diff --git a/bloom/generators/rosdebian.py b/bloom/generators/rosdebian.py
index ea438298..dc3fbe79 100644
--- a/bloom/generators/rosdebian.py
+++ b/bloom/generators/rosdebian.py
@@ -107,15 +107,18 @@ def fallback_resolver(key, peer_packages, rosdistro=self.rosdistro):
                     self.rosdistro not in ('r2b2', 'r2b3', 'ardent') and \
                     'rosidl_interface_packages' in [p.name for p in package.member_of_groups]:
                 ROS2_VENDOR_TYPESUPPORT_DEPENDENCIES = [
-                    'rmw-connext-cpp',
-                    'rmw-fastrtps-cpp',
-                    'rmw-implementation',
                     'rosidl-typesupport-connext-c',
                     'rosidl-typesupport-connext-cpp',
+                    'rosidl-typesupport-fastrtps-c',
+                    'rosidl-typesupport-fastrtps-cpp',
                 ]
                 # OpenSplice was dropped after Eloquent.
+                # rmw implementations are required as dependencies up to Eloquent.
                 if self.rosdistro in ['bouncy', 'crystal', 'dashing', 'eloquent']:
                     ROS2_VENDOR_TYPESUPPORT_DEPENDENCIES.extend([
+                        'rmw-connext-cpp',
+                        'rmw-fastrtps-cpp',
+                        'rmw-implementation',
                         'rmw-opensplice-cpp',
                         'rosidl-typesupport-opensplice-c',
                         'rosidl-typesupport-opensplice-cpp',
diff --git a/bloom/generators/rosrpm.py b/bloom/generators/rosrpm.py
index 9500adeb..f9e3040a 100644
--- a/bloom/generators/rosrpm.py
+++ b/bloom/generators/rosrpm.py
@@ -120,12 +120,22 @@ def fallback_resolver(key, peer_packages, rosdistro=self.rosdistro):
                     self.rosdistro not in ('r2b2', 'r2b3', 'ardent') and \
                     'rosidl_interface_packages' in [p.name for p in package.member_of_groups]:
                 ROS2_VENDOR_TYPESUPPORT_DEPENDENCIES = [
-                    'rmw-fastrtps-cpp',
-                    'rmw-implementation',
-                    'rmw-opensplice-cpp',
-                    'rosidl-typesupport-opensplice-c',
-                    'rosidl-typesupport-opensplice-cpp',
+                    'rosidl-typesupport-connext-c',
+                    'rosidl-typesupport-connext-cpp',
+                    'rosidl-typesupport-fastrtps-c',
+                    'rosidl-typesupport-fastrtps-cpp',
                 ]
+                # OpenSplice was dropped after Eloquent.
+                # rmw implementations are required as dependencies up to Eloquent.
+                if self.rosdistro in ['bouncy', 'crystal', 'dashing', 'eloquent']:
+                    ROS2_VENDOR_TYPESUPPORT_DEPENDENCIES.extend([
+                        'rmw-connext-cpp',
+                        'rmw-fastrtps-cpp',
+                        'rmw-implementation',
+                        'rmw-opensplice-cpp',
+                        'rosidl-typesupport-opensplice-c',
+                        'rosidl-typesupport-opensplice-cpp',
+                    ])
 
                 subs['BuildDepends'] += [
                     rosify_package_name(name, self.rosdistro) for name in ROS2_VENDOR_TYPESUPPORT_DEPENDENCIES]