diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport_impl.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport_impl.hpp
index 61cb629a1..9235761fd 100644
--- a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport_impl.hpp
+++ b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport_impl.hpp
@@ -203,12 +203,14 @@ static size_t calculateMaxAlign(const MembersType * members)
 
 // C++ specialization
 template<typename T>
-void serialize_array(
+void serialize_field(
   const rosidl_typesupport_introspection_cpp::MessageMember * member,
   void * field,
   eprosima::fastcdr::Cdr & ser)
 {
-  if (member->array_size_ && !member->is_upper_bound_) {
+  if (!member->is_array_) {
+    ser << *static_cast<T *>(field);
+  } else if (member->array_size_ && !member->is_upper_bound_) {
     ser.serializeArray(static_cast<T *>(field), member->array_size_);
   } else {
     std::vector<T> & data = *reinterpret_cast<std::vector<T> *>(field);
@@ -218,12 +220,14 @@ void serialize_array(
 
 // C specialization
 template<typename T>
-void serialize_array(
+void serialize_field(
   const rosidl_typesupport_introspection_c__MessageMember * member,
   void * field,
   eprosima::fastcdr::Cdr & ser)
 {
-  if (member->array_size_ && !member->is_upper_bound_) {
+  if (!member->is_array_) {
+    ser << *static_cast<T *>(field);
+  } else if (member->array_size_ && !member->is_upper_bound_) {
     ser.serializeArray(static_cast<T *>(field), member->array_size_);
   } else {
     auto & data = *reinterpret_cast<typename GenericCArray<T>::type *>(field);
@@ -233,31 +237,40 @@ void serialize_array(
 
 template<>
 inline
-void serialize_array<std::string>(
+void serialize_field<std::string>(
   const rosidl_typesupport_introspection_c__MessageMember * member,
   void * field,
   eprosima::fastcdr::Cdr & ser)
 {
   using CStringHelper = StringHelper<rosidl_typesupport_introspection_c__MessageMembers>;
-  // First, cast field to rosidl_generator_c
-  // Then convert to a std::string using StringHelper and serialize the std::string
-  if (member->array_size_ && !member->is_upper_bound_) {
-    // tmpstring is defined here and not below to avoid
-    // memory allocation in every iteration of the for loop
-    std::string tmpstring;
-    auto string_field = static_cast<rosidl_generator_c__String *>(field);
-    for (size_t i = 0; i < member->array_size_; ++i) {
-      tmpstring = string_field[i].data;
-      ser.serialize(tmpstring);
+  if (!member->is_array_) {
+    auto && str = CStringHelper::convert_to_std_string(field);
+    // Control maximum length.
+    if (member->string_upper_bound_ && str.length() > member->string_upper_bound_ + 1) {
+      throw std::runtime_error("string overcomes the maximum length");
     }
+    ser << str;
   } else {
-    auto & string_array_field = *reinterpret_cast<rosidl_generator_c__String__Array *>(field);
-    std::vector<std::string> cpp_string_vector;
-    for (size_t i = 0; i < string_array_field.size; ++i) {
-      cpp_string_vector.push_back(
-        CStringHelper::convert_to_std_string(string_array_field.data[i]));
+    // First, cast field to rosidl_generator_c
+    // Then convert to a std::string using StringHelper and serialize the std::string
+    if (member->array_size_ && !member->is_upper_bound_) {
+      // tmpstring is defined here and not below to avoid
+      // memory allocation in every iteration of the for loop
+      std::string tmpstring;
+      auto string_field = static_cast<rosidl_generator_c__String *>(field);
+      for (size_t i = 0; i < member->array_size_; ++i) {
+        tmpstring = string_field[i].data;
+        ser.serialize(tmpstring);
+      }
+    } else {
+      auto & string_array_field = *reinterpret_cast<rosidl_generator_c__String__Array *>(field);
+      std::vector<std::string> cpp_string_vector;
+      for (size_t i = 0; i < string_array_field.size; ++i) {
+        cpp_string_vector.push_back(
+          CStringHelper::convert_to_std_string(string_array_field.data[i]));
+      }
+      ser << cpp_string_vector;
     }
-    ser << cpp_string_vector;
   }
 }
 
