diff --git a/rosidl_typesupport_tests/CMakeLists.txt b/rosidl_typesupport_tests/CMakeLists.txt
index 7dcc5c1a..e9c82ef7 100644
--- a/rosidl_typesupport_tests/CMakeLists.txt
+++ b/rosidl_typesupport_tests/CMakeLists.txt
@@ -8,13 +8,16 @@ endif()
 find_package(ament_cmake REQUIRED)
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-  find_package(rosidl_cmake REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
-  find_package(test_interface_files REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
   find_package(rcutils REQUIRED)
+  find_package(rmw REQUIRED)
+  find_package(rmw_implementation REQUIRED)
+  find_package(rosidl_cmake REQUIRED)
   find_package(rosidl_generator_cpp REQUIRED)
+  find_package(test_interface_files REQUIRED)
+
+  ament_lint_auto_find_test_dependencies()
 
   rosidl_generate_interfaces(${PROJECT_NAME}
     ${test_interface_files_MSG_FILES}
@@ -31,6 +34,8 @@ if(BUILD_TESTING)
   )
   target_link_libraries(test_service_typesupport_cpp
     "${cpp_typesupport_target}"
+    rmw::rmw
+    rmw_implementation::rmw_implementation
   )
 
   ament_add_gtest(test_service_typesupport_c
@@ -38,6 +43,8 @@ if(BUILD_TESTING)
   )
   target_link_libraries(test_service_typesupport_c
     "${c_typesupport_target}"
+    rmw::rmw
+    rmw_implementation::rmw_implementation
   )
 endif()
 
diff --git a/rosidl_typesupport_tests/package.xml b/rosidl_typesupport_tests/package.xml
index 938ff0d5..6580c5ec 100644
--- a/rosidl_typesupport_tests/package.xml
+++ b/rosidl_typesupport_tests/package.xml
@@ -10,17 +10,19 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <test_depend>action_msgs</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>rcutils</test_depend>
+  <test_depend>rmw</test_depend>
+  <test_depend>rmw_implementation</test_depend>
   <test_depend>rosidl_cmake</test_depend>
   <test_depend>rosidl_generator_cpp</test_depend>
   <test_depend>rosidl_typesupport_c</test_depend>
   <test_depend>rosidl_typesupport_cpp</test_depend>
-  <test_depend>test_interface_files</test_depend>
   <test_depend>service_msgs</test_depend>
-  <test_depend>action_msgs</test_depend>
+  <test_depend>test_interface_files</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/rosidl_typesupport_tests/test/rosidl_typesupport_c/test_service_typesupport.cpp b/rosidl_typesupport_tests/test/rosidl_typesupport_c/test_service_typesupport.cpp
index ecc1df0a..b2e4a2b1 100644
--- a/rosidl_typesupport_tests/test/rosidl_typesupport_c/test_service_typesupport.cpp
+++ b/rosidl_typesupport_tests/test/rosidl_typesupport_c/test_service_typesupport.cpp
@@ -14,16 +14,20 @@
 
 #include <algorithm>
 #include <array>
+#include <string>
 
 #include "gtest/gtest.h"
 
 #include "rcutils/allocator.h"
+#include "rcutils/env.h"
 
 #include "rosidl_runtime_c/string_functions.h"
 
 #include "rosidl_typesupport_tests/action/fibonacci.h"
 #include "rosidl_typesupport_tests/srv/basic_types.h"
 
+#include "rmw/rmw.h"
+
 TEST(test_service_typesupport, event_message_create_and_destroy_invalid_arguments)
 {
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
@@ -51,8 +55,17 @@ TEST(test_service_typesupport, basic_types_event_message_create)
   const rosidl_message_type_support_t * msg_ts =
     rosidl_typesupport_c__get_message_type_support_handle__rosidl_typesupport_tests__srv__BasicTypes_Event();  // NOLINT
 
-  EXPECT_STREQ(srv_ts->typesupport_identifier, "rosidl_typesupport_c");
-  EXPECT_STREQ(msg_ts->typesupport_identifier, "rosidl_typesupport_c");
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_cyclonedds") == 0) {
+    EXPECT_STREQ(
+      srv_ts->typesupport_identifier,
+      "rosidl_typesupport_introspection_c");
+    EXPECT_STREQ(
+      msg_ts->typesupport_identifier,
+      "rosidl_typesupport_introspection_c");
+  } else {
+    EXPECT_STREQ(srv_ts->typesupport_identifier, "rosidl_typesupport_c");
+    EXPECT_STREQ(msg_ts->typesupport_identifier, "rosidl_typesupport_c");
+  }
 
