Some type supports are not specific to the rmw. impl and are being used by multiple different ones (e.g. [rosidl_typesupport_introspection_cpp](
https://github.com/ros2/rosidl/tree/master/rosidl_typesupport_introspection_cpp)). Others are specific to one rmw implementation and defining between the ROS types and the DDS types using the vendor specific API (e.g. [rosidl_typesupport_connext_cpp](
https://github.com/ros2/rmw_connext/tree/master/rosidl_typesupport_connext_cpp)).
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