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
index bba3b13..8a67a28 100644
--- a/rosidl_typesupport_fastrtps_c/resource/msg__type_support_c.cpp.em
+++ b/rosidl_typesupport_fastrtps_c/resource/msg__type_support_c.cpp.em
@@ -1,7 +1,9 @@
 @# Included from rosidl_typesupport_fastrtps_c/resource/idl__type_support_c.cpp.em
 @{
 from rosidl_generator_c import idl_structure_type_to_c_typename
-from rosidl_generator_type_description import TYPE_HASH_VAR
+from rosidl_generator_type_description import GET_DESCRIPTION_FUNC
+from rosidl_generator_type_description import GET_HASH_FUNC
+from rosidl_generator_type_description import GET_SOURCES_FUNC
 from rosidl_parser.definition import AbstractGenericString
 from rosidl_parser.definition import AbstractNestedType
 from rosidl_parser.definition import AbstractSequence
@@ -641,7 +643,9 @@ static rosidl_message_type_support_t _@(message.structure.namespaced_type.name)_
   rosidl_typesupport_fastrtps_c__identifier,
   &__callbacks_@(message.structure.namespaced_type.name),
   get_message_typesupport_handle_function,
-  &@(idl_structure_type_to_c_typename(message.structure.namespaced_type))__@(TYPE_HASH_VAR),
+  &@(idl_structure_type_to_c_typename(message.structure.namespaced_type))__@(GET_HASH_FUNC),
+  &@(idl_structure_type_to_c_typename(message.structure.namespaced_type))__@(GET_DESCRIPTION_FUNC),
+  &@(idl_structure_type_to_c_typename(message.structure.namespaced_type))__@(GET_SOURCES_FUNC),
 };
 
 const rosidl_message_type_support_t *
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
index ddb4e5d..0b75ea6 100644
--- a/rosidl_typesupport_fastrtps_c/resource/srv__type_support_c.cpp.em
+++ b/rosidl_typesupport_fastrtps_c/resource/srv__type_support_c.cpp.em
@@ -22,7 +22,9 @@ TEMPLATE(
 
 @{
 from rosidl_generator_c import idl_structure_type_to_c_typename
-from rosidl_generator_type_description import TYPE_HASH_VAR
+from rosidl_generator_type_description import GET_DESCRIPTION_FUNC
+from rosidl_generator_type_description import GET_HASH_FUNC
+from rosidl_generator_type_description import GET_SOURCES_FUNC
 from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
 from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
 from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
@@ -78,7 +80,9 @@ static rosidl_service_type_support_t @(service.namespaced_type.name)__handle = {
     rosidl_typesupport_c,
     @(',\n    '.join(service.namespaced_type.namespaced_name()))
   ),
-  &@(idl_structure_type_to_c_typename(service.namespaced_type))__@(TYPE_HASH_VAR),
+  &@(idl_structure_type_to_c_typename(service.namespaced_type))__@(GET_HASH_FUNC),
+  &@(idl_structure_type_to_c_typename(service.namespaced_type))__@(GET_DESCRIPTION_FUNC),
+  &@(idl_structure_type_to_c_typename(service.namespaced_type))__@(GET_SOURCES_FUNC),
 };
 
 const rosidl_service_type_support_t *
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
index 46c2e2a..b93de4f 100644
--- 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
@@ -157,6 +157,7 @@ endforeach()
 
 # Depend on the target created by rosidl_generator_cpp
 target_link_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix} PUBLIC
+  ${rosidl_generate_interfaces_TARGET}__rosidl_generator_c
   ${rosidl_generate_interfaces_TARGET}__rosidl_generator_cpp)
 
 # Make top level generation target depend on this library
diff --git a/rosidl_typesupport_fastrtps_cpp/package.xml b/rosidl_typesupport_fastrtps_cpp/package.xml
index 004b4cf..4cb2153 100644
--- a/rosidl_typesupport_fastrtps_cpp/package.xml
+++ b/rosidl_typesupport_fastrtps_cpp/package.xml
@@ -24,6 +24,7 @@
   <buildtool_export_depend>python3</buildtool_export_depend>
 
   <!-- Generator depends on output of this other generator -->
+  <buildtool_export_depend>rosidl_generator_c</buildtool_export_depend>
   <buildtool_export_depend>rosidl_generator_cpp</buildtool_export_depend>
 
