diff --git a/rosidl_typesupport_fastrtps_c/CMakeLists.txt b/rosidl_typesupport_fastrtps_c/CMakeLists.txt
new file mode 100644
index 000000000..bed191d6f
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_c/CMakeLists.txt
@@ -0,0 +1,86 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(rosidl_typesupport_fastrtps_c)
+
+set(FASTRTPS_STATIC_DISABLE $ENV{FASTRTPS_STATIC_DISABLE}
+  CACHE BOOL "If fastrtps Static should be disabled.")
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(fastrtps_cmake_module REQUIRED)
+find_package(fastcdr REQUIRED CONFIG)
+find_package(fastrtps REQUIRED CONFIG)
+find_package(FastRTPS REQUIRED MODULE)
+if(FASTRTPS_STATIC_DISABLE)
+  ament_package()
+  message(STATUS "fastrtps static rmw implementation explicitly disabled - skipping '${PROJECT_NAME}'")
+  return()
+endif()
+
+find_package(ament_cmake_python REQUIRED)
+find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
+
+ament_export_dependencies(rmw)
+ament_export_dependencies(rosidl_cmake)
+ament_export_dependencies(rosidl_generator_c)
+ament_export_dependencies(rosidl_generator_dds_idl)
+ament_export_dependencies(rosidl_typesupport_fastrtps_cpp)
+ament_export_include_directories(include)
+
+ament_python_install_package(${PROJECT_NAME})
+
+add_library(${PROJECT_NAME} SHARED src/identifier.cpp)
+if(WIN32)
+  target_compile_definitions(${PROJECT_NAME}
+    PRIVATE "ROSIDL_TYPESUPPORT_FASTRTPS_C_BUILDING_DLL")
+endif()
+target_include_directories(${PROJECT_NAME} PUBLIC include)
+ament_target_dependencies(${PROJECT_NAME} "rosidl_typesupport_fastrtps_cpp")
+ament_export_libraries(${PROJECT_NAME})
+
+ament_index_register_resource("rosidl_typesupport_c")
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package(
+  CONFIG_EXTRAS "rosidl_typesupport_fastrtps_c-extras.cmake.in"
+)
+
+install(
+  PROGRAMS bin/rosidl_typesupport_fastrtps_c
+  DESTINATION lib/rosidl_typesupport_fastrtps_c
+)
+
+install(
+  DIRECTORY cmake resource
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
diff --git a/rosidl_typesupport_fastrtps_c/bin/rosidl_typesupport_fastrtps_c b/rosidl_typesupport_fastrtps_c/bin/rosidl_typesupport_fastrtps_c
new file mode 100644
index 000000000..4b0498fc8
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_c/bin/rosidl_typesupport_fastrtps_c
@@ -0,0 +1,44 @@
+#!/usr/bin/env python3
+
+import argparse
+import os
+import sys
+
+from rosidl_cmake import read_generator_arguments
+from rosidl_parser import UnknownMessageType
+from rosidl_typesupport_fastrtps_c import generate_typesupport_fastrtps_c
+
+
+def is_valid_file(parser, file_name):
+    if not os.path.exists(file_name):
+        parser.error("File does not exist: '{0}'".format(file_name))
+    file_name_abs = os.path.abspath(file_name)
+    if not os.path.isfile(file_name_abs):
+        parser.error("Path exists but is not a file: '{0}'".format(file_name_abs))
+    return file_name
+
+
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser(
+        description='Generate the C interfaces for fastrtps.',
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument(
+        '--generator-arguments-file',
+        required=True,
+        help='The location of the file containing the generator arguments')
+    args = parser.parse_args(argv)
+
+    generator_args = read_generator_arguments(args.generator_arguments_file)
+
+    try:
+        rc = generate_typesupport_fastrtps_c(generator_args)
+    except UnknownMessageType as e:
+        print(str(e), file=sys.stderr)
+        return 1
+    if rc:
+        return rc
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c_generate_interfaces.cmake b/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c_generate_interfaces.cmake
new file mode 100644
index 000000000..5df3b57d8
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c_generate_interfaces.cmake
@@ -0,0 +1,278 @@
+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+find_package(fastrtps_cmake_module QUIET)
+find_package(fastcdr REQUIRED CONFIG)
+find_package(fastrtps REQUIRED CONFIG)
+find_package(FastRTPS REQUIRED MODULE)
+
+set(_dds_idl_files "")
+set(_dds_idl_base_path "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_dds_idl")
+foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
+  get_filename_component(_extension "${_idl_file}" EXT)
+  if(_extension STREQUAL ".msg")
+    get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
+    get_filename_component(_parent_folder "${_parent_folder}" NAME)
+    get_filename_component(_name "${_idl_file}" NAME_WE)
+    list(APPEND _dds_idl_files
+      "${_dds_idl_base_path}/${PROJECT_NAME}/${_parent_folder}/dds_fastrtps/${_name}_.idl")
+  endif()
+endforeach()
+
+set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_fastrtps_c/${PROJECT_NAME}")
+set(_generated_msg_files "")
+set(_generated_srv_files "")
+foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
+  get_filename_component(_extension "${_idl_file}" EXT)
+  get_filename_component(_msg_name "${_idl_file}" NAME_WE)
+  string_camel_case_to_lower_case_underscore("${_msg_name}" _header_name)
+  if(_extension STREQUAL ".msg")
+    get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
+    get_filename_component(_parent_folder "${_parent_folder}" NAME)
+    if(_parent_folder STREQUAL "msg")
+      set(_var2 "_generated_msg_files")
+    elseif(_parent_folder STREQUAL "srv")
+      set(_var2 "_generated_srv_files")
+    else()
+      message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}")
+    endif()
+    list(APPEND ${_var2} "${_output_path}/${_parent_folder}/${_header_name}__rosidl_typesupport_fastrtps_c.h")
+    list(APPEND ${_var2} "${_output_path}/${_parent_folder}/dds_fastrtps_c/${_header_name}__type_support_c.cpp")
+  elseif(_extension STREQUAL ".srv")
+    list(APPEND _generated_srv_files "${_output_path}/srv/${_header_name}__rosidl_typesupport_fastrtps_c.h")
+    list(APPEND _generated_srv_files "${_output_path}/srv/dds_fastrtps_c/${_header_name}__type_support_c.cpp")
+  else()
+    message(FATAL_ERROR "Interface file with unknown extension: ${_idl_file}")
+  endif()
+endforeach()
+
+# If not on Windows, disable some warnings with fastrtps's generated code
+if(NOT WIN32)
+  set(_fastrtps_compile_flags)
+  if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    set(_fastrtps_compile_flags
+      "-Wno-deprecated-register"
+      "-Wno-return-type-c-linkage"
+      "-Wno-unused-parameter"
+    )
+  elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    set(_fastrtps_compile_flags
+      # no-strict-aliasing necessary only for Release builds
+      "-Wno-strict-aliasing"
+      "-Wno-unused-parameter"
+    )
+  endif()
+  if(NOT _fastrtps_compile_flags STREQUAL "")
+    string(REPLACE ";" " " _fastrtps_compile_flags "${_fastrtps_compile_flags}")
+  endif()
+endif()
+
+set(_dependency_files "")
+set(_dependencies "")
+foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
+  foreach(_idl_file ${${_pkg_name}_INTERFACE_FILES})
+    get_filename_component(_extension "${_idl_file}" EXT)
+    if(_extension STREQUAL ".msg")
+      get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
+      get_filename_component(_parent_folder "${_parent_folder}" NAME)
+      get_filename_component(_name "${_idl_file}" NAME_WE)
+      set(_abs_idl_file "${${_pkg_name}_DIR}/../${_parent_folder}/dds_fastrtps/${_name}_.idl")
+      normalize_path(_abs_idl_file "${_abs_idl_file}")
+      list(APPEND _dependency_files "${_abs_idl_file}")
+      set(_abs_idl_file "${${_pkg_name}_DIR}/../${_idl_file}")
+      normalize_path(_abs_idl_file "${_abs_idl_file}")
+      list(APPEND _dependencies "${_pkg_name}:${_abs_idl_file}")
+    endif()
+  endforeach()
+endforeach()
+
+set(target_dependencies
+  "${rosidl_typesupport_fastrtps_c_BIN}"
+  ${rosidl_typesupport_fastrtps_c_GENERATOR_FILES}
+  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/msg__type_support_c.cpp.em"
+  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/srv__type_support_c.cpp.em"
+  ${_dependency_files})
+foreach(dep ${target_dependencies})
+  if(NOT EXISTS "${dep}")
+    message(FATAL_ERROR "Target dependency '${dep}' does not exist")
+  endif()
+endforeach()
+
+set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_fastrtps_c__arguments.json")
+rosidl_write_generator_arguments(
+  "${generator_arguments_file}"
+  PACKAGE_NAME "${PROJECT_NAME}"
+  ROS_INTERFACE_FILES "${rosidl_generate_interfaces_IDL_FILES}"
+  ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
+  OUTPUT_DIR "${_output_path}"
+  TEMPLATE_DIR "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}"
+  TARGET_DEPENDENCIES ${target_dependencies}
+  ADDITIONAL_FILES ${_dds_idl_files}
+)
+
+add_custom_command(
+  OUTPUT ${_generated_msg_files} ${_generated_srv_files}
+  COMMAND ${PYTHON_EXECUTABLE} ${rosidl_typesupport_fastrtps_c_BIN}
+  --generator-arguments-file "${generator_arguments_file}"
+  DEPENDS ${target_dependencies} ${_dds_idl_files}
+  COMMENT "Generating C type support for eProsima Fast-RTPS"
+  VERBATIM
+)
+
+# generate header to switch between export and import for a specific package
+set(_visibility_control_file
+"${_output_path}/msg/rosidl_typesupport_fastrtps_c__visibility_control.h")
+string(TOUPPER "${PROJECT_NAME}" PROJECT_NAME_UPPER)
+configure_file(
+  "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}/rosidl_typesupport_fastrtps_c__visibility_control.h.in"
+  "${_visibility_control_file}"
+  @ONLY
+)
+
+set(_target_suffix "__rosidl_typesupport_fastrtps_c")
+
+link_directories(${fastrtps_LIBRARY_DIRS})
+add_library(${rosidl_generate_interfaces_TARGET}${_target_suffix} SHARED
+  ${_generated_msg_files} ${_generated_srv_files})
+if(rosidl_generate_interfaces_LIBRARY_NAME)
+  set_target_properties(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    PROPERTIES OUTPUT_NAME "${rosidl_generate_interfaces_LIBRARY_NAME}${_target_suffix}")
+endif()
+set_target_properties(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  PROPERTIES CXX_STANDARD 14)
+if(fastrtps_GLIBCXX_USE_CXX11_ABI_ZERO)
+  target_compile_definitions(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    PRIVATE fastrtps_GLIBCXX_USE_CXX11_ABI_ZERO)
+endif()
+ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  "fastrtps"
+  "rmw"
+  "rosidl_typesupport_fastrtps_cpp"
+  "rosidl_typesupport_fastrtps_c"
+  "rosidl_generator_c"
+  "rosidl_typesupport_interface")
+if(WIN32)
+  target_compile_definitions(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    PRIVATE "ROSIDL_TYPESUPPORT_FASTRTPS_C_BUILDING_DLL_${PROJECT_NAME}")
+  target_compile_definitions(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    PRIVATE "NDDS_USER_DLL_EXPORT_${PROJECT_NAME}")
+endif()
+
+if(NOT WIN32)
+  set(_target_compile_flags "-Wall -Wextra -Wpedantic")
+else()
+  set(_target_compile_flags
+    "/W4"  # Enable level 3 warnings
+    "/wd4100"  # Ignore unreferenced formal parameter warnings
+    "/wd4127"  # Ignore conditional expression is constant warnings
+    "/wd4275"  # Ignore "an exported class derived from a non-exported class" warnings
+    "/wd4305"  # Ignore "initializing: truncation from..." warnings
+    "/wd4458"  # Ignore class hides member variable warnings
+    "/wd4701"  # Ignore unused variable warnings
+  )
+endif()
+string(REPLACE ";" " " _target_compile_flags "${_target_compile_flags}")
+set_target_properties(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  PROPERTIES COMPILE_FLAGS "${_target_compile_flags}")
+target_include_directories(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  PUBLIC
+  ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c
+  ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp
+  ${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_fastrtps_c
+  ${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_fastrtps_cpp
+)
+ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  "fastrtps"
+  "rosidl_typesupport_fastrtps_cpp"
+  "rosidl_typesupport_fastrtps_c"
+  "${PROJECT_NAME}__rosidl_typesupport_fastrtps_cpp")
+foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
+  set(_msg_include_dir "${${_pkg_name}_DIR}/../../../include/${_pkg_name}/msg/dds_fastrtps_c")
+  set(_srv_include_dir "${${_pkg_name}_DIR}/../../../include/${_pkg_name}/srv/dds_fastrtps_c")
+  normalize_path(_msg_include_dir "${_msg_include_dir}")
+  normalize_path(_srv_include_dir "${_srv_include_dir}")
+  target_include_directories(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    PUBLIC
+    "${_msg_include_dir}"
+    "${_srv_include_dir}"
+  )
+  ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    ${_pkg_name})
+endforeach()
+target_link_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  ${rosidl_generate_interfaces_TARGET}__rosidl_generator_c
+  ${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_fastrtps_cpp)
+
