }
   /**
    * @callback getServiceResponseDetailsCallback
-   * @param {ServiceResponse<{typedefs: string[]}>} result - The result object with the following params:
+   * @param {{typedefs: string[]}} result - The result object with the following params:
    */
   /**
    * @callback getServiceResponseDetailsFailedCallback
@@ -422,9 +419,9 @@ export default class Ros extends EventEmitter {
       name: '/rosapi/service_response_details',
       serviceType: 'rosapi/ServiceResponseDetails'
     });
-    var request = new ServiceRequest({
+    var request = {
       type: type
-    });
+    };
 
     if (typeof failedCallback === 'function') {
       serviceTypeClient.callService(
@@ -463,7 +460,7 @@ export default class Ros extends EventEmitter {
       serviceType: 'rosapi/Nodes'
     });
 
-    var request = new ServiceRequest();
+    var request = {};
     if (typeof failedCallback === 'function') {
       nodesClient.callService(
         request,
@@ -523,9 +520,9 @@ export default class Ros extends EventEmitter {
       serviceType: 'rosapi/NodeDetails'
     });
 
-    var request = new ServiceRequest({
+    var request = {
       node: node
-    });
+    };
     if (typeof failedCallback === 'function') {
       nodesClient.callService(
         request,
@@ -563,7 +560,7 @@ export default class Ros extends EventEmitter {
       name: '/rosapi/get_param_names',
       serviceType: 'rosapi/GetParamNames'
     });
-    var request = new ServiceRequest();
+    var request = {};
     if (typeof failedCallback === 'function') {
       paramsClient.callService(
         request,
@@ -601,9 +598,9 @@ export default class Ros extends EventEmitter {
       name: '/rosapi/topic_type',
       serviceType: 'rosapi/TopicType'
     });
-    var request = new ServiceRequest({
+    var request = {
       topic: topic
-    });
+    };
 
     if (typeof failedCallback === 'function') {
       topicTypeClient.callService(
@@ -642,9 +639,9 @@ export default class Ros extends EventEmitter {
       name: '/rosapi/service_type',
       serviceType: 'rosapi/ServiceType'
     });
-    var request = new ServiceRequest({
+    var request = {
       service: service
-    });
+    };
 
     if (typeof failedCallback === 'function') {
       serviceTypeClient.callService(
@@ -683,9 +680,9 @@ export default class Ros extends EventEmitter {
       name: '/rosapi/message_details',
       serviceType: 'rosapi/MessageDetails'
     });
-    var request = new ServiceRequest({
+    var request = {
       type: message
-    });
+    };
 
     if (typeof failedCallback === 'function') {
       messageDetailClient.callService(
@@ -778,7 +775,7 @@ export default class Ros extends EventEmitter {
       serviceType: 'rosapi/TopicsAndRawTypes'
     });
 
-    var request = new ServiceRequest();
+    var request = {};
     if (typeof failedCallback === 'function') {
       topicsAndRawTypesClient.callService(
         request,
diff --git a/src/core/Service.js b/src/core/Service.js
index 131d91a2f..6ebc52179 100644
--- a/src/core/Service.js
+++ b/src/core/Service.js
@@ -3,8 +3,6 @@
  * @author Brandon Alexander - baalexander@gmail.com
  */
 
-import ServiceResponse from './ServiceResponse.js';
-import ServiceRequest from './ServiceRequest.js';
 import Ros from './Ros.js';
 import { EventEmitter } from 'eventemitter3';
 
@@ -40,7 +38,7 @@ export default class Service extends EventEmitter {
    * Call the service. Returns the service response in the
    * callback. Does nothing if this service is currently advertised.
    *
-   * @param {TRequest} request - The ROSLIB.ServiceRequest to send.
+   * @param {TRequest} request - The service request to send.
    * @param {callServiceCallback} [callback] - Function with the following params:
    * @param {callServiceFailedCallback} [failedCallback] - The callback function when the service call failed with params:
    */
@@ -59,8 +57,7 @@ export default class Service extends EventEmitter {
             failedCallback(message.values);
           }
         } else if (typeof callback === 'function') {
-          // @ts-expect-error -- can't figure out how to get ServiceResponse to play nice in typescript here
-          callback(new ServiceResponse(message.values));
+          callback(message.values);
         }
       });
     }
@@ -76,7 +73,7 @@ export default class Service extends EventEmitter {
   }
   /**
    * @callback advertiseCallback
-   * @param {ServiceRequest<TRequest>} request - The service request.
+   * @param {TRequest} request - The service request.
    * @param {Object} response - An empty dictionary. Take care not to overwrite this. Instead, only modify the values within.
    *     It should return true if the service has finished successfully,
    *     i.e., without any fatal errors.
@@ -120,7 +117,7 @@ export default class Service extends EventEmitter {
     var call = {
       op: 'service_response',
       service: this.name,
-      values: new ServiceResponse(response),
+      values: response,
       result: success
     };
 
