diff --git a/source/How-To-Guides/Ament-CMake-Python-Documentation.rst b/source/How-To-Guides/Ament-CMake-Python-Documentation.rst
index f7c70a8acaa..d42113abf90 100644
--- a/source/How-To-Guides/Ament-CMake-Python-Documentation.rst
+++ b/source/How-To-Guides/Ament-CMake-Python-Documentation.rst
@@ -14,6 +14,13 @@ See the :doc:`ament_cmake user documentation <Ament-CMake-Documentation>` for mo
    To create an ``ament_python`` package, see :doc:`Creating your first ROS 2 package <../Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package>`.
    ``ament_cmake_python`` should only be used in cases where that is not possible, like when mixing C/C++ and Python code.
 
+
+.. warning::
+
+   Calling ``rosidl_generate_interfaces`` and ``ament_python_install_package`` in the same CMake project does not work.
+   See this `Github issue <https://github.com/ros2/rosidl_python/issues/141>`_ for more info. It is best practice to instead
+   separate out the message generation into a separate package.
+
 .. contents:: Table of Contents
    :depth: 2
    :local:
diff --git a/source/How-To-Guides/Developing-a-ROS-2-Package.rst b/source/How-To-Guides/Developing-a-ROS-2-Package.rst
index 3b8a812c0b2..c169776458c 100644
--- a/source/How-To-Guides/Developing-a-ROS-2-Package.rst
+++ b/source/How-To-Guides/Developing-a-ROS-2-Package.rst
@@ -145,3 +145,11 @@ and a ``setup.py`` file that looks like:
            ],
        },
    )
+
+
+Combined C++ and Python Packages
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+When writing a package with both C++ and Python code, the
+``setup.py`` file and ``setup.cfg`` file are not used.
+Instead, use :doc:`ament_cmake_python <./Ament-CMake-Python-Documentation>`.
\ No newline at end of file