diff --git a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
index 12d3cffe8..4818b5ad4 100644
--- a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
+++ b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
@@ -23,9 +23,7 @@ find_package(PythonInterp 3.4 REQUIRED)
 find_package(python_cmake_module REQUIRED)
 find_package(PythonExtra MODULE)
 
-# TODO(esteve): force opensplice and connext C type supports only, uncomment
-# the following line when all typesupport implementations are ported to C
-#get_rmw_typesupport(_typesupport_impls ${rmw_implementation})
+# Get a list of typesupport implementations from valid rmw implementations.
 rosidl_generator_py_get_typesupports(_typesupport_impls)
 
 if("${_typesupport_impls} " STREQUAL " ")
diff --git a/rosidl_generator_py/cmake/rosidl_generator_py_get_typesupports.cmake b/rosidl_generator_py/cmake/rosidl_generator_py_get_typesupports.cmake
index 36d302544..606c54b57 100644
--- a/rosidl_generator_py/cmake/rosidl_generator_py_get_typesupports.cmake
+++ b/rosidl_generator_py/cmake/rosidl_generator_py_get_typesupports.cmake
@@ -12,23 +12,19 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+macro(accumulate_typesupports)
+  set(_typesupport_impl "")
+  if(NOT "${rmw_implementation}" STREQUAL "rmw_fastrtps_cpp")
+    get_rmw_typesupport(_typesupport_impl ${rmw_implementation} LANGUAGE "C")
+    list(APPEND _typesupport_impls ${_typesupport_impl})
+  endif()
+endmacro()
+
 macro(rosidl_generator_py_get_typesupports TYPESUPPORT_IMPLS)
-  set(${TYPESUPPORT_IMPLS} "")
-  foreach(_extension IN LISTS AMENT_EXTENSIONS_rosidl_generate_interfaces)
-    string(REPLACE ":" ";" _extension_list "${_extension}")
-    list(LENGTH _extension_list _length)
-    if(NOT _length EQUAL 2)
-      message(FATAL_ERROR "ament_execute_extensions(${extension_point}) "
-        "registered extension '${_extension}' can not be split into package "
-        "name and cmake filename")
-    endif()
-    list(GET _extension_list 0 _pkg_name)
-    list(GET _extension_list 1 _cmake_filename)
-    if("${_pkg_name} " STREQUAL "rosidl_typesupport_opensplice_c ")
-      list(APPEND ${TYPESUPPORT_IMPLS} "rosidl_typesupport_opensplice_c")
-    endif()
-    if("${_pkg_name} " STREQUAL "rosidl_typesupport_connext_c ")
-      list(APPEND ${TYPESUPPORT_IMPLS} "rosidl_typesupport_connext_c")
-    endif()
+  set(TYPESUPPORT_IMPLS "")
+  set(_typesupport_impls "")
+  call_for_each_rmw_implementation(accumulate_typesupports)
+  foreach(_typesupport_impl ${_typesupport_impls})
+    list_append_unique(TYPESUPPORT_IMPLS ${_typesupport_impl})
   endforeach()
 endmacro()
diff --git a/rosidl_generator_py/package.xml b/rosidl_generator_py/package.xml
index ac33ec27e..d8417fc3d 100644
--- a/rosidl_generator_py/package.xml
+++ b/rosidl_generator_py/package.xml
@@ -9,6 +9,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
+  <buildtool_export_depend>ament_index_python</buildtool_export_depend>
   <buildtool_export_depend>python_cmake_module</buildtool_export_depend>
   <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
 
@@ -18,6 +19,7 @@
   <exec_depend>rosidl_parser</exec_depend>
 
   <test_depend>ament_cmake_nose</test_depend>
+  <test_depend>ament_index_python</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>python_cmake_module</test_depend>
diff --git a/rosidl_generator_py/rosidl_generator_py/import_type_support_impl.py b/rosidl_generator_py/rosidl_generator_py/import_type_support_impl.py
index ff2c722f9..ec2eda661 100644
--- a/rosidl_generator_py/rosidl_generator_py/import_type_support_impl.py
+++ b/rosidl_generator_py/rosidl_generator_py/import_type_support_impl.py
@@ -12,13 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import ament_index_python
 import importlib
 
-type_support_map = {
-    'rmw_connext_cpp': 'rosidl_typesupport_connext_c',
-    'rmw_opensplice_cpp': 'rosidl_typesupport_opensplice_c',
-}
-
 
 class UnsupportedTypeSupport(Exception):
     """Raised when no supported type support can be found for a given rmw implementation."""
@@ -44,9 +40,10 @@ def import_type_support(pkg_name, subfolder, rosidl_name, rmw_implementation):
     :param rmw_implementation str: name of the rmw implementation
     :returns: the type support Python module for this specific rosidl and rmw implementation pair
     """
-    if rmw_implementation not in type_support_map.keys():
+    if not ament_index_python.has_resource('rmw_typesupport_c', rmw_implementation):
         raise UnsupportedTypeSupport(rmw_implementation)
-    type_support_name = type_support_map[rmw_implementation]
+
+    type_support_name = ament_index_python.get_resource('rmw_typesupport_c', rmw_implementation)
     import_package = '{pkg_name}'.format(
         pkg_name=pkg_name,
     )