diff --git a/rosidl_typesupport_cpp/CMakeLists.txt b/rosidl_typesupport_cpp/CMakeLists.txt
index 90fdac88..bddea9eb 100644
--- a/rosidl_typesupport_cpp/CMakeLists.txt
+++ b/rosidl_typesupport_cpp/CMakeLists.txt
@@ -14,6 +14,7 @@ endif()
 find_package(ament_cmake_ros REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
+find_package(rosidl_typesupport_c REQUIRED)
 
 ament_export_dependencies(rcpputils)
 ament_export_dependencies(rosidl_runtime_c)
@@ -41,6 +42,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 ament_target_dependencies(${PROJECT_NAME}
   "rcpputils"
   "rosidl_runtime_c"
+  "rosidl_typesupport_c"
 )
 ament_export_libraries(${PROJECT_NAME})
 ament_export_targets(${PROJECT_NAME})
diff --git a/rosidl_typesupport_cpp/include/rosidl_typesupport_cpp/type_support_map.h b/rosidl_typesupport_cpp/include/rosidl_typesupport_cpp/type_support_map.h
index f34bd49d..74e37e0a 100644
--- a/rosidl_typesupport_cpp/include/rosidl_typesupport_cpp/type_support_map.h
+++ b/rosidl_typesupport_cpp/include/rosidl_typesupport_cpp/type_support_map.h
@@ -15,38 +15,9 @@
 #ifndef ROSIDL_TYPESUPPORT_CPP__TYPE_SUPPORT_MAP_H_
 #define ROSIDL_TYPESUPPORT_CPP__TYPE_SUPPORT_MAP_H_
 
-#include <cstddef>
+// Keep this file not to break API. It was no more than
+// a copy of rosidl_typesupport_c/type_support_map.h
 
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/// Contains all available C++ typesupport handles to choose from.
-typedef struct type_support_map_t
-{
-  // TODO(dirk-thomas) const should not be defined for the fields
-  // but should be set for the struct when it is being used
-  // same for rosidl_message_type_support_t et al
-
-  /// Length of the `typesupport_identidentifier`, `symbol_name` and `data` arrays.
-  const size_t size;
-
-  /// The ROS 2 package this is generated from.
-  const char * package_name;
-
-  /// Array of identifiers for the type_supports.
-  const char * const * typesupport_identifier;
-
-  /// Array of symbol names to get the typesupports.
-  const char * const * symbol_name;
-
-  /// Array of pointers to type support handle functions that were successfully found.
-  void ** data;
-} type_support_map_t;
-
-#ifdef __cplusplus
-}
-#endif
+#include "rosidl_typesupport_c/type_support_map.h"
 
 #endif  // ROSIDL_TYPESUPPORT_CPP__TYPE_SUPPORT_MAP_H_
diff --git a/rosidl_typesupport_cpp/package.xml b/rosidl_typesupport_cpp/package.xml
index b51a1995..f3db7e81 100644
--- a/rosidl_typesupport_cpp/package.xml
+++ b/rosidl_typesupport_cpp/package.xml
@@ -11,6 +11,7 @@
 
   <depend>rcpputils</depend>
   <build_depend>rosidl_runtime_c</build_depend>
+  <build_depend>rosidl_typesupport_c</build_depend>
   <!--
   Bloom does not support group_depend so entries below duplicate the group rosidl_typesupport_cpp_packages.
   This ensures that binary packages have support for all of these rmw impl. enabled.
diff --git a/rosidl_typesupport_cpp/resource/msg__type_support.cpp.em b/rosidl_typesupport_cpp/resource/msg__type_support.cpp.em
index 254b5790..32d481e4 100644
--- a/rosidl_typesupport_cpp/resource/msg__type_support.cpp.em
+++ b/rosidl_typesupport_cpp/resource/msg__type_support.cpp.em
@@ -15,8 +15,8 @@ if len(type_supports) != 1:
 header_files.append('rosidl_typesupport_cpp/message_type_support.hpp')
 if len(type_supports) != 1:
     header_files += [
+        'rosidl_typesupport_c/type_support_map.h',
         'rosidl_typesupport_cpp/message_type_support_dispatch.hpp',
-        'rosidl_typesupport_cpp/type_support_map.h',
     ]
 header_files.append('rosidl_typesupport_cpp/visibility_control.h')
 if len(type_supports) != 1:
diff --git a/rosidl_typesupport_cpp/resource/srv__type_support.cpp.em b/rosidl_typesupport_cpp/resource/srv__type_support.cpp.em
index aa08213f..d1b603dc 100644
--- a/rosidl_typesupport_cpp/resource/srv__type_support.cpp.em
+++ b/rosidl_typesupport_cpp/resource/srv__type_support.cpp.em
@@ -31,8 +31,8 @@ if len(type_supports) != 1:
 header_files.append('rosidl_typesupport_cpp/service_type_support.hpp')
 if len(type_supports) != 1:
     header_files += [
+        'rosidl_typesupport_c/type_support_map.h',
         'rosidl_typesupport_cpp/service_type_support_dispatch.hpp',
-        'rosidl_typesupport_cpp/type_support_map.h',
     ]
 header_files.append('rosidl_typesupport_cpp/visibility_control.h')
 if len(type_supports) != 1:
diff --git a/rosidl_typesupport_cpp/src/type_support_dispatch.hpp b/rosidl_typesupport_cpp/src/type_support_dispatch.hpp
index 837708f3..3162d274 100644
--- a/rosidl_typesupport_cpp/src/type_support_dispatch.hpp
+++ b/rosidl_typesupport_cpp/src/type_support_dispatch.hpp
@@ -25,7 +25,7 @@
 
