diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
index 92d6b8e..d967013 100644
--- a/rcl/CMakeLists.txt
+++ b/rcl/CMakeLists.txt
@@ -5,11 +5,10 @@ project(rcl)
 find_package(ament_cmake REQUIRED)
 find_package(rcl_interfaces REQUIRED)
 find_package(rmw REQUIRED)
+find_package(rmw_implementation REQUIRED)
+find_package(rmw_implementation_cmake REQUIRED)
 find_package(rosidl_generator_c REQUIRED)
 
-ament_export_dependencies(rmw rosidl_generator_c)
-ament_export_include_directories(include)
-
 include_directories(include)
 
 if(NOT WIN32)
@@ -28,93 +27,44 @@ set(${PROJECT_NAME}_sources
   src/rcl/time.c
   src/rcl/timer.c
 )
-add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_sources})
-ament_target_dependencies(${PROJECT_NAME}
-  "rcl_interfaces"
-  "rmw"
-  "rosidl_generator_c"
-)
-if(NOT WIN32)
-  set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "-std=c11")
-endif()
+
+macro(target)
+  add_library(${PROJECT_NAME}${target_suffix} SHARED ${${PROJECT_NAME}_sources})
+  ament_target_dependencies(${PROJECT_NAME}${target_suffix}
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_generator_c"
+    "${rmw_implementation}"
+  )
+
+  if(NOT WIN32)
+    set_target_properties(${PROJECT_NAME}${target_suffix} PROPERTIES COMPILE_FLAGS "-std=c11")
+  endif()
+
+  install(
+    TARGETS ${PROJECT_NAME}${target_suffix}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin)
+endmacro()
+
+call_for_each_rmw_implementation(target GENERATE_DEFAULT)
+
+ament_export_dependencies(rcl_interfaces)
+ament_export_dependencies(rmw)
+ament_export_dependencies(rmw_implementation)
+ament_export_dependencies(rosidl_generator_c)
+
+ament_export_include_directories(include)
+
+ament_export_libraries(${PROJECT_NAME})
 
 if(AMENT_ENABLE_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  set(extra_test_libraries)
-  set(extra_memory_tools_env PHONY=)  # Use a phony env var so there is always at least one.
-  ament_find_gtest()  # For GTEST_LIBRARIES
-  if(APPLE)
-    add_library(${PROJECT_NAME}_memory_tools_interpose SHARED test/memory_tools_osx_interpose.cpp)
-    target_link_libraries(${PROJECT_NAME}_memory_tools_interpose ${GTEST_LIBRARIES})
-    set_target_properties(${PROJECT_NAME}_memory_tools_interpose
-      PROPERTIES COMPILE_FLAGS "-std=c++11")
-    list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools_interpose)
-    list(APPEND extra_memory_tools_env
-      DYLD_INSERT_LIBRARIES=$<TARGET_FILE:${PROJECT_NAME}_memory_tools_interpose>)
-  endif()
-  add_library(${PROJECT_NAME}_memory_tools SHARED test/memory_tools.cpp)
-  if(NOT WIN32)
-    set_target_properties(${PROJECT_NAME}_memory_tools PROPERTIES COMPILE_FLAGS "-std=c++11")
-  endif()
-  target_link_libraries(${PROJECT_NAME}_memory_tools ${GTEST_LIBRARIES} ${extra_test_libraries})
-  list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools)
-
-  ament_add_gtest(test_memory_tools test/test_memory_tools.cpp ENV ${extra_memory_tools_env})
-  if(TARGET test_memory_tools)
-    target_include_directories(test_memory_tools PUBLIC
-      ${rcl_interfaces_INCLUDE_DIRS}
-      ${rmw_INCLUDE_DIRS}
-    )
-    if(NOT WIN32)
-      set_target_properties(test_memory_tools PROPERTIES COMPILE_FLAGS "-std=c++11")
-    endif()
-    target_link_libraries(test_memory_tools ${PROJECT_NAME} ${extra_test_libraries})
-  endif()
-
-  ament_add_gtest(test_allocator test/rcl/test_allocator.cpp ENV ${extra_memory_tools_env})
-  if(TARGET test_allocator)
-    target_include_directories(test_allocator PUBLIC
-      ${rcl_interfaces_INCLUDE_DIRS}
-      ${rmw_INCLUDE_DIRS}
-    )
-    if(NOT WIN32)
-      set_target_properties(test_allocator PROPERTIES COMPILE_FLAGS "-std=c++11")
-    endif()
-    target_link_libraries(test_allocator ${PROJECT_NAME} ${extra_test_libraries})
-  endif()
-
-  ament_add_gtest(test_time test/rcl/test_time.cpp ENV ${extra_memory_tools_env})
-  if(TARGET test_time)
-    target_include_directories(test_time PUBLIC
-      ${rcl_interfaces_INCLUDE_DIRS}
-      ${rmw_INCLUDE_DIRS}
-    )
-    if(NOT WIN32)
-      set_target_properties(test_time PROPERTIES COMPILE_FLAGS "-std=c++11")
-    endif()
-    target_link_libraries(test_time ${PROJECT_NAME} ${extra_test_libraries})
-  endif()
-
-  ament_add_gtest(test_common
-    test/rcl/test_common.cpp
-    ENV
-      ${extra_memory_tools_env}
-      EMPTY_TEST=
-      NORMAL_TEST=foo
-  )
-  if(TARGET test_common)
-    target_include_directories(test_common PUBLIC
-      ${rcl_interfaces_INCLUDE_DIRS}
-      ${rmw_INCLUDE_DIRS}
-    )
-    if(NOT WIN32)
-      set_target_properties(test_common PROPERTIES COMPILE_FLAGS "-std=c++11")
-    endif()
-    target_link_libraries(test_common ${PROJECT_NAME} ${extra_test_libraries})
-  endif()
+  add_subdirectory(test)
 endif()
 
