diff --git a/Changelog.md b/Changelog.md
index f61925af..f4ce6c00 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -107,6 +107,38 @@
 1. Bumps in garden : ci_matching_branch/bump_garden_ign-msgs9
     * [Pull request #203](https://github.com/gazebosim/gz-msgs/pull/203)
 
+## Gazebo Msgs 8.x
+
+### Gazebo Msgs 8.7.0 (2022-09-27)
+
+1. ign -> gz Redirect Gz Headers
+    * [Pull request #300](https://github.com/gazebosim/gz-msgs/pull/300)
+    * [Pull request #307](https://github.com/gazebosim/gz-msgs/pull/307)
+
+1. Add parameter component message definitions
+    * [Pull request #241](https://github.com/gazebosim/gz-msgs/pull/241)
+    * [Pull request #298](https://github.com/gazebosim/gz-msgs/pull/298)
+
+1. Remove redunant namespace references
+    * [Pull request #293](https://github.com/gazebosim/gz-msgs/pull/293)
+
+### Gazebo Msgs 8.6.0 (2022-08-02)
+
+1. Increase `Utility` test coverage
+    * [Pull request #283](https://github.com/gazebosim/gz-msgs/pull/283)
+
+1. Change `IGN_DESIGNATION` to `GZ_DESIGNATION`
+    * [Pull request #282](https://github.com/gazebosim/gz-msgs/pull/282)
+    * [Pull request #284](https://github.com/gazebosim/gz-msgs/pull/284)
+
+1. Add entity wrench message
+    * [Pull request #274](https://github.com/gazebosim/gz-msgs/pull/274)
+
+1. Ignition -> Gazebo
+    * [Pull request #273](https://github.com/gazebosim/gz-msgs/pull/273)
+
+1. Add `ACTOR` and `WORLD` types to entity
+    * [Pull request #275](https://github.com/gazebosim/gz-msgs/pull/275)
 
 ### Gazebo Msgs 8.5.0 (2022-06-23)
 
@@ -125,8 +157,6 @@
 1. Generator: Add missing std namespace to string arguments
     * [Pull request #242](https://github.com/gazebosim/gz-msgs/pull/242)
 
-## Gazebo Msgs 8.x
-
 ### Gazebo Msgs 8.4.0 (2022-04-06)
 
 1. Add Dataframe msg
@@ -374,6 +404,19 @@
 
 ## Gazebo Msgs 5.x
 
+### Gazebo Msgs 5.10.0 (2022-10-10)
+
+1. Ignition to Gazebo renaming.
+    * [Pull request #282](https://github.com/gazebosim/gz-msgs/pull/282)
+    * [Pull request #293](https://github.com/gazebosim/gz-msgs/pull/293)
+    * [Pull request #300](https://github.com/gazebosim/gz-msgs/pull/300)
+
+1. Remove mistaken VERSION.
+    * [Pull request #284](https://github.com/gazebosim/gz-msgs/pull/284)
+
+1. Increase utility coverage.
+    * [Pull request #283](https://github.com/gazebosim/gz-msgs/pull/283)
+
 ### Gazebo Msgs 5.10.0 (2022-07-18)
 
 1. Add entity wrench message
diff --git a/proto/gz/msgs/lens.proto b/proto/gz/msgs/lens.proto
index 68029b06..1ed08f2b 100644
--- a/proto/gz/msgs/lens.proto
+++ b/proto/gz/msgs/lens.proto
@@ -20,7 +20,7 @@ package gz.msgs;
 option java_package = "com.gz.msgs";
 option java_outer_classname = "LensProtos";
 