diff --git a/src/core/ServiceRequest.js b/src/core/ServiceRequest.js
deleted file mode 100644
index 55840817d..000000000
--- a/src/core/ServiceRequest.js
+++ /dev/null
@@ -1,21 +0,0 @@
-/**
- * @fileOverview
- * @author Brandon Alexander - balexander@willowgarage.com
- */
-
-import assign from 'object-assign';
-
-/**
- * A ServiceRequest is passed into the service call.
- *
- * @constructor
- * @template T
-*/
-export default class ServiceRequest {
-  /**
-   * @param {T} [values={}] - Object matching the fields defined in the .srv definition file.
-   */
-  constructor(values) {
-    assign(this, values || {});
-  }
-}
diff --git a/src/core/ServiceResponse.js b/src/core/ServiceResponse.js
deleted file mode 100644
index 210731085..000000000
--- a/src/core/ServiceResponse.js
+++ /dev/null
@@ -1,21 +0,0 @@
-/**
- * @fileOverview
- * @author Brandon Alexander - balexander@willowgarage.com
- */
-
-import assign from 'object-assign';
-
-/**
- * A ServiceResponse is returned from the service call.
- *
- * @constructor
- * @template T
-*/
-export default class ServiceResponse {
-  /**
-   * @param {T} values - Object matching the fields defined in the .srv definition file.
-   */
-  constructor(values) {
-    assign(this, values);
-  }
-}
diff --git a/src/core/Topic.js b/src/core/Topic.js
index a06463d8e..990d7931b 100644
--- a/src/core/Topic.js
+++ b/src/core/Topic.js
@@ -4,7 +4,6 @@
  */
 
 import { EventEmitter } from 'eventemitter3';
-import Message from './Message.js';
 import Ros from './Ros.js';
 
 /**
@@ -90,7 +89,7 @@ export default class Topic extends EventEmitter {
     }
 
     this._messageCallback = function (data) {
-      that.emit('message', new Message(data));
+      that.emit('message', data);
     };
   }
   /**
@@ -205,7 +204,7 @@ export default class Topic extends EventEmitter {
   /**
    * Publish the message.
    *
-   * @param {T} message - A ROSLIB.Message object.
+   * @param {T} message - The message to publish.
    */
   publish(message) {
     if (!this.isAdvertised) {
diff --git a/src/core/index.js b/src/core/index.js
index 4b6f362e5..5745e0ebc 100644
--- a/src/core/index.js
+++ b/src/core/index.js
@@ -1,8 +1,5 @@
 export {default as Ros} from './Ros.js';
 export {default as Topic} from './Topic.js';
-export {default as Message} from './Message.js';
 export {default as Param} from './Param.js';
 export {default as Service} from './Service.js';
-export {default as ServiceRequest} from './ServiceRequest.js';
-export {default as ServiceResponse} from './ServiceResponse.js';
 export {default as Action} from './Action.js';
diff --git a/src/tf/TFClient.js b/src/tf/TFClient.js
index 47cd7f798..b4d9e61e9 100644
--- a/src/tf/TFClient.js
+++ b/src/tf/TFClient.js
@@ -7,7 +7,6 @@ import ActionClient from '../actionlib/ActionClient.js';
 import Goal from '../actionlib/Goal.js';
 
 import Service from '../core/Service.js';
-import ServiceRequest from '../core/ServiceRequest.js';
 import Topic from '../core/Topic.js';
 
 import Transform from '../math/Transform.js';
@@ -131,9 +130,7 @@ export default class TFClient extends EventEmitter {
       // The service interface has the same parameters as the action,
       // plus the timeout
       goalMessage.timeout = this.topicTimeout;
-      var request = new ServiceRequest(goalMessage);
-
-      this.serviceClient.callService(request, this.processResponse.bind(this));
+      this.serviceClient.callService(goalMessage, this.processResponse.bind(this));
     }
 
     this.republisherUpdateRequested = false;
diff --git a/test/examples/topic-listener.example.js b/test/examples/topic-listener.example.js
index aa8be9c4a..8470c8f56 100644
--- a/test/examples/topic-listener.example.js
+++ b/test/examples/topic-listener.example.js
@@ -41,7 +41,6 @@ describe('Topics Example', function() {
         var expected = messages.slice();
 
         topic.subscribe(function(message) {
-            expect(message).to.be.instanceof(ROSLIB.Message);
             expect(message).to.be.eql(expected.shift());
         });