diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index c342640..e767aba 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -5,6 +5,8 @@ project(rclcpp)
 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_cpp REQUIRED)
 
 if(NOT WIN32)
@@ -35,31 +37,37 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/service.cpp
   src/rclcpp/subscription.cpp
   src/rclcpp/timer.cpp
+  src/rclcpp/type_support.cpp
   src/rclcpp/utilities.cpp
 )
-if(WIN32)
-  list(APPEND ${PROJECT_NAME}_SRCS src/rclcpp/windows_helper.cpp)
-endif()
-add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SRCS})
-ament_target_dependencies(
-  ${PROJECT_NAME}
-  "rcl_interfaces"
-  "rmw"
-  "rosidl_generator_cpp"
-)
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-# It also avoids using certain parts of the code that the consuming code must
-# use, but which the library cannot consume itself.
-target_compile_definitions(${PROJECT_NAME} PRIVATE "RCLCPP_BUILDING_LIBRARY")
-if(APPLE)
-  # Since the rmw_* symbols are unresolved at the time of building librclcpp,
-  # tell the linker on OS X to dynamically look them up at runtime.
-  set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
-endif()
+
+macro(target)
+  add_library(${PROJECT_NAME}${target_suffix} SHARED
+    ${${PROJECT_NAME}_SRCS})
+  ament_target_dependencies(${PROJECT_NAME}${target_suffix}
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_generator_cpp"
+    "${rmw_implementation}")
+
+  # Causes the visibility macros to use dllexport rather than dllimport,
+  # which is appropriate when building the dll but not consuming it.
+  target_compile_definitions(${PROJECT_NAME}${target_suffix}
+    PRIVATE "RCLCPP_BUILDING_LIBRARY")
+
+  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_cpp)
 
 ament_export_include_directories(include)
@@ -100,6 +108,11 @@ ament_package(
   CONFIG_EXTRAS rclcpp-extras.cmake
 )
 
+install(
+  DIRECTORY cmake
+  DESTINATION share/${PROJECT_NAME}
+)
+
 install(
   DIRECTORY include/
   DESTINATION include
@@ -109,10 +122,3 @@ install(
   DIRECTORY src/
   DESTINATION src/rclcpp
 )
-
-install(
-  TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
diff --git a/rclcpp/cmake/get_rclcpp_information.cmake b/rclcpp/cmake/get_rclcpp_information.cmake
new file mode 100644
index 0000000..a7553f2
--- /dev/null
+++ b/rclcpp/cmake/get_rclcpp_information.cmake
@@ -0,0 +1,88 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#
+# Get all information abut rclcpp for a specific RMW implementation.
+#
+# It sets the common variables _DEFINITIONS, _INCLUDE_DIRS and _LIBRARIES
+# with the given prefix.
+#
+# :param rmw_implementation: the RMW implementation name
+# :type target: string
+# :param var_prefix: the prefix of all output variable names
+# :type var_prefix: string
+#
+macro(get_rclcpp_information rmw_implementation var_prefix)
+  # pretend to be a "package"
+  # so that the variables can be used by various functions / macros
+  set(${var_prefix}_FOUND TRUE)
+
+  # include directories
+  set(${var_prefix}_INCLUDE_DIRS
+    "${rclcpp_DIR}/../../../include")
+
+  # libraries
+  set(_libs)
+  # search for library relative to this CMake file
+  set(_library_target "rclcpp")
+  get_available_rmw_implementations(_rmw_impls)
+  list(LENGTH _rmw_impls _rmw_impls_length)
+  if(_rmw_impls_length GREATER 1)
+    set(_library_target "${_library_target}__${rmw_implementation}")
+  endif()
+  set(_lib "NOTFOUND")
+  find_library(
+    _lib NAMES "${_library_target}"
+    PATHS "${rclcpp_DIR}/../../../lib"
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+  )
+  if(NOT _lib)
+    # warn about not existing library and ignore it
+    message(FATAL_ERROR "Package 'rclcpp' doesn't contain the library '${_library_target}'")
+  elseif(NOT IS_ABSOLUTE "${_lib}")
+    # the found library must be an absolute path
+    message(FATAL_ERROR "Package 'rclcpp' found the library '${_library_target}' at '${_lib}' which is not an absolute path")
+  elseif(NOT EXISTS "${_lib}")
+    # the found library must exist
+    message(FATAL_ERROR "Package 'rclcpp' found the library '${_lib}' which doesn't exist")
+  else()
+    list(APPEND _libs "${_lib}")
+  endif()
+
+  # dependencies
+  set(_exported_dependencies
+    "rcl_interfaces"
+    "rmw"
+    "${rmw_implementation}"
+    "rosidl_generator_cpp")
+  set(${var_prefix}_DEFINITIONS)
+  foreach(_dep ${_exported_dependencies})
+    if(NOT ${_dep}_FOUND)
+      find_package("${_dep}" QUIET REQUIRED)
+    endif()
+    if(${_dep}_DEFINITIONS)
+      list_append_unique(${var_prefix}_DEFINITIONS "${${_dep}_DEFINITIONS}")
+    endif()
+    if(${_dep}_INCLUDE_DIRS)
+      list_append_unique(${var_prefix}_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+    endif()
+    if(${_dep}_LIBRARIES)
+      list(APPEND _libs "${${_dep}_LIBRARIES}")
+    endif()
+  endforeach()
+  if(_libs)
+    ament_libraries_deduplicate(_libs "${_libs}")
+  endif()
+  set(${var_prefix}_LIBRARIES "${_libs}")
+endmacro()
diff --git a/rclcpp/include/rclcpp/type_support_decl.hpp b/rclcpp/include/rclcpp/type_support_decl.hpp
index e417ff8..b4abc14 100644
--- a/rclcpp/include/rclcpp/type_support_decl.hpp
+++ b/rclcpp/include/rclcpp/type_support_decl.hpp
@@ -18,41 +18,57 @@
 #include "rosidl_generator_cpp/message_type_support_decl.hpp"
 #include "rosidl_generator_cpp/service_type_support_decl.hpp"
 
