diff --git a/rosrust_codegen/Cargo.toml b/rosrust_codegen/Cargo.toml
index 4e4982b..16723f8 100644
--- a/rosrust_codegen/Cargo.toml
+++ b/rosrust_codegen/Cargo.toml
@@ -9,13 +9,13 @@ repository = "https://github.com/adnanademovic/rosrust"
 version = "0.9.6"
 
 [dependencies]
-error-chain = "0.12.4"
 lazy_static = "1.4.0"
 quote = "1.0.9"
 syn = "1.0.74"
 proc-macro2 = "1.0.28"
 md-5 = "0.9.1"
 hex = "0.4.3"
+thiserror = "1.0.40"
 
 [dependencies.ros_message]
 path = "../ros_message"
diff --git a/rosrust_codegen/src/error.rs b/rosrust_codegen/src/error.rs
index 59bca72..cf4a64a 100644
--- a/rosrust_codegen/src/error.rs
+++ b/rosrust_codegen/src/error.rs
@@ -1,12 +1,28 @@
-error_chain::error_chain! {
-    errors {
-        MessageNotFound(msg: String, folders: String) {
-            description("message not found in provided directories")
-            display("message {} not found in provided directories\nDirectories:\n{}", msg, folders)
-        }
-        PackageNameInvalid(package: String) {
-            description("referenced package does not have a valid name. Look at ROS REP 144 for more details.")
-            display("package '{}' does not have a valid name. Look at ROS REP 144 for more details.", package)
-        }
-    }
+use std::io;
+
+pub type Result<T, E = Error> = std::result::Result<T, E>;
+
+#[derive(thiserror::Error, Debug)]
+pub enum Error {
+    /// Message not found in provided directories.
+    #[error("message {msg} not found in provided directories\nDirectories:\n{folders}")]
+    MessageNotFound { msg: String, folders: String },
+    /// Message map does not contain all needed elements.
+    #[error("message map does not contain all needed elements")]
+    MessageMapIncomplete,
+    /// Failed to read file to string.
+    #[error("failed to read file to string")]
+    ReadFile(#[source] io::Error),
+    /// Failed to build service messages.
+    #[error("failed to build service messages")]
+    BuildMessage(#[source] ros_message::Error),
+    /// Failed to parse all message paths.
+    #[error("failed to parse all message paths")]
+    ParseMessagePaths(#[source] ros_message::Error),
+    /// Invalid message path.
+    #[error("invalid message path")]
+    MessagePath(#[source] ros_message::Error),
+    /// Failed to parse message.
+    #[error("failed to parse message")]
+    ParseMessage(#[source] ros_message::Error),
 }
diff --git a/rosrust_codegen/src/genmsg.rs b/rosrust_codegen/src/genmsg.rs
index c1b72c4..9fbb010 100644
--- a/rosrust_codegen/src/genmsg.rs
+++ b/rosrust_codegen/src/genmsg.rs
@@ -1,4 +1,4 @@
-use crate::error::{Result, ResultExt};
+use crate::error::{Error, Result};
 use crate::helpers;
 use crate::helpers::MessageMap;
 use crate::output_layout;
@@ -25,7 +25,7 @@ fn message_names_to_message_map(
         .copied()
         .map(TryInto::try_into)
         .collect::<ros_message::Result<Vec<MessagePath>>>()
-        .chain_err(|| "Failed to parse all message paths")?;
+        .map_err(Error::ParseMessagePaths)?;
     helpers::get_message_map(ignore_bad_messages, folders, &message_pairs)
 }
 
