diff --git a/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_c_generate_interfaces.cmake b/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_c_generate_interfaces.cmake
index 26c6a05..a94219c 100644
--- a/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_c_generate_interfaces.cmake
+++ b/rosidl_typesupport_microxrcedds_c/cmake/rosidl_typesupport_microxrcedds_c_generate_interfaces.cmake
@@ -159,9 +159,45 @@ foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
   ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
     ${_pkg_name}
     )
-  target_link_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix}
-    ${${_pkg_name}_LIBRARIES${_target_suffix}}
+  set(_dep_tslibs "")
+  get_filename_component(_dep_prefix "${${_pkg_name}_DIR}/../../.." ABSOLUTE)
+  foreach(_dep_tslib ${${_pkg_name}_LIBRARIES${_target_suffix}})
+    if(IS_ABSOLUTE "${_dep_tslib}" AND EXISTS "${_dep_tslib}")
+      list(APPEND _dep_tslibs "${_dep_tslib}")
+    else()
+      unset(_dep_tslib_abs CACHE)
+      unset(_dep_tslib_abs)
+      find_library(_dep_tslib_abs
+        NAMES "${_dep_tslib}" "${_pkg_name}${_target_suffix}"
+        HINTS "${_dep_prefix}"
+        PATH_SUFFIXES lib lib64 "lib/${CMAKE_LIBRARY_ARCHITECTURE}"
+        NO_DEFAULT_PATH
+      )
+      if(_dep_tslib_abs)
+        list(APPEND _dep_tslibs "${_dep_tslib_abs}")
+      else()
+        # Preserve previous behavior if resolution fails (e.g. plain link name or CMake target)
+        list(APPEND _dep_tslibs "${_dep_tslib}")
+      endif()
+    endif()
+  endforeach()
+  if(NOT _dep_tslibs)
+    unset(_dep_tslib_abs CACHE)
+    unset(_dep_tslib_abs)
+    find_library(_dep_tslib_abs
+      NAMES "${_pkg_name}${_target_suffix}"
+      HINTS "${_dep_prefix}/lib" "${_dep_prefix}/lib64"
+      NO_DEFAULT_PATH
     )
+    if(_dep_tslib_abs)
+      list(APPEND _dep_tslibs "${_dep_tslib_abs}")
+    endif()
+  endif()
+  if(_dep_tslibs)
+    target_link_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+      ${_dep_tslibs}
+      )
+  endif()
 endforeach()
 
 target_link_libraries(
diff --git a/rosidl_typesupport_microxrcedds_c/resource/srv__rosidl_typesupport_microxrcedds_c.h.em b/rosidl_typesupport_microxrcedds_c/resource/srv__rosidl_typesupport_microxrcedds_c.h.em
index 4d7fb23..1ed9e72 100644
--- a/rosidl_typesupport_microxrcedds_c/resource/srv__rosidl_typesupport_microxrcedds_c.h.em
+++ b/rosidl_typesupport_microxrcedds_c/resource/srv__rosidl_typesupport_microxrcedds_c.h.em
@@ -17,15 +17,6 @@ TEMPLATE(
     include_directives=include_directives)
 }@
 
-@{
-TEMPLATE(
-    'msg__rosidl_typesupport_microxrcedds_c.h.em',
-    package_name=package_name,
-    interface_path=interface_path,
-    message=service.event_message,
-    include_directives=include_directives)
-}@
-
 @{
 header_files = [
     'rosidl_runtime_c/service_type_support_struct.h',
diff --git a/rosidl_typesupport_microxrcedds_c/resource/srv__type_support_c.c.em b/rosidl_typesupport_microxrcedds_c/resource/srv__type_support_c.c.em
index 657a4ca..d1269df 100644
--- a/rosidl_typesupport_microxrcedds_c/resource/srv__type_support_c.c.em
+++ b/rosidl_typesupport_microxrcedds_c/resource/srv__type_support_c.c.em
@@ -4,7 +4,6 @@ from rosidl_generator_c import idl_structure_type_to_c_typename
 from rosidl_generator_type_description import GET_DESCRIPTION_FUNC
 from rosidl_generator_type_description import GET_HASH_FUNC
 from rosidl_generator_type_description import GET_SOURCES_FUNC
-from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
 from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
 from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
 