@@ -304,114 +317,57 @@ bool TypeSupport<MembersType>::serializeROSmessage(
   for (uint32_t i = 0; i < members->member_count_; ++i) {
     const auto member = members->members_ + i;
     void * field = const_cast<char *>(static_cast<const char *>(ros_message)) + member->offset_;
-
-    if (!member->is_array_) {
-      switch (member->type_id_) {
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_BOOL:
-          {
-            bool sb = false;
-            // don't cast to bool here because if the bool is
-            // uninitialized the random value can't be deserialized
-            if (*static_cast<uint8_t *>(field)) {sb = true;}
-            ser << sb;
-          }
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_BYTE:
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8:
-          ser << *static_cast<uint8_t *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_CHAR:
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT8:
-          ser << *static_cast<char *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT32:
-          ser << *static_cast<float *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT64:
-          ser << *static_cast<double *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT16:
-          ser << *static_cast<int16_t *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT16:
-          ser << *static_cast<uint16_t *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT32:
-          ser << *static_cast<int32_t *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32:
-          ser << *static_cast<uint32_t *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT64:
-          ser << *static_cast<int64_t *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT64:
-          ser << *static_cast<uint64_t *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING:
-          {
-            auto && str = StringHelper<MembersType>::convert_to_std_string(field);
-
-            // Control maximum length.
-            if (member->string_upper_bound_ && str.length() > member->string_upper_bound_ + 1) {
-              throw std::runtime_error("string overcomes the maximum length");
-            }
-            ser << str;
-          }
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE:
-          {
-            auto sub_members = (const MembersType *)member->members_->data;
+    switch (member->type_id_) {
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_BOOL:
+        if (!member->is_array_) {
+          // don't cast to bool here because if the bool is
+          // uninitialized the random value can't be deserialized
+          ser << (*static_cast<uint8_t *>(field) ? true : false);
+        } else {
+          serialize_field<bool>(member, field, ser);
+        }
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_BYTE:
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8:
+        serialize_field<uint8_t>(member, field, ser);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_CHAR:
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT8:
+        serialize_field<char>(member, field, ser);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT32:
+        serialize_field<float>(member, field, ser);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT64:
+        serialize_field<double>(member, field, ser);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT16:
+        serialize_field<int16_t>(member, field, ser);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT16:
+        serialize_field<uint16_t>(member, field, ser);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT32:
+        serialize_field<int32_t>(member, field, ser);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32:
+        serialize_field<uint32_t>(member, field, ser);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT64:
+        serialize_field<int64_t>(member, field, ser);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT64:
+        serialize_field<uint64_t>(member, field, ser);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING:
+        serialize_field<std::string>(member, field, ser);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE:
+        {
+          auto sub_members = static_cast<const MembersType *>(member->members_->data);
+          if (!member->is_array_) {
             serializeROSmessage(ser, sub_members, field);
-          }
-          break;
-        default:
-          throw std::runtime_error("unknown type");
-      }
-    } else {
-      switch (member->type_id_) {
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_BOOL:
-          serialize_array<bool>(member, field, ser);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_BYTE:
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8:
-          serialize_array<uint8_t>(member, field, ser);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_CHAR:
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT8:
-          serialize_array<char>(member, field, ser);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT32:
-          serialize_array<float>(member, field, ser);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT64:
-          serialize_array<double>(member, field, ser);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT16:
-          serialize_array<int16_t>(member, field, ser);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT16:
-          serialize_array<uint16_t>(member, field, ser);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT32:
-          serialize_array<int32_t>(member, field, ser);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32:
-          serialize_array<uint32_t>(member, field, ser);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT64:
-          serialize_array<int64_t>(member, field, ser);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT64:
-          serialize_array<uint64_t>(member, field, ser);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING:
-          serialize_array<std::string>(member, field, ser);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE:
-          {
-            auto sub_members =
-              static_cast<const MembersType *>(member->members_->data);
+          } else {
             void * subros_message = nullptr;
             size_t array_size = 0;
             size_t sub_members_size = sub_members->size_of_;
@@ -434,10 +390,10 @@ bool TypeSupport<MembersType>::serializeROSmessage(
               subros_message = align_(max_align, subros_message);
             }
           }
-          break;
-        default:
-          throw std::runtime_error("unknown type");
-      }
+        }
+        break;
+      default:
+        throw std::runtime_error("unknown type");
     }
   }
 