+add_dependencies(
+  ${rosidl_generate_interfaces_TARGET}
+  ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+)
+add_dependencies(
+  ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  ${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_fastrtps_cpp
+)
+add_dependencies(
+  ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  ${rosidl_generate_interfaces_TARGET}__cpp
+)
+add_dependencies(
+  ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  ${rosidl_generate_interfaces_TARGET}__dds_fastrtps_idl
+)
+
+if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+  install(
+    DIRECTORY "${_output_path}/"
+    DESTINATION "include/${PROJECT_NAME}"
+    PATTERN "*.cpp" EXCLUDE
+  )
+
+  if(NOT _generated_msg_files STREQUAL "" OR NOT _generated_srv_files STREQUAL "")
+    ament_export_include_directories(include)
+  endif()
+
+  install(
+    TARGETS ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+  )
+
+  ament_export_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix})
+endif()
+
+if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS)
+  if(NOT _generated_msg_files STREQUAL "" OR NOT _generated_srv_files STREQUAL "")
+    find_package(ament_cmake_cppcheck REQUIRED)
+    ament_cppcheck(
+      TESTNAME "cppcheck_rosidl_typesupport_fastrtps_c"
+      ${_generated_msg_files} ${_generated_srv_files})
+
+    find_package(ament_cmake_cpplint REQUIRED)
+    get_filename_component(_cpplint_root "${_output_path}" DIRECTORY)
+    ament_cpplint(
+      TESTNAME "cpplint_rosidl_typesupport_fastrtps_c"
+      # the generated code might contain longer lines for templated types
+      MAX_LINE_LENGTH 999
+      ROOT "${_cpplint_root}"
+      ${_generated_msg_files} ${_generated_srv_files})
+
+    find_package(ament_cmake_uncrustify REQUIRED)
+    ament_uncrustify(
+      TESTNAME "uncrustify_rosidl_typesupport_fastrtps_c"
+      # the generated code might contain longer lines for templated types
+      MAX_LINE_LENGTH 999
+      ${_generated_msg_files} ${_generated_srv_files})
+  endif()
+endif()
diff --git a/rosidl_typesupport_fastrtps_c/include/rosidl_typesupport_fastrtps_c/identifier.h b/rosidl_typesupport_fastrtps_c/include/rosidl_typesupport_fastrtps_c/identifier.h
new file mode 100644
index 000000000..0ac3c9ae0
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_c/include/rosidl_typesupport_fastrtps_c/identifier.h
@@ -0,0 +1,32 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROSIDL_TYPESUPPORT_FASTRTPS_C__IDENTIFIER_H_
+#define ROSIDL_TYPESUPPORT_FASTRTPS_C__IDENTIFIER_H_
+
+#include "rosidl_typesupport_fastrtps_c/visibility_control.h"
+
+#if __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC
+extern const char * rosidl_typesupport_fastrtps_c__identifier;
+
+#if __cplusplus
+}
+#endif
+
+#endif  // ROSIDL_TYPESUPPORT_FASTRTPS_C__IDENTIFIER_H_
diff --git a/rosidl_typesupport_fastrtps_c/include/rosidl_typesupport_fastrtps_c/visibility_control.h b/rosidl_typesupport_fastrtps_c/include/rosidl_typesupport_fastrtps_c/visibility_control.h
new file mode 100644
index 000000000..d0e373466
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_c/include/rosidl_typesupport_fastrtps_c/visibility_control.h
@@ -0,0 +1,56 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
+#define ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
+
+#if __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT __attribute__ ((dllexport))
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT __attribute__ ((dllimport))
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT __declspec(dllexport)
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef ROSIDL_TYPESUPPORT_FASTRTPS_C_BUILDING_DLL
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT
+  #endif
+  #define ROSIDL_TYPESUPPORT_FASTRTPS_C_LOCAL
+#else
+  #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT __attribute__ ((visibility("default")))
+  #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT
+  #if __GNUC__ >= 4
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC __attribute__ ((visibility("default")))
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_LOCAL
+  #endif
+#endif
+
+#if __cplusplus
+}
+#endif
+
+#endif  // ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
diff --git a/rosidl_typesupport_fastrtps_c/package.xml b/rosidl_typesupport_fastrtps_c/package.xml
new file mode 100644
index 000000000..3b669c263
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_c/package.xml
@@ -0,0 +1,40 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rosidl_typesupport_fastrtps_c</name>
+  <version>0.4.0</version>
+  <description>Generate the C interfaces for eProsima FastRTPS.</description>
+  <maintainer email="ricardogonzalez@eprosima.com">Ricardo González</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>fastrtps_cmake_module</buildtool_depend>
+  <buildtool_depend>fastcdr</buildtool_depend>
+  <buildtool_depend>fastrtps</buildtool_depend>
+  <buildtool_depend>rosidl_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_generator_c</buildtool_depend>
+  <buildtool_depend>rosidl_typesupport_fastrtps_cpp</buildtool_depend>
+
+  <buildtool_export_depend>ament_cmake</buildtool_export_depend>
+  <buildtool_export_depend>fastrtps_cmake_module</buildtool_export_depend>
+  <buildtool_export_depend>fastcdr</buildtool_export_depend>
+  <buildtool_export_depend>fastrtps</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_generator_c</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_generator_dds_idl</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_typesupport_fastrtps_cpp</buildtool_export_depend>
+
+  <build_export_depend>rmw</build_export_depend>
+
+  <exec_depend>rosidl_parser</exec_depend>
+  <exec_depend>rosidl_typesupport_interface</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_typesupport_c_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/rosidl_typesupport_fastrtps_c/resource/msg__rosidl_typesupport_fastrtps_c.h.em b/rosidl_typesupport_fastrtps_c/resource/msg__rosidl_typesupport_fastrtps_c.h.em
new file mode 100644
index 000000000..67838c0d8
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_c/resource/msg__rosidl_typesupport_fastrtps_c.h.em
@@ -0,0 +1,57 @@
+// generated from
+// rosidl_typesupport_fastrtps_c/resource/msg__rosidl_typesupport_fastrtps_c.h.em
+// generated code does not contain a copyright notice
+
+@#######################################################################
+@# EmPy template for generating
+@# <msg>__rosidl_typesupport_fastrtps_c.h files
+@#
+@# Context:
+@#  - spec (rosidl_parser.MessageSpecification)
+@#    Parsed specification of the .msg file
+@#  - subfolder (string)
+@#    The subfolder / subnamespace of the message
+@#    Either 'msg' or 'srv'
+@#  - get_header_filename_from_msg_name (function)
+@#######################################################################
+@
+@{
+header_guard_parts = [
+    spec.base_type.pkg_name, subfolder,
+    get_header_filename_from_msg_name(spec.base_type.type) + '__rosidl_typesupport_fastrtps_c_h']
+header_guard_variable = '__'.join([x.upper() for x in header_guard_parts]) + '_'
+}@
+#ifndef @(header_guard_variable)
+#define @(header_guard_variable)
+
+#include <stddef.h>
+
+#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+
+#include "@(spec.base_type.pkg_name)/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(spec.base_type.pkg_name)
+size_t get_serialized_size_@(spec.base_type.pkg_name)__@(subfolder)__@(spec.base_type.type)(
+  const void * untyped_ros_message,
+  size_t current_alignment);
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(spec.base_type.pkg_name)
+size_t max_serialized_size_@(spec.base_type.pkg_name)__@(subfolder)__@(spec.base_type.type)(
+  bool & full_bounded,
+  size_t current_alignment);
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(spec.base_type.pkg_name)
+const rosidl_message_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, @(spec.base_type.pkg_name), @(subfolder), @(spec.base_type.type))();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // @(header_guard_variable)
diff --git a/rosidl_typesupport_fastrtps_c/resource/msg__type_support_c.cpp.em b/rosidl_typesupport_fastrtps_c/resource/msg__type_support_c.cpp.em
new file mode 100644
index 000000000..3fca5eaad
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_c/resource/msg__type_support_c.cpp.em
@@ -0,0 +1,491 @@
+// generated from rosidl_typesupport_fastrtps_c/resource/msg__type_support_c.cpp.em
+// generated code does not contain a copyright notice
+
+@##########################################################################
+@# EmPy template for generating <msg>__type_support_c.cpp files for fastrtps
+@#
+@# Context:
+@#  - spec (rosidl_parser.MessageSpecification)
+@#    Parsed specification of the .msg file
+@#  - pkg (string)
+@#    name of the containing package; equivalent to spec.base_type.pkg_name
+@#  - msg (string)
+@#    name of the message; equivalent to spec.msg_name
+@#  - type (string)
+@#    full type of the message; equivalent to spec.base_type.type
+@#  - subfolder (string)
+@#    The subfolder / subnamespace of the message
+@#    Either 'msg' or 'srv'
+@#  - get_header_filename_from_msg_name (function)
+@##########################################################################
+@
+#include "@(spec.base_type.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.base_type.type))__rosidl_typesupport_fastrtps_c.h"
+
+#include <cassert>
+#include <limits>
+#include <string>
+
+// Provides the rosidl_typesupport_fastrtps_c__identifier symbol declaration.
+#include "rosidl_typesupport_fastrtps_c/identifier.h"
+// Provides the definition of the message_type_support_callbacks_t struct.
+#include "rosidl_typesupport_fastrtps_cpp/message_type_support.h"
+
+#include "@(pkg)/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
+@{header_file_name = get_header_filename_from_msg_name(type)}@
+#include "@(pkg)/@(subfolder)/@(header_file_name)__struct.h"
+#include "@(pkg)/@(subfolder)/@(header_file_name)__functions.h"
+
+#include "fastcdr/Cdr.h"
+
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wunused-parameter"
+# ifdef __clang__
+#  pragma clang diagnostic ignored "-Wdeprecated-register"
+#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
+# endif
+#endif
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
+
+// includes and forward declarations of message dependencies and their conversion functions
+
+@# // Include the message header for each non-primitive field.
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+
+@{
+includes = {}
+for field in spec.fields:
+    keys = set([])
+    if field.type.is_primitive_type():
+        if field.type.is_array:
+            keys.add('rosidl_generator_c/primitives_array.h')
+            keys.add('rosidl_generator_c/primitives_array_functions.h')
+        if field.type.type == 'string':
+            keys.add('rosidl_generator_c/string.h')
+            keys.add('rosidl_generator_c/string_functions.h')
+    else:
+        header_file_name = get_header_filename_from_msg_name(field.type.type)
+        keys.add('%s/msg/%s__functions.h' % (field.type.pkg_name, header_file_name))
+    for key in keys:
+        if key not in includes:
+            includes[key] = set([])
+        includes[key].add(field.name)
+}@
+@[for key in sorted(includes.keys())]@
+#include "@(key)"  // @(', '.join(includes[key]))
+@[end for]@
+
+// forward declare type support functions
+@{
+forward_declares = {}
+for field in spec.fields:
+    if not field.type.is_primitive_type():
+        key = (field.type.pkg_name, field.type.type)
+        if key not in includes:
+            forward_declares[key] = set([])
+        forward_declares[key].add(field.name)
+}@
+@[for key in sorted(forward_declares.keys())]@
+@[  if key[0] != pkg]@
+ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_@(pkg)
+@[  end if]@
+size_t get_serialized_size_@(key[0])__msg__@(key[1])(
+  const void * untyped_ros_message,
+  size_t current_alignment);
+
+@[  if key[0] != pkg]@
+ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_@(pkg)
+@[  end if]@
+size_t max_serialized_size_@(key[0])__msg__@(key[1])(
+  bool & full_bounded,
+  size_t current_alignment);
+
+@[  if key[0] != pkg]@
+ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_@(pkg)
+@[  end if]@
+const rosidl_message_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, @(key[0]), msg, @(key[1]))();
+@[end for]@
+
+@# // Make callback functions specific to this message type.
+
+using __ros_msg_type = @(pkg)__@(subfolder)__@(type);
+
+static bool __cdr_serialize(
+  const void * untyped_ros_message,
+  eprosima::fastcdr::Cdr & cdr)
+{
+  if (!untyped_ros_message) {
+    fprintf(stderr, "ros message handle is null\n");
+    return false;
+  }
+@[if not spec.fields]@
+  // No fields is a no-op.