+#include "rosidl_generator_cpp/message_type_support.hpp"
+#include "rosidl_generator_cpp/service_type_support.hpp"
+
+#include "rclcpp/visibility_control.hpp"
+
 namespace rclcpp
 {
 namespace type_support
 {
 
+RCLCPP_PUBLIC
 const rosidl_message_type_support_t *
 get_intra_process_message_msg_type_support();
 
+RCLCPP_PUBLIC
 const rosidl_message_type_support_t *
 get_parameter_event_msg_type_support();
 
+RCLCPP_PUBLIC
 const rosidl_message_type_support_t *
 get_set_parameters_result_msg_type_support();
 
+RCLCPP_PUBLIC
 const rosidl_message_type_support_t *
 get_parameter_descriptor_msg_type_support();
 
+RCLCPP_PUBLIC
 const rosidl_message_type_support_t *
 get_list_parameters_result_msg_type_support();
 
+RCLCPP_PUBLIC
 const rosidl_service_type_support_t *
 get_get_parameters_srv_type_support();
 
+RCLCPP_PUBLIC
 const rosidl_service_type_support_t *
 get_get_parameter_types_srv_type_support();
 
+RCLCPP_PUBLIC
 const rosidl_service_type_support_t *
 get_set_parameters_srv_type_support();
 
+RCLCPP_PUBLIC
 const rosidl_service_type_support_t *
 get_list_parameters_srv_type_support();
 
+RCLCPP_PUBLIC
 const rosidl_service_type_support_t *
 get_describe_parameters_srv_type_support();
 
+RCLCPP_PUBLIC
 const rosidl_service_type_support_t *
 get_set_parameters_atomically_srv_type_support();
 
diff --git a/rclcpp/include/rclcpp/visibility_control.hpp b/rclcpp/include/rclcpp/visibility_control.hpp
index 747ab10..b257c51 100644
--- a/rclcpp/include/rclcpp/visibility_control.hpp
+++ b/rclcpp/include/rclcpp/visibility_control.hpp
@@ -24,31 +24,6 @@
 
 #include "rmw/rmw.h"
 
