diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index 33937a2..849031c 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -9,6 +9,7 @@ find_package(rmw REQUIRED)
 find_package(rmw_implementation REQUIRED)
 find_package(rmw_implementation_cmake REQUIRED)
 find_package(rosidl_generator_cpp REQUIRED)
+find_package(rosidl_typesupport_c REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -82,6 +83,7 @@ call_for_each_rmw_implementation(target GENERATE_DEFAULT)
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl)
 ament_export_dependencies(rosidl_generator_cpp)
+ament_export_dependencies(rosidl_typesupport_c)
 ament_export_dependencies(rosidl_typesupport_cpp)
 
 ament_export_include_directories(include)
diff --git a/rclcpp/package.xml b/rclcpp/package.xml
index 5c7c1e5..9e66502 100644
--- a/rclcpp/package.xml
+++ b/rclcpp/package.xml
@@ -14,9 +14,11 @@
   <build_depend>rcl_interfaces</build_depend>
   <build_depend>rmw_implementation_cmake</build_depend>
   <build_depend>rosidl_generator_cpp</build_depend>
+  <build_depend>rosidl_typesupport_c</build_depend>
   <build_depend>rosidl_typesupport_cpp</build_depend>
   <build_export_depend>rcl_interfaces</build_export_depend>
   <build_export_depend>rosidl_generator_cpp</build_export_depend>
+  <build_export_depend>rosidl_typesupport_c</build_export_depend>
   <build_export_depend>rosidl_typesupport_cpp</build_export_depend>
 
   <depend>rcl</depend>