+  (void)cdr;
+  (void)untyped_ros_message;
+@[else]@
+  const __ros_msg_type * ros_message = static_cast<const __ros_msg_type *>(untyped_ros_message);
+@[end if]@
+@[for field in spec.fields]@
+  // Field name: @(field.name)
+  {
+@[  if not field.type.is_primitive_type()]@
+    const message_type_support_callbacks_t * @(field.type.pkg_name)__msg__@(field.type.type)__callbacks =
+      static_cast<const message_type_support_callbacks_t *>(
+      ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, @(field.type.pkg_name), msg, @(field.type.type)
+      )()->data);
+@[  end if]@
+@[  if field.type.is_array]@
+@[    if field.type.array_size and not field.type.is_upper_bound]@
+    size_t size = @(field.type.array_size);
+    auto array_ptr = ros_message->@(field.name);
+@[    else]@
+    size_t size = ros_message->@(field.name).size;
+    auto array_ptr = ros_message->@(field.name).data;
+@[      if field.type.is_upper_bound]@
+    if (size > @(field.type.array_size)) {
+      fprintf(stderr, "array size exceeds upper bound\n");
+      return false;
+    }
+@[      end if]@
+    cdr << static_cast<uint32_t>(size);
+@[    end if]@
+@[    if field.type.type == 'string']@
+    for (size_t i = 0; i < size; ++i) {
+      const rosidl_generator_c__String * str = &array_ptr[i];
+      if (str->capacity == 0 || str->capacity <= str->size) {
+        fprintf(stderr, "string capacity not greater than size\n");
+        return false;
+      }
+      if (str->data[str->size] != '\0') {
+        fprintf(stderr, "string not null-terminated\n");
+        return false;
+      }
+      cdr << str->data;
+    }
+@[    elif field.type.is_primitive_type()]@
+    cdr.serializeArray(array_ptr, size);
+@[    else]@
+    for (size_t i = 0; i < size; ++i) {
+      if (!@(field.type.pkg_name)__msg__@(field.type.type)__callbacks->cdr_serialize(
+          &array_ptr[i], cdr))
+      {
+        return false;
+      }
+    }
+@[    end if]@
+@[  elif field.type.type == 'string']@
+    const rosidl_generator_c__String * str = &ros_message->@(field.name);
+    if (str->capacity == 0 || str->capacity <= str->size) {
+      fprintf(stderr, "string capacity not greater than size\n");
+      return false;
+    }
+    if (str->data[str->size] != '\0') {
+      fprintf(stderr, "string not null-terminated\n");
+      return false;
+    }
+    cdr << str->data;
+@[  elif field.type.is_primitive_type()]@
+    cdr << ros_message->@(field.name);
+@[  else]@
+    if (!@(field.type.pkg_name)__msg__@(field.type.type)__callbacks->cdr_serialize(
+        &ros_message->@(field.name), cdr))
+    {
+      return false;
+    }
+@[  end if]@
+  }
+
+@[end for]@
+  return true;
+}
+
+static bool __cdr_deserialize(
+  eprosima::fastcdr::Cdr & cdr,
+  void * untyped_ros_message)
+{
+  if (!untyped_ros_message) {
+    fprintf(stderr, "ros message handle is null\n");
+    return false;
+  }
+@[if not spec.fields]@
+  // No fields is a no-op.
+  (void)cdr;
+  (void)untyped_ros_message;
+@[else]@
+  __ros_msg_type * ros_message = static_cast<__ros_msg_type *>(untyped_ros_message);
+@[end if]@
+@[for field in spec.fields]@
+  // Field name: @(field.name)
+  {
+@[  if not field.type.is_primitive_type()]@
+    const message_type_support_callbacks_t * @(field.type.pkg_name)__msg__@(field.type.type)__callbacks =
+      static_cast<const message_type_support_callbacks_t *>(
+      ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, @(field.type.pkg_name), msg, @(field.type.type)
+      )()->data);
+@[  end if]@
+@[  if field.type.is_array]@
+@[    if field.type.array_size and not field.type.is_upper_bound]@
+    size_t size = @(field.type.array_size);
+    auto array_ptr = ros_message->@(field.name);
+@[    else]@
+@{
+if field.type.type == 'string':
+    array_init = 'rosidl_generator_c__String__Array__init'
+    array_fini = 'rosidl_generator_c__String__Array__fini'
+elif field.type.is_primitive_type():
+    array_init = 'rosidl_generator_c__{field.type.type}__Array__init'.format(**locals())
+    array_fini = 'rosidl_generator_c__{field.type.type}__Array__fini'.format(**locals())
+else:
+    array_init = '{field.type.pkg_name}__msg__{field.type.type}__Array__init'.format(**locals())
+    array_fini = '{field.type.pkg_name}__msg__{field.type.type}__Array__fini'.format(**locals())
+}@
+    uint32_t cdrSize;
+    cdr >> cdrSize;
+    size_t size = static_cast<size_t>(cdrSize);
+    if (ros_message->@(field.name).data) {
+      @(array_fini)(&ros_message->@(field.name));
+    }
+    if (!@(array_init)(&ros_message->@(field.name), size)) {
+      return "failed to create array for field '@(field.name)'";
+    }
+    auto array_ptr = ros_message->@(field.name).data;
+@[    end if]@
+@[    if field.type.type == 'string']@
+    for (size_t i = 0; i < size; ++i) {
+      std::string tmp;
+      cdr >> tmp;
+      auto & ros_i = array_ptr[i];
+      if (!ros_i.data) {
+        rosidl_generator_c__String__init(&ros_i);
+      }
+      bool succeeded = rosidl_generator_c__String__assign(
+        &ros_i,
+        tmp.c_str());
+      if (!succeeded) {
+        fprintf(stderr, "failed to assign string into field '@(field.name)'\n");
+        return false;
+      }
+    }
+@[    elif field.type.is_primitive_type()]@
+    cdr.deserializeArray(array_ptr, size);
+@[    else]@
+    for (size_t i = 0; i < size; ++i) {
+      if (!@(field.type.pkg_name)__msg__@(field.type.type)__callbacks->cdr_deserialize(
+          cdr, &array_ptr[i]))
+      {
+        return false;
+      }
+    }
+@[    end if]@
+@[  elif field.type.type == 'string']@
+    std::string tmp;
+    cdr >> tmp;
+    if (!ros_message->@(field.name).data) {
+      rosidl_generator_c__String__init(&ros_message->@(field.name));
+    }
+    bool succeeded = rosidl_generator_c__String__assign(
+      &ros_message->@(field.name),
+      tmp.c_str());
+    if (!succeeded) {
+      fprintf(stderr, "failed to assign string into field '@(field.name)'\n");
+      return false;
+    }
+@[  elif field.type.is_primitive_type()]@
+    cdr >> ros_message->@(field.name);
+@[  else]@
+    if (!@(field.type.pkg_name)__msg__@(field.type.type)__callbacks->cdr_deserialize(
+        cdr, &ros_message->@(field.name)))
+    {
+      return false;
+    }
+@[  end if]@
+  }
+
+@[end for]@
+  return true;
+}
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(spec.base_type.pkg_name)
+size_t get_serialized_size_@(spec.base_type.pkg_name)__@(subfolder)__@(spec.base_type.type)(
+  const void * untyped_ros_message,
+  size_t current_alignment)
+{
+@[if not spec.fields]@
+  (void)untyped_ros_message;
+  (void)current_alignment;
+@[else]@
+  const __ros_msg_type * ros_message = static_cast<const __ros_msg_type *>(untyped_ros_message);
+  (void)ros_message;
+  size_t initial_alignment = current_alignment;
+
+  const size_t padding = 4;
+  (void)padding;
+@[end if]@
+
+@[for field in spec.fields]@
+  // field.name @(field.name)
+@[  if field.type.is_array]@
+  {
+@[    if field.type.array_size and not field.type.is_upper_bound]@
+    size_t array_size = @(field.type.array_size);
+    auto array_ptr = ros_message->@(field.name);
+@[    else]@
+    size_t array_size = ros_message->@(field.name).size;
+    auto array_ptr = ros_message->@(field.name).data;
+    current_alignment += padding +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
+@[    end if]@
+@[    if field.type.type == 'string']@
+    for (size_t index = 0; index < array_size; ++index) {
+      current_alignment += padding +
+        eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
+        array_ptr[index].size + 1;
+    }
+@[    elif field.type.is_primitive_type()]@
+    (void)array_ptr;
+    size_t item_size = sizeof(array_ptr[0]);
+    current_alignment += array_size * item_size +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, item_size);
+@[    else]
+    for (size_t index = 0; index < array_size; ++index) {
+      current_alignment += get_serialized_size_@(field.type.pkg_name)__msg__@(field.type.type)(
+        &array_ptr[index], current_alignment);
+    }
+@[    end if]@
+  }
+@[  else]@
+@[    if field.type.type == 'string']@
+  current_alignment += padding +
+    eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
+    ros_message->@(field.name).size + 1;
+@[    elif field.type.is_primitive_type()]@
+  {
+    size_t item_size = sizeof(ros_message->@(field.name));
+    current_alignment += item_size +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, item_size);
+  }
+@[    else]
+  current_alignment += get_serialized_size_@(field.type.pkg_name)__msg__@(field.type.type)(
+    &(ros_message->@(field.name)), current_alignment);
+@[    end if]@
+@[  end if]@
+@[end for]@
+
+@[if not spec.fields]@
+  return 0;
+@[else]@
+  return current_alignment - initial_alignment;
+@[end if]@
+}
+
+static uint32_t __get_serialized_size(const void * untyped_ros_message)
+{
+  return static_cast<uint32_t>(
+    get_serialized_size_@(spec.base_type.pkg_name)__@(subfolder)__@(spec.base_type.type)(
+      untyped_ros_message, 0));
+}
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(spec.base_type.pkg_name)
+size_t max_serialized_size_@(spec.base_type.pkg_name)__@(subfolder)__@(spec.base_type.type)(
+  bool & full_bounded,
+  size_t current_alignment)
+{
+  size_t initial_alignment = current_alignment;
+
+  const size_t padding = 4;
+  (void)padding;
+  (void)full_bounded;
+
+@[for field in spec.fields]@
+  // field.name @(field.name)
+  {
+@[  if field.type.is_array]@
+@[    if field.type.array_size]@
+    size_t array_size = @(field.type.array_size);
+@[    else]@
+    size_t array_size = 0;
+@[    end if]@
+@[    if not field.type.array_size or field.type.is_upper_bound]@
+    full_bounded = false;
+    current_alignment += padding +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
+@[    end if]@
+@[  else]@
+    size_t array_size = 1;
+@[  end if]@
+
+@[  if field.type.type == 'string']@
+    full_bounded = false;
+    for (size_t index = 0; index < array_size; ++index) {
+      current_alignment += padding +
+@[    if field.type.string_upper_bound]@
+        eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
+        @(field.type.string_upper_bound) + 1;
+@[    else]@
+        eprosima::fastcdr::Cdr::alignment(current_alignment, padding) + 1;
+@[    end if]@
+    }
+@[  elif field.type.is_primitive_type()]@
+@[    if field.type.type == 'bool' or field.type.type == 'byte' or field.type.type == 'char' or field.type.type == 'uint8' or field.type.type == 'int8' ]
+    current_alignment += array_size * sizeof(uint8_t);
+@[    elif field.type.type == 'int16' or field.type.type == 'uint16']
+    current_alignment += array_size * sizeof(uint16_t) +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, sizeof(uint16_t));
+@[    elif field.type.type == 'int32' or field.type.type == 'uint32' or field.type.type == 'float32']
+    current_alignment += array_size * sizeof(uint32_t) +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, sizeof(uint32_t));
+@[    elif field.type.type == 'int64' or field.type.type == 'uint64' or field.type.type == 'float64']
+    current_alignment += array_size * sizeof(uint64_t) +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, sizeof(uint64_t));
+@[    end if]@
+@[  else]
+    for (size_t index = 0; index < array_size; ++index) {
+      current_alignment +=
+        max_serialized_size_@(field.type.pkg_name)__msg__@(field.type.type)(
+        full_bounded, current_alignment);
+    }
+@[  end if]@
+  }
+@[end for]@
+
+  return current_alignment - initial_alignment;
+}
+
+static size_t __max_serialized_size(bool & full_bounded)
+{
+  return max_serialized_size_@(spec.base_type.pkg_name)__@(subfolder)__@(spec.base_type.type)(
+    full_bounded, 0);
+}
+
+@
+@# // Collect the callback functions and provide a function to get the type support struct.