@@ -58,7 +58,7 @@ fn message_map_to_layout(message_map: &MessageMap) -> Result<output_layout::Layo
             .map(|(message, value)| (message.name().into(), value.0.source().into()))
             .collect::<HashMap<String, String>>();
         for (name, source) in names {
-            let key = MessagePath::new(&package, name).chain_err(|| "Invalid message path")?;
+            let key = MessagePath::new(&package, name).map_err(Error::MessagePath)?;
             let message = message_map
                 .messages
                 .get(&key)
@@ -87,7 +87,7 @@ fn message_map_to_layout(message_map: &MessageMap) -> Result<output_layout::Layo
             .collect::<HashMap<String, String>>();
         for (name, source) in names {
             let md5sum = hashes
-                .get(&MessagePath::new(&package, &name).chain_err(|| "Invalid message path")?)
+                .get(&MessagePath::new(&package, &name).map_err(Error::MessagePath)?)
                 .expect("Internal implementation contains mismatch in map keys")
                 .clone();
             let msg_type = format!("{}/{}", package, name);
diff --git a/rosrust_codegen/src/helpers.rs b/rosrust_codegen/src/helpers.rs
index ccb054a..6e6eeed 100644
--- a/rosrust_codegen/src/helpers.rs
+++ b/rosrust_codegen/src/helpers.rs
@@ -1,7 +1,6 @@
 use crate::alerts::MESSAGE_NAME_SHOULD_BE_VALID;
-use crate::error::{ErrorKind, Result, ResultExt};
+use crate::error::{Error, Result};
 use crate::msg::{Msg, Srv};
-use error_chain::bail;
 use lazy_static::lazy_static;
 use ros_message::MessagePath;
 use std::collections::{HashMap, HashSet, LinkedList};
@@ -32,11 +31,11 @@ pub fn calculate_md5(message_map: &MessageMap) -> Result<HashMap<MessagePath, St
         let key_res = message.peer(format!("{}Res", message.name()));
         let req = match representations.get(&key_req) {
             Some(v) => v,
-            None => bail!("Message map does not contain all needed elements"),
+            None => return Err(Error::MessageMapIncomplete),
         };
         let res = match representations.get(&key_res) {
             Some(v) => v,
-            None => bail!("Message map does not contain all needed elements"),
+            None => return Err(Error::MessageMapIncomplete),
         };
         hashes.insert(
             message.clone(),
@@ -44,7 +43,7 @@ pub fn calculate_md5(message_map: &MessageMap) -> Result<HashMap<MessagePath, St
         );
     }
     if hashes.len() < message_map.messages.len() + message_map.services.len() {
-        bail!("Message map does not contain all needed elements");
+        return Err(Error::MessageMapIncomplete);
     }
     Ok(hashes)
 }
@@ -76,7 +75,7 @@ pub fn generate_message_definition<S: std::hash::BuildHasher>(
         result += &format!("\nMSG: {}\n", value);
         let message = match message_map.get(&value) {
             Some(msg) => msg,
-            None => bail!("Message map does not contain all needed elements"),
+            None => return Err(Error::MessageMapIncomplete),
         };
         for dependency in message.dependencies() {
             pending.push_back(dependency);
@@ -226,16 +225,14 @@ fn get_message_or_service(
     if let Some(full_path) = message_locations.get(&path) {
         if let Ok(mut f) = File::open(full_path) {
             let mut contents = String::new();
-            f.read_to_string(&mut contents)
-                .chain_err(|| "Failed to read file to string!")?;
+            f.read_to_string(&mut contents).map_err(Error::ReadFile)?;
             return create_message(path, &contents, ignore_bad_messages).map(MessageCase::Message);
         }
     }
     if let Some(full_path) = service_locations.get(&path) {
         if let Ok(mut f) = File::open(full_path) {
             let mut contents = String::new();
-            f.read_to_string(&mut contents)
-                .chain_err(|| "Failed to read file to string!")?;
+            f.read_to_string(&mut contents).map_err(Error::ReadFile)?;
 
             let service = ros_message::Srv::new(path.clone(), &contents)
                 .or_else(|err| {
@@ -245,7 +242,7 @@ fn get_message_or_service(
                         Err(err)
                     }
                 })
-                .chain_err(|| "Failed to build service messages")?;
+                .map_err(Error::BuildMessage)?;
 
             return Ok(MessageCase::Service(
                 Srv {
@@ -263,10 +260,10 @@ fn get_message_or_service(
     if ignore_bad_messages {
         return Msg::new(path, "").map(MessageCase::Message);
     }
-    bail!(ErrorKind::MessageNotFound(
-        path.to_string(),
-        folders.join("\n"),
-    ))
+    Err(Error::MessageNotFound {
+        msg: path.to_string(),
+        folders: folders.join("\n"),
+    })
 }
 
 fn create_message(message: MessagePath, contents: &str, ignore_bad_messages: bool) -> Result<Msg> {
diff --git a/rosrust_codegen/src/msg.rs b/rosrust_codegen/src/msg.rs
index a99e575..2b12a57 100644
--- a/rosrust_codegen/src/msg.rs
+++ b/rosrust_codegen/src/msg.rs
@@ -1,4 +1,4 @@
-use crate::error::{Result, ResultExt};
+use crate::error::{Error, Result};
 use lazy_static::lazy_static;
 use proc_macro2::{Literal, Span};
 use quote::{quote, ToTokens};
@@ -19,7 +19,7 @@ impl Msg {
     pub fn new(path: MessagePath, source: &str) -> Result<Msg> {
         ros_message::Msg::new(path, source)
             .map(Self)
-            .chain_err(|| "Failed to parse message")
+            .map_err(Error::ParseMessage)
     }
 
     pub fn name_ident(&self) -> Ident {