diff --git a/rosidl_typesupport_c/CMakeLists.txt b/rosidl_typesupport_c/CMakeLists.txt
index be0f5003..38e144cb 100644
--- a/rosidl_typesupport_c/CMakeLists.txt
+++ b/rosidl_typesupport_c/CMakeLists.txt
@@ -19,6 +19,7 @@ find_package(ament_cmake_ros REQUIRED)
 # provides FindPoco.cmake and Poco on platforms without it
 find_package(poco_vendor)
 find_package(Poco COMPONENTS Foundation)
+find_package(rcpputils REQUIRED)
 find_package(rosidl_generator_c REQUIRED)
 
 link_directories(${Poco_LIBRARY_DIR})
@@ -50,7 +51,7 @@ target_include_directories(${PROJECT_NAME}
 if(Poco_FOUND)
   ament_target_dependencies(${PROJECT_NAME} "Poco")
 endif()
-ament_target_dependencies(${PROJECT_NAME} "rosidl_generator_c")
+ament_target_dependencies(${PROJECT_NAME} "rcpputils" "rosidl_generator_c")
 ament_export_libraries(${PROJECT_NAME})
 
 ament_index_register_resource("rosidl_runtime_packages")
diff --git a/rosidl_typesupport_c/package.xml b/rosidl_typesupport_c/package.xml
index 9948026a..39d43199 100644
--- a/rosidl_typesupport_c/package.xml
+++ b/rosidl_typesupport_c/package.xml
@@ -9,6 +9,7 @@
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
+  <depend>rcpputils</depend>
   <build_depend>libpoco-dev</build_depend>
   <build_depend>poco_vendor</build_depend>
   <build_depend>rosidl_generator_c</build_depend>
diff --git a/rosidl_typesupport_c/src/type_support_dispatch.cpp b/rosidl_typesupport_c/src/type_support_dispatch.cpp
index 055aba05..b58f0236 100644
--- a/rosidl_typesupport_c/src/type_support_dispatch.cpp
+++ b/rosidl_typesupport_c/src/type_support_dispatch.cpp
@@ -13,90 +13,3 @@
 // limitations under the License.
 
 #include "type_support_dispatch.hpp"
-
-#include <list>
-#include <string>
-
-#include <fstream>
-#include <sstream>
-
-namespace rosidl_typesupport_c
-{
-
-std::string find_library_path(const std::string & library_name)
-{
-  const char * env_var;
-  char separator;
-  const char * filename_prefix;
-  const char * filename_extension;
-#ifdef _WIN32
-  env_var = "PATH";
-  separator = ';';
-  filename_prefix = "";
-  filename_extension = ".dll";
-#elif __APPLE__
-  env_var = "DYLD_LIBRARY_PATH";
-  separator = ':';
-  filename_prefix = "lib";
-  filename_extension = ".dylib";
-#else
-  env_var = "LD_LIBRARY_PATH";
-  separator = ':';
-  filename_prefix = "lib";
-  filename_extension = ".so";
-#endif
-  std::string search_path = get_env_var(env_var);
-  std::list<std::string> search_paths = split(search_path, separator);
-
-  std::string filename = filename_prefix;
-  filename += library_name + filename_extension;
-
-  for (auto it : search_paths) {
-    std::string path = it + "/" + filename;
-    if (is_file_exist(path.c_str())) {
-      return path;
-    }
-  }
-  return "";
-}
-
-std::string get_env_var(const char * env_var)
-{
-  char * value = nullptr;
-#ifndef _WIN32
-  value = getenv(env_var);
-#else
-  size_t value_size;
-  _dupenv_s(&value, &value_size, env_var);
-#endif
-  std::string value_str = "";
-  if (value) {
-    value_str = value;
-#ifdef _WIN32
-    free(value);
-#endif
-  }
-  // printf("get_env_var(%s) = %s\n", env_var, value_str.c_str());
-  return value_str;
-}
-
-std::list<std::string> split(const std::string & value, const char delimiter)
-{
-  std::list<std::string> list;
-  std::istringstream ss(value);
-  std::string s;
-  while (std::getline(ss, s, delimiter)) {
-    list.push_back(s);
-  }
-  // printf("split(%s) = %zu\n", value.c_str(), list.size());
-  return list;
-}
-
-bool is_file_exist(const char * filename)
-{
-  std::ifstream h(filename);
-  // printf("is_file_exist(%s) = %s\n", filename, h.good() ? "true" : "false");
-  return h.good();
-}
-
-}  // namespace rosidl_typesupport_c
diff --git a/rosidl_typesupport_c/src/type_support_dispatch.hpp b/rosidl_typesupport_c/src/type_support_dispatch.hpp
index f1f168ec..8b90af92 100644
--- a/rosidl_typesupport_c/src/type_support_dispatch.hpp
+++ b/rosidl_typesupport_c/src/type_support_dispatch.hpp
@@ -26,20 +26,13 @@
 #include "Poco/SharedLibrary.h"
 #endif
 