+
+static message_type_support_callbacks_t __callbacks = {
+  "@(pkg)",
+  "@(msg)",
+  __cdr_serialize,
+  __cdr_deserialize,
+  __get_serialized_size,
+  __max_serialized_size
+};
+
+static rosidl_message_type_support_t __type_support = {
+  rosidl_typesupport_fastrtps_c__identifier,
+  &__callbacks,
+  get_message_typesupport_handle_function,
+};
+
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, @(pkg), @(subfolder), @(msg))() {
+  return &__type_support;
+}
+
+#if defined(__cplusplus)
+}
+#endif
diff --git a/rosidl_typesupport_fastrtps_c/resource/rosidl_typesupport_fastrtps_c__visibility_control.h.in b/rosidl_typesupport_fastrtps_c/resource/rosidl_typesupport_fastrtps_c__visibility_control.h.in
new file mode 100644
index 000000000..16b92154a
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_c/resource/rosidl_typesupport_fastrtps_c__visibility_control.h.in
@@ -0,0 +1,43 @@
+// generated from
+// rosidl_typesupport_fastrtps_c/resource/rosidl_typesupport_fastrtps_c__visibility_control.h.in
+// generated code does not contain a copyright notice
+
+#ifndef @PROJECT_NAME_UPPER@__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
+#define @PROJECT_NAME_UPPER@__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
+
+#if __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_@PROJECT_NAME@ __attribute__ ((dllexport))
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_@PROJECT_NAME@ __attribute__ ((dllimport))
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_@PROJECT_NAME@ __declspec(dllexport)
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_@PROJECT_NAME@ __declspec(dllimport)
+  #endif
+  #ifdef ROSIDL_TYPESUPPORT_FASTRTPS_C_BUILDING_DLL_@PROJECT_NAME@
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@PROJECT_NAME@ ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_@PROJECT_NAME@
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@PROJECT_NAME@ ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_@PROJECT_NAME@
+  #endif
+#else
+  #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_@PROJECT_NAME@ __attribute__ ((visibility("default")))
+  #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_@PROJECT_NAME@
+  #if __GNUC__ >= 4
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@PROJECT_NAME@ __attribute__ ((visibility("default")))
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@PROJECT_NAME@
+  #endif
+#endif
+
+#if __cplusplus
+}
+#endif
+
+#endif  // @PROJECT_NAME_UPPER@__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
diff --git a/rosidl_typesupport_fastrtps_c/resource/srv__rosidl_typesupport_fastrtps_c.h.em b/rosidl_typesupport_fastrtps_c/resource/srv__rosidl_typesupport_fastrtps_c.h.em
new file mode 100644
index 000000000..8f1181ef0
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_c/resource/srv__rosidl_typesupport_fastrtps_c.h.em
@@ -0,0 +1,42 @@
+// generated from
+// rosidl_typesupport_fastrtps_c/resource/srv__rosidl_typesupport_fastrtps_c.h.em
+// generated code does not contain a copyright notice
+
+@#######################################################################
+@# EmPy template for generating
+@# <srv>__rosidl_typesupport_fastrtps_c.h files
+@#
+@# Context:
+@#  - spec (rosidl_parser.MessageSpecification)
+@#    Parsed specification of the .srv file
+@#  - get_header_filename_from_srv_name (function)
+@#######################################################################
+@
+@{
+header_guard_parts = [
+    spec.pkg_name, 'srv',
+    get_header_filename_from_msg_name(spec.srv_name) + '__rosidl_typesupport_fastrtps_c_h']
+header_guard_variable = '__'.join([x.upper() for x in header_guard_parts]) + '_'
+}@
+#ifndef @(header_guard_variable)
+#define @(header_guard_variable)
+
+#include "rosidl_generator_c/service_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+
+#include "@(spec.pkg_name)/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(spec.pkg_name)
+const rosidl_service_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, @(spec.pkg_name), @(spec.srv_name))();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // @(header_guard_variable)
diff --git a/rosidl_typesupport_fastrtps_c/resource/srv__type_support_c.cpp.em b/rosidl_typesupport_fastrtps_c/resource/srv__type_support_c.cpp.em
new file mode 100644
index 000000000..61dc12089
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_c/resource/srv__type_support_c.cpp.em
@@ -0,0 +1,55 @@
+// generated from rosidl_typesupport_fastrtps_c/resource/srv__type_support_c.cpp.em
+// generated code does not contain a copyright notice
+
+@#######################################################################
+@# EmPy template for generating <srv>__type_support_c.cpp files
+@#
+@# Context:
+@#  - spec (rosidl_parser.ServiceSpecification)
+@#    Parsed specification of the .srv file
+@#  - get_header_filename_from_msg_name (function)
+@#######################################################################
+@
+#include "@(spec.pkg_name)/srv/@(get_header_filename_from_msg_name(spec.srv_name))__rosidl_typesupport_fastrtps_c.h"
+
+// Provides the definition of the service_type_support_callbacks_t struct.
+#include <rosidl_typesupport_fastrtps_cpp/service_type_support.h>
+
+#include "rosidl_typesupport_cpp/service_type_support.hpp"
+#include "rosidl_typesupport_fastrtps_c/identifier.h"
+
+#include "@(spec.pkg_name)/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
+@{req_header_file_name = get_header_filename_from_msg_name(spec.srv_name + '__request')}@
+@{res_header_file_name = get_header_filename_from_msg_name(spec.srv_name + '__response')}@
+#include "@(spec.pkg_name)/srv/@(req_header_file_name).h"
+#include "@(spec.pkg_name)/srv/@(res_header_file_name).h"
+
+#include "@(spec.pkg_name)/srv/@(get_header_filename_from_msg_name(spec.srv_name + '_Request'))__rosidl_typesupport_fastrtps_c.h"
+#include "@(spec.pkg_name)/srv/@(get_header_filename_from_msg_name(spec.srv_name + '_Response'))__rosidl_typesupport_fastrtps_c.h"
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+
+static service_type_support_callbacks_t callbacks = {
+  "@(spec.pkg_name)",
+  "@(spec.srv_name)",
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, @(spec.pkg_name), srv, @(spec.srv_name)_Request)(),
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, @(spec.pkg_name), srv, @(spec.srv_name)_Response)(),
+};
+
+static rosidl_service_type_support_t handle = {
+  rosidl_typesupport_fastrtps_c__identifier,
+  &callbacks,
+  get_service_typesupport_handle_function,
+};
+
+const rosidl_service_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, @(spec.pkg_name), @(spec.srv_name))() {
+  return &handle;
+}
+
+#if defined(__cplusplus)
+}
+#endif
diff --git a/rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c-extras.cmake.in b/rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c-extras.cmake.in
new file mode 100644
index 000000000..29e484fe9
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c-extras.cmake.in
@@ -0,0 +1,34 @@
+# generated from
+# rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c-extras.cmake.in
+
+find_package(fastrtps_cmake_module QUIET)
+find_package(fastcdr REQUIRED CONFIG)
+find_package(fastrtps REQUIRED CONFIG)
+find_package(FastRTPS REQUIRED MODULE)
+
+if(NOT FastRTPS_FOUND)
+  message(STATUS
+    "Could not find eProsima Fast-RTPS: skipping rosidl_typesupport_fastrtps_c"
+  )
+else()
+  find_package(ament_cmake_core QUIET REQUIRED)
+  ament_register_extension(
+    "rosidl_generate_interfaces"
+    "rosidl_typesupport_fastrtps_c"
+    "rosidl_typesupport_fastrtps_c_generate_interfaces.cmake")
+
+  set(rosidl_typesupport_fastrtps_c_BIN
+    "${rosidl_typesupport_fastrtps_c_DIR}/../../../lib/rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c")
+  normalize_path(rosidl_typesupport_fastrtps_c_BIN
+    "${rosidl_typesupport_fastrtps_c_BIN}")
+
+  set(rosidl_typesupport_fastrtps_c_GENERATOR_FILES
+    "${rosidl_typesupport_fastrtps_c_DIR}/../../../@PYTHON_INSTALL_DIR@/rosidl_typesupport_fastrtps_c/__init__.py")
+  normalize_path(rosidl_typesupport_fastrtps_c_GENERATOR_FILES
+    "${rosidl_typesupport_fastrtps_c_GENERATOR_FILES}")
+
+  set(rosidl_typesupport_fastrtps_c_TEMPLATE_DIR
+    "${rosidl_typesupport_fastrtps_c_DIR}/../resource")
+  normalize_path(rosidl_typesupport_fastrtps_c_TEMPLATE_DIR
+    "${rosidl_typesupport_fastrtps_c_TEMPLATE_DIR}")
+endif()
diff --git a/rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c/__init__.py b/rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c/__init__.py
new file mode 100644
index 000000000..02d93b96a
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c/__init__.py
@@ -0,0 +1,103 @@
+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+import os
+
+from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_cmake import expand_template
+from rosidl_cmake import extract_message_types
+from rosidl_cmake import get_newest_modification_time
+from rosidl_parser import parse_message_file
+from rosidl_parser import parse_service_file
+from rosidl_parser import validate_field_types
+
+
+def generate_typesupport_fastrtps_c(args):
+    template_dir = args['template_dir']
+    mapping_msgs = {
+        os.path.join(template_dir, 'msg__rosidl_typesupport_fastrtps_c.h.em'):
+        '%s__rosidl_typesupport_fastrtps_c.h',
+        os.path.join(template_dir, 'msg__type_support_c.cpp.em'):
+        '%s__type_support_c.cpp',
+    }
+
+    mapping_srvs = {
+        os.path.join(template_dir, 'srv__rosidl_typesupport_fastrtps_c.h.em'):
+        '%s__rosidl_typesupport_fastrtps_c.h',
+        os.path.join(template_dir, 'srv__type_support_c.cpp.em'):
+        '%s__type_support_c.cpp',
+    }
+
+    for template_file in mapping_msgs.keys():
+        assert os.path.exists(template_file), 'Could not find template: ' + template_file
+
+    for template_file in mapping_srvs.keys():
+        assert os.path.exists(template_file), 'Could not find template: ' + template_file
+
+    pkg_name = args['package_name']
+    known_msg_types = extract_message_types(
+        pkg_name, args['ros_interface_files'], args.get('ros_interface_dependencies', []))
+
+    functions = {
+        'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore,
+    }
+    # generate_dds_fastrtps_cpp() and therefore the make target depend on the additional files
+    # therefore they must be listed here even if the generated type support files are independent
+    latest_target_timestamp = get_newest_modification_time(
+        args['target_dependencies'] + args.get('additional_files', []))
+
+    for idl_file in args['ros_interface_files']:
+        extension = os.path.splitext(idl_file)[1]
+        if extension == '.msg':
+            spec = parse_message_file(pkg_name, idl_file)
+            validate_field_types(spec, known_msg_types)
+            subfolder = os.path.basename(os.path.dirname(idl_file))
+            for template_file, generated_filename in mapping_msgs.items():
+                generated_file = os.path.join(args['output_dir'], subfolder)
+                if generated_filename.endswith('.cpp'):
+                    generated_file = os.path.join(generated_file, 'dds_fastrtps_c')
+                generated_file = os.path.join(
+                    generated_file, generated_filename %
+                    convert_camel_case_to_lower_case_underscore(spec.base_type.type))
+
+                data = {
+                    'spec': spec,
+                    'pkg': spec.base_type.pkg_name,
+                    'msg': spec.msg_name,
+                    'type': spec.base_type.type,
+                    'subfolder': subfolder,
+                }
+                data.update(functions)
+                expand_template(
+                    template_file, data, generated_file,
+                    minimum_timestamp=latest_target_timestamp)
+
+        elif extension == '.srv':
+            spec = parse_service_file(pkg_name, idl_file)
+            validate_field_types(spec, known_msg_types)
+            for template_file, generated_filename in mapping_srvs.items():
+                generated_file = os.path.join(args['output_dir'], 'srv')
+                if generated_filename.endswith('.cpp'):
+                    generated_file = os.path.join(generated_file, 'dds_fastrtps_c')
+                generated_file = os.path.join(
+                    generated_file, generated_filename %
+                    convert_camel_case_to_lower_case_underscore(spec.srv_name))
+
+                data = {'spec': spec}
+                data.update(functions)
+                expand_template(
+                    template_file, data, generated_file,
+                    minimum_timestamp=latest_target_timestamp)
+
+    return 0
diff --git a/rosidl_typesupport_fastrtps_c/src/identifier.cpp b/rosidl_typesupport_fastrtps_c/src/identifier.cpp
new file mode 100644
index 000000000..bf6466606
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_c/src/identifier.cpp
@@ -0,0 +1,29 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#include <rosidl_typesupport_fastrtps_c/identifier.h>
+
+#include <rosidl_typesupport_fastrtps_c/visibility_control.h>
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+
+const char *
+  rosidl_typesupport_fastrtps_c__identifier = "rosidl_typesupport_fastrtps_c";
+
+#if defined(__cplusplus)
+}
+#endif
diff --git a/rosidl_typesupport_fastrtps_cpp/CMakeLists.txt b/rosidl_typesupport_fastrtps_cpp/CMakeLists.txt
new file mode 100644
index 000000000..35b1221f3
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/CMakeLists.txt
@@ -0,0 +1,82 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(rosidl_typesupport_fastrtps_cpp)
+
+set(FASTRTPS_STATIC_DISABLE $ENV{FASTRTPS_STATIC_DISABLE}
+  CACHE BOOL "If fastrtps Static should be disabled.")