@@ -445,13 +401,15 @@ bool TypeSupport<MembersType>::serializeROSmessage(
 }
 
 template<typename T>
-void deserialize_array(
+void deserialize_field(
   const rosidl_typesupport_introspection_cpp::MessageMember * member,
   void * field,
   eprosima::fastcdr::Cdr & deser,
   bool call_new)
 {
-  if (member->array_size_ && !member->is_upper_bound_) {
+  if (!member->is_array_) {
+    deser >> *static_cast<T *>(field);
+  } else if (member->array_size_ && !member->is_upper_bound_) {
     deser.deserializeArray(static_cast<T *>(field), member->array_size_);
   } else {
     auto & vector = *reinterpret_cast<std::vector<T> *>(field);
@@ -463,14 +421,16 @@ void deserialize_array(
 }
 
 template<typename T>
-void deserialize_array(
+void deserialize_field(
   const rosidl_typesupport_introspection_c__MessageMember * member,
   void * field,
   eprosima::fastcdr::Cdr & deser,
   bool call_new)
 {
   (void)call_new;
-  if (member->array_size_ && !member->is_upper_bound_) {
+  if (!member->is_array_) {
+    deser >> *static_cast<T *>(field);
+  } else if (member->array_size_ && !member->is_upper_bound_) {
     deser.deserializeArray(static_cast<T *>(field), member->array_size_);
   } else {
     auto & data = *reinterpret_cast<typename GenericCArray<T>::type *>(field);
@@ -482,38 +442,43 @@ void deserialize_array(
 }
 
 template<>
-inline void deserialize_array<std::string>(
+inline void deserialize_field<std::string>(
   const rosidl_typesupport_introspection_c__MessageMember * member,
   void * field,
   eprosima::fastcdr::Cdr & deser,
   bool call_new)
 {
   (void)call_new;
-  if (member->array_size_ && !member->is_upper_bound_) {
-    auto deser_field = static_cast<rosidl_generator_c__String *>(field);
-    // tmpstring is defined here and not below to avoid
-    // memory allocation in every iteration of the for loop
-    std::string tmpstring;
-    for (size_t i = 0; i < member->array_size_; ++i) {
-      deser.deserialize(tmpstring);
-      if (!rosidl_generator_c__String__assign(&deser_field[i], tmpstring.c_str())) {
-        throw std::runtime_error("unable to assign rosidl_generator_c__String");
-      }
-    }
+  if (!member->is_array_) {
+    using CStringHelper = StringHelper<rosidl_typesupport_introspection_c__MessageMembers>;
+    CStringHelper::assign(deser, field, call_new);
   } else {
-    std::vector<std::string> cpp_string_vector;
-    deser >> cpp_string_vector;
+    if (member->array_size_ && !member->is_upper_bound_) {
+      auto deser_field = static_cast<rosidl_generator_c__String *>(field);
+      // tmpstring is defined here and not below to avoid
+      // memory allocation in every iteration of the for loop
+      std::string tmpstring;
+      for (size_t i = 0; i < member->array_size_; ++i) {
+        deser.deserialize(tmpstring);
+        if (!rosidl_generator_c__String__assign(&deser_field[i], tmpstring.c_str())) {
+          throw std::runtime_error("unable to assign rosidl_generator_c__String");
+        }
+      }
+    } else {
+      std::vector<std::string> cpp_string_vector;
+      deser >> cpp_string_vector;
 
-    auto & string_array_field = *reinterpret_cast<rosidl_generator_c__String__Array *>(field);
-    if (!rosidl_generator_c__String__Array__init(&string_array_field, cpp_string_vector.size())) {
-      throw std::runtime_error("unable to initialize rosidl_generator_c__String array");
-    }
+      auto & string_array_field = *reinterpret_cast<rosidl_generator_c__String__Array *>(field);
+      if (!rosidl_generator_c__String__Array__init(&string_array_field, cpp_string_vector.size())) {
+        throw std::runtime_error("unable to initialize rosidl_generator_c__String array");
+      }
 