-#if !defined(RCLCPP_BUILDING_LIBRARY)
-// The following header is necessary inorder to get the correct rmw
-// implementation specific message symbols.
-// Any library or executable using librclcpp must include the header.
-// However, librclcpp must not include it.
-#include "rclcpp/type_support_def.hpp"
-
-// Anonymous namespace to prevent duplicate symbols across compile units.
-namespace
-{
-
-// This call to an rmw function is used to force the Linux linker to include
-// the rmw implementation library in the user's executable.
-// If this is not done, then only librclcpp is missing rmw symbols and when
-// linking the next library or exectuable the linker will discard the rmw
-// implementation shared library as unused.
-// On OS X this isn't an issue because linking is done, by default, in a flat
-// namespace, so when linking something that uses librclcpp, it will try to
-// resolve the rclcpp symbols each time, taking them from the rmw implementation
-// when it is available and not discarding it as unused during the link step.
-static const char * __rmw_identifier = rmw_get_implementation_identifier();
-
-}  // namespace
-#endif  // !defined(RCLCPP_BUILDING_LIBRARY)
-
 // This logic was borrowed (then namespaced) from the examples on the gcc wiki:
 //     https://gcc.gnu.org/wiki/Visibility
 
diff --git a/rclcpp/package.xml b/rclcpp/package.xml
index 2ffce3e..87fa1a1 100644
--- a/rclcpp/package.xml
+++ b/rclcpp/package.xml
@@ -11,12 +11,13 @@
   <build_export_depend>rmw</build_export_depend>
 
   <build_depend>rcl_interfaces</build_depend>
-  <!-- This ensures the rmw impls are built first. -->
-  <build_depend>rmw_implementation</build_depend>
+  <build_depend>rmw_implementation_cmake</build_depend>
   <build_depend>rosidl_generator_cpp</build_depend>
   <build_export_depend>rcl_interfaces</build_export_depend>
   <build_export_depend>rosidl_generator_cpp</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>
diff --git a/rclcpp/rclcpp-extras.cmake b/rclcpp/rclcpp-extras.cmake
index 3c44bec..7ecfec8 100644
--- a/rclcpp/rclcpp-extras.cmake
+++ b/rclcpp/rclcpp-extras.cmake
@@ -14,6 +14,8 @@
 
 # copied from rclcpp/rclcpp-extras.cmake
 
+include("${rclcpp_DIR}/get_rclcpp_information.cmake")
+
 set(rclcpp_node_main_SRC "${rclcpp_DIR}/../../../src/rclcpp/node_main.cpp")
 
 function(rclcpp_create_node_main node_library_target)
diff --git a/rclcpp/src/rclcpp/node.cpp b/rclcpp/src/rclcpp/node.cpp
index 4858dbd..5d250f7 100644
--- a/rclcpp/src/rclcpp/node.cpp
+++ b/rclcpp/src/rclcpp/node.cpp
@@ -21,43 +21,6 @@
 
 #include "rclcpp/node.hpp"
 
-// Specializations with references to unresolved symbols to delay evaluation until later.
-// On Windows this is not necessary since it will be built against the rmw implementation directly.
-#if !defined(WIN32)
-namespace rosidl_generator_cpp
-{
-
-template<>
-const rosidl_message_type_support_t *
-get_message_type_support_handle<rcl_interfaces::msg::ParameterEvent>()
-{
-  return rclcpp::type_support::get_parameter_event_msg_type_support();
-}
-
-template<>
-const rosidl_message_type_support_t *
-get_message_type_support_handle<rcl_interfaces::msg::SetParametersResult>()
-{
-  return rclcpp::type_support::get_set_parameters_result_msg_type_support();
-}
-
-template<>
-const rosidl_message_type_support_t *
-get_message_type_support_handle<rcl_interfaces::msg::ParameterDescriptor>()
-{
-  return rclcpp::type_support::get_parameter_descriptor_msg_type_support();
-}
-
-template<>
-const rosidl_message_type_support_t *
-get_message_type_support_handle<rcl_interfaces::msg::ListParametersResult>()
-{
-  return rclcpp::type_support::get_list_parameters_result_msg_type_support();
-}
-
-}  // namespace rosidl_generator_cpp
-#endif
-
 using rclcpp::node::Node;
 
