diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt
index cc7105556..3224ae4e3 100644
--- a/rmw_fastrtps_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_cpp/CMakeLists.txt
@@ -87,9 +87,6 @@ add_library(rmw_fastrtps_cpp
   src/serialization_format.cpp
   src/subscription.cpp
   src/type_support_common.cpp
-  src/gid__type_support.cpp
-  src/node_entities_info__type_support.cpp
-  src/participant_entities_info__type_support.cpp
 )
 target_link_libraries(rmw_fastrtps_cpp
   fastcdr fastrtps)
diff --git a/rmw_fastrtps_cpp/src/gid__type_support.cpp b/rmw_fastrtps_cpp/src/gid__type_support.cpp
deleted file mode 100644
index 1ace143fe..000000000
--- a/rmw_fastrtps_cpp/src/gid__type_support.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright 2019 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.
-
-#include <cstddef>
-
-#include "rosidl_generator_c/message_type_support_struct.h"
-// rosidl_typesupport_cpp/message_type_support.hpp is installed by rosidl_generator_cpp
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rmw_dds_common/msg/gid__struct.hpp"
-#include "rmw_dds_common/msg/gid__rosidl_typesupport_fastrtps_cpp.hpp"
-#include "rmw_fastrtps_cpp/visibility_control.h"
-
-// This file is needed and can't be generated by `rosidl_typesupport_cpp`,
-// because adding a dependency to that package generates a cyclic dependency
-// (`rosidl_typesupport_cpp` exports a dependency on `rmw_implementation`).
-
-namespace rosidl_typesupport_cpp
-{
-
-template<>
-RMW_FASTRTPS_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<rmw_dds_common::msg::Gid>()
-{
-  return ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-    rosidl_typesupport_fastrtps_cpp, rmw_dds_common, msg, Gid)();
-}
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-RMW_FASTRTPS_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp, rmw_dds_common, msg, Gid)()
-{
-  return get_message_type_support_handle<rmw_dds_common::msg::Gid>();
-}
-
-#ifdef __cplusplus
-}
-#endif
-}  // namespace rosidl_typesupport_cpp
diff --git a/rmw_fastrtps_cpp/src/node_entities_info__type_support.cpp b/rmw_fastrtps_cpp/src/node_entities_info__type_support.cpp
deleted file mode 100644
index b69a648b7..000000000
--- a/rmw_fastrtps_cpp/src/node_entities_info__type_support.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright 2019 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.
-
-#include <cstddef>
-
-#include "rosidl_generator_c/message_type_support_struct.h"
-// rosidl_typesupport_cpp/message_type_support.hpp is installed by rosidl_generator_cpp
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rmw_dds_common/msg/node_entities_info__struct.hpp"
-#include "rmw_dds_common/msg/node_entities_info__rosidl_typesupport_fastrtps_cpp.hpp"
-#include "rmw_fastrtps_cpp/visibility_control.h"
-
-// This file is needed and can't be generated by `rosidl_typesupport_cpp`,
-// because adding a dependency to that package generates a cyclic dependency
-// (`rosidl_typesupport_cpp` exports a dependency on `rmw_implementation`).
-
-namespace rosidl_typesupport_cpp
-{
-
-template<>
-RMW_FASTRTPS_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<rmw_dds_common::msg::NodeEntitiesInfo>()
-{
-  return ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-    rosidl_typesupport_fastrtps_cpp, rmw_dds_common, msg, NodeEntitiesInfo)();
-}
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-RMW_FASTRTPS_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp, rmw_dds_common, msg, NodeEntitiesInfo)()
-{
-  return get_message_type_support_handle<rmw_dds_common::msg::NodeEntitiesInfo>();
-}
-
-#ifdef __cplusplus
-}
-#endif
-}  // namespace rosidl_typesupport_cpp
diff --git a/rmw_fastrtps_cpp/src/participant_entities_info__type_support.cpp b/rmw_fastrtps_cpp/src/participant_entities_info__type_support.cpp
deleted file mode 100644
index 492581b73..000000000
--- a/rmw_fastrtps_cpp/src/participant_entities_info__type_support.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright 2019 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.
-
-#include <cstddef>
-
-#include "rosidl_generator_c/message_type_support_struct.h"
-// rosidl_typesupport_cpp/message_type_support.hpp is installed by rosidl_generator_cpp
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rmw_dds_common/msg/participant_entities_info__struct.hpp"
-#include "rmw_dds_common/msg/participant_entities_info__rosidl_typesupport_fastrtps_cpp.hpp"
-#include "rmw_fastrtps_cpp/visibility_control.h"
-
-// This file is needed and can't be generated by `rosidl_typesupport_cpp`,
-// because adding a dependency to that package generates a cyclic dependency
-// (`rosidl_typesupport_cpp` exports a dependency on `rmw_implementation`).
-
-namespace rosidl_typesupport_cpp
-{
-
-template<>
-RMW_FASTRTPS_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<rmw_dds_common::msg::ParticipantEntitiesInfo>()
-{
-  return ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-    rosidl_typesupport_fastrtps_cpp, rmw_dds_common, msg, ParticipantEntitiesInfo)();
-}
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-RMW_FASTRTPS_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp, rmw_dds_common, msg, ParticipantEntitiesInfo)()
-{
-  return get_message_type_support_handle<rmw_dds_common::msg::ParticipantEntitiesInfo>();
-}
-
-#ifdef __cplusplus
-}
-#endif
-}  // namespace rosidl_typesupport_cpp
diff --git a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
index 8f7f6bdd5..91deef36d 100644
--- a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
@@ -57,11 +57,8 @@ add_library(rmw_fastrtps_dynamic_cpp
   src/get_publisher.cpp
   src/get_service.cpp
   src/get_subscriber.cpp
-  src/gid__type_support.cpp
   src/identifier.cpp
   src/init_rmw_context_impl.cpp
-  src/node_entities_info__type_support.cpp
-  src/participant_entities_info__type_support.cpp
   src/publisher.cpp
   src/rmw_client.cpp
   src/rmw_compare_gids_equal.cpp
diff --git a/rmw_fastrtps_dynamic_cpp/src/gid__type_support.cpp b/rmw_fastrtps_dynamic_cpp/src/gid__type_support.cpp
deleted file mode 100644
index 84c59cd28..000000000
--- a/rmw_fastrtps_dynamic_cpp/src/gid__type_support.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright 2019 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.