 #include "rcpputils/find_library.hpp"
 #include "rcpputils/shared_library.hpp"
-#include "rosidl_typesupport_cpp/type_support_map.h"
+#include "rosidl_typesupport_c/type_support_map.h"
 
 namespace rosidl_typesupport_cpp
 {
diff --git a/rosidl_typesupport_cpp/test/benchmark/benchmark_type_support_dispatch.cpp b/rosidl_typesupport_cpp/test/benchmark/benchmark_type_support_dispatch.cpp
index 00de95c8..87d2a102 100644
--- a/rosidl_typesupport_cpp/test/benchmark/benchmark_type_support_dispatch.cpp
+++ b/rosidl_typesupport_cpp/test/benchmark/benchmark_type_support_dispatch.cpp
@@ -13,10 +13,10 @@
 // limitations under the License.
 
 #include "rcpputils/shared_library.hpp"
+#include "rosidl_typesupport_c/type_support_map.h"
 #include "rosidl_typesupport_cpp/identifier.hpp"
 #include "rosidl_typesupport_cpp/message_type_support_dispatch.hpp"
 #include "rosidl_typesupport_cpp/service_type_support_dispatch.hpp"
-#include "rosidl_typesupport_cpp/type_support_map.h"
 
 #include "performance_test_fixture/performance_test_fixture.hpp"
 
diff --git a/rosidl_typesupport_cpp/test/test_message_type_support_dispatch.cpp b/rosidl_typesupport_cpp/test/test_message_type_support_dispatch.cpp
index 6cc8ce6e..75cdb93e 100644
--- a/rosidl_typesupport_cpp/test/test_message_type_support_dispatch.cpp
+++ b/rosidl_typesupport_cpp/test/test_message_type_support_dispatch.cpp
@@ -15,9 +15,9 @@
 #include <gtest/gtest.h>
 #include "rcutils/testing/fault_injection.h"
 #include "rcpputils/shared_library.hpp"
+#include "rosidl_typesupport_c/type_support_map.h"
 #include "rosidl_typesupport_cpp/identifier.hpp"
 #include "rosidl_typesupport_cpp/message_type_support_dispatch.hpp"
-#include "rosidl_typesupport_cpp/type_support_map.h"
 
 constexpr size_t map_size = 4u;
 constexpr const char package_name[] = "rosidl_typesupport_cpp";
diff --git a/rosidl_typesupport_cpp/test/test_service_type_support_dispatch.cpp b/rosidl_typesupport_cpp/test/test_service_type_support_dispatch.cpp
index 2f967dcd..0d613301 100644
--- a/rosidl_typesupport_cpp/test/test_service_type_support_dispatch.cpp
+++ b/rosidl_typesupport_cpp/test/test_service_type_support_dispatch.cpp
@@ -15,9 +15,9 @@
 #include <gtest/gtest.h>
 #include "rcutils/testing/fault_injection.h"
 #include "rcpputils/shared_library.hpp"
+#include "rosidl_typesupport_c/type_support_map.h"
 #include "rosidl_typesupport_cpp/identifier.hpp"
 #include "rosidl_typesupport_cpp/service_type_support_dispatch.hpp"
-#include "rosidl_typesupport_cpp/type_support_map.h"
 
 constexpr size_t map_size = 4u;
 constexpr const char package_name[] = "rosidl_typesupport_cpp";