 Node::Node(const std::string & node_name, bool use_intra_process_comms)
diff --git a/rclcpp/src/rclcpp/parameter_client.cpp b/rclcpp/src/rclcpp/parameter_client.cpp
index e098cc4..f3b88f3 100644
--- a/rclcpp/src/rclcpp/parameter_client.cpp
+++ b/rclcpp/src/rclcpp/parameter_client.cpp
@@ -18,57 +18,6 @@
 #include <string>
 #include <vector>
 
-// Specializations with references to unresolved symbols to delay evaluation until later.
-// On Windows this is not necessary since it will be built against the rmw implementation directly.
-#if !defined(WIN32)
-namespace rosidl_generator_cpp
-{
-
-template<>
-const rosidl_service_type_support_t *
-get_service_type_support_handle<rcl_interfaces::srv::GetParameters>()
-{
-  return rclcpp::type_support::get_get_parameters_srv_type_support();
-}
-
-template<>
-const rosidl_service_type_support_t *
-get_service_type_support_handle<rcl_interfaces::srv::GetParameterTypes>()
-{
-  return rclcpp::type_support::get_get_parameter_types_srv_type_support();
-}
-
-template<>
-const rosidl_service_type_support_t *
-get_service_type_support_handle<rcl_interfaces::srv::SetParameters>()
-{
-  return rclcpp::type_support::get_set_parameters_srv_type_support();
-}
-
-template<>
-const rosidl_service_type_support_t *
-get_service_type_support_handle<rcl_interfaces::srv::ListParameters>()
-{
-  return rclcpp::type_support::get_list_parameters_srv_type_support();
-}
-
-template<>
-const rosidl_service_type_support_t *
-get_service_type_support_handle<rcl_interfaces::srv::DescribeParameters>()
-{
-  return rclcpp::type_support::get_describe_parameters_srv_type_support();
-}
-
-template<>
-const rosidl_service_type_support_t *
-get_service_type_support_handle<rcl_interfaces::srv::SetParametersAtomically>()
-{
-  return rclcpp::type_support::get_set_parameters_atomically_srv_type_support();
-}
-
-}  // namespace rosidl_generator_cpp
-#endif
-
 using rclcpp::parameter_client::AsyncParametersClient;
 using rclcpp::parameter_client::SyncParametersClient;
 
diff --git a/rclcpp/include/rclcpp/type_support_def.hpp b/rclcpp/src/rclcpp/type_support.cpp
similarity index 94%
rename from rclcpp/include/rclcpp/type_support_def.hpp
rename to rclcpp/src/rclcpp/type_support.cpp
index 899ab3c..feaab48 100644
--- a/rclcpp/include/rclcpp/type_support_def.hpp
+++ b/rclcpp/src/rclcpp/type_support.cpp
@@ -12,9 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP__TYPE_SUPPORT_DEF_HPP_
-#define RCLCPP__TYPE_SUPPORT_DEF_HPP_
-
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -29,8 +26,6 @@
 #include "rcl_interfaces/srv/list_parameters.hpp"
 #include "rcl_interfaces/srv/set_parameters.hpp"
 #include "rcl_interfaces/srv/set_parameters_atomically.hpp"
-#include "rosidl_generator_cpp/message_type_support.hpp"
-#include "rosidl_generator_cpp/service_type_support.hpp"
 
 const rosidl_message_type_support_t *
 rclcpp::type_support::get_intra_process_message_msg_type_support()
@@ -119,5 +114,3 @@ rclcpp::type_support::get_set_parameters_atomically_srv_type_support()
     rcl_interfaces::srv::SetParametersAtomically
   >();
 }
-
-#endif  // RCLCPP__TYPE_SUPPORT_DEF_HPP_
diff --git a/rclcpp/src/rclcpp/windows_helper.cpp b/rclcpp/src/rclcpp/windows_helper.cpp
deleted file mode 100644
index 5c72951..0000000
--- a/rclcpp/src/rclcpp/windows_helper.cpp
+++ /dev/null
@@ -1,17 +0,0 @@
-// Copyright 2015 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.
-
-#if defined(WIN32)
-#include "rclcpp/type_support_def.hpp"
-#endif