-
-#include <cstddef>
-
-#include "rosidl_generator_c/message_type_support_struct.h"
-// rosidl_typesupport_cpp/message_type_support.hpp is installed by rosidl_generator_cpp
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rmw_dds_common/msg/gid__struct.hpp"
-#include "rmw_dds_common/msg/gid__rosidl_typesupport_introspection_cpp.hpp"
-#include "rmw_fastrtps_dynamic_cpp/visibility_control.h"
-
-// This file is needed and can't be generated by `rosidl_typesupport_cpp`,
-// because adding a dependency to that package generates a cyclic dependency
-// (`rosidl_typesupport_cpp` exports a dependency on `rmw_implementation`).
-
-namespace rosidl_typesupport_cpp
-{
-
-template<>
-RMW_FASTRTPS_DYNAMIC_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<rmw_dds_common::msg::Gid>()
-{
-  return ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-    rosidl_typesupport_introspection_cpp, rmw_dds_common, msg, Gid)();
-}
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-RMW_FASTRTPS_DYNAMIC_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp, rmw_dds_common, msg, Gid)()
-{
-  return get_message_type_support_handle<rmw_dds_common::msg::Gid>();
-}
-
-#ifdef __cplusplus
-}
-#endif
-}  // namespace rosidl_typesupport_cpp
diff --git a/rmw_fastrtps_dynamic_cpp/src/node_entities_info__type_support.cpp b/rmw_fastrtps_dynamic_cpp/src/node_entities_info__type_support.cpp
deleted file mode 100644
index 370935018..000000000
--- a/rmw_fastrtps_dynamic_cpp/src/node_entities_info__type_support.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright 2019 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.
-
-#include <cstddef>
-
-#include "rosidl_generator_c/message_type_support_struct.h"
-// rosidl_typesupport_cpp/message_type_support.hpp is installed by rosidl_generator_cpp
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rmw_dds_common/msg/node_entities_info__struct.hpp"
-#include "rmw_dds_common/msg/node_entities_info__rosidl_typesupport_introspection_cpp.hpp"
-#include "rmw_fastrtps_dynamic_cpp/visibility_control.h"
-
-// This file is needed and can't be generated by `rosidl_typesupport_cpp`,
-// because adding a dependency to that package generates a cyclic dependency
-// (`rosidl_typesupport_cpp` exports a dependency on `rmw_implementation`).
-
-namespace rosidl_typesupport_cpp
-{
-
-template<>
-RMW_FASTRTPS_DYNAMIC_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<rmw_dds_common::msg::NodeEntitiesInfo>()
-{
-  return ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-    rosidl_typesupport_introspection_cpp, rmw_dds_common, msg, NodeEntitiesInfo)();
-}
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-RMW_FASTRTPS_DYNAMIC_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp, rmw_dds_common, msg, NodeEntitiesInfo)()
-{
-  return get_message_type_support_handle<rmw_dds_common::msg::NodeEntitiesInfo>();
-}
-
-#ifdef __cplusplus
-}
-#endif
-}  // namespace rosidl_typesupport_cpp
diff --git a/rmw_fastrtps_dynamic_cpp/src/participant_entities_info__type_support.cpp b/rmw_fastrtps_dynamic_cpp/src/participant_entities_info__type_support.cpp
deleted file mode 100644
index 151d79744..000000000
--- a/rmw_fastrtps_dynamic_cpp/src/participant_entities_info__type_support.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright 2019 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.
-
-#include <cstddef>
-
-#include "rosidl_generator_c/message_type_support_struct.h"
-// rosidl_typesupport_cpp/message_type_support.hpp is installed by rosidl_generator_cpp
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rmw_dds_common/msg/participant_entities_info__struct.hpp"
-#include "rmw_dds_common/msg/participant_entities_info__rosidl_typesupport_introspection_cpp.hpp"
-#include "rmw_fastrtps_dynamic_cpp/visibility_control.h"
-
-// This file is needed and can't be generated by `rosidl_typesupport_cpp`,
-// because adding a dependency to that package generates a cyclic dependency
-// (`rosidl_typesupport_cpp` exports a dependency on `rmw_implementation`).
-
-namespace rosidl_typesupport_cpp
-{
-
-template<>
-RMW_FASTRTPS_DYNAMIC_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<rmw_dds_common::msg::ParticipantEntitiesInfo>()
-{
-  return ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-    rosidl_typesupport_introspection_cpp, rmw_dds_common, msg, ParticipantEntitiesInfo)();
-}
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-RMW_FASTRTPS_DYNAMIC_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp, rmw_dds_common, msg, ParticipantEntitiesInfo)()
-{
-  return get_message_type_support_handle<rmw_dds_common::msg::ParticipantEntitiesInfo>();
-}
-
-#ifdef __cplusplus
-}
-#endif
-}  // namespace rosidl_typesupport_cpp