@@ -25,15 +24,6 @@ TEMPLATE(
     include_directives=include_directives)
 }@
 
-@{
-TEMPLATE(
-    'msg__type_support_c.c.em',
-    package_name=package_name,
-    interface_path=interface_path,
-    message=service.event_message,
-    include_directives=include_directives)
-}@
-
 @{
 from rosidl_cmake import convert_camel_case_to_lower_case_underscore
 
@@ -78,16 +68,10 @@ static rosidl_service_type_support_t @(service.namespaced_type.name)__handle = {
 
   &_@(service.namespaced_type.name)@(SERVICE_REQUEST_MESSAGE_SUFFIX)__type_support,
   &_@(service.namespaced_type.name)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)__type_support,
-  &_@(service.namespaced_type.name)@(SERVICE_EVENT_MESSAGE_SUFFIX)__type_support,
+  NULL,
 
-  ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_CREATE_EVENT_MESSAGE_SYMBOL_NAME(
-    rosidl_typesupport_c,
-    @(',\n    '.join(service.namespaced_type.namespaced_name()))
-  ),
-  ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_DESTROY_EVENT_MESSAGE_SYMBOL_NAME(
-    rosidl_typesupport_c,
-    @(',\n    '.join(service.namespaced_type.namespaced_name()))
-  ),
+  NULL,
+  NULL,
 
   &@(idl_structure_type_to_c_typename(service.namespaced_type))__@(GET_HASH_FUNC),
   &@(idl_structure_type_to_c_typename(service.namespaced_type))__@(GET_DESCRIPTION_FUNC),
diff --git a/rosidl_typesupport_microxrcedds_cpp/cmake/rosidl_typesupport_microxrcedds_cpp_generate_interfaces.cmake b/rosidl_typesupport_microxrcedds_cpp/cmake/rosidl_typesupport_microxrcedds_cpp_generate_interfaces.cmake
index 623ceab..40f77ff 100644
--- a/rosidl_typesupport_microxrcedds_cpp/cmake/rosidl_typesupport_microxrcedds_cpp_generate_interfaces.cmake
+++ b/rosidl_typesupport_microxrcedds_cpp/cmake/rosidl_typesupport_microxrcedds_cpp_generate_interfaces.cmake
@@ -160,9 +160,45 @@ foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
   ament_target_dependencies(${rosidl_generate_interfaces_TARGET}${_target_suffix}
     ${_pkg_name}
     )
-  target_link_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix}
-    ${${_pkg_name}_LIBRARIES${_target_suffix}}
+  set(_dep_tslibs "")
+  get_filename_component(_dep_prefix "${${_pkg_name}_DIR}/../../.." ABSOLUTE)
+  foreach(_dep_tslib ${${_pkg_name}_LIBRARIES${_target_suffix}})
+    if(IS_ABSOLUTE "${_dep_tslib}" AND EXISTS "${_dep_tslib}")
+      list(APPEND _dep_tslibs "${_dep_tslib}")
+    else()
+      unset(_dep_tslib_abs CACHE)
+      unset(_dep_tslib_abs)
+      find_library(_dep_tslib_abs
+        NAMES "${_dep_tslib}" "${_pkg_name}${_target_suffix}"
+        HINTS "${_dep_prefix}"
+        PATH_SUFFIXES lib lib64 "lib/${CMAKE_LIBRARY_ARCHITECTURE}"
+        NO_DEFAULT_PATH
+      )
+      if(_dep_tslib_abs)
+        list(APPEND _dep_tslibs "${_dep_tslib_abs}")
+      else()
+        # Preserve previous behavior if resolution fails (e.g. plain link name or CMake target)
+        list(APPEND _dep_tslibs "${_dep_tslib}")
+      endif()
+    endif()
+  endforeach()
+  if(NOT _dep_tslibs)
+    unset(_dep_tslib_abs CACHE)
+    unset(_dep_tslib_abs)
+    find_library(_dep_tslib_abs
+      NAMES "${_pkg_name}${_target_suffix}"
+      HINTS "${_dep_prefix}/lib" "${_dep_prefix}/lib64"
+      NO_DEFAULT_PATH
     )
+    if(_dep_tslib_abs)
+      list(APPEND _dep_tslibs "${_dep_tslib_abs}")
+    endif()
+  endif()
+  if(_dep_tslibs)
+    target_link_libraries(${rosidl_generate_interfaces_TARGET}${_target_suffix}
+      ${_dep_tslibs}
+      )
+  endif()
 endforeach()
 
 target_link_libraries(