-/// \ingroup ignition.msgs
+/// \ingroup gz.msgs
 /// \interface Lens
 /// \brief Information about a lens element
 
diff --git a/proto/gz/msgs/parameter.proto b/proto/gz/msgs/parameter.proto
new file mode 100644
index 00000000..66fb40dd
--- /dev/null
+++ b/proto/gz/msgs/parameter.proto
@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "ParameterProtos";
+
+/// \ingroup gz.msgs
+/// \interface Parameter
+/// \brief Representation of a parameter, used to request to set a parameter.
+
+import "google/protobuf/any.proto";
+
+message Parameter
+{
+  /// \brief Parameter name.
+  string name = 1;
+
+  /// \brief Serialized parameter value.
+  google.protobuf.Any value = 2;
+};
diff --git a/proto/gz/msgs/parameter_declaration.proto b/proto/gz/msgs/parameter_declaration.proto
new file mode 100644
index 00000000..c33dcf17
--- /dev/null
+++ b/proto/gz/msgs/parameter_declaration.proto
@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "ParameterDeclarationProtos";
+
+/// \ingroup gz.msgs
+/// \interface ParameterDeclaration
+/// \brief Representation of a parameter declaration.
+
+message ParameterDeclaration
+{
+  /// \brief Parameter name.
+  string name = 1;
+
+  /// \brief Parameter type, i.e. the associated protobuf type.
+  string type = 2;
+};
diff --git a/proto/gz/msgs/parameter_declarations.proto b/proto/gz/msgs/parameter_declarations.proto
new file mode 100644
index 00000000..4dd3399d
--- /dev/null
+++ b/proto/gz/msgs/parameter_declarations.proto
@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "ParameterDeclarationsProtos";
+
+/// \ingroup gz.msgs
+/// \interface ParameterDeclarations
+/// \brief Collection of parameter declarations.
+
+import "gz/msgs/parameter_declaration.proto";
+
+message ParameterDeclarations
+{
+  /// \brief Parameter declarations.
+  repeated ParameterDeclaration parameter_declarations = 1;
+};
diff --git a/proto/gz/msgs/parameter_error.proto b/proto/gz/msgs/parameter_error.proto
new file mode 100644
index 00000000..11dbb249
--- /dev/null
+++ b/proto/gz/msgs/parameter_error.proto
@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "ParameterErrorProtos";
+
+/// \ingroup gz.msgs
+/// \interface ParameterError
+/// \brief Parameter server errors for declare or set parameter.
+
+message ParameterError
+{
+  enum Type {
+    SUCCESS = 0;
+    ALREADY_DECLARED = 1;
+    INVALID_TYPE = 2;
+    NOT_DECLARED = 3;
+  }
+  Type data = 1;
+};
diff --git a/proto/gz/msgs/parameter_name.proto b/proto/gz/msgs/parameter_name.proto
new file mode 100644
index 00000000..37335c7c
--- /dev/null
+++ b/proto/gz/msgs/parameter_name.proto
@@ -0,0 +1,31 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "ParameterNameProtos";
+
+/// \ingroup gz.msgs
+/// \interface ParameterName
+/// \brief Parameter name, used as a request to get a parameter.
+
+message ParameterName
+{
+  /// \brief Parameter name.
+  string name = 1;
+};
diff --git a/proto/gz/msgs/parameter_value.proto b/proto/gz/msgs/parameter_value.proto
new file mode 100644
index 00000000..8cc8610f
--- /dev/null
+++ b/proto/gz/msgs/parameter_value.proto
@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "ParameterValueProtos";
+
+/// \ingroup gz.msgs
+/// \interface ParameterValue
+/// \brief Representation of a parameter value, used as a response to get a parameter.
+
+import "google/protobuf/any.proto";
+
+message ParameterValue
+{
+  /// \brief Serialized protobuf message.
+  google.protobuf.Any data = 1;
+};
diff --git a/src/PointCloudPackedUtils_TEST.cc b/src/PointCloudPackedUtils_TEST.cc
index 7dfe98b2..a488b0dc 100644
--- a/src/PointCloudPackedUtils_TEST.cc
+++ b/src/PointCloudPackedUtils_TEST.cc
@@ -125,17 +125,17 @@ TEST(PointCloudPackedUtilsTest, MultipleFields)
 
   EXPECT_EQ("x", pcMsg.field(0).name());
   EXPECT_EQ(0u, pcMsg.field(0).offset());
-  EXPECT_EQ(msgs::PointCloudPacked::Field::INT8, pcMsg.field(0).datatype());
+  EXPECT_EQ(PointCloudPacked::Field::INT8, pcMsg.field(0).datatype());
   EXPECT_EQ(1u, pcMsg.field(0).count());
 