+#include "rcpputils/find_library.hpp"
 #include "rosidl_typesupport_c/identifier.h"
 #include "rosidl_typesupport_c/type_support_map.h"
 
 namespace rosidl_typesupport_c
 {
 
-std::string find_library_path(const std::string & library_name);
-
-std::string get_env_var(const char * env_var);
-
-std::list<std::string> split(const std::string & value, const char delimiter);
-
-bool is_file_exist(const char * filename);
-
 extern const char * typesupport_identifier;
 
 template<typename TypeSupport>
@@ -65,7 +58,7 @@ get_typesupport_handle_function(
         snprintf(
           library_name, 1023, "%s__%s",
           map->package_name, identifier);
-        std::string library_path = find_library_path(library_name);
+        std::string library_path = rcpputils::find_library_path(library_name);
         if (library_path.empty()) {
           fprintf(stderr, "Failed to find library '%s'\n", library_name);
           return nullptr;
diff --git a/rosidl_typesupport_cpp/CMakeLists.txt b/rosidl_typesupport_cpp/CMakeLists.txt
index 92386632..ff1e3d6b 100644
--- a/rosidl_typesupport_cpp/CMakeLists.txt
+++ b/rosidl_typesupport_cpp/CMakeLists.txt
@@ -15,6 +15,7 @@ find_package(ament_cmake_ros REQUIRED)
 # provides FindPoco.cmake and Poco on platforms without it
 find_package(poco_vendor)
 find_package(Poco COMPONENTS Foundation)
+find_package(rcpputils REQUIRED)
 find_package(rosidl_generator_c REQUIRED)
 
 link_directories(${Poco_LIBRARY_DIR})
@@ -47,7 +48,7 @@ target_include_directories(${PROJECT_NAME}
 if(Poco_FOUND)
   ament_target_dependencies(${PROJECT_NAME} "Poco")
 endif()
-ament_target_dependencies(${PROJECT_NAME} "rosidl_generator_c")
+ament_target_dependencies(${PROJECT_NAME} "rcpputils" "rosidl_generator_c")
 ament_export_libraries(${PROJECT_NAME})
 
 ament_index_register_resource("rosidl_runtime_packages")
diff --git a/rosidl_typesupport_cpp/package.xml b/rosidl_typesupport_cpp/package.xml
index 47d89aff..07a9e08b 100644
--- a/rosidl_typesupport_cpp/package.xml
+++ b/rosidl_typesupport_cpp/package.xml
@@ -9,6 +9,7 @@
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
+  <depend>rcpputils</depend>
   <build_depend>libpoco-dev</build_depend>
   <build_depend>poco_vendor</build_depend>
   <build_depend>rosidl_generator_c</build_depend>
diff --git a/rosidl_typesupport_cpp/src/type_support_dispatch.cpp b/rosidl_typesupport_cpp/src/type_support_dispatch.cpp
index 4ae04e1c..b58f0236 100644
--- a/rosidl_typesupport_cpp/src/type_support_dispatch.cpp
+++ b/rosidl_typesupport_cpp/src/type_support_dispatch.cpp
@@ -13,90 +13,3 @@
 // limitations under the License.
 