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+find_package(fastrtps_cmake_module QUIET)
+find_package(fastcdr REQUIRED CONFIG)
+find_package(fastrtps REQUIRED CONFIG)
+find_package(FastRTPS REQUIRED MODULE)
+if(FASTRTPS_STATIC_DISABLE)
+  ament_package()
+  message(STATUS "fastrtps static rmw implementation explicitly disabled - skipping '${PROJECT_NAME}'")
+  return()
+endif()
+
+find_package(ament_cmake_python REQUIRED)
+
+ament_export_dependencies(fastrtps)
+ament_export_dependencies(rmw)
+ament_export_dependencies(rosidl_cmake)
+ament_export_dependencies(rosidl_generator_c)
+ament_export_dependencies(rosidl_generator_cpp)
+ament_export_dependencies(rosidl_generator_dds_idl)
+ament_export_dependencies(rosidl_typesupport_interface)
+
+ament_export_include_directories(include)
+
+ament_python_install_package(${PROJECT_NAME})
+
+add_library(${PROJECT_NAME} SHARED src/identifier.cpp)
+if(WIN32)
+  target_compile_definitions(${PROJECT_NAME}
+    PRIVATE "ROSIDL_TYPESUPPORT_FASTRTPS_CPP_BUILDING_DLL")
+endif()
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+  include
+)
+ament_export_libraries(${PROJECT_NAME})
+
+ament_index_register_resource("rosidl_typesupport_cpp")
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package(
+  CONFIG_EXTRAS "rosidl_typesupport_fastrtps_cpp-extras.cmake.in"
+)
+
+install(
+  PROGRAMS bin/rosidl_typesupport_fastrtps_cpp
+  DESTINATION lib/rosidl_typesupport_fastrtps_cpp
+)
+install(
+  DIRECTORY cmake resource
+  DESTINATION share/${PROJECT_NAME}
+)
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
diff --git a/rosidl_typesupport_fastrtps_cpp/bin/rosidl_typesupport_fastrtps_cpp b/rosidl_typesupport_fastrtps_cpp/bin/rosidl_typesupport_fastrtps_cpp
new file mode 100644
index 000000000..08f9e27b6
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/bin/rosidl_typesupport_fastrtps_cpp
@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+
+import argparse
+import sys
+
+from rosidl_cmake import extract_message_types
+from rosidl_cmake import read_generator_arguments
+from rosidl_parser import UnknownMessageType
+from rosidl_typesupport_fastrtps_cpp import generate_cpp
+from rosidl_typesupport_fastrtps_cpp import generate_dds_fastrtps_cpp
+from rosidl_typesupport_fastrtps_cpp import parse_ros_interface_files
+
+
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser(
+        description='Generate the C++ interfaces for fastrtps.',
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument(
+        '--generator-arguments-file',
+        required=True,
+        help='The location of the file containing the generator arguments')
+    parser.add_argument(
+        '--dds-interface-base-path',
+        required=True,
+        help='The base location of the DDS interface files')
+    parser.add_argument(
+        '--idl-pp',
+        required=True,
+        help='The location of the IDL preprocessor')
+    args = parser.parse_args(argv)
+
+    generator_args = read_generator_arguments(args.generator_arguments_file)
+
+    message_specs, service_specs = parse_ros_interface_files(
+        generator_args['package_name'], generator_args['ros_interface_files'])
+
+    known_msg_types = extract_message_types(
+        generator_args['package_name'], generator_args['ros_interface_files'],
+        generator_args.get('ros_interface_dependencies', []))
+
+    try:
+        rc = generate_cpp(generator_args, message_specs, service_specs, known_msg_types)
+    except UnknownMessageType as e:
+        print(str(e), file=sys.stderr)
+        return 1
+    if rc:
+        return rc
+    return generate_dds_fastrtps_cpp(
+        generator_args['package_name'],
+        generator_args.get('additional_files', []),
+        args.dds_interface_base_path,
+        generator_args.get('ros_interface_dependencies', []),
+        generator_args['output_dir'],
+        args.idl_pp,
+        message_specs,
+        service_specs,
+    )
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/rosidl_typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake b/rosidl_typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake
new file mode 100644
index 000000000..e14de45a0
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake
@@ -0,0 +1,286 @@
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+find_package(fastrtps_cmake_module QUIET)
+find_package(fastcdr REQUIRED CONFIG)
+find_package(fastrtps REQUIRED CONFIG)
+find_package(FastRTPS REQUIRED MODULE)
+
+set(_ros_idl_files "")
+foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
+  get_filename_component(_extension "${_idl_file}" EXT)
+  # Skip .srv files
+  if(_extension STREQUAL ".msg")
+    list(APPEND _ros_idl_files "${_idl_file}")
+  endif()
+endforeach()
+
+rosidl_generate_dds_interfaces(
+  ${rosidl_generate_interfaces_TARGET}__dds_fastrtps_idl
+  IDL_FILES ${_ros_idl_files}
+  DEPENDENCY_PACKAGE_NAMES ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}
+  OUTPUT_SUBFOLDERS "dds_fastrtps"
+)
+
+set(_dds_idl_files "")
+set(_dds_idl_base_path "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_dds_idl")
+foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
+  get_filename_component(_extension "${_idl_file}" EXT)
+  if(_extension STREQUAL ".msg")
+    get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
+    get_filename_component(_parent_folder "${_parent_folder}" NAME)
+    get_filename_component(_name "${_idl_file}" NAME_WE)
+    list(APPEND _dds_idl_files
+      "${_dds_idl_base_path}/${PROJECT_NAME}/${_parent_folder}/dds_fastrtps/${_name}_.idl")
+  endif()
+endforeach()
+
+set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_fastrtps_cpp/${PROJECT_NAME}")
+set(_generated_msg_files "")
+set(_generated_srv_files "")
+foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
+  get_filename_component(_extension "${_idl_file}" EXT)
+  get_filename_component(_msg_name "${_idl_file}" NAME_WE)
+  string_camel_case_to_lower_case_underscore("${_msg_name}" _header_name)
+  if(_extension STREQUAL ".msg")
+    get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
+    get_filename_component(_parent_folder "${_parent_folder}" NAME)
+    if(_parent_folder STREQUAL "msg")
+      set(_var2 "_generated_msg_files")
+    elseif(_parent_folder STREQUAL "srv")
+      set(_var2 "_generated_srv_files")
+    else()
+      message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}")
+    endif()
+
+    list(APPEND ${_var2} "${_output_path}/${_parent_folder}/${_header_name}__rosidl_typesupport_fastrtps_cpp.hpp")
+    list(APPEND ${_var2} "${_output_path}/${_parent_folder}/dds_fastrtps/${_header_name}__type_support.cpp")
+  elseif(_extension STREQUAL ".srv")
+    list(APPEND _generated_srv_files "${_output_path}/srv/${_header_name}__rosidl_typesupport_fastrtps_cpp.hpp")
+    list(APPEND _generated_srv_files "${_output_path}/srv/dds_fastrtps/${_header_name}__type_support.cpp")
+  else()
+    message(FATAL_ERROR "Interface file with unknown extension: ${_idl_file}")
+  endif()
+endforeach()
+
+# If not on Windows, disable some warnings with fastrtps's generated code
+if(NOT WIN32)
+  set(_fastrtps_compile_flags)
+  if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    set(_fastrtps_compile_flags
+      "-Wno-deprecated-register"
+      "-Wno-return-type-c-linkage"
+      "-Wno-unused-parameter"
+    )
+  elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    set(_fastrtps_compile_flags
+      # no-strict-aliasing necessary only for Release builds
+      "-Wno-strict-aliasing"
+      "-Wno-unused-parameter"
+    )
+  endif()
+  if(NOT _fastrtps_compile_flags STREQUAL "")
+    string(REPLACE ";" " " _fastrtps_compile_flags "${_fastrtps_compile_flags}")
+  endif()
+endif()
+
+set(_dependency_files "")
+set(_dependencies "")
+foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
+  foreach(_idl_file ${${_pkg_name}_INTERFACE_FILES})
+  get_filename_component(_extension "${_idl_file}" EXT)
+    if(_extension STREQUAL ".msg")
+      get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
+      get_filename_component(_parent_folder "${_parent_folder}" NAME)
+      get_filename_component(_name "${_idl_file}" NAME_WE)
+      set(_abs_idl_file "${${_pkg_name}_DIR}/../${_parent_folder}/dds_fastrtps/${_name}_.idl")
+      normalize_path(_abs_idl_file "${_abs_idl_file}")
+      list(APPEND _dependency_files "${_abs_idl_file}")
+      set(_abs_idl_file "${${_pkg_name}_DIR}/../${_idl_file}")
+      normalize_path(_abs_idl_file "${_abs_idl_file}")
+      list(APPEND _dependencies "${_pkg_name}:${_abs_idl_file}")
+    endif()
+  endforeach()
+endforeach()
+
+set(target_dependencies
+  "${rosidl_typesupport_fastrtps_cpp_BIN}"
+  ${rosidl_typesupport_fastrtps_cpp_GENERATOR_FILES}
+  "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/msg__rosidl_typesupport_fastrtps_cpp.hpp.em"
+  "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/msg__type_support.cpp.em"
+  "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/srv__rosidl_typesupport_fastrtps_cpp.hpp.em"
+  "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/srv__type_support.cpp.em"
+  ${_dependency_files})
+foreach(dep ${target_dependencies})
+  if(NOT EXISTS "${dep}")
+    message(FATAL_ERROR "Target dependency '${dep}' does not exist")
+  endif()
+endforeach()
+
+set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_fastrtps_cpp__arguments.json")
+rosidl_write_generator_arguments(
+  "${generator_arguments_file}"
+  PACKAGE_NAME "${PROJECT_NAME}"
+  ROS_INTERFACE_FILES "${rosidl_generate_interfaces_IDL_FILES}"
+  ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
+  OUTPUT_DIR "${_output_path}"
+  TEMPLATE_DIR "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}"
+  TARGET_DEPENDENCIES ${target_dependencies}
+  ADDITIONAL_FILES ${_dds_idl_files}
+)
+
+set(_idl_pp "")
+add_custom_command(
+  OUTPUT ${_generated_msg_files} ${_generated_srv_files}
+  COMMAND ${PYTHON_EXECUTABLE} ${rosidl_typesupport_fastrtps_cpp_BIN}
+  --generator-arguments-file "${generator_arguments_file}"
+  --dds-interface-base-path "${_dds_idl_base_path}"
+  --idl-pp "${_idl_pp}"
+  DEPENDS ${target_dependencies} ${_dds_idl_files}
+  COMMENT "Generating C++ type support for eProsima Fast-RTPS"
+  VERBATIM
+)
+
+# generate header to switch between export and import for a specific package
+set(_visibility_control_file
+"${_output_path}/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h")
+string(TOUPPER "${PROJECT_NAME}" PROJECT_NAME_UPPER)
+configure_file(
+  "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}/rosidl_typesupport_fastrtps_cpp__visibility_control.h.in"
+  "${_visibility_control_file}"
+  @ONLY
+)
+
+set(_target_suffix "__rosidl_typesupport_fastrtps_cpp")
+
+# link_directories(${fastrtps_LIBRARY_DIRS})
+add_library(${rosidl_generate_interfaces_TARGET}${_target_suffix} SHARED
+  ${_generated_msg_files} ${_generated_srv_files})
+if(rosidl_generate_interfaces_LIBRARY_NAME)
+  set_target_properties(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    PROPERTIES OUTPUT_NAME "${rosidl_generate_interfaces_LIBRARY_NAME}${_target_suffix}")
+endif()
+set_target_properties(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  PROPERTIES CXX_STANDARD 14)
+if(fastrtps_GLIBCXX_USE_CXX11_ABI_ZERO)
+  target_compile_definitions(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    PRIVATE fastrtps_GLIBCXX_USE_CXX11_ABI_ZERO)
+endif()
+if(WIN32)
+  target_compile_definitions(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    PRIVATE "ROSIDL_TYPESUPPORT_FASTRTPS_CPP_BUILDING_DLL_${PROJECT_NAME}")
+  target_compile_definitions(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    PRIVATE "EPROSIMA_USER_DLL_EXPORT")
+endif()
+if(NOT WIN32)
+  set(_target_compile_flags "-Wall -Wextra -Wpedantic")
+else()
+  set(_target_compile_flags
+    "/W4"
+    "/wd4100"
+    "/wd4127"
+    "/wd4275"
+    "/wd4305"
+    "/wd4458"
+    "/wd4701"
+  )
+endif()
+string(REPLACE ";" " " _target_compile_flags "${_target_compile_flags}")
+set_target_properties(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  PROPERTIES COMPILE_FLAGS "${_target_compile_flags}")
+target_include_directories(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  PUBLIC
+  ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp
+  ${CMAKE_CURRENT_BINARY_DIR}/rosidl_typesupport_fastrtps_cpp
+)
+ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  "fastrtps"
+  "rmw"
+  "rosidl_typesupport_fastrtps_cpp"
+  "rosidl_typesupport_interface")
+foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
+  set(_msg_include_dir "${${_pkg_name}_DIR}/../../../include/${_pkg_name}/msg/dds_fastrtps")
+  set(_srv_include_dir "${${_pkg_name}_DIR}/../../../include/${_pkg_name}/srv/dds_fastrtps")
+  normalize_path(_msg_include_dir "${_msg_include_dir}")
+  normalize_path(_srv_include_dir "${_srv_include_dir}")
+  target_include_directories(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    PUBLIC
+    "${_msg_include_dir}"
+    "${_srv_include_dir}"
+  )
+  ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    ${_pkg_name})
+endforeach()
+target_link_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix} fastrtps fastcdr)
+add_dependencies(
+  ${rosidl_generate_interfaces_TARGET}
+  ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+)
+add_dependencies(
+  ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+  ${rosidl_generate_interfaces_TARGET}__cpp
+)
+add_dependencies(
+  ${rosidl_generate_interfaces_TARGET}__dds_fastrtps_idl
+  ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+)
+
+if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+  install(
+    DIRECTORY "${_output_path}/"
+    DESTINATION "include/${PROJECT_NAME}"
+    PATTERN "*.cpp" EXCLUDE
+  )
+
+  if(
+    NOT _generated_msg_files STREQUAL "" OR
+    NOT _generated_srv_files STREQUAL ""
+  )
+    ament_export_include_directories(include)
+  endif()
+
+  install(
+    TARGETS ${rosidl_generate_interfaces_TARGET}${_target_suffix}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+  )
+
+  ament_export_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix})
+endif()
+
+if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS)
+  if(NOT _generated_msg_files STREQUAL "" OR NOT _generated_srv_files STREQUAL "")
+    find_package(ament_cmake_cppcheck REQUIRED)
+    ament_cppcheck(
+      TESTNAME "cppcheck_rosidl_typesupport_fastrtps_cpp"
+      ${_generated_msg_files} ${_generated_srv_files})
+
+    find_package(ament_cmake_cpplint REQUIRED)
+    get_filename_component(_cpplint_root "${_output_path}" DIRECTORY)
+    ament_cpplint(
+      TESTNAME "cpplint_rosidl_typesupport_fastrtps_cpp"
+      # the generated code might contain longer lines for templated types
+      MAX_LINE_LENGTH 999
+      ROOT "${_cpplint_root}"
+      ${_generated_msg_files} ${_generated_srv_files})
+
+    find_package(ament_cmake_uncrustify REQUIRED)
+    ament_uncrustify(
+      TESTNAME "uncrustify_rosidl_typesupport_fastrtps_cpp"
+      # the generated code might contain longer lines for templated types
+      MAX_LINE_LENGTH 999
+      ${_generated_msg_files} ${_generated_srv_files})
+  endif()
+endif()
diff --git a/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/identifier.hpp b/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/identifier.hpp
new file mode 100644
index 000000000..910689139
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/identifier.hpp
@@ -0,0 +1,28 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROSIDL_TYPESUPPORT_FASTRTPS_CPP__IDENTIFIER_HPP_
+#define ROSIDL_TYPESUPPORT_FASTRTPS_CPP__IDENTIFIER_HPP_
+
+#include <rosidl_typesupport_fastrtps_cpp/visibility_control.h>
+
+namespace rosidl_typesupport_fastrtps_cpp
+{
+
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT
+extern const char * typesupport_identifier;
+
+}  // namespace rosidl_typesupport_fastrtps_cpp
+
+#endif  // ROSIDL_TYPESUPPORT_FASTRTPS_CPP__IDENTIFIER_HPP_
diff --git a/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/message_type_support.h b/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/message_type_support.h
new file mode 100644
index 000000000..0a0f06b63
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/message_type_support.h
@@ -0,0 +1,44 @@
+// Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROSIDL_TYPESUPPORT_FASTRTPS_CPP__MESSAGE_TYPE_SUPPORT_H_
+#define ROSIDL_TYPESUPPORT_FASTRTPS_CPP__MESSAGE_TYPE_SUPPORT_H_
+
+#include "rosidl_generator_c/message_type_support_struct.h"
+
+#include <fastcdr/Cdr.h>
+
+typedef struct message_type_support_callbacks_t
+{
+  const char * package_name_;
+  const char * message_name_;
+
+  // Function for message serialization
+  bool (* cdr_serialize)(
+    const void * untyped_ros_message,
+    eprosima::fastcdr::Cdr & cdr);
+
+  // Function for message deserialization
+  bool (* cdr_deserialize)(
+    eprosima::fastcdr::Cdr & cdr,
+    void * untyped_ros_message);
+
+  // Function to get size of data
+  uint32_t (* get_serialized_size)(const void *);
+
+  // Function for type support initialization
+  size_t (* max_serialized_size)(bool & full_bounded);
+} message_type_support_callbacks_t;
+
+#endif  // ROSIDL_TYPESUPPORT_FASTRTPS_CPP__MESSAGE_TYPE_SUPPORT_H_
diff --git a/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/message_type_support_decl.hpp b/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/message_type_support_decl.hpp
new file mode 100644
index 000000000..8d0f5de58
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/message_type_support_decl.hpp
@@ -0,0 +1,33 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROSIDL_TYPESUPPORT_FASTRTPS_CPP__MESSAGE_TYPE_SUPPORT_DECL_HPP_
+#define ROSIDL_TYPESUPPORT_FASTRTPS_CPP__MESSAGE_TYPE_SUPPORT_DECL_HPP_
+
+// Provides the definition of the rosidl_message_type_support_t struct.