   <!-- Needed by downstream targets to use this package's headers or the headers it generates, but header only so not needed to link against -->
diff --git a/rosidl_typesupport_fastrtps_cpp/resource/idl__type_support.cpp.em b/rosidl_typesupport_fastrtps_cpp/resource/idl__type_support.cpp.em
index a5cf502..022a1df 100644
--- a/rosidl_typesupport_fastrtps_cpp/resource/idl__type_support.cpp.em
+++ b/rosidl_typesupport_fastrtps_cpp/resource/idl__type_support.cpp.em
@@ -18,6 +18,7 @@ include_parts = [package_name] + list(interface_path.parents[0].parts) + [
 include_base = '/'.join(include_parts)
 }@
 #include "@(include_base)__rosidl_typesupport_fastrtps_cpp.hpp"
+#include "@(include_base)__functions.h"
 #include "@(include_base)__struct.hpp"
 
 @{
diff --git a/rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em b/rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em
index 110a321..d41759f 100644
--- a/rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em
+++ b/rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em
@@ -1,7 +1,9 @@
 @# Included from rosidl_typesupport_fastrtps_cpp/resource/idl__type_support.cpp.em
 @{
 from rosidl_generator_c import idl_structure_type_to_c_typename
-from rosidl_generator_type_description import TYPE_HASH_VAR
+from rosidl_generator_type_description import GET_DESCRIPTION_FUNC
+from rosidl_generator_type_description import GET_HASH_FUNC
+from rosidl_generator_type_description import GET_SOURCES_FUNC
 from rosidl_parser.definition import AbstractGenericString
 from rosidl_parser.definition import AbstractNestedType
 from rosidl_parser.definition import AbstractSequence
@@ -507,7 +509,9 @@ static rosidl_message_type_support_t _@(message.structure.namespaced_type.name)_
   rosidl_typesupport_fastrtps_cpp::typesupport_identifier,
   &_@(message.structure.namespaced_type.name)__callbacks,
   get_message_typesupport_handle_function,
-  &@('::'.join(message.structure.namespaced_type.namespaced_name()))::@(TYPE_HASH_VAR),
+  &@(idl_structure_type_to_c_typename(message.structure.namespaced_type))__@(GET_HASH_FUNC),
+  &@(idl_structure_type_to_c_typename(message.structure.namespaced_type))__@(GET_DESCRIPTION_FUNC),
+  &@(idl_structure_type_to_c_typename(message.structure.namespaced_type))__@(GET_SOURCES_FUNC),
 };
 
 }  // namespace typesupport_fastrtps_cpp
diff --git a/rosidl_typesupport_fastrtps_cpp/resource/srv__type_support.cpp.em b/rosidl_typesupport_fastrtps_cpp/resource/srv__type_support.cpp.em
index 2495ed8..250e7a3 100644
--- a/rosidl_typesupport_fastrtps_cpp/resource/srv__type_support.cpp.em
+++ b/rosidl_typesupport_fastrtps_cpp/resource/srv__type_support.cpp.em
@@ -1,6 +1,9 @@
 @# Included from rosidl_typesupport_fastrtps_cpp/resource/idl__type_support.cpp.em
 @{
-from rosidl_generator_type_description import TYPE_HASH_VAR
+from rosidl_generator_c import idl_structure_type_to_c_typename
+from rosidl_generator_type_description import GET_DESCRIPTION_FUNC
+from rosidl_generator_type_description import GET_HASH_FUNC
+from rosidl_generator_type_description import GET_SOURCES_FUNC
 from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
 from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
 from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
@@ -79,7 +82,9 @@ static const rosidl_service_type_support_t _@(service.namespaced_type.name)__han
   ::rosidl_typesupport_fastrtps_cpp::get_message_type_support_handle<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))@(SERVICE_EVENT_MESSAGE_SUFFIX)>(),
   &::rosidl_typesupport_cpp::service_create_event_message<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))>,
   &::rosidl_typesupport_cpp::service_destroy_event_message<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))>,
-  &@('::'.join(service.namespaced_type.namespaced_name()))::@(TYPE_HASH_VAR),
+  &@(idl_structure_type_to_c_typename(service.namespaced_type))__@(GET_HASH_FUNC),
+  &@(idl_structure_type_to_c_typename(service.namespaced_type))__@(GET_DESCRIPTION_FUNC),
+  &@(idl_structure_type_to_c_typename(service.namespaced_type))__@(GET_SOURCES_FUNC),
 };
 
 #ifdef __cplusplus