   EXPECT_EQ(srv_ts->event_typesupport, msg_ts);
 
@@ -177,6 +190,16 @@ TEST(test_service_typesupport, fibonacci_action_services_event)
     rosidl_typesupport_c__get_message_type_support_handle__rosidl_typesupport_tests__action__Fibonacci_GetResult_Event();  // NOLINT
   ASSERT_NE(nullptr, send_goal_event_msg_ts);
   ASSERT_NE(nullptr, get_result_event_msg_ts);
-  EXPECT_STREQ(send_goal_event_msg_ts->typesupport_identifier, "rosidl_typesupport_c");
-  EXPECT_STREQ(get_result_event_msg_ts->typesupport_identifier, "rosidl_typesupport_c");
+
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_cyclonedds") == 0) {
+    EXPECT_STREQ(
+      send_goal_event_msg_ts->typesupport_identifier,
+      "rosidl_typesupport_introspection_c");
+    EXPECT_STREQ(
+      get_result_event_msg_ts->typesupport_identifier,
+      "rosidl_typesupport_introspection_c");
+  } else {
+    EXPECT_STREQ(send_goal_event_msg_ts->typesupport_identifier, "rosidl_typesupport_c");
+    EXPECT_STREQ(get_result_event_msg_ts->typesupport_identifier, "rosidl_typesupport_c");
+  }
 }
diff --git a/rosidl_typesupport_tests/test/rosidl_typesupport_cpp/test_service_typesupport.cpp b/rosidl_typesupport_tests/test/rosidl_typesupport_cpp/test_service_typesupport.cpp
index d711422e..2d42d935 100644
--- a/rosidl_typesupport_tests/test/rosidl_typesupport_cpp/test_service_typesupport.cpp
+++ b/rosidl_typesupport_tests/test/rosidl_typesupport_cpp/test_service_typesupport.cpp
@@ -15,6 +15,7 @@
 #include <algorithm>
 #include <array>
 #include <stdexcept>
+#include <string>
 
 #include "gtest/gtest.h"
 
@@ -26,6 +27,8 @@
 #include "rosidl_typesupport_tests/action/fibonacci.hpp"
 #include "rosidl_typesupport_tests/srv/basic_types.hpp"
 
+#include "rmw/rmw.h"
+
 TEST(test_service_typesupport, event_message_create_and_destroy_invalid_arguments)
 {
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
@@ -57,8 +60,17 @@ TEST(test_service_typesupport, basic_types_event_message_create)
   const rosidl_message_type_support_t * msg_ts =
     rosidl_typesupport_cpp::get_message_type_support_handle<rosidl_typesupport_tests::srv::BasicTypes_Event>();  // NOLINT
 
-  EXPECT_STREQ(srv_ts->typesupport_identifier, "rosidl_typesupport_cpp");
-  EXPECT_STREQ(msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_cyclonedds") == 0) {
+    EXPECT_STREQ(
+      srv_ts->typesupport_identifier,
+      "rosidl_typesupport_introspection_cpp");
+    EXPECT_STREQ(
+      msg_ts->typesupport_identifier,
+      "rosidl_typesupport_introspection_cpp");
+  } else {
+    EXPECT_STREQ(srv_ts->typesupport_identifier, "rosidl_typesupport_cpp");
+    EXPECT_STREQ(msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
+  }
 
   // typesupports are static so this comparison *should* be valid?
   EXPECT_EQ(srv_ts->event_typesupport, msg_ts);
@@ -181,6 +193,15 @@ TEST(test_service_typesupport, fibonacci_action_services_event)
     rosidl_typesupport_tests::action::Fibonacci_GetResult::Event>();
   ASSERT_NE(nullptr, send_goal_event_msg_ts);
   ASSERT_NE(nullptr, get_result_event_msg_ts);
-  EXPECT_STREQ(send_goal_event_msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
-  EXPECT_STREQ(get_result_event_msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_cyclonedds") == 0) {
+    EXPECT_STREQ(
+      send_goal_event_msg_ts->typesupport_identifier,
+      "rosidl_typesupport_introspection_cpp");
+    EXPECT_STREQ(
+      get_result_event_msg_ts->typesupport_identifier,
+      "rosidl_typesupport_introspection_cpp");
+  } else {
+    EXPECT_STREQ(send_goal_event_msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
+    EXPECT_STREQ(get_result_event_msg_ts->typesupport_identifier, "rosidl_typesupport_cpp");
+  }
 }