+#include <rosidl_generator_c/message_type_support_struct.h>
+// Provides visibility macros like ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC.
+#include <rosidl_typesupport_fastrtps_cpp/visibility_control.h>
+
+namespace rosidl_typesupport_fastrtps_cpp
+{
+
+// This is implemented in the shared library provided by this package.
+template<typename T>
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC
+const rosidl_message_type_support_t * get_message_type_support_handle();
+
+}  // namespace rosidl_typesupport_fastrtps_cpp
+
+#endif  // ROSIDL_TYPESUPPORT_FASTRTPS_CPP__MESSAGE_TYPE_SUPPORT_DECL_HPP_
diff --git a/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/service_type_support.h b/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/service_type_support.h
new file mode 100644
index 000000000..2fe7fa2d4
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/service_type_support.h
@@ -0,0 +1,33 @@
+// Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROSIDL_TYPESUPPORT_FASTRTPS_CPP__SERVICE_TYPE_SUPPORT_H_
+#define ROSIDL_TYPESUPPORT_FASTRTPS_CPP__SERVICE_TYPE_SUPPORT_H_
+
+#include <stdint.h>
+#include <rmw/types.h>
+#include "rosidl_generator_c/service_type_support_struct.h"
+
+#include "rosidl_typesupport_fastrtps_cpp/message_type_support.h"
+
+typedef struct service_type_support_callbacks_t
+{
+  const char * package_name_;
+  const char * service_name_;
+
+  const rosidl_message_type_support_t * request_members_;
+  const rosidl_message_type_support_t * response_members_;
+} service_type_support_callbacks_t;
+
+#endif  // ROSIDL_TYPESUPPORT_FASTRTPS_CPP__SERVICE_TYPE_SUPPORT_H_
diff --git a/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/service_type_support_decl.hpp b/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/service_type_support_decl.hpp
new file mode 100644
index 000000000..c989fcb2f
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/service_type_support_decl.hpp
@@ -0,0 +1,33 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROSIDL_TYPESUPPORT_FASTRTPS_CPP__SERVICE_TYPE_SUPPORT_DECL_HPP_
+#define ROSIDL_TYPESUPPORT_FASTRTPS_CPP__SERVICE_TYPE_SUPPORT_DECL_HPP_
+
+// Provides the definition of the rosidl_service_type_support_t struct.
+#include <rosidl_generator_c/service_type_support_struct.h>
+// Provides visibility macros like ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC.
+#include <rosidl_typesupport_fastrtps_cpp/visibility_control.h>
+
+namespace rosidl_typesupport_fastrtps_cpp
+{
+
+// This is implemented in the shared library provided by this package.
+template<typename T>
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC
+const rosidl_service_type_support_t * get_service_type_support_handle();
+
+}  // namespace rosidl_typesupport_fastrtps_cpp
+
+#endif  // ROSIDL_TYPESUPPORT_FASTRTPS_CPP__SERVICE_TYPE_SUPPORT_DECL_HPP_
diff --git a/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/visibility_control.h b/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/visibility_control.h
new file mode 100644
index 000000000..1e94d2c91
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/visibility_control.h
@@ -0,0 +1,56 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
+#define ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
+
+#if __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT __attribute__ ((dllexport))
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT __attribute__ ((dllimport))
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT __declspec(dllexport)
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef ROSIDL_TYPESUPPORT_FASTRTPS_CPP_BUILDING_DLL
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT
+  #endif
+  #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_LOCAL
+#else
+  #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT __attribute__ ((visibility("default")))
+  #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT
+  #if __GNUC__ >= 4
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC __attribute__ ((visibility("default")))
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_LOCAL
+  #endif
+#endif
+
+#if __cplusplus
+}
+#endif
+
+#endif  // ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
diff --git a/rosidl_typesupport_fastrtps_cpp/package.xml b/rosidl_typesupport_fastrtps_cpp/package.xml
new file mode 100644
index 000000000..ac149590f
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/package.xml
@@ -0,0 +1,40 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rosidl_typesupport_fastrtps_cpp</name>
+  <version>0.4.0</version>
+  <description>Generate the C++ interfaces for eProsima FastRTPS.</description>
+  <maintainer email="ricardogonzalez@eprosima.com">Ricardo González</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>fastrtps_cmake_module</buildtool_depend>
+  <buildtool_depend>fastcdr</buildtool_depend>
+  <buildtool_depend>fastrtps</buildtool_depend>
+  <buildtool_depend>rosidl_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_generator_c</buildtool_depend>
+  <buildtool_depend>rosidl_generator_cpp</buildtool_depend>
+
+  <buildtool_export_depend>ament_cmake</buildtool_export_depend>
+  <buildtool_export_depend>fastrtps_cmake_module</buildtool_export_depend>
+  <buildtool_export_depend>fastcdr</buildtool_export_depend>
+  <buildtool_export_depend>fastrtps</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_generator_c</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_generator_cpp</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_generator_dds_idl</buildtool_export_depend>
+
+  <build_export_depend>rmw</build_export_depend>
+
+  <exec_depend>rosidl_parser</exec_depend>
+  <exec_depend>rosidl_typesupport_interface</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_typesupport_cpp_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/rosidl_typesupport_fastrtps_cpp/resource/msg__rosidl_typesupport_fastrtps_cpp.hpp.em b/rosidl_typesupport_fastrtps_cpp/resource/msg__rosidl_typesupport_fastrtps_cpp.hpp.em
new file mode 100644
index 000000000..1858c00b5
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/resource/msg__rosidl_typesupport_fastrtps_cpp.hpp.em
@@ -0,0 +1,99 @@
+// generated from
+// rosidl_typesupport_fastrtps_cpp/resource/msg__rosidl_typesupport_fastrtps_cpp.hpp.em
+// generated code does not contain a copyright notice
+
+@#######################################################################
+@# EmPy template for generating
+@# <msg>__rosidl_typesupport_fastrtps_cpp.hpp files
+@#
+@# Context:
+@#  - spec (rosidl_parser.MessageSpecification)
+@#    Parsed specification of the .msg file
+@#  - subfolder (string)
+@#    The subfolder / subnamespace of the message
+@#    Either 'msg' or 'srv'
+@#  - get_header_filename_from_msg_name (function)
+@#######################################################################
+@
+@{
+header_guard_parts = [
+    spec.base_type.pkg_name, subfolder,
+    get_header_filename_from_msg_name(spec.base_type.type) + '__rosidl_typesupport_fastrtps_cpp_hpp']
+header_guard_variable = '__'.join([x.upper() for x in header_guard_parts]) + '_'
+}@
+#ifndef @(header_guard_variable)
+#define @(header_guard_variable)
+
+#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+
+#include "@(spec.base_type.pkg_name)/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
+
+#include "@(spec.base_type.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.base_type.type))__struct.hpp"
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wunused-parameter"
+# ifdef __clang__
+#  pragma clang diagnostic ignored "-Wdeprecated-register"
+#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
+# endif
+#endif
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
+
+#include "fastcdr/Cdr.h"
+
+namespace @(spec.base_type.pkg_name)
+{
+
+namespace @(subfolder)
+{
+
+namespace typesupport_fastrtps_cpp
+{
+
+bool
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@(spec.base_type.pkg_name)
+cdr_serialize(
+  const @(spec.base_type.pkg_name)::@(subfolder)::@(spec.base_type.type) & ros_message,
+  eprosima::fastcdr::Cdr & cdr);
+
+bool
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@(spec.base_type.pkg_name)
+cdr_deserialize(
+  eprosima::fastcdr::Cdr & cdr,
+  @(spec.base_type.pkg_name)::@(subfolder)::@(spec.base_type.type) & ros_message);
+
+size_t
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@(spec.base_type.pkg_name)
+get_serialized_size(
+  const @(spec.base_type.pkg_name)::@(subfolder)::@(spec.base_type.type) & ros_message,
+  size_t current_alignment);
+
+size_t
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@(spec.base_type.pkg_name)
+max_serialized_size_@(spec.base_type.type)(
+  bool & full_bounded,
+  size_t current_alignment);
+
+}  // namespace typesupport_fastrtps_cpp
+
+}  // namespace @(subfolder)
+
+}  // namespace @(spec.base_type.pkg_name)
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@(spec.base_type.pkg_name)
+const rosidl_message_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, @(spec.base_type.pkg_name), @(subfolder), @(spec.base_type.type))();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // @(header_guard_variable)
diff --git a/rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em b/rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em
new file mode 100644
index 000000000..975fa8083
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em
@@ -0,0 +1,412 @@
+// generated from rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em
+// generated code does not contain a copyright notice
+
+@#######################################################################
+@# EmPy template for generating <msg>__type_support.cpp files
+@#
+@# Context:
+@#  - spec (rosidl_parser.MessageSpecification)
+@#    Parsed specification of the .msg file
+@#  - subfolder (string)
+@#    The subfolder / subnamespace of the message
+@#    Either 'msg' or 'srv'
+@#  - get_header_filename_from_msg_name (function)
+@#######################################################################
+@
+#include "@(spec.base_type.pkg_name)/@(subfolder)/@(get_header_filename_from_msg_name(spec.base_type.type))__rosidl_typesupport_fastrtps_cpp.hpp"
+
+#include <limits>
+#include <stdexcept>
+#include <string>
+
+#include "rosidl_typesupport_cpp/message_type_support.hpp"
+
+#include "rosidl_typesupport_fastrtps_cpp/identifier.hpp"
+#include "rosidl_typesupport_fastrtps_cpp/message_type_support.h"
+#include "rosidl_typesupport_fastrtps_cpp/message_type_support_decl.hpp"
+
+#include "fastcdr/Cdr.h"
+
+// forward declaration of message dependencies and their conversion functions
+@[for field in spec.fields]@
+@[  if not field.type.is_primitive_type()]@
+namespace @(field.type.pkg_name)
+{
+namespace msg
+{
+namespace typesupport_fastrtps_cpp
+{
+bool cdr_serialize(
+  const @(field.type.pkg_name)::msg::@(field.type.type) &,
+  eprosima::fastcdr::Cdr &);
+bool cdr_deserialize(
+  eprosima::fastcdr::Cdr &,
+  @(field.type.pkg_name)::msg::@(field.type.type) &);
+size_t get_serialized_size(
+  const @(field.type.pkg_name)::msg::@(field.type.type) &,
+  size_t current_alignment);
+size_t
+max_serialized_size_@(field.type.type)(
+  bool & full_bounded,
+  size_t current_alignment);
+}  // namespace typesupport_fastrtps_cpp
+}  // namespace msg
+}  // namespace @(field.type.pkg_name)
+
+@[  end if]@
+@[end for]@
+
+namespace @(spec.base_type.pkg_name)
+{
+
+namespace @(subfolder)
+{
+
+namespace typesupport_fastrtps_cpp
+{
+
+bool
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@(spec.base_type.pkg_name)
+cdr_serialize(
+  const @(spec.base_type.pkg_name)::@(subfolder)::@(spec.base_type.type) & ros_message,
+  eprosima::fastcdr::Cdr & cdr)
+{
+@[if not spec.fields]@
+  (void)ros_message;
+  (void)cdr;
+@[end if]@
+@[for field in spec.fields]@
+  // field.name @(field.name)
