diff --git a/rosidl_gen/index.js b/rosidl_gen/index.js
index 5c262479..be0360d6 100644
--- a/rosidl_gen/index.js
+++ b/rosidl_gen/index.js
@@ -19,7 +19,10 @@ const generateJSStructFromIDL = require('./idl_generator.js');
 const packages = require('./packages.js');
 const path = require('path');
 const idlConvertor = require('../rosidl_convertor/idl_convertor.js');
-const generatedRoot = path.join(__dirname, '../generated/');
+const utils = require('./utils.js');
+
+// Check if GENERATED_MSG_PATH environment variable exists and is valid
+const generatedRoot = utils.getGeneratedRoot();
 const serviceMsgPath = path.join(generatedRoot, 'srv_msg');
 const idlPath = path.join(generatedRoot, 'share');
 const useIDL = !!process.argv.find((arg) => arg === '--idl');
diff --git a/rosidl_gen/packages.js b/rosidl_gen/packages.js
index ee37461c..414d14bf 100644
--- a/rosidl_gen/packages.js
+++ b/rosidl_gen/packages.js
@@ -21,10 +21,11 @@ const path = require('path');
 const walk = require('walk');
 const os = require('os');
 const pkgFilters = require('../rosidl_gen/filter.js');
+const utils = require('./utils.js');
 
 const fsp = fs.promises;
 
-const generatedRoot = path.join(__dirname, '../generated/');
+const generatedRoot = utils.getGeneratedRoot();
 const serviceMsgPath = path.join(generatedRoot, 'srv_msg');
 
 function getPackageName(filePath, amentExecuted) {
diff --git a/rosidl_gen/utils.js b/rosidl_gen/utils.js
new file mode 100644
index 00000000..d32d36b1
--- /dev/null
+++ b/rosidl_gen/utils.js
@@ -0,0 +1,35 @@
+// Copyright (c) 2025, The Robot Web Tools Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+'use strict';
+
+const fse = require('fs-extra');
+const path = require('path');
+
+function getGeneratedRoot() {
+  let generatedRoot = path.join(__dirname, '../generated/');
+  if (process.env.GENERATED_MSG_PATH) {
+    if (fse.pathExistsSync(process.env.GENERATED_MSG_PATH)) {
+      generatedRoot = path.join(process.env.GENERATED_MSG_PATH, '/generated/');
+      console.log(generatedRoot);
+    } else {
+      console.log(
+        `Warning: GENERATED_MSG_PATH is set to '${process.env.GENERATED_MSG_PATH}' but the parent directory does not exist. Using default path instead.`
+      );
+    }
+  }
+  return generatedRoot;
+}
+
+module.exports = { getGeneratedRoot };
diff --git a/rostsd_gen/index.js b/rostsd_gen/index.js
index 957252db..c8aa654e 100644
--- a/rostsd_gen/index.js
+++ b/rostsd_gen/index.js
@@ -30,12 +30,13 @@ const path = require('path');
 const fs = require('fs');
 const loader = require('../lib/interface_loader.js');
 const pkgFilters = require('../rosidl_gen/filter.js');
+const utils = require('../rosidl_gen/utils.js');
 
 const descriptorInterfaceNamespace = 'descriptor';
 
 async function generateAll() {
   // load pkg and interface info (msgs and srvs)
-  const generatedPath = path.join(__dirname, '../generated/');
+  const generatedPath = utils.getGeneratedRoot();
   const pkgInfos = getPkgInfos(generatedPath);
   if (pkgInfos.length === 0) {
     console.log('No package found, prebuild interfaces.d.ts will be used.');