diff --git a/rosidl_generator_py/CMakeLists.txt b/rosidl_generator_py/CMakeLists.txt
index 07d124a1..cdae8ee8 100644
--- a/rosidl_generator_py/CMakeLists.txt
+++ b/rosidl_generator_py/CMakeLists.txt
@@ -53,6 +53,7 @@ if(BUILD_TESTING)
       msg/BuiltinTypeSequencesIdl.idl
       msg/StringArrays.msg
       msg/Property.msg
+      msg/Float.msg
       ADD_LINTER_TESTS
       SKIP_INSTALL
     )
@@ -79,6 +80,12 @@ if(BUILD_TESTING)
       APPEND_LIBRARY_DIRS "${_append_library_dirs}"
       WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py"
     )
+
+    ament_add_pytest_test(test_int_to_float_py test/test_int_to_float.py
+      APPEND_ENV "PYTHONPATH=${pythonpath}"
+      APPEND_LIBRARY_DIRS "${_append_library_dirs}"
+      WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py"
+    )
   endif()
 endif()
 
diff --git a/rosidl_generator_py/msg/Float.msg b/rosidl_generator_py/msg/Float.msg
new file mode 100644
index 00000000..91bec70e
--- /dev/null
+++ b/rosidl_generator_py/msg/Float.msg
@@ -0,0 +1 @@
+float32 float_value
diff --git a/rosidl_generator_py/resource/_msg.py.em b/rosidl_generator_py/resource/_msg.py.em
index 8c21e552..9c862a18 100644
--- a/rosidl_generator_py/resource/_msg.py.em
+++ b/rosidl_generator_py/resource/_msg.py.em
@@ -481,6 +481,10 @@ if member.name in dict(inspect.getmembers(builtins)).keys():
             from collections.abc import ByteString
 @[  elif isinstance(type_, BasicType) and type_.typename in CHARACTER_TYPES]@
             from collections import UserString
+@[  end if]@
+@[  if isinstance(type_, BasicType) and type_.typename in FLOATING_POINT_TYPES]@
+            if isinstance(value, int):
+                value = float(value)
 @[  end if]@
             assert \
 @[  if isinstance(member.type, AbstractNestedType)]@
diff --git a/rosidl_generator_py/test/test_int_to_float.py b/rosidl_generator_py/test/test_int_to_float.py
new file mode 100644
index 00000000..01da3b64
--- /dev/null
+++ b/rosidl_generator_py/test/test_int_to_float.py
@@ -0,0 +1,26 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from rosidl_generator_py.msg import Float
+
+
+def test_int_to_float():
+    msg1 = Float(check_types=True, float_value=float(1))
+
+    assert isinstance(msg1.float_value, float)
+    assert 1 == msg1.float_value
+
+    msg2 = Float(check_types=True, float_value=int(1))
+    assert isinstance(msg2.float_value, float)
+    assert 1 == msg2.float_value