diff --git a/rosidl_generator_c/include/rosidl_generator_c/primitives_array_functions.h b/rosidl_generator_c/include/rosidl_generator_c/primitives_array_functions.h
index ef580c75d..445eb5f59 100644
--- a/rosidl_generator_c/include/rosidl_generator_c/primitives_array_functions.h
+++ b/rosidl_generator_c/include/rosidl_generator_c/primitives_array_functions.h
@@ -38,7 +38,7 @@ extern "C"
 // array functions for all primitive types
 ROSIDL_GENERATOR_C__DECLARE_PRIMITIVE_ARRAY_FUNCTIONS(bool, bool)
 ROSIDL_GENERATOR_C__DECLARE_PRIMITIVE_ARRAY_FUNCTIONS(byte, uint8_t)
-ROSIDL_GENERATOR_C__DECLARE_PRIMITIVE_ARRAY_FUNCTIONS(char, char)
+ROSIDL_GENERATOR_C__DECLARE_PRIMITIVE_ARRAY_FUNCTIONS(char, int8_t)
 ROSIDL_GENERATOR_C__DECLARE_PRIMITIVE_ARRAY_FUNCTIONS(float32, float)
 ROSIDL_GENERATOR_C__DECLARE_PRIMITIVE_ARRAY_FUNCTIONS(float64, double)
 ROSIDL_GENERATOR_C__DECLARE_PRIMITIVE_ARRAY_FUNCTIONS(int8, int8_t)
diff --git a/rosidl_generator_c/msg/PrimitiveValues.msg b/rosidl_generator_c/msg/PrimitiveValues.msg
index 4ca556696..b803e7bef 100644
--- a/rosidl_generator_c/msg/PrimitiveValues.msg
+++ b/rosidl_generator_c/msg/PrimitiveValues.msg
@@ -1,7 +1,7 @@
 bool def_bool_1 true
 bool def_bool_2 false
-byte def_byte -66
-char def_char 66
+byte def_byte 66
+char def_char -66
 float32 def_float32 1.125
 float64 def_float64 1.125
 int8 def_int8 3
diff --git a/rosidl_generator_c/test/test_interfaces.c b/rosidl_generator_c/test/test_interfaces.c
index 36bd91301..07872c8fb 100644
--- a/rosidl_generator_c/test/test_interfaces.c
+++ b/rosidl_generator_c/test/test_interfaces.c
@@ -160,11 +160,11 @@ int test_primitives(void)
   bool_msg.empty_bool = false;
   EXPECT_EQ(false, bool_msg.empty_bool);
 
-  byte_msg.empty_byte = -128;
-  EXPECT_EQ(-128, byte_msg.empty_byte);
+  byte_msg.empty_byte = 0;
+  EXPECT_EQ(0, byte_msg.empty_byte);
 
-  byte_msg.empty_byte = 127;
-  EXPECT_EQ(127, byte_msg.empty_byte);
+  byte_msg.empty_byte = 255;
+  EXPECT_EQ(255, byte_msg.empty_byte);
 
   EXPECT_EQ(123, rosidl_generator_c__msg__Constants__X);
   EXPECT_EQ(-123, rosidl_generator_c__msg__Constants__Y);
@@ -254,8 +254,8 @@ int test_primitives_default_value(void)
 
   EXPECT_EQ(true, primitive_values->def_bool_1);
   EXPECT_EQ(false, primitive_values->def_bool_2);
-  EXPECT_EQ(-66, primitive_values->def_byte);
-  EXPECT_EQ(66, primitive_values->def_char);
+  EXPECT_EQ(66, primitive_values->def_byte);
+  EXPECT_EQ(-66, primitive_values->def_char);
   EXPECT_EQ(1.125f, primitive_values->def_float32);
   EXPECT_EQ(1.125, primitive_values->def_float64);
   EXPECT_EQ(3, primitive_values->def_int8);
@@ -332,8 +332,21 @@ int test_primitives_unbounded_arrays(void)
     }
   }
 
