diff --git a/rclrs/package.xml b/rclrs/package.xml
index 800ccd632..12acc5831 100644
--- a/rclrs/package.xml
+++ b/rclrs/package.xml
@@ -15,7 +15,7 @@
 
   <build_depend>libclang-dev</build_depend>
   <build_depend>rosidl_runtime_rs</build_depend>
-  <build_depend>rcl</build_depend>
+  <depend>rcl</depend>
   <depend>builtin_interfaces</depend>
   <depend>rcl_interfaces</depend>
   <depend>rosgraph_msgs</depend>
diff --git a/rosidl_generator_rs/CMakeLists.txt b/rosidl_generator_rs/CMakeLists.txt
index 64e5577a4..fd7d1c135 100644
--- a/rosidl_generator_rs/CMakeLists.txt
+++ b/rosidl_generator_rs/CMakeLists.txt
@@ -22,8 +22,8 @@ ament_index_register_resource("rosidl_runtime_packages")
 ament_python_install_package(${PROJECT_NAME})
 
 ament_package(
-  CONFIG_EXTRAS "rosidl_generator_rs-extras.cmake.in"
-    "cmake/rosidl_generator_rs_get_typesupports.cmake"
+  CONFIG_EXTRAS
+    "rosidl_generator_rs-extras.cmake.in"
     "cmake/register_rs.cmake"
 )
 
diff --git a/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake b/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake
index fd48a5545..051ccd857 100644
--- a/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake
+++ b/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake
@@ -12,9 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-find_package(rmw_implementation_cmake REQUIRED)
-find_package(rmw REQUIRED)
-
 if(NOT WIN32)
   if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
     set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,--no-undefined")
@@ -23,17 +20,8 @@ if(NOT WIN32)
   endif()
 endif()
 
-# Get a list of typesupport implementations from valid rmw implementations.
-rosidl_generator_rs_get_typesupports(_typesupport_impls)
-
-if(_typesupport_impls STREQUAL "")
-  message(WARNING "No valid typesupport for Rust generator. Rust messages will not be generated.")
-  return()
-endif()
-
 set(_output_path
   "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_rs/${PROJECT_NAME}")
-set(_generated_extension_files "")
 set(_generated_common_rs_files "")
 
 set(_generated_msg_rs_files "")
@@ -42,10 +30,6 @@ set(_generated_srv_rs_files "")
 set(_has_msg FALSE)
 set(_has_srv FALSE)
 
-foreach(_typesupport_impl ${_typesupport_impls})
-  set(_generated_extension_${_typesupport_impl}_files "")
-endforeach()
-
 foreach(_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
   get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
   get_filename_component(_parent_folder "${_parent_folder}" NAME)
@@ -75,22 +59,12 @@ if(${_has_msg})
   list(APPEND _generated_msg_rs_files
     "${_output_path}/rust/src/msg.rs"
   )
-
-  foreach(_typesupport_impl ${_typesupport_impls})
-    list_append_unique(_generated_extension_${_typesupport_impl}_files "${_output_path}/msg_rs.ep.${_typesupport_impl}.c")
-    list_append_unique(_generated_extension_files "${_generated_extension_${_typesupport_impl}_files}")
-  endforeach()
 endif()
 
 if(${_has_srv})
   list(APPEND _generated_srv_rs_files
     "${_output_path}/rust/src/srv.rs"
   )
-
-  foreach(_typesupport_impl ${_typesupport_impls})
-    list_append_unique(_generated_extension_${_typesupport_impl}_files "${_output_path}/srv_rs.ep.${_typesupport_impl}.c")
-    list_append_unique(_generated_extension_files "${_generated_extension_${_typesupport_impl}_files}")
-  endforeach()
 endif()
 
 set(_dependency_files "")
@@ -156,23 +130,18 @@ add_dependencies(${rosidl_generate_interfaces_TARGET} ${rosidl_generate_interfac
 
 set_property(
   SOURCE
-  ${_generated_extension_files}
   ${_generated_common_rs_files}
   ${_generated_msg_rs_files}
   ${_generated_srv_rs_files}
   PROPERTY GENERATED 1)
 
 set(_rsext_suffix "__rsext")
-foreach(_typesupport_impl ${_typesupport_impls})
-  find_package(${_typesupport_impl} REQUIRED)
-
-  if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
-    install(
-      DIRECTORY "${_output_path}/rust"
-      DESTINATION "share/${PROJECT_NAME}"
-    )
-  endif()
-endforeach()
+if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
+  install(
+    DIRECTORY "${_output_path}/rust"
+    DESTINATION "share/${PROJECT_NAME}"
+  )
+endif()
 
 if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS)
   if(
diff --git a/rosidl_generator_rs/cmake/rosidl_generator_rs_get_typesupports.cmake b/rosidl_generator_rs/cmake/rosidl_generator_rs_get_typesupports.cmake
deleted file mode 100644
index 37d3c3582..000000000
--- a/rosidl_generator_rs/cmake/rosidl_generator_rs_get_typesupports.cmake
+++ /dev/null
@@ -1,30 +0,0 @@
-# Copyright 2016-2017 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.
-
-macro(accumulate_typesupports)
-  set(_typesupport_impl_tmp "")
-  get_rmw_typesupport(_typesupport_impl_tmp ${rmw_implementation} LANGUAGE "C")
-  list(APPEND _typesupport_impls_tmp ${_typesupport_impl_tmp})
-endmacro()
-
-macro(rosidl_generator_rs_get_typesupports TYPESUPPORT_IMPLS)
-  set(${TYPESUPPORT_IMPLS} "")
-  set(_typesupport_impls_tmp "")
-  set(_typesupport_impls_tmp_unique "")
-  call_for_each_rmw_implementation(accumulate_typesupports)
-
-  foreach(_typesupport_impl ${_typesupport_impls_tmp})
-    list_append_unique(${TYPESUPPORT_IMPLS} ${_typesupport_impl})
-  endforeach()
-endmacro()