 #include "type_support_dispatch.hpp"
-
-#include <list>
-#include <string>
-
-#include <fstream>
-#include <sstream>
-
-namespace rosidl_typesupport_cpp
-{
-
-std::string find_library_path(const std::string & library_name)
-{
-  const char * env_var;
-  char separator;
-  const char * filename_prefix;
-  const char * filename_extension;
-#ifdef _WIN32
-  env_var = "PATH";
-  separator = ';';
-  filename_prefix = "";
-  filename_extension = ".dll";
-#elif __APPLE__
-  env_var = "DYLD_LIBRARY_PATH";
-  separator = ':';
-  filename_prefix = "lib";
-  filename_extension = ".dylib";
-#else
-  env_var = "LD_LIBRARY_PATH";
-  separator = ':';
-  filename_prefix = "lib";
-  filename_extension = ".so";
-#endif
-  std::string search_path = get_env_var(env_var);
-  std::list<std::string> search_paths = split(search_path, separator);
-
-  std::string filename = filename_prefix;
-  filename += library_name + filename_extension;
-
-  for (auto it : search_paths) {
-    std::string path = it + "/" + filename;
-    if (is_file_exist(path.c_str())) {
-      return path;
-    }
-  }
-  return "";
-}
-
-std::string get_env_var(const char * env_var)
-{
-  char * value = nullptr;
-#ifndef _WIN32
-  value = getenv(env_var);
-#else
-  size_t value_size;
-  _dupenv_s(&value, &value_size, env_var);
-#endif
-  std::string value_str = "";
-  if (value) {
-    value_str = value;
-#ifdef _WIN32
-    free(value);
-#endif
-  }
-  // printf("get_env_var(%s) = %s\n", env_var, value_str.c_str());
-  return value_str;
-}
-
-std::list<std::string> split(const std::string & value, const char delimiter)
-{
-  std::list<std::string> list;
-  std::istringstream ss(value);
-  std::string s;
-  while (std::getline(ss, s, delimiter)) {
-    list.push_back(s);
-  }
-  // printf("split(%s) = %zu\n", value.c_str(), list.size());
-  return list;
-}
-
-bool is_file_exist(const char * filename)
-{
-  std::ifstream h(filename);
-  // printf("is_file_exist(%s) = %s\n", filename, h.good() ? "true" : "false");
-  return h.good();
-}
-
-}  // namespace rosidl_typesupport_cpp
diff --git a/rosidl_typesupport_cpp/src/type_support_dispatch.hpp b/rosidl_typesupport_cpp/src/type_support_dispatch.hpp
index 4941b3ed..c9f54245 100644
--- a/rosidl_typesupport_cpp/src/type_support_dispatch.hpp
+++ b/rosidl_typesupport_cpp/src/type_support_dispatch.hpp
@@ -19,26 +19,18 @@
 #include <cstdio>
 #include <cstring>
 
-#include <list>
 #include <string>
 
 #ifdef ROSIDL_TYPESUPPORT_CPP_USE_POCO
 #include "Poco/SharedLibrary.h"
 #endif
 
+#include "rcpputils/find_library.hpp"
 #include "rosidl_typesupport_cpp/type_support_map.h"
 
 namespace rosidl_typesupport_cpp
 {
 
-std::string find_library_path(const std::string & library_name);
-
-std::string get_env_var(const char * env_var);
-
-std::list<std::string> split(const std::string & value, const char delimiter);
-
-bool is_file_exist(const char * filename);
-
 extern const char * typesupport_identifier;
 
 template<typename TypeSupport>
@@ -64,7 +56,7 @@ get_typesupport_handle_function(
         snprintf(
           library_name, 1023, "%s__%s",
           map->package_name, identifier);
-        std::string library_path = find_library_path(library_name);
+        std::string library_path = rcpputils::find_library_path(library_name);
         if (library_path.empty()) {
           fprintf(stderr, "Failed to find library '%s'\n", library_name);
           return nullptr;