diff --git a/vanetza/asn1/cam.hpp b/vanetza/asn1/cam.hpp
index a93f2fba3..705bac256 100644
--- a/vanetza/asn1/cam.hpp
+++ b/vanetza/asn1/cam.hpp
@@ -4,12 +4,16 @@
 #include <vanetza/asn1/asn1c_conversion.hpp>
 #include <vanetza/asn1/asn1c_wrapper.hpp>
 #include <vanetza/asn1/its/CAM.h>
+#include <vanetza/asn1/its/r2/CAM.h>
 
 namespace vanetza
 {
 namespace asn1
 {
 
+namespace r1
+{
+
 class Cam : public asn1c_per_wrapper<CAM_t>
 {
 public:
@@ -17,8 +21,24 @@ class Cam : public asn1c_per_wrapper<CAM_t>
     Cam() : wrapper(asn_DEF_CAM) {}
 };
 
+} // namespace r1
+
+namespace r2
+{
+
+class Cam : public asn1c_per_wrapper<Vanetza_ITS2_CAM_t>
+{
+public:
+    using wrapper = asn1c_per_wrapper<Vanetza_ITS2_CAM_t>;
+    Cam() : wrapper(asn_DEF_Vanetza_ITS2_CAM) {}
+};
+
+} // namespace r2
+
+// alias for backward compatibility
+using Cam = r1::Cam;
+
 } // namespace asn1
 } // namespace vanetza
 
 #endif /* CAM_HPP_WXYNEKFN */
-
diff --git a/vanetza/asn1/cpm.hpp b/vanetza/asn1/cpm.hpp
index ae0be12c6..d17bd9ebb 100644
--- a/vanetza/asn1/cpm.hpp
+++ b/vanetza/asn1/cpm.hpp
@@ -4,20 +4,39 @@
 #include <vanetza/asn1/asn1c_conversion.hpp>
 #include <vanetza/asn1/asn1c_wrapper.hpp>
 #include <vanetza/asn1/its/CPM.h>
+#include <vanetza/asn1/its/r2/CollectivePerceptionMessage.h>
 
 namespace vanetza
 {
 namespace asn1
 {
 
+namespace r1
+{
+
 class Cpm : public asn1c_per_wrapper<CPM_t>
 {
 public:
     Cpm() : asn1c_per_wrapper(asn_DEF_CPM) {}
 };
 
+} // namespace r1
+
+namespace r2
+{
+
+class Cpm : public asn1c_per_wrapper<Vanetza_ITS2_CollectivePerceptionMessage_t>
+{
+public:
+    Cpm() : asn1c_per_wrapper(asn_DEF_Vanetza_ITS2_CollectivePerceptionMessage) {}
+};
+
+} // namespace r2
+
+// alias for backward compatibility
+using Cpm = r1::Cpm;
+
 } // namespace asn1
 } // namespace vanetza
 
 #endif /* CPM_HPP_WEWZK69S */
-
diff --git a/vanetza/asn1/denm.hpp b/vanetza/asn1/denm.hpp
index 5ad0b3ae5..a03c43ecb 100644
--- a/vanetza/asn1/denm.hpp
+++ b/vanetza/asn1/denm.hpp
@@ -4,12 +4,16 @@
 #include <vanetza/asn1/asn1c_conversion.hpp>
 #include <vanetza/asn1/asn1c_wrapper.hpp>
 #include <vanetza/asn1/its/DENM.h>
+#include <vanetza/asn1/its/r2/DENM.h>
 
 namespace vanetza
 {
 namespace asn1
 {
 
+namespace r1
+{
+
 class Denm : public asn1c_per_wrapper<DENM_t>
 {
 public:
@@ -17,8 +21,24 @@ class Denm : public asn1c_per_wrapper<DENM_t>
     Denm() : wrapper(asn_DEF_DENM) {}
 };
 
+} // namespace r1
+
+namespace r2
+{
+
+class Denm : public asn1c_per_wrapper<Vanetza_ITS2_DENM_t>
+{
+public:
+    using wrapper = asn1c_per_wrapper<Vanetza_ITS2_DENM_t>;
+    Denm() : wrapper(asn_DEF_Vanetza_ITS2_DENM) {}
+};
+
+} // namespace r2
+
+// alias for backward compatibility
+using Denm = r1::Denm;
+
 } // namespace asn1
 } // namespace vanetza
 
 #endif /* DENM_HPP_XGC8NRDI */
-