+@[  if field.type.is_array]@
+  {
+@[    if field.type.array_size and not field.type.is_upper_bound]@
+@[      if field.type.is_primitive_type()]@
+    cdr << ros_message.@(field.name);
+@[      else]@
+    for (size_t i = 0; i < @(field.type.array_size); i++) {
+      @(field.type.pkg_name)::msg::typesupport_fastrtps_cpp::cdr_serialize(
+        ros_message.@(field.name)[i],
+        cdr);
+    }
+@[      end if]@
+@[    else]@
+@[      if field.type.is_upper_bound or not field.type.is_primitive_type()]@
+    size_t size = ros_message.@(field.name).size();
+@[        if field.type.is_upper_bound]@
+    if (size > @(field.type.array_size)) {
+      throw std::runtime_error("array size exceeds upper bound");
+    }
+@[        end if]@
+@[      end if]@
+@[      if field.type.is_primitive_type() and not field.type.is_upper_bound]@
+    cdr << ros_message.@(field.name);
+@[      else]@
+    cdr << static_cast<uint32_t>(size);
+    for (size_t i = 0; i < size; i++) {
+@[        if field.type.type == 'bool']@
+      cdr << (ros_message.@(field.name)[i] ? true : false);
+@[        elif field.type.is_primitive_type()]@
+      cdr << ros_message.@(field.name)[i];
+@[        else]@
+      @(field.type.pkg_name)::msg::typesupport_fastrtps_cpp::cdr_serialize(
+        ros_message.@(field.name)[i],
+        cdr);
+@[        end if]@
+    }
+@[      end if]@
+@[    end if]@
+  }
+@[  elif field.type.is_primitive_type()]@
+  cdr << ros_message.@(field.name);
+@[  else]@
+  @(field.type.pkg_name)::msg::typesupport_fastrtps_cpp::cdr_serialize(
+    ros_message.@(field.name),
+    cdr);
+@[  end if]@
+@[end for]@
+  return true;
+}
+
+bool
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@(spec.base_type.pkg_name)
+cdr_deserialize(
+  eprosima::fastcdr::Cdr & cdr,
+  @(spec.base_type.pkg_name)::@(subfolder)::@(spec.base_type.type) & ros_message)
+{
+@[if not spec.fields]@
+  (void)ros_message;
+  (void)cdr;
+@[end if]@
+@[for field in spec.fields]@
+  // field.name @(field.name)
+@[  if field.type.is_array]@
+  {
+@[    if field.type.array_size and not field.type.is_upper_bound]@
+@[      if field.type.is_primitive_type()]@
+    cdr >> ros_message.@(field.name);
+@[      else]@
+    for (size_t i = 0; i < @(field.type.array_size); i++) {
+      @(field.type.pkg_name)::msg::typesupport_fastrtps_cpp::cdr_deserialize(
+        cdr,
+        ros_message.@(field.name)[i]);
+    }
+@[      end if]@
+@[    else]@
+@[      if field.type.is_primitive_type() and not field.type.is_upper_bound]@
+    cdr >> ros_message.@(field.name);
+@[      else]@
+    uint32_t cdrSize;
+    cdr >> cdrSize;
+    size_t size = static_cast<size_t>(cdrSize);
+    ros_message.@(field.name).resize(size);
+    for (size_t i = 0; i < size; i++) {
+@[        if field.type.type == 'bool']@
+      uint8_t tmp;
+      cdr >> tmp;
+      ros_message.@(field.name)[i] = tmp ? true : false;
+@[        elif field.type.is_primitive_type()]@
+      cdr >> ros_message.@(field.name)[i];
+@[        else]@
+      @(field.type.pkg_name)::msg::typesupport_fastrtps_cpp::cdr_deserialize(
+        cdr, ros_message.@(field.name)[i]);
+@[        end if]@
+    }
+@[      end if]@
+@[    end if]@
+  }
+@[  elif field.type.is_primitive_type()]@
+  cdr >> ros_message.@(field.name);
+@[  else]@
+  @(field.type.pkg_name)::msg::typesupport_fastrtps_cpp::cdr_deserialize(
+    cdr, ros_message.@(field.name));
+@[  end if]@
+
+@[end for]@
+  return true;
+}
+
+size_t
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@(spec.base_type.pkg_name)
+get_serialized_size(
+  const @(spec.base_type.pkg_name)::@(subfolder)::@(spec.base_type.type) & ros_message,
+  size_t current_alignment)
+{
+@[if not spec.fields]@
+  (void)ros_message;
+  (void)current_alignment;
+@[else]@
+  size_t initial_alignment = current_alignment;
+
+  const size_t padding = 4;
+  (void)padding;
+
+@[end if]@
+@[for field in spec.fields]@
+  // field.name @(field.name)
+@[  if field.type.is_array]@
+  {
+@[    if field.type.array_size and not field.type.is_upper_bound]@
+    size_t array_size = @(field.type.array_size);
+@[    else]@
+    size_t array_size = ros_message.@(field.name).size();
+@[      if field.type.is_upper_bound]@
+    if (array_size > @(field.type.array_size)) {
+      throw std::runtime_error("array size exceeds upper bound");
+    }
+@[      end if]@
+
+    current_alignment += padding +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
+@[    end if]@
+@[    if field.type.type == 'string']@
+    for (size_t index = 0; index < array_size; ++index) {
+      current_alignment += padding +
+        eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
+        ros_message.@(field.name)[index].size() + 1;
+    }
+@[    elif field.type.is_primitive_type()]@
+    size_t item_size = sizeof(ros_message.@(field.name)[0]);
+    current_alignment += array_size * item_size +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, item_size);
+@[    else]
+    for (size_t index = 0; index < array_size; ++index) {
+      current_alignment +=
+        @(field.type.pkg_name)::msg::typesupport_fastrtps_cpp::get_serialized_size(
+        ros_message.@(field.name)[index], current_alignment);
+    }
+@[    end if]@
+  }
+@[  else]@
+@[    if field.type.type == 'string']@
+  current_alignment += padding +
+    eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
+    ros_message.@(field.name).size() + 1;
+@[    elif field.type.is_primitive_type()]@
+  {
+    size_t item_size = sizeof(ros_message.@(field.name));
+    current_alignment += item_size +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, item_size);
+  }
+@[    else]
+  current_alignment +=
+    @(field.type.pkg_name)::msg::typesupport_fastrtps_cpp::get_serialized_size(
+    ros_message.@(field.name), current_alignment);
+@[    end if]@
+@[  end if]@
+@[end for]@
+
+@[if not spec.fields]@
+  return 0;
+@[else]@
+  return current_alignment - initial_alignment;
+@[end if]@
+}
+
+size_t
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@(spec.base_type.pkg_name)
+max_serialized_size_@(spec.base_type.type)(
+  bool & full_bounded,
+  size_t current_alignment)
+{
+  size_t initial_alignment = current_alignment;
+
+  const size_t padding = 4;
+  (void)padding;
+  (void)full_bounded;
+
+@[for field in spec.fields]@
+  // field.name @(field.name)
+  {
+@[  if field.type.is_array]@
+@[    if field.type.array_size]@
+    size_t array_size = @(field.type.array_size);
+@[    else]@
+    size_t array_size = 0;
+@[    end if]@
+@[    if not field.type.array_size or field.type.is_upper_bound]@
+    full_bounded = false;
+    current_alignment += padding +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
+@[    end if]@
+@[  else]@
+    size_t array_size = 1;
+@[  end if]@
+
+@[  if field.type.type == 'string']@
+    full_bounded = false;
+    for (size_t index = 0; index < array_size; ++index) {
+      current_alignment += padding +
+@[    if field.type.string_upper_bound]@
+        eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
+        @(field.type.string_upper_bound) + 1;
+@[    else]@
+        eprosima::fastcdr::Cdr::alignment(current_alignment, padding) + 1;
+@[    end if]@
+    }
+@[  elif field.type.is_primitive_type()]@
+@[    if field.type.type == 'bool' or field.type.type == 'byte' or field.type.type == 'char' or field.type.type == 'uint8' or field.type.type == 'int8' ]
+    current_alignment += array_size * sizeof(uint8_t);
+@[    elif field.type.type == 'int16' or field.type.type == 'uint16']
+    current_alignment += array_size * sizeof(uint16_t) +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, sizeof(uint16_t));
+@[    elif field.type.type == 'int32' or field.type.type == 'uint32' or field.type.type == 'float32']
+    current_alignment += array_size * sizeof(uint32_t) +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, sizeof(uint32_t));
+@[    elif field.type.type == 'int64' or field.type.type == 'uint64' or field.type.type == 'float64']
+    current_alignment += array_size * sizeof(uint64_t) +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, sizeof(uint64_t));
+@[    end if]@
+@[  else]
+    for (size_t index = 0; index < array_size; ++index) {
+      current_alignment +=
+        @(field.type.pkg_name)::msg::typesupport_fastrtps_cpp::max_serialized_size_@(field.type.type)(
+        full_bounded, current_alignment);
+    }
+@[  end if]@
+  }
+@[end for]@
+
+  return current_alignment - initial_alignment;
+}
+
+static bool __cdr_serialize(
+  const void * untyped_ros_message,
+  eprosima::fastcdr::Cdr & cdr)
+{
+  auto typed_message =
+    static_cast<const @(spec.base_type.pkg_name)::@(subfolder)::@(spec.base_type.type) *>(
+    untyped_ros_message);
+  return cdr_serialize(*typed_message, cdr);
+}
+
+static bool __cdr_deserialize(
+  eprosima::fastcdr::Cdr & cdr,
+  void * untyped_ros_message)
+{
+  auto typed_message =
+    static_cast<@(spec.base_type.pkg_name)::@(subfolder)::@(spec.base_type.type) *>(
+    untyped_ros_message);
+  return cdr_deserialize(cdr, *typed_message);
+}
+
+static uint32_t __get_serialized_size(
+  const void * untyped_ros_message)
+{
+  auto typed_message =
+    static_cast<const @(spec.base_type.pkg_name)::@(subfolder)::@(spec.base_type.type) *>(
+    untyped_ros_message);
+  return static_cast<uint32_t>(get_serialized_size(*typed_message, 0));
+}
+
+static size_t __max_serialized_size(bool & full_bounded)
+{
+  return max_serialized_size_@(spec.base_type.type)(full_bounded, 0);
+}
+
+static message_type_support_callbacks_t callbacks = {
+  "@(spec.base_type.pkg_name)",
+  "@(spec.base_type.type)",
+  __cdr_serialize,
+  __cdr_deserialize,
+  __get_serialized_size,
+  __max_serialized_size
+};
+
+static rosidl_message_type_support_t handle = {
+  rosidl_typesupport_fastrtps_cpp::typesupport_identifier,
+  &callbacks,
+  get_message_typesupport_handle_function,
+};
+
+}  // namespace typesupport_fastrtps_cpp
+
+}  // namespace @(subfolder)
+
+}  // namespace @(spec.base_type.pkg_name)
+
+namespace rosidl_typesupport_fastrtps_cpp
+{
+
+template<>
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_@(spec.base_type.pkg_name)
+const rosidl_message_type_support_t *
+get_message_type_support_handle<@(spec.base_type.pkg_name)::@(subfolder)::@(spec.base_type.type)>()
+{
+  return &@(spec.base_type.pkg_name)::@(subfolder)::typesupport_fastrtps_cpp::handle;
+}
+
+}  // namespace rosidl_typesupport_fastrtps_cpp
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, @(spec.base_type.pkg_name), @(subfolder), @(spec.base_type.type))() {
+  return &@(spec.base_type.pkg_name)::@(subfolder)::typesupport_fastrtps_cpp::handle;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/rosidl_typesupport_fastrtps_cpp/resource/rosidl_typesupport_fastrtps_cpp__visibility_control.h.in b/rosidl_typesupport_fastrtps_cpp/resource/rosidl_typesupport_fastrtps_cpp__visibility_control.h.in
new file mode 100644
index 000000000..edce4ea73
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/resource/rosidl_typesupport_fastrtps_cpp__visibility_control.h.in
@@ -0,0 +1,43 @@
+// generated from
+// rosidl_typesupport_fastrtps_cpp/resource/rosidl_typesupport_fastrtps_cpp__visibility_control.h.in
+// generated code does not contain a copyright notice
+
+#ifndef @PROJECT_NAME_UPPER@__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
+#define @PROJECT_NAME_UPPER@__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
+
+#if __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_@PROJECT_NAME@ __attribute__ ((dllexport))
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_@PROJECT_NAME@ __attribute__ ((dllimport))
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_@PROJECT_NAME@ __declspec(dllexport)
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_@PROJECT_NAME@ __declspec(dllimport)