-    for (size_t i = 0; i < cpp_string_vector.size(); ++i) {
-      if (!rosidl_generator_c__String__assign(&string_array_field.data[i],
-        cpp_string_vector[i].c_str()))
-      {
-        throw std::runtime_error("unable to assign rosidl_generator_c__String");
+      for (size_t i = 0; i < cpp_string_vector.size(); ++i) {
+        if (!rosidl_generator_c__String__assign(&string_array_field.data[i],
+          cpp_string_vector[i].c_str()))
+        {
+          throw std::runtime_error("unable to assign rosidl_generator_c__String");
+        }
       }
     }
   }
@@ -571,101 +536,51 @@ bool TypeSupport<MembersType>::deserializeROSmessage(
   for (uint32_t i = 0; i < members->member_count_; ++i) {
     const auto * member = members->members_ + i;
     void * field = static_cast<char *>(ros_message) + member->offset_;
-
-    if (!member->is_array_) {
-      switch (member->type_id_) {
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_BOOL:
-          deser >> *static_cast<bool *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_BYTE:
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8:
-          deser >> *static_cast<uint8_t *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_CHAR:
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT8:
-          deser >> *static_cast<char *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT32:
-          deser >> *static_cast<float *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT64:
-          deser >> *static_cast<double *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT16:
-          deser >> *static_cast<int16_t *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT16:
-          deser >> *static_cast<uint16_t *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT32:
-          deser >> *static_cast<int32_t *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32:
-          deser >> *static_cast<uint32_t *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT64:
-          deser >> *static_cast<int64_t *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT64:
-          deser >> *static_cast<uint64_t *>(field);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING:
-          {
-            StringHelper<MembersType>::assign(deser, field, call_new);
-          }
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE:
-          {
-            auto sub_members = (const MembersType *)member->members_->data;
+    switch (member->type_id_) {
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_BOOL:
+        deserialize_field<bool>(member, field, deser, call_new);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_BYTE:
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8:
+        deserialize_field<uint8_t>(member, field, deser, call_new);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_CHAR:
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT8:
+        deserialize_field<char>(member, field, deser, call_new);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT32:
+        deserialize_field<float>(member, field, deser, call_new);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT64:
+        deserialize_field<double>(member, field, deser, call_new);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT16:
+        deserialize_field<int16_t>(member, field, deser, call_new);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT16:
+        deserialize_field<uint16_t>(member, field, deser, call_new);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT32:
+        deserialize_field<int32_t>(member, field, deser, call_new);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32:
+        deserialize_field<uint32_t>(member, field, deser, call_new);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT64:
+        deserialize_field<int64_t>(member, field, deser, call_new);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT64:
+        deserialize_field<uint64_t>(member, field, deser, call_new);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING:
+        deserialize_field<std::string>(member, field, deser, call_new);
+        break;
+      case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE:
+        {
+          auto sub_members = (const MembersType *)member->members_->data;
+          if (!member->is_array_) {
             deserializeROSmessage(deser, sub_members, field, call_new);
-          }
-          break;
-        default:
-          throw std::runtime_error("unknown type");
-      }
-    } else {
-      switch (member->type_id_) {
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_BOOL:
-          deserialize_array<bool>(member, field, deser, call_new);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_BYTE:
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8:
-          deserialize_array<uint8_t>(member, field, deser, call_new);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_CHAR:
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT8:
-          deserialize_array<char>(member, field, deser, call_new);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT32:
-          deserialize_array<float>(member, field, deser, call_new);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT64:
-          deserialize_array<double>(member, field, deser, call_new);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT16:
-          deserialize_array<int16_t>(member, field, deser, call_new);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT16:
-          deserialize_array<uint16_t>(member, field, deser, call_new);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT32:
-          deserialize_array<int32_t>(member, field, deser, call_new);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32:
-          deserialize_array<uint32_t>(member, field, deser, call_new);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT64:
-          deserialize_array<int64_t>(member, field, deser, call_new);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT64:
-          deserialize_array<uint64_t>(member, field, deser, call_new);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING:
-          deserialize_array<std::string>(member, field, deser, call_new);
-          break;
-        case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE:
-          {
-            auto sub_members = (const MembersType *)member->members_->data;
+          } else {
             void * subros_message = nullptr;
             size_t array_size = 0;
             size_t sub_members_size = sub_members->size_of_;
@@ -688,10 +603,10 @@ bool TypeSupport<MembersType>::deserializeROSmessage(
               subros_message = align_(max_align, subros_message);
             }
           }
-          break;
-        default:
-          throw std::runtime_error("unknown type");
-      }
+        }
+        break;
+      default:
+        throw std::runtime_error("unknown type");
     }
   }