+  // byte_array
+  res = rosidl_generator_c__byte__Array__init(&arrays->byte_array, ARRAY_SIZE);
+  EXPECT_EQ(true, res);
+  uint8_t test_array_byte[7] = {0, 57, 110, 177, 201, 240, 255};
+  for (i = 0; i < ARRAY_SIZE; i++) {
+    arrays->byte_array.data[i] = test_array_byte[i];
+  }
+  // test values
+  for (i = 0; i < ARRAY_SIZE; i++) {
+    EXPECT_EQ(test_array_byte[i], arrays->byte_array.data[i]);
+  }
+
+
   // char array
-  res = rosidl_generator_c__uint8__Array__init(&arrays->char_array, ARRAY_SIZE);
+  res = rosidl_generator_c__char__Array__init(&arrays->char_array, ARRAY_SIZE);
   EXPECT_EQ(true, res);
   char test_array_char[7] = {'a', '5', '#', 'Z', '@', '-', ' '};
   for (i = 0; i < ARRAY_SIZE; i++) {
@@ -513,8 +526,21 @@ int test_primitives_bounded_arrays(void)
     }
   }
 
+  // byte_array
+  res = rosidl_generator_c__byte__Array__init(&arrays->byte_array, ARRAY_SIZE);
+  EXPECT_EQ(true, res);
+  uint8_t test_array_byte[8] = {0, 57, 110, 177, 201, 240, 255, 111};
+  for (i = 0; i < ARRAY_SIZE; i++) {
+    arrays->byte_array.data[i] = test_array_byte[i];
+  }
+  // test values
+  for (i = 0; i < ARRAY_SIZE; i++) {
+    EXPECT_EQ(test_array_byte[i], arrays->byte_array.data[i]);
+  }
+
+
   // char array
-  res = rosidl_generator_c__uint8__Array__init(&arrays->char_array, ARRAY_SIZE);
+  res = rosidl_generator_c__char__Array__init(&arrays->char_array, ARRAY_SIZE);
   EXPECT_EQ(true, res);
   char test_array_char[7] = {'a', '5', '#', 'Z', '@', '-', ' '};
   for (i = 0; i < ARRAY_SIZE; i++) {
@@ -694,7 +720,7 @@ int test_primitives_static_arrays(void)
   }
 
