diff --git a/examples/generating_custom_msgs/CMakeLists.txt b/examples/generating_custom_msgs/CMakeLists.txt
index 5aad3e6f..16aed9f9 100644
--- a/examples/generating_custom_msgs/CMakeLists.txt
+++ b/examples/generating_custom_msgs/CMakeLists.txt
@@ -11,15 +11,17 @@ project(generating_custom_messages VERSION 1.0.0)
 find_package(gz-cmake3 REQUIRED)
 
 find_package(gz-msgs10 REQUIRED)
+# Define a variable 'GZ_MSGS_VER' holding the version number
 set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
 
-# Example of custom messages that depend on gz.msgs
+# Define a variable 'MSGS_PROTOS' listing the .proto files
 set(MSGS_PROTOS
    ${CMAKE_CURRENT_SOURCE_DIR}/proto/gz/custom_msgs/foo.proto
    ${CMAKE_CURRENT_SOURCE_DIR}/proto/gz/custom_msgs/bar.proto
    ${CMAKE_CURRENT_SOURCE_DIR}/proto/gz/custom_msgs/baz.proto
 )
 
+# Call 'gz_msgs_generate_messages()' to process the .proto files
 gz_msgs_generate_messages(
   # The cmake target to be generated for libraries/executables to link
   TARGET msgs
@@ -28,8 +30,9 @@ gz_msgs_generate_messages(
   # The path to the base directory of the proto files
   # All import paths should be relative to this (eg gz/custom_msgs/vector3d.proto)
   MSGS_PATH ${CMAKE_CURRENT_SOURCE_DIR}/proto
-  # List of proto files to generate
+  # List of proto files to process
   MSGS_PROTOS ${MSGS_PROTOS}
+  # Depenency on gz-msgs
   DEPENDENCIES gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
 )
 
diff --git a/tutorials/message_generation.md b/tutorials/message_generation.md
index ab3a420e..a7d8fc49 100644
--- a/tutorials/message_generation.md
+++ b/tutorials/message_generation.md
@@ -119,6 +119,10 @@ For the collection, `gz_msgs_factory` generates:
 Now that we understand the components of the message generation pipeline, 
 we can use them in our own custom package.
 
+The code for this example can be found in the `gz-msgs` [repository](https://github.com/gazebosim/gz-msgs/tree/gz-msgs10), in the [`examples/generating_custom_msgs`](https://github.com/gazebosim/gz-msgs/tree/gz-msgs10/examples/generating_custom_msgs) folder.
+
+
+
 The `cmake` functionality is exported from the `gz-msgs` library, via the `gz-cmake` [`extras` functionality](https://github.com/gazebosim/gz-cmake/pull/345).
 To make the functions available, simply `find_package(gz-msgs10)` in your `CMakeLists.txt`:
 
@@ -129,6 +133,7 @@ find_package(gz-cmake3 REQUIRED)
 find_package(gz-msgs10 REQUIRED)
 ```
 
+
 Next, create a directory for your custom message definitions:
 
 ```sh
@@ -189,9 +194,17 @@ message BazStamped
 ```
 
 
-Then, back in the `CMakeLists.txt` file, generate the message library.
+Then, back in the `CMakeLists.txt` file, add following lines to generate the message library:
 
 ```cmake
+# Define a variable 'MSGS_PROTOS' listing the .proto files
+set(MSGS_PROTOS
+     ${CMAKE_CURRENT_SOURCE_DIR}/proto/gz/custom_msgs/foo.proto
+     ${CMAKE_CURRENT_SOURCE_DIR}/proto/gz/custom_msgs/bar.proto
+     ${CMAKE_CURRENT_SOURCE_DIR}/proto/gz/custom_msgs/baz.proto
+)
+
+# Call 'gz_msgs_generate_messages()' to process the .proto files
 gz_msgs_generate_messages(
   # The cmake target to be generated for libraries/executables to link
   TARGET msgs
@@ -200,12 +213,25 @@ gz_msgs_generate_messages(
   # The path to the base directory of the proto files
   # All import paths should be relative to this (eg gz/custom_msgs/vector3d.proto)
   MSGS_PATH ${CMAKE_CURRENT_SOURCE_DIR}/proto
-  # List of proto files to generate
+  # List of proto files to process
   MSGS_PROTOS ${MSGS_PROTOS}
-  DEPENDENCIES gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
+  # Depenency on gz-msgs
+  DEPENDENCIES gz-msgs10::gz-msgs10
 )
 ```
 
+In order to reduce the amount of edits needed upon a version change of `gz-msgs`, it is common to:
+
+ - Define a variable `GZ_MSGS_VER`, holding the version number:
+   ```cmake
+   find_package(gz-msgs10 REQUIRED)
+   set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
+   ```
+ - And change the dependency line in above code block to:
+   ```cmake
+   DEPENDENCIES gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
+   ```
+
 ### Using Custom messages
 
 There are two primary ways that Gazebo messages are used as part of an application.
@@ -270,7 +296,7 @@ $ cd build/
 $ export GZ_DESCRIPTOR_PATH=`pwd`
 
 $ gz msg -l | grep "custom_msgs" | wc -l
-6
+4
 
 $ gz msg --info gz.custom_msgs.Foo                      
 Name: gz.custom_msgs.Foo