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 c1b3f8d6..1f6fdc3c 100644
--- a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
+++ b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-find_package(rmw_implementation_cmake REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
 find_package(rosidl_typesupport_c REQUIRED)
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 dcd0dd97..73655b12 100644
--- a/rosidl_generator_py/cmake/rosidl_generator_py_get_typesupports.cmake
+++ b/rosidl_generator_py/cmake/rosidl_generator_py_get_typesupports.cmake
@@ -12,19 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-macro(accumulate_typesupports)
-  set(_typesupport_impl "")
-  if(${rmw_implementation}_FOUND)
-    get_rmw_typesupport(_typesupport_impl ${rmw_implementation} LANGUAGE "C")
-    list_append_unique(_typesupport_impls ${_typesupport_impl})
-  endif()
-endmacro()
-
 macro(rosidl_generator_py_get_typesupports TYPESUPPORT_IMPLS)
-  set(TYPESUPPORT_IMPLS "")
-  set(_typesupport_impls "")
-  call_for_each_rmw_implementation(accumulate_typesupports)
-  foreach(_typesupport_impl ${_typesupport_impls})
-    list_append_unique(TYPESUPPORT_IMPLS ${_typesupport_impl})
+  set(${TYPESUPPORT_IMPLS} "")
+  ament_index_get_resources(${TYPESUPPORT_IMPLS} "rosidl_typesupport_c")
+  list(APPEND ${TYPESUPPORT_IMPLS} "rosidl_typesupport_c")
+  foreach(_typesupport ${${TYPESUPPORT_IMPLS}})
+    find_package(${_typesupport} QUIET)
+    if(NOT ${_typesupport}_FOUND)
+      list(REMOVE_ITEM ${TYPESUPPORT_IMPLS} "${_typesupport}")
+    endif()
   endforeach()
 endmacro()
diff --git a/rosidl_generator_py/package.xml b/rosidl_generator_py/package.xml
index 51aa78ed..1970f72a 100644
--- a/rosidl_generator_py/package.xml
+++ b/rosidl_generator_py/package.xml
@@ -23,8 +23,7 @@
   <buildtool_export_depend>rosidl_typesupport_interface</buildtool_export_depend>
 
   <exec_depend>python3-numpy</exec_depend>
-  <exec_depend>rmw_implementation</exec_depend>
-  <exec_depend>rmw_implementation_cmake</exec_depend>
+  <exec_depend>rosidl_generator_c</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>
   <exec_depend>rosidl_runtime_c</exec_depend>
 
@@ -36,8 +35,6 @@
   <test_depend>python3-pytest</test_depend>
   <test_depend>python_cmake_module</test_depend>
   <test_depend>rmw</test_depend>
-  <test_depend>rmw_implementation</test_depend>
-  <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>rosidl_cmake</test_depend>
   <test_depend>rosidl_generator_c</test_depend>
   <test_depend>rosidl_generator_cpp</test_depend>