+  #endif
+  #ifdef ROSIDL_TYPESUPPORT_FASTRTPS_CPP_BUILDING_DLL_@PROJECT_NAME@
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@PROJECT_NAME@ ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_@PROJECT_NAME@
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@PROJECT_NAME@ ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_@PROJECT_NAME@
+  #endif
+#else
+  #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_@PROJECT_NAME@ __attribute__ ((visibility("default")))
+  #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_@PROJECT_NAME@
+  #if __GNUC__ >= 4
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@PROJECT_NAME@ __attribute__ ((visibility("default")))
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@PROJECT_NAME@
+  #endif
+#endif
+
+#if __cplusplus
+}
+#endif
+
+#endif  // @PROJECT_NAME_UPPER@__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
diff --git a/rosidl_typesupport_fastrtps_cpp/resource/srv__rosidl_typesupport_fastrtps_cpp.hpp.em b/rosidl_typesupport_fastrtps_cpp/resource/srv__rosidl_typesupport_fastrtps_cpp.hpp.em
new file mode 100644
index 000000000..0ce70978c
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/resource/srv__rosidl_typesupport_fastrtps_cpp.hpp.em
@@ -0,0 +1,44 @@
+// generated from
+// rosidl_typesupport_fastrtps_cpp/resource/srv__rosidl_typesupport_fastrtps_cpp.hpp.em
+// generated code does not contain a copyright notice
+
+@#######################################################################
+@# EmPy template for generating
+@# <srv>__rosidl_typesupport_fastrtps_cpp.hpp files
+@#
+@# Context:
+@#  - spec (rosidl_parser.MessageSpecification)
+@#    Parsed specification of the .srv file
+@#  - get_header_filename_from_srv_name (function)
+@#######################################################################
+@
+@{
+header_guard_parts = [
+    spec.pkg_name, 'srv',
+    get_header_filename_from_msg_name(spec.srv_name) + '__rosidl_typesupport_fastrtps_cpp_hpp']
+header_guard_variable = '__'.join([x.upper() for x in header_guard_parts]) + '_'
+}@
+#ifndef @(header_guard_variable)
+#define @(header_guard_variable)
+
+#include <rmw/types.h>
+
+#include "rosidl_typesupport_cpp/service_type_support.hpp"
+#include "rosidl_typesupport_interface/macros.h"
+
+#include "@(spec.pkg_name)/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@(spec.pkg_name)
+const rosidl_service_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, @(spec.pkg_name), @(spec.srv_name))();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // @(header_guard_variable)
diff --git a/rosidl_typesupport_fastrtps_cpp/resource/srv__type_support.cpp.em b/rosidl_typesupport_fastrtps_cpp/resource/srv__type_support.cpp.em
new file mode 100644
index 000000000..bf720150d
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/resource/srv__type_support.cpp.em
@@ -0,0 +1,64 @@
+// generated from rosidl_typesupport_fastrtps_cpp/resource/srv__type_support.cpp.em
+// generated code does not contain a copyright notice
+
+@#######################################################################
+@# EmPy template for generating <srv>__type_support.cpp files
+@#
+@# Context:
+@#  - spec (rosidl_parser.ServiceSpecification)
+@#    Parsed specification of the .srv file
+@#  - get_header_filename_from_msg_name (function)
+@#######################################################################
+@
+#include "@(spec.pkg_name)/srv/@(get_header_filename_from_msg_name(spec.srv_name))__rosidl_typesupport_fastrtps_cpp.hpp"
+
+#include "rmw/error_handling.h"
+#include "rosidl_typesupport_fastrtps_cpp/identifier.hpp"
+#include "rosidl_typesupport_fastrtps_cpp/service_type_support.h"
+#include "rosidl_typesupport_fastrtps_cpp/service_type_support_decl.hpp"
+
+#include "@(spec.pkg_name)/srv/@(get_header_filename_from_msg_name(spec.srv_name))__struct.hpp"
+#include "@(spec.pkg_name)/srv/@(get_header_filename_from_msg_name(spec.srv_name + '_Request'))__rosidl_typesupport_fastrtps_cpp.hpp"
+#include "@(spec.pkg_name)/srv/@(get_header_filename_from_msg_name(spec.srv_name + '_Response'))__rosidl_typesupport_fastrtps_cpp.hpp"
+
+namespace @(spec.pkg_name)
+{
+
+namespace srv
+{
+
+namespace typesupport_fastrtps_cpp
+{
+
+static service_type_support_callbacks_t callbacks = {
+  "@(spec.pkg_name)",
+  "@(spec.srv_name)",
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, @(spec.pkg_name), srv, @(spec.srv_name)_Request)(),
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, @(spec.pkg_name), srv, @(spec.srv_name)_Response)(),
+};
+
+static rosidl_service_type_support_t handle = {
+  rosidl_typesupport_fastrtps_cpp::typesupport_identifier,
+  &callbacks,
+  get_service_typesupport_handle_function,
+};
+
+}  // namespace typesupport_fastrtps_cpp
+
+}  // namespace srv
+
+}  // namespace @(spec.pkg_name)
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+const rosidl_service_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, @(spec.pkg_name), @(spec.srv_name))() {
+  return &@(spec.pkg_name)::srv::typesupport_fastrtps_cpp::handle;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp-extras.cmake.in b/rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp-extras.cmake.in
new file mode 100644
index 000000000..6fb87c476
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp-extras.cmake.in
@@ -0,0 +1,35 @@
+# generated from
+# rosidl_typesupport_fastrtps_cpp/
+#   rosidl_typesupport_fastrtps_cpp-extras.cmake.in
+
+find_package(fastrtps_cmake_module QUIET)
+find_package(fastcdr REQUIRED CONFIG)
+find_package(fastrtps REQUIRED CONFIG)
+find_package(FastRTPS REQUIRED MODULE)
+
+if(NOT FastRTPS_FOUND)
+  message(STATUS
+    "Could not find eProsima Fast-RTPS - skip rosidl_typesupport_fastrtps_cpp"
+  )
+else()
+  find_package(ament_cmake_core QUIET REQUIRED)
+  ament_register_extension(
+    "rosidl_generate_interfaces"
+    "rosidl_typesupport_fastrtps_cpp"
+    "rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake")
+
+  set(rosidl_typesupport_fastrtps_cpp_BIN
+    "${rosidl_typesupport_fastrtps_cpp_DIR}/../../../lib/rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp")
+  normalize_path(rosidl_typesupport_fastrtps_cpp_BIN
+    "${rosidl_typesupport_fastrtps_cpp_BIN}")
+
+  set(rosidl_typesupport_fastrtps_cpp_GENERATOR_FILES
+    "${rosidl_typesupport_fastrtps_cpp_DIR}/../../../@PYTHON_INSTALL_DIR@/rosidl_typesupport_fastrtps_cpp/__init__.py")
+  normalize_path(rosidl_typesupport_fastrtps_cpp_GENERATOR_FILES
+    "${rosidl_typesupport_fastrtps_cpp_GENERATOR_FILES}")
+
+  set(rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR
+    "${rosidl_typesupport_fastrtps_cpp_DIR}/../resource")
+  normalize_path(rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR
+    "${rosidl_typesupport_fastrtps_cpp_TEMPLATE_DIR}")
+endif()
diff --git a/rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp/__init__.py b/rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp/__init__.py
new file mode 100644
index 000000000..68f2d7311
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp/__init__.py
@@ -0,0 +1,106 @@
+# Copyright 2014 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+import os
+
+from rosidl_cmake import convert_camel_case_to_lower_case_underscore
+from rosidl_cmake import expand_template
+from rosidl_cmake import get_newest_modification_time
+from rosidl_parser import parse_message_file
+from rosidl_parser import parse_service_file
+from rosidl_parser import validate_field_types
+
+
+def parse_ros_interface_files(pkg_name, ros_interface_files):
+    message_specs = []
+    service_specs = []
+    for idl_file in ros_interface_files:
+        extension = os.path.splitext(idl_file)[1]
+        if extension == '.msg':
+            message_spec = parse_message_file(pkg_name, idl_file)
+            message_specs.append((idl_file, message_spec))
+        elif extension == '.srv':
+            service_spec = parse_service_file(pkg_name, idl_file)
+            service_specs.append(service_spec)
+    return (message_specs, service_specs)
+
+
+def generate_dds_fastrtps_cpp(
+        pkg_name, dds_interface_files, dds_interface_base_path, deps,
+        output_basepath, idl_pp, message_specs, service_specs):
+    return 0
+
+
+def generate_cpp(args, message_specs, service_specs, known_msg_types):
+    template_dir = args['template_dir']
+    mapping_msgs = {
+        os.path.join(template_dir, 'msg__rosidl_typesupport_fastrtps_cpp.hpp.em'):
+        '%s__rosidl_typesupport_fastrtps_cpp.hpp',
+        os.path.join(template_dir, 'msg__type_support.cpp.em'):
+        '%s__type_support.cpp',
+    }
+    mapping_srvs = {
+        os.path.join(template_dir, 'srv__rosidl_typesupport_fastrtps_cpp.hpp.em'):
+        '%s__rosidl_typesupport_fastrtps_cpp.hpp',
+        os.path.join(template_dir, 'srv__type_support.cpp.em'):
+        '%s__type_support.cpp',
+    }
+
+    for template_file in mapping_msgs.keys():
+        assert os.path.exists(template_file), 'Could not find template: ' + template_file
+    for template_file in mapping_srvs.keys():
+        assert os.path.exists(template_file), 'Could not find template: ' + template_file
+
+    functions = {
+        'get_header_filename_from_msg_name': convert_camel_case_to_lower_case_underscore,
+    }
+    # generate_dds_fastrtps_cpp() and therefore the make target depend on the additional files
+    # therefore they must be listed here even if the generated type support files are independent
+    latest_target_timestamp = get_newest_modification_time(
+        args['target_dependencies'] + args.get('additional_files', []))
+
+    for idl_file, spec in message_specs:
+        validate_field_types(spec, known_msg_types)
+        subfolder = os.path.basename(os.path.dirname(idl_file))
+        for template_file, generated_filename in mapping_msgs.items():
+            generated_file = os.path.join(args['output_dir'], subfolder)
+            if generated_filename.endswith('.cpp'):
+                generated_file = os.path.join(generated_file, 'dds_fastrtps')
+            generated_file = os.path.join(
+                generated_file, generated_filename %
+                convert_camel_case_to_lower_case_underscore(spec.base_type.type))
+
+            data = {'spec': spec, 'subfolder': subfolder}
+            data.update(functions)
+            expand_template(
+                template_file, data, generated_file,
+                minimum_timestamp=latest_target_timestamp)
+
+    for spec in service_specs:
+        validate_field_types(spec, known_msg_types)
+        for template_file, generated_filename in mapping_srvs.items():
+            generated_file = os.path.join(args['output_dir'], 'srv')
+            if generated_filename.endswith('.cpp'):
+                generated_file = os.path.join(generated_file, 'dds_fastrtps')
+            generated_file = os.path.join(
+                generated_file, generated_filename %
+                convert_camel_case_to_lower_case_underscore(spec.srv_name))
+
+            data = {'spec': spec}
+            data.update(functions)
+            expand_template(
+                template_file, data, generated_file,
+                minimum_timestamp=latest_target_timestamp)
+
+    return 0
diff --git a/rosidl_typesupport_fastrtps_cpp/src/identifier.cpp b/rosidl_typesupport_fastrtps_cpp/src/identifier.cpp
new file mode 100644
index 000000000..8c991d57b
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/src/identifier.cpp
@@ -0,0 +1,23 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#include <rosidl_typesupport_fastrtps_cpp/visibility_control.h>
+
+namespace rosidl_typesupport_fastrtps_cpp
+{
+
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT
+const char * typesupport_identifier = "rosidl_typesupport_fastrtps_cpp";
+
+}  // namespace rosidl_typesupport_fastrtps_cpp