   // byte_array
-  int8_t test_array_byte[ARRAY_SIZE] = {-127, -55, -30, 0, 58, 100, 127};
+  uint8_t test_array_byte[ARRAY_SIZE] = {0, 57, 110, 177, 201, 240, 255};
   for (i = 0; i < ARRAY_SIZE; i++) {
     arrays->byte_array[i] = test_array_byte[i];
   }
diff --git a/rosidl_generator_cpp/test/test_interfaces.cpp b/rosidl_generator_cpp/test/test_interfaces.cpp
index 824cf9833..0a3399f98 100644
--- a/rosidl_generator_cpp/test/test_interfaces.cpp
+++ b/rosidl_generator_cpp/test/test_interfaces.cpp
@@ -160,8 +160,8 @@ void test_message_primitives_static(rosidl_generator_cpp::msg::PrimitivesStatic
 #ifdef __linux__
 #pragma GCC diagnostic pop
 #endif
-  TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, byte_value, INT8_MIN, INT8_MAX)
-  TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, char_value, 0, UINT8_MAX)
+  TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, byte_value, 0, UINT8_MAX)
+  TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, char_value, INT8_MIN, INT8_MAX)
   TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, float32_value, FLT_MIN, FLT_MAX)
   TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, float64_value, DBL_MIN, DBL_MAX)
   TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, int8_value, INT8_MIN, INT8_MAX)
@@ -198,10 +198,10 @@ void test_message_primitives_bounded(rosidl_generator_cpp::msg::PrimitivesBounde
 {
   TEST_BOUNDED_ARRAY_PRIMITIVE(message, bool_value, bool, PRIMITIVES_ARRAY_SIZE, \
     false, true)
-  TEST_BOUNDED_ARRAY_PRIMITIVE(message, char_value, uint8_t, PRIMITIVES_ARRAY_SIZE, \
-    0, UINT8_MAX)
-  TEST_BOUNDED_ARRAY_PRIMITIVE(message, byte_value, int8_t, PRIMITIVES_ARRAY_SIZE, \
+  TEST_BOUNDED_ARRAY_PRIMITIVE(message, char_value, int8_t, PRIMITIVES_ARRAY_SIZE, \
     INT8_MIN, INT8_MAX)
+  TEST_BOUNDED_ARRAY_PRIMITIVE(message, byte_value, uint8_t, PRIMITIVES_ARRAY_SIZE, \
+    0, UINT8_MAX)
   TEST_BOUNDED_ARRAY_PRIMITIVE(message, float32_value, float, PRIMITIVES_ARRAY_SIZE, \
     FLT_MIN, FLT_MAX)
   TEST_BOUNDED_ARRAY_PRIMITIVE(message, float64_value, double, PRIMITIVES_ARRAY_SIZE, \
@@ -250,10 +250,10 @@ void test_message_primitives_unbounded(rosidl_generator_cpp::msg::PrimitivesUnbo
 {
   TEST_UNBOUNDED_ARRAY_PRIMITIVE(message, bool_value, bool, PRIMITIVES_ARRAY_SIZE, \
     false, true)
-  TEST_UNBOUNDED_ARRAY_PRIMITIVE(message, char_value, uint8_t, PRIMITIVES_ARRAY_SIZE, \
-    0, UINT8_MAX)
-  TEST_UNBOUNDED_ARRAY_PRIMITIVE(message, byte_value, int8_t, PRIMITIVES_ARRAY_SIZE, \
+  TEST_UNBOUNDED_ARRAY_PRIMITIVE(message, char_value, int8_t, PRIMITIVES_ARRAY_SIZE, \
     INT8_MIN, INT8_MAX)
+  TEST_UNBOUNDED_ARRAY_PRIMITIVE(message, byte_value, uint8_t, PRIMITIVES_ARRAY_SIZE, \
+    0, UINT8_MAX)
   TEST_UNBOUNDED_ARRAY_PRIMITIVE(message, float32_value, float, PRIMITIVES_ARRAY_SIZE, \
     FLT_MIN, FLT_MAX)
   TEST_UNBOUNDED_ARRAY_PRIMITIVE(message, float64_value, double, PRIMITIVES_ARRAY_SIZE, \
@@ -290,10 +290,10 @@ void test_message_primitives_static_arrays(rosidl_generator_cpp::msg::PrimitiveS
 {
   TEST_STATIC_ARRAY_PRIMITIVE(message, bool_value, bool, PRIMITIVES_ARRAY_SIZE, \
     false, true)
-  TEST_STATIC_ARRAY_PRIMITIVE(message, char_value, uint8_t, PRIMITIVES_ARRAY_SIZE, \
-    0, UINT8_MAX)
-  TEST_STATIC_ARRAY_PRIMITIVE(message, byte_value, int8_t, PRIMITIVES_ARRAY_SIZE, \
+  TEST_STATIC_ARRAY_PRIMITIVE(message, char_value, int8_t, PRIMITIVES_ARRAY_SIZE, \
     INT8_MIN, INT8_MAX)
+  TEST_STATIC_ARRAY_PRIMITIVE(message, byte_value, uint8_t, PRIMITIVES_ARRAY_SIZE, \
+    0, UINT8_MAX)
   TEST_STATIC_ARRAY_PRIMITIVE(message, float32_value, float, PRIMITIVES_ARRAY_SIZE, \
     FLT_MIN, FLT_MAX)
   TEST_STATIC_ARRAY_PRIMITIVE(message, float64_value, double, PRIMITIVES_ARRAY_SIZE, \
@@ -450,8 +450,8 @@ TEST(Test_messages, primitives_default) {
 #ifdef __linux__
 #pragma GCC diagnostic pop
 #endif
-  TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, byte_value, 50, INT8_MIN);
-  TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, char_value, 100, UINT8_MAX);
+  TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, byte_value, 50, UINT8_MAX);
+  TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, char_value, 100, INT8_MAX);
   TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, float32_value, 1.125f, FLT_MAX);
   TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, float64_value, 1.125, DBL_MAX);
   TEST_PRIMITIVE_FIELD_ASSIGNMENT(message, int8_value, -50, INT8_MAX);
diff --git a/rosidl_parser/rosidl_parser/__init__.py b/rosidl_parser/rosidl_parser/__init__.py
index 6fcc0075a..c31a98329 100644
--- a/rosidl_parser/rosidl_parser/__init__.py
+++ b/rosidl_parser/rosidl_parser/__init__.py
@@ -46,8 +46,8 @@
 ]
 
