diff --git a/rcl/test/rcl/client_fixture.cpp b/rcl/test/rcl/client_fixture.cpp
index 1a5e7d9..d718565 100644
--- a/rcl/test/rcl/client_fixture.cpp
+++ b/rcl/test/rcl/client_fixture.cpp
@@ -120,8 +120,8 @@ int main(int argc, char ** argv)
       }
     });
 
-    const rosidl_service_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(
-      example_interfaces, srv, AddTwoInts);
+    const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
+      example_interfaces, AddTwoInts);
     const char * topic = "add_two_ints";
 
     rcl_client_t client = rcl_get_zero_initialized_client();
diff --git a/rcl/test/rcl/service_fixture.cpp b/rcl/test/rcl/service_fixture.cpp
index 9554f5a..3fe2baf 100644
--- a/rcl/test/rcl/service_fixture.cpp
+++ b/rcl/test/rcl/service_fixture.cpp
@@ -94,8 +94,8 @@ int main(int argc, char ** argv)
       }
     });
 
-    const rosidl_service_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(
-      example_interfaces, srv, AddTwoInts);
+    const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
+      example_interfaces, AddTwoInts);
     const char * topic = "add_two_ints";
 
     rcl_service_t service = rcl_get_zero_initialized_service();
diff --git a/rcl/test/rcl/test_client.cpp b/rcl/test/rcl/test_client.cpp
index 5582530..643dd93 100644
--- a/rcl/test/rcl/test_client.cpp
+++ b/rcl/test/rcl/test_client.cpp
@@ -75,8 +75,8 @@ TEST_F(TestClientFixture, test_client_nominal) {
   const char * topic_name = "add_two_ints";
   rcl_client_options_t client_options = rcl_client_get_default_options();
 
-  const rosidl_service_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(
-    example_interfaces, srv, AddTwoInts);
+  const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
+    example_interfaces, AddTwoInts);
   ret = rcl_client_init(&client, this->node_ptr, ts, topic_name, &client_options);
 
   // Check the return code of initialization and that the service name matches what's expected
@@ -111,8 +111,8 @@ TEST_F(TestClientFixture, test_client_init_fini) {
   // Setup valid inputs.
   rcl_client_t client;
 
-  const rosidl_service_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(
-    example_interfaces, srv, AddTwoInts);
+  const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
+    example_interfaces, AddTwoInts);
   const char * topic_name = "chatter";
   rcl_client_options_t default_client_options = rcl_client_get_default_options();
 
diff --git a/rcl/test/rcl/test_graph.cpp b/rcl/test/rcl/test_graph.cpp
index e185da0..7aed6e8 100644
--- a/rcl/test/rcl/test_graph.cpp
+++ b/rcl/test/rcl/test_graph.cpp
@@ -343,7 +343,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
   // Now create a publisher on "topic_name" and check that it is seen.
   rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
   rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
-  auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, String);
+  auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String);
   ret = rcl_publisher_init(&pub, this->node_ptr, ts, topic_name.c_str(), &pub_ops);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
   rcl_reset_error();
@@ -420,7 +420,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
     rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
     rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options();
     rcl_ret_t ret = rcl_publisher_init(
-      &pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, String),
+      &pub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
       "chatter_test_graph_guard_condition_topics", &pub_ops);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
     // sleep
@@ -429,7 +429,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
     rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
     rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
     ret = rcl_subscription_init(
-      &sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, String),
+      &sub, this->node_ptr, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
       "chatter_test_graph_guard_condition_topics", &sub_ops);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
     // sleep
diff --git a/rcl/test/rcl/test_publisher.cpp b/rcl/test/rcl/test_publisher.cpp
index 3e8b19f..d296330 100644
--- a/rcl/test/rcl/test_publisher.cpp
+++ b/rcl/test/rcl/test_publisher.cpp
@@ -77,7 +77,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
   stop_memory_checking();
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
-  const rosidl_message_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(std_msgs, msg, Int64);
+  const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
   // TODO(wjwwood): Change this back to just chatter when this OpenSplice problem is resolved:
   //  ========================================================================================
   //  Report      : WARNING
@@ -112,7 +112,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
   stop_memory_checking();
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
-  const rosidl_message_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(std_msgs, msg, String);
+  const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String);
   const char * topic_name = "chatter";
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
@@ -139,7 +139,7 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_
   rcl_ret_t ret;
   // Setup valid inputs.
   rcl_publisher_t publisher;
-  const rosidl_message_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(std_msgs, msg, Int64);
+  const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
   const char * topic_name = "chatter";
   rcl_publisher_options_t default_publisher_options = rcl_publisher_get_default_options();
 
diff --git a/rcl/test/rcl/test_service.cpp b/rcl/test/rcl/test_service.cpp
index dd7489c..4e63019 100644
--- a/rcl/test/rcl/test_service.cpp
+++ b/rcl/test/rcl/test_service.cpp
@@ -116,8 +116,8 @@ wait_for_service_to_be_ready(
 TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal) {
   stop_memory_checking();
   rcl_ret_t ret;
-  const rosidl_service_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(
-    example_interfaces, srv, AddTwoInts);
+  const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
+    example_interfaces, AddTwoInts);
   const char * topic = "add_two_ints";
 
   rcl_service_t service = rcl_get_zero_initialized_service();
diff --git a/rcl/test/rcl/test_subscription.cpp b/rcl/test/rcl/test_subscription.cpp
index 72a7af7..9d783a8 100644
--- a/rcl/test/rcl/test_subscription.cpp
+++ b/rcl/test/rcl/test_subscription.cpp
@@ -118,7 +118,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   stop_memory_checking();
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
-  const rosidl_message_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(std_msgs, msg, Int64);
+  const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
   // TODO(wjwwood): Change this back to just chatter when this OpenSplice problem is resolved:
   //  ========================================================================================
   //  Report      : WARNING
@@ -182,7 +182,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   stop_memory_checking();
   rcl_ret_t ret;
   rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
-  const rosidl_message_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT(std_msgs, msg, String);
+  const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String);
   const char * topic = "rcl_test_subscription_nominal_string_chatter";
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
diff --git a/rcl_lifecycle/src/com_interface.c b/rcl_lifecycle/src/com_interface.c
index e7a89d1..a420cb9 100644
--- a/rcl_lifecycle/src/com_interface.c
+++ b/rcl_lifecycle/src/com_interface.c
@@ -24,7 +24,7 @@ extern "C"
 
 #include "lifecycle_msgs/msg/transition_event.h"
 
-#include "rosidl_generator_c/message_type_support.h"
+#include "rosidl_generator_c/message_type_support_struct.h"
 #include "rosidl_generator_c/string_functions.h"
 
 #include "rcl/error_handling.h"