diff --git a/rosbag2/CMakeLists.txt b/rosbag2/CMakeLists.txt
index 930273476..6fbccde5f 100644
--- a/rosbag2/CMakeLists.txt
+++ b/rosbag2/CMakeLists.txt
@@ -71,7 +71,7 @@ install(
 
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
-ament_export_dependencies(rosbag2_storage)
+ament_export_dependencies(rosbag2_storage rosidl_typesupport_introspection_cpp)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
diff --git a/rosbag2/src/rosbag2/converter.cpp b/rosbag2/src/rosbag2/converter.cpp
index 281a23ed5..9b55f2ee9 100644
--- a/rosbag2/src/rosbag2/converter.cpp
+++ b/rosbag2/src/rosbag2/converter.cpp
@@ -64,10 +64,10 @@ std::shared_ptr<SerializedBagMessage> Converter::convert(
   std::shared_ptr<rosbag2_ros2_message_t> allocated_ros_message =
     allocate_ros2_message(introspection_ts);
 
-  input_converter_->deserialize(allocated_ros_message, message, ts);
+  input_converter_->deserialize(message, ts, allocated_ros_message);
   auto output_message = std::make_shared<rosbag2::SerializedBagMessage>();
   output_message->serialized_data = rosbag2_storage::make_empty_serialized_message(0);
-  output_converter_->serialize(output_message, allocated_ros_message, ts);
+  output_converter_->serialize(allocated_ros_message, ts, output_message);
   return output_message;
 }
 
diff --git a/rosbag2/test/rosbag2/mock_converter.hpp b/rosbag2/test/rosbag2/mock_converter.hpp
index 1ff16b8d1..bcf8cacc5 100644
--- a/rosbag2/test/rosbag2/mock_converter.hpp
+++ b/rosbag2/test/rosbag2/mock_converter.hpp
@@ -27,15 +27,15 @@ class MockConverter : public rosbag2::SerializationFormatConverterInterface
 public:
   MOCK_METHOD3(deserialize,
     void(
-      std::shared_ptr<rosbag2_ros2_message_t>,
       std::shared_ptr<const rosbag2::SerializedBagMessage>,
-      const rosidl_message_type_support_t *));
+      const rosidl_message_type_support_t *,
+      std::shared_ptr<rosbag2_ros2_message_t>));
 
   MOCK_METHOD3(serialize,
     void(
-      std::shared_ptr<rosbag2::SerializedBagMessage>,
       std::shared_ptr<const rosbag2_ros2_message_t>,
-      const rosidl_message_type_support_t *));
+      const rosidl_message_type_support_t *,
+      std::shared_ptr<rosbag2::SerializedBagMessage>));
 };
 
 #endif  // ROSBAG2__MOCK_CONVERTER_HPP_
diff --git a/rosbag2_converter_default_plugins/test/rosbag2_converter_default_plugins/cdr/test_cdr_converter.cpp b/rosbag2_converter_default_plugins/test/rosbag2_converter_default_plugins/cdr/test_cdr_converter.cpp
index 5c30add7e..efa487864 100644
--- a/rosbag2_converter_default_plugins/test/rosbag2_converter_default_plugins/cdr/test_cdr_converter.cpp
+++ b/rosbag2_converter_default_plugins/test/rosbag2_converter_default_plugins/cdr/test_cdr_converter.cpp
@@ -75,7 +75,7 @@ TEST_F(CdrConverterTestFixture, deserialize_converts_cdr_into_ros_message_for_pr
   auto ros_message = make_shared_ros_message();
   test_msgs::msg::Primitives primitive_test_msg;
   ros_message->message = &primitive_test_msg;
-  auto type_support = rosbag2::get_typesupport("test_msgs/Primitives");
+  auto type_support = rosbag2::get_typesupport("test_msgs/Primitives", "rosidl_typesupport_cpp");
 
   converter_->deserialize(serialized_message, type_support, ros_message);
 
@@ -96,7 +96,7 @@ TEST_F(CdrConverterTestFixture, serialize_converts_ros_message_into_cdr_for_prim
 
   auto serialized_message = std::make_shared<rosbag2::SerializedBagMessage>();
   serialized_message->serialized_data = memory_management_->make_initialized_message();
-  auto type_support = rosbag2::get_typesupport("test_msgs/Primitives");
+  auto type_support = rosbag2::get_typesupport("test_msgs/Primitives", "rosidl_typesupport_cpp");
 
   converter_->serialize(ros_message, type_support, serialized_message);
 
@@ -121,7 +121,8 @@ TEST_F(CdrConverterTestFixture, deserialize_converts_cdr_into_ros_message_for_st
   auto ros_message = make_shared_ros_message();
   test_msgs::msg::StaticArrayPrimitives primitive_test_msg;
   ros_message->message = &primitive_test_msg;
-  auto type_support = rosbag2::get_typesupport("test_msgs/StaticArrayPrimitives");
+  auto type_support = rosbag2::get_typesupport(
+    "test_msgs/StaticArrayPrimitives", "rosidl_typesupport_cpp");
 
   converter_->deserialize(serialized_message, type_support, ros_message);
 
@@ -142,7 +143,8 @@ TEST_F(CdrConverterTestFixture, serialize_converts_ros_message_into_cdr_for_stat
 
   auto serialized_message = std::make_shared<rosbag2::SerializedBagMessage>();
   serialized_message->serialized_data = memory_management_->make_initialized_message();
-  auto type_support = rosbag2::get_typesupport("test_msgs/StaticArrayPrimitives");
+  auto type_support = rosbag2::get_typesupport(
+    "test_msgs/StaticArrayPrimitives", "rosidl_typesupport_cpp");
 
   converter_->serialize(ros_message, type_support, serialized_message);
 
@@ -172,7 +174,8 @@ TEST_F(CdrConverterTestFixture, deserialize_converts_cdr_into_ros_message_for_dy
   auto ros_message = make_shared_ros_message();
   test_msgs::msg::DynamicArrayNested dynamic_nested_message;
   ros_message->message = &dynamic_nested_message;
-  auto type_support = rosbag2::get_typesupport("test_msgs/DynamicArrayNested");
+  auto type_support = rosbag2::get_typesupport(
+    "test_msgs/DynamicArrayNested", "rosidl_typesupport_cpp");
 
   converter_->deserialize(serialized_message, type_support, ros_message);
 
@@ -198,7 +201,8 @@ TEST_F(CdrConverterTestFixture, serialize_converts_ros_message_into_cdr_for_dyna
 
   auto serialized_message = std::make_shared<rosbag2::SerializedBagMessage>();
   serialized_message->serialized_data = memory_management_->make_initialized_message();
-  auto type_support = rosbag2::get_typesupport("test_msgs/DynamicArrayNested");
+  auto type_support = rosbag2::get_typesupport(
+    "test_msgs/DynamicArrayNested", "rosidl_typesupport_cpp");
 
   converter_->serialize(ros_message, type_support, serialized_message);