   EXPECT_EQ("y", pcMsg.field(1).name());
   EXPECT_EQ(1u, pcMsg.field(1).offset());
-  EXPECT_EQ(msgs::PointCloudPacked::Field::UINT8, pcMsg.field(1).datatype());
+  EXPECT_EQ(PointCloudPacked::Field::UINT8, pcMsg.field(1).datatype());
   EXPECT_EQ(1u, pcMsg.field(1).count());
 
   EXPECT_EQ("z", pcMsg.field(2).name());
   EXPECT_EQ(2u, pcMsg.field(2).offset());
-  EXPECT_EQ(msgs::PointCloudPacked::Field::INT16, pcMsg.field(2).datatype());
+  EXPECT_EQ(PointCloudPacked::Field::INT16, pcMsg.field(2).datatype());
   EXPECT_EQ(1u, pcMsg.field(2).count());
 
   // Reserve space for data
@@ -237,9 +237,9 @@ TEST(PointCloudPackedUtilsTest, XYZRGBA)
 {
   PointCloudPacked pcMsg;
 
-  msgs::InitPointCloudPacked(pcMsg, "my_frame", true,
-      {{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
-      {"rgba", msgs::PointCloudPacked::Field::FLOAT32}});
+  InitPointCloudPacked(pcMsg, "my_frame", true,
+      {{"xyz", PointCloudPacked::Field::FLOAT32},
+      {"rgba", PointCloudPacked::Field::FLOAT32}});
 
   // Reserve space for data
   unsigned int total{5 * pcMsg.point_step()};
diff --git a/src/Utility_TEST.cc b/src/Utility_TEST.cc
index 3996214a..dac61e9e 100644
--- a/src/Utility_TEST.cc
+++ b/src/Utility_TEST.cc
@@ -179,12 +179,12 @@ TEST(UtilityTest, ConvertMsgsPlaneToMath)
 /////////////////////////////////////////////////
 TEST(MsgsTest, ConvertMathInertialToMsgs)
 {
-  const auto pose = gz::math::Pose3d(5, 6, 7, 0.4, 0.5, 0.6);
+  const auto pose = math::Pose3d(5, 6, 7, 0.4, 0.5, 0.6);
   msgs::Inertial msg = msgs::Convert(
-      gz::math::Inertiald(
-        gz::math::MassMatrix3d(12.0,
-          gz::math::Vector3d(2, 3, 4),
-          gz::math::Vector3d(0.1, 0.2, 0.3)),
+      math::Inertiald(
+        math::MassMatrix3d(12.0,
+          math::Vector3d(2, 3, 4),
+          math::Vector3d(0.1, 0.2, 0.3)),
         pose));
 
   EXPECT_DOUBLE_EQ(12.0, msg.mass());
@@ -201,12 +201,12 @@ TEST(MsgsTest, ConvertMathInertialToMsgs)
 /////////////////////////////////////////////////
 TEST(MsgsTest, ConvertMsgsInertialToMath)
 {
-  const auto pose = gz::math::Pose3d(5, 6, 7, 0.4, 0.5, 0.6);
+  const auto pose = math::Pose3d(5, 6, 7, 0.4, 0.5, 0.6);
   msgs::Inertial msg = msgs::Convert(
-      gz::math::Inertiald(
-        gz::math::MassMatrix3d(12.0,
-          gz::math::Vector3d(2, 3, 4),
-          gz::math::Vector3d(0.1, 0.2, 0.3)),
+      math::Inertiald(
+        math::MassMatrix3d(12.0,
+          math::Vector3d(2, 3, 4),
+          math::Vector3d(0.1, 0.2, 0.3)),
         pose));
   auto inertial = msgs::Convert(msg);
 
@@ -308,9 +308,9 @@ TEST(MsgsTest, ConvertMsgsInertialAddedMassToMath)
 TEST(MsgsTest, ConvertMathMassMatrix3ToMsgs)
 {
   msgs::Inertial msg = msgs::Convert(
-      gz::math::MassMatrix3d(12.0,
-        gz::math::Vector3d(2, 3, 4),
-        gz::math::Vector3d(0.1, 0.2, 0.3)));
+      math::MassMatrix3d(12.0,
+        math::Vector3d(2, 3, 4),
+        math::Vector3d(0.1, 0.2, 0.3)));
 
