diff --git a/rosidl_generator_py/resource/_msg.py.em b/rosidl_generator_py/resource/_msg.py.em
index 98285ecb..57819826 100644
--- a/rosidl_generator_py/resource/_msg.py.em
+++ b/rosidl_generator_py/resource/_msg.py.em
@@ -497,12 +497,29 @@ if isinstance(member.type, (Array, AbstractSequence)):
 
 @[  if isinstance(member.type, AbstractNestedType)]@
         from collections.abc import Set
+        from collections.abc import Sequence
+        from collections.abc import MutableSequence
         if isinstance(value, Set):
             import warnings
             warnings.warn(
                 'Using set or subclass of set is deprecated,'
-                ' please use a subclass of collections.abc.Sequence like list',
+                ' please use a subclass of collections.abc.MutableSequence like list',
                 DeprecationWarning)
+@[      if isinstance(member.type, Array) and isinstance(member.type.value_type, BasicType) and member.type.value_type.typename in SPECIAL_NESTED_BASIC_TYPES]@
+        if isinstance(value, Sequence) and not isinstance(value, (MutableSequence, numpy.ndarray)):
+            import warnings
+            warnings.warn(
+                "Using a subclass of Sequence that isn't a subclass of MutableSequence is deprecated,"
+                ' please use a subclass of collections.abc.MutableSequence like list or a numpy.ndarray',
+                DeprecationWarning)
+@[      else]@
+        if isinstance(value, Sequence) and not isinstance(value, MutableSequence):
+            import warnings
+            warnings.warn(
+                "Using a subclass of Sequence that isn't a subclass of MutableSequence is deprecated,"
+                ' please use a subclass of collections.abc.MutableSequence like list',
+                DeprecationWarning)
+@[     end if]@
 @[  end if]@
         if self._check_fields:
 @[  if isinstance(member.type, AbstractNestedType) and isinstance(member.type.value_type, BasicType) and member.type.value_type.typename in SPECIAL_NESTED_BASIC_TYPES]@
@@ -538,7 +555,6 @@ if isinstance(member.type, (Array, AbstractSequence)):
 @[      end if]@
 @[  end if]@
 @[  if isinstance(member.type, AbstractNestedType)]@
-            from collections.abc import Sequence
             from collections import UserString
 @[  elif isinstance(type_, AbstractGenericString) and type_.has_maximum_size()]@
             from collections import UserString
diff --git a/rosidl_generator_py/test/test_interfaces.py b/rosidl_generator_py/test/test_interfaces.py
index 8d11d423..86692e18 100644
--- a/rosidl_generator_py/test/test_interfaces.py
+++ b/rosidl_generator_py/test/test_interfaces.py
@@ -532,6 +532,12 @@ def test_arrays() -> None:
     with pytest.warns(DeprecationWarning):
         Arrays(string_values={'bar', 'baz', 'foo'})
 
+    with pytest.warns(DeprecationWarning):
+        Arrays(string_values=('bar', 'baz', 'foo'))
+
+    msg4 = Arrays(int8_values=numpy.array([4, 5, 3], dtype=numpy.int8))
+    assert msg3 == msg4
+
 
 def test_bounded_sequences() -> None:
     msg = BoundedSequences(check_fields=True)