 ament_package()
diff --git a/rcl/package.xml b/rcl/package.xml
index c0da176..493e2c1 100644
--- a/rcl/package.xml
+++ b/rcl/package.xml
@@ -10,17 +10,20 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>rmw</build_depend>
-  <!-- This ensures the rmw impls are built first. -->
-  <build_depend>rmw_implementation</build_depend>
-
   <build_export_depend>rmw</build_export_depend>
 
-  <depend>rcl_interfaces</depend>
-  <depend>rosidl_generator_c</depend>
+  <build_depend>rcl_interfaces</build_depend>
+  <build_depend>rmw_implementation_cmake</build_depend>
+  <build_depend>rosidl_generator_c</build_depend>
+  <build_export_depend>rcl_interfaces</build_export_depend>
+  <build_export_depend>rosidl_generator_c</build_export_depend>
 
+  <depend>rmw_implementation</depend>
+
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>rmw</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
new file mode 100644
index 0000000..8f10bc2
--- /dev/null
+++ b/rcl/test/CMakeLists.txt
@@ -0,0 +1,74 @@
+if(AMENT_ENABLE_TESTING)
+  set(extra_test_libraries)
+  set(extra_memory_tools_env PHONY=)  # Use a phony env var so there is always at least one.
+  ament_find_gtest()  # For GTEST_LIBRARIES
+  if(APPLE)
+    add_library(${PROJECT_NAME}_memory_tools_interpose SHARED memory_tools_osx_interpose.cpp)
+    target_link_libraries(${PROJECT_NAME}_memory_tools_interpose ${GTEST_LIBRARIES})
+    set_target_properties(${PROJECT_NAME}_memory_tools_interpose
+      PROPERTIES COMPILE_FLAGS "-std=c++11")
+    list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools_interpose)
+    list(APPEND extra_memory_tools_env
+      DYLD_INSERT_LIBRARIES=$<TARGET_FILE:${PROJECT_NAME}_memory_tools_interpose>)
+  endif()
+  add_library(${PROJECT_NAME}_memory_tools SHARED memory_tools.cpp)
+  if(NOT WIN32)
+    set_target_properties(${PROJECT_NAME}_memory_tools PROPERTIES COMPILE_FLAGS "-std=c++11")
+  endif()
+  target_link_libraries(${PROJECT_NAME}_memory_tools ${GTEST_LIBRARIES} ${extra_test_libraries})
+  list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools)
+
+  ament_add_gtest(test_memory_tools test_memory_tools.cpp ENV ${extra_memory_tools_env})
+  if(TARGET test_memory_tools)
+    target_include_directories(test_memory_tools PUBLIC
+      ${rcl_interfaces_INCLUDE_DIRS}
+      ${rmw_INCLUDE_DIRS}
+    )
+    if(NOT WIN32)
+      set_target_properties(test_memory_tools PROPERTIES COMPILE_FLAGS "-std=c++11")
+    endif()
+    target_link_libraries(test_memory_tools ${PROJECT_NAME} ${extra_test_libraries})
+  endif()
+
+  ament_add_gtest(test_allocator rcl/test_allocator.cpp ENV ${extra_memory_tools_env})
+  if(TARGET test_allocator)
+    target_include_directories(test_allocator PUBLIC
+      ${rcl_interfaces_INCLUDE_DIRS}
+      ${rmw_INCLUDE_DIRS}
+    )
+    if(NOT WIN32)
+      set_target_properties(test_allocator PROPERTIES COMPILE_FLAGS "-std=c++11")
+    endif()
+    target_link_libraries(test_allocator ${PROJECT_NAME} ${extra_test_libraries})
+  endif()
+
+  ament_add_gtest(test_time rcl/test_time.cpp ENV ${extra_memory_tools_env})
+  if(TARGET test_time)
+    target_include_directories(test_time PUBLIC
+      ${rcl_interfaces_INCLUDE_DIRS}
+      ${rmw_INCLUDE_DIRS}
+    )
+    if(NOT WIN32)
+      set_target_properties(test_time PROPERTIES COMPILE_FLAGS "-std=c++11")
+    endif()
+    target_link_libraries(test_time ${PROJECT_NAME} ${extra_test_libraries})
+  endif()
+
+  ament_add_gtest(test_common
+    rcl/test_common.cpp
+    ENV
+      ${extra_memory_tools_env}
+      EMPTY_TEST=
+      NORMAL_TEST=foo
+  )
+  if(TARGET test_common)
+    target_include_directories(test_common PUBLIC
+      ${rcl_interfaces_INCLUDE_DIRS}
+      ${rmw_INCLUDE_DIRS}
+    )
+    if(NOT WIN32)
+      set_target_properties(test_common PROPERTIES COMPILE_FLAGS "-std=c++11")
+    endif()
+    target_link_libraries(test_common ${PROJECT_NAME} ${extra_test_libraries})
+  endif()
+endif()