 DEPRECATED_TYPES = {
-    'byte': 'int8',
-    'char': 'uint8'
+    'byte': 'uint8',
+    'char': 'int8'
 }
 
 VALID_PACKAGE_NAME_PATTERN = re.compile('^[a-z]([a-z0-9_]?[a-z0-9]+)*$')
diff --git a/rosidl_parser/test/test_base_type.py b/rosidl_parser/test/test_base_type.py
index 1f1b0a1bc..ce3548247 100644
--- a/rosidl_parser/test/test_base_type.py
+++ b/rosidl_parser/test/test_base_type.py
@@ -34,8 +34,8 @@ def test_base_type_constructor():
         'string']
 
     deprecated_types = {
-        'byte': 'int8',
-        'char': 'uint8'
+        'byte': 'uint8',
+        'char': 'int8'
     }
 
     for primitive_type in primitive_types:
diff --git a/rosidl_parser/test/test_constant.py b/rosidl_parser/test/test_constant.py
index ef7efb2ee..45a748be2 100644
--- a/rosidl_parser/test/test_constant.py
+++ b/rosidl_parser/test/test_constant.py
@@ -37,7 +37,7 @@ def test_constant_methods():
     assert Constant('bool', 'FOO', '1') == Constant('bool', 'FOO', '1')
     assert Constant('bool', 'FOO', '1') != Constant('bool', 'FOO', '0')
     assert Constant('bool', 'FOO', '1') != Constant('bool', 'BAR', '1')
-    assert Constant('bool', 'FOO', '1') != Constant('int8', 'FOO', '1')
+    assert Constant('bool', 'FOO', '1') != Constant('uint8', 'FOO', '1')
 
     assert str(Constant('bool', 'FOO', '1')) == 'bool FOO=True'
 
diff --git a/rosidl_parser/test/test_field.py b/rosidl_parser/test/test_field.py
index 5aafd1f9b..a3f89d094 100644
--- a/rosidl_parser/test/test_field.py
+++ b/rosidl_parser/test/test_field.py
@@ -58,7 +58,7 @@ def test_field_methods():
     assert (Field(Type('bool'), 'foo', '1') !=
             Field(Type('bool'), 'bar', '1'))
     assert (Field(Type('bool'), 'foo', '1') !=
-            Field(Type('int8'), 'foo', '1'))
+            Field(Type('uint8'), 'foo', '1'))
 
     assert str(Field(Type('bool'), 'foo', '1')) == 'bool foo True'
 
diff --git a/rosidl_parser/test/test_parse_primitive_value_string.py b/rosidl_parser/test/test_parse_primitive_value_string.py
index c2376de91..51e0fb270 100644
--- a/rosidl_parser/test/test_parse_primitive_value_string.py
+++ b/rosidl_parser/test/test_parse_primitive_value_string.py
@@ -49,8 +49,8 @@ def test_parse_primitive_value_string_bool():
 
 def test_parse_primitive_value_string_integer():
     integer_types = {
-        'byte': [8, False],
-        'char': [8, True],
+        'byte': [8, True],
+        'char': [8, False],
         'int8': [8, False],
         'uint8': [8, True],
         'int16': [16, False],