   EXPECT_DOUBLE_EQ(12.0, msg.mass());
   EXPECT_DOUBLE_EQ(2.0, msg.ixx());
@@ -319,7 +319,7 @@ TEST(MsgsTest, ConvertMathMassMatrix3ToMsgs)
   EXPECT_DOUBLE_EQ(0.1, msg.ixy());
   EXPECT_DOUBLE_EQ(0.2, msg.ixz());
   EXPECT_DOUBLE_EQ(0.3, msg.iyz());
-  EXPECT_EQ(gz::math::Pose3d::Zero, msgs::Convert(msg.pose()));
+  EXPECT_EQ(math::Pose3d::Zero, msgs::Convert(msg.pose()));
 }
 
 /////////////////////////////////////////////////
@@ -702,13 +702,13 @@ TEST(UtilityTest, SetPlane)
 /////////////////////////////////////////////////
 TEST(MsgsTest, SetInertial)
 {
-  const auto pose = gz::math::Pose3d(5, 6, 7, 0.4, 0.5, 0.6);
+  const auto pose = math::Pose3d(5, 6, 7, 0.4, 0.5, 0.6);
   msgs::Inertial msg;
-  msgs::Set(&msg, gz::math::Inertiald(
-      gz::math::MassMatrix3d(
+  msgs::Set(&msg, math::Inertiald(
+      math::MassMatrix3d(
         12.0,
-        gz::math::Vector3d(2, 3, 4),
-        gz::math::Vector3d(0.1, 0.2, 0.3)),
+        math::Vector3d(2, 3, 4),
+        math::Vector3d(0.1, 0.2, 0.3)),
       pose));
 
   EXPECT_DOUBLE_EQ(12.0, msg.mass());
@@ -725,10 +725,10 @@ TEST(MsgsTest, SetInertial)
 TEST(MsgsTest, SetMassMatrix3)
 {
   msgs::Inertial msg;
-  msgs::Set(&msg, gz::math::MassMatrix3d(
+  msgs::Set(&msg, math::MassMatrix3d(
         12.0,
-        gz::math::Vector3d(2, 3, 4),
-        gz::math::Vector3d(0.1, 0.2, 0.3)));
+        math::Vector3d(2, 3, 4),
+        math::Vector3d(0.1, 0.2, 0.3)));
 
   EXPECT_DOUBLE_EQ(12.0, msg.mass());
   EXPECT_DOUBLE_EQ(2.0, msg.ixx());
@@ -737,7 +737,7 @@ TEST(MsgsTest, SetMassMatrix3)
   EXPECT_DOUBLE_EQ(0.1, msg.ixy());
   EXPECT_DOUBLE_EQ(0.2, msg.ixz());
   EXPECT_DOUBLE_EQ(0.3, msg.iyz());
-  EXPECT_EQ(gz::math::Pose3d::Zero, msgs::Convert(msg.pose()));
+  EXPECT_EQ(math::Pose3d::Zero, msgs::Convert(msg.pose()));
 }
 
 /////////////////////////////////////////////////
diff --git a/src/gz.cc b/src/gz.cc
index b5ac37c4..fde84ec9 100644
--- a/src/gz.cc
+++ b/src/gz.cc
@@ -47,7 +47,7 @@ void cmdMsgInfo(const char *_msg)
 {
   if (_msg)
   {
-    auto msg = gz::msgs::Factory::New(_msg);
+    auto msg = Factory::New(_msg);
     if (msg)
     {
       auto descriptor = msg->GetDescriptor();
@@ -71,7 +71,7 @@ extern "C" GZ_MSGS_VISIBLE
 void cmdMsgList()
 {
   std::vector<std::string> types;
-  gz::msgs::Factory::Types(types);
+  Factory::Types(types);
 
   for (auto const &type : types)
     std::cout << type << std::endl;