diff --git a/rclcpp/include/rclcpp/type_support_decl.hpp b/rclcpp/include/rclcpp/type_support_decl.hpp
index 7261db7b86..abcae98ca9 100644
--- a/rclcpp/include/rclcpp/type_support_decl.hpp
+++ b/rclcpp/include/rclcpp/type_support_decl.hpp
@@ -15,9 +15,67 @@
 #ifndef RCLCPP__TYPE_SUPPORT_DECL_HPP_
 #define RCLCPP__TYPE_SUPPORT_DECL_HPP_
 
+#include "rcl_interfaces/msg/intra_process_message.hpp"
+#include "rcl_interfaces/msg/list_parameters_result.hpp"
+#include "rcl_interfaces/msg/parameter_descriptor.hpp"
+#include "rcl_interfaces/msg/parameter_event.hpp"
+#include "rcl_interfaces/msg/set_parameters_result.hpp"
+#include "rcl_interfaces/srv/describe_parameters.hpp"
+#include "rcl_interfaces/srv/get_parameter_types.hpp"
+#include "rcl_interfaces/srv/get_parameters.hpp"
+#include "rcl_interfaces/srv/list_parameters.hpp"
+#include "rcl_interfaces/srv/set_parameters.hpp"
+#include "rcl_interfaces/srv/set_parameters_atomically.hpp"
 #include "rosidl_generator_cpp/message_type_support_decl.hpp"
 #include "rosidl_generator_cpp/service_type_support_decl.hpp"
 
+// Prototypes of the explicit specializations are required on Windows before they are used.
+// See: http://stackoverflow.com/questions/7774188/explicit-specialization-after-instantiation
+namespace rosidl_generator_cpp
+{
+
+template<>
+const rosidl_message_type_support_t *
+get_message_type_support_handle<rcl_interfaces::msg::ParameterEvent>();
+
+template<>
+const rosidl_message_type_support_t *
+get_message_type_support_handle<rcl_interfaces::msg::SetParametersResult>();
+
+template<>
+const rosidl_message_type_support_t *
+get_message_type_support_handle<rcl_interfaces::msg::ParameterDescriptor>();
+
+template<>
+const rosidl_message_type_support_t *
+get_message_type_support_handle<rcl_interfaces::msg::ListParametersResult>();
+
+template<>
+const rosidl_service_type_support_t *
+get_service_type_support_handle<rcl_interfaces::srv::GetParameters>();
+
+template<>
+const rosidl_service_type_support_t *
+get_service_type_support_handle<rcl_interfaces::srv::GetParameterTypes>();
+
+template<>
+const rosidl_service_type_support_t *
+get_service_type_support_handle<rcl_interfaces::srv::SetParameters>();
+
+template<>
+const rosidl_service_type_support_t *
+get_service_type_support_handle<rcl_interfaces::srv::ListParameters>();
+
+template<>
+const rosidl_service_type_support_t *
+get_service_type_support_handle<rcl_interfaces::srv::DescribeParameters>();
+
+template<>
+const rosidl_service_type_support_t *
+get_service_type_support_handle<rcl_interfaces::srv::SetParametersAtomically>();
+
+}  // namespace rosidl_generator_cpp
+
 namespace rclcpp
 {
 namespace type_support
diff --git a/rclcpp/include/rclcpp/type_support_def.hpp b/rclcpp/include/rclcpp/type_support_def.hpp
index 2e18de64d7..31b171dcde 100644
--- a/rclcpp/include/rclcpp/type_support_def.hpp
+++ b/rclcpp/include/rclcpp/type_support_def.hpp
@@ -17,17 +17,6 @@
 
 #include "rclcpp/type_support_decl.hpp"
 
-#include "rcl_interfaces/msg/intra_process_message.hpp"
-#include "rcl_interfaces/msg/list_parameters_result.hpp"
-#include "rcl_interfaces/msg/parameter_descriptor.hpp"
-#include "rcl_interfaces/msg/parameter_event.hpp"
-#include "rcl_interfaces/msg/set_parameters_result.hpp"
-#include "rcl_interfaces/srv/describe_parameters.hpp"
-#include "rcl_interfaces/srv/get_parameter_types.hpp"
-#include "rcl_interfaces/srv/get_parameters.hpp"
-#include "rcl_interfaces/srv/list_parameters.hpp"
-#include "rcl_interfaces/srv/set_parameters.hpp"
-#include "rcl_interfaces/srv/set_parameters_atomically.hpp"
 #include "rosidl_generator_cpp/message_type_support.hpp"
 #include "rosidl_generator_cpp/service_type_support.hpp"