diff --git a/.bazelrc b/.bazelrc
index b32dd3bb..c53f8050 100644
--- a/.bazelrc
+++ b/.bazelrc
@@ -32,7 +32,7 @@ build:clang --linkopt="-fuse-ld=lld"
 
 # CycloneDDS is used as DDS vendor in the ROS Middleware by default in this repo.
 # To use FastDDS, invoke Bazel with `--config=fastdds`.
-build:fastdds --//ros2:dds_vendor=fastdds
+build:fastdds --@com_github_mvukov_rules_ros2//ros2:dds_vendor=fastdds
 
 # Load any settings specific to the current user.
 # user.bazelrc should appear in .gitignore so that settings are not shared with
diff --git a/README.md b/README.md
index f6f0c5ab..175ed1d7 100644
--- a/README.md
+++ b/README.md
@@ -22,7 +22,7 @@ Available features:
 - Defining ROS 2 deployments with `ros2_launch` Bazel macro.
 - Defining ROS 2 tests with `ros2_test` Bazel macro.
 - Defining ROS 2 plugins with `ros2_plugin` Bazel macro.
-- Only CycloneDDS middleware can be used at the moment.
+- CycloneDDS (default) and FastDDS middleware are supported.
   - Zero copy transport via shared memory backend ([iceoryx](https://github.com/eclipse-iceoryx/iceoryx)) for CycloneDDS.
 - Utilities:
   - [`foxglove_bridge`](https://github.com/foxglove/ros-foxglove-bridge) for visualization and debugging
diff --git a/repositories/patches/rmw_fastrtps-fix-typesupport-conditions-bug.patch b/repositories/patches/rmw_fastrtps-fix-typesupport-conditions-bug.patch
new file mode 100644
index 00000000..093d1d40
--- /dev/null
+++ b/repositories/patches/rmw_fastrtps-fix-typesupport-conditions-bug.patch
@@ -0,0 +1,21 @@
+diff --git a/rmw_fastrtps_dynamic_cpp/src/type_support_common.cpp b/rmw_fastrtps_dynamic_cpp/src/type_support_common.cpp
+index d602069..62e4362 100644
+--- a/rmw_fastrtps_dynamic_cpp/src/type_support_common.cpp
++++ b/rmw_fastrtps_dynamic_cpp/src/type_support_common.cpp
+@@ -25,12 +25,13 @@
+ bool
+ using_introspection_c_typesupport(const char * typesupport_identifier)
+ {
+-  return typesupport_identifier == rosidl_typesupport_introspection_c__identifier;
++  return !std::string(typesupport_identifier)
++         .compare(rosidl_typesupport_introspection_c__identifier);
+ }
+ 
+ bool
+ using_introspection_cpp_typesupport(const char * typesupport_identifier)
+ {
+-  return typesupport_identifier ==
+-         rosidl_typesupport_introspection_cpp::typesupport_identifier;
++  return !std::string(typesupport_identifier)
++         .compare(rosidl_typesupport_introspection_cpp::typesupport_identifier);
+ }
diff --git a/repositories/ros2_repositories_impl.bzl b/repositories/ros2_repositories_impl.bzl
index b2365057..fe6e8f20 100644
--- a/repositories/ros2_repositories_impl.bzl
+++ b/repositories/ros2_repositories_impl.bzl
@@ -275,6 +275,8 @@ def ros2_repositories_impl():
         http_archive,
         name = "ros2_rmw_fastrtps",
         build_file = "@com_github_mvukov_rules_ros2//repositories:rmw_fastrtps.BUILD.bazel",
+        patch_args = ["-p1"],
+        patches = ["@com_github_mvukov_rules_ros2//repositories/patches:rmw_fastrtps-fix-typesupport-conditions-bug.patch"],
         sha256 = "a0145b414207a2528fd56e98a56bd6d4c3f0353dcd58f4b3a65224af8bd52284",
         strip_prefix = "rmw_fastrtps-6.2.3",
         url = "https://github.com/ros2/rmw_fastrtps/archive/refs/tags/6.2.3.tar.gz",
diff --git a/repositories/rosidl_typesupport_fastrtps.BUILD.bazel b/repositories/rosidl_typesupport_fastrtps.BUILD.bazel
index 8dd8769e..fc58f712 100644
--- a/repositories/rosidl_typesupport_fastrtps.BUILD.bazel
+++ b/repositories/rosidl_typesupport_fastrtps.BUILD.bazel
@@ -41,71 +41,3 @@ ros2_cpp_library(
         "@ros2_rosidl//:rosidl_runtime_c",
     ],
 )
-
-py_library(
-    name = "rosidl_typesupport_fastrtps_generator_c_lib",
-    srcs = ["rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c/__init__.py"],
-    imports = ["rosidl_typesupport_fastrtps_c"],
-    visibility = ["//visibility:public"],
-    deps = [
-        "@ros2_rosidl//:rosidl_cmake",
-        "@ros2_rosidl//:rosidl_parser",
-    ],
-)
-
-_ROSIDL_TYPESUPPORT_FASTRTPS_GENERATOR_C_APP_PY = "rosidl_typesupport_fastrtps_generator_c_app.py"
-
-copy_file(
-    name = "rosidl_typesupport_fastrtps_generator_c_copy",
-    src = "rosidl_typesupport_fastrtps_c/bin/rosidl_typesupport_fastrtps_c",
-    out = _ROSIDL_TYPESUPPORT_FASTRTPS_GENERATOR_C_APP_PY,
-)
-
-py_binary(
-    name = "rosidl_typesupport_fastrtps_generator_c_app",
-    srcs = [_ROSIDL_TYPESUPPORT_FASTRTPS_GENERATOR_C_APP_PY],
-    legacy_create_init = False,
-    main = _ROSIDL_TYPESUPPORT_FASTRTPS_GENERATOR_C_APP_PY,
-    visibility = ["//visibility:public"],
-    deps = [":rosidl_typesupport_fastrtps_generator_c_lib"],
-)
-
-filegroup(
-    name = "rosidl_typesupport_fastrtps_generator_c_templates",
-    srcs = glob(["rosidl_typesupport_fastrtps_c/resource/*.em"]),
-    visibility = ["//visibility:public"],
-)
-
-py_library(
-    name = "rosidl_typesupport_fastrtps_generator_cpp_lib",
-    srcs = ["rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp/__init__.py"],
-    imports = ["rosidl_typesupport_fastrtps_cpp"],
-    visibility = ["//visibility:public"],
-    deps = [
-        "@ros2_rosidl//:rosidl_cmake",
-        "@ros2_rosidl//:rosidl_parser",
-    ],
-)
-
-_ROSIDL_TYPESUPPORT_FASTRTPS_GENERATOR_CPP_APP_PY = "rosidl_typesupport_fastrtps_generator_cpp_app.py"
-
-copy_file(
-    name = "rosidl_typesupport_fastrtps_generator_cpp_copy",
-    src = "rosidl_typesupport_fastrtps_cpp/bin/rosidl_typesupport_fastrtps_cpp",
-    out = _ROSIDL_TYPESUPPORT_FASTRTPS_GENERATOR_CPP_APP_PY,
-)
-
-py_binary(
-    name = "rosidl_typesupport_fastrtps_generator_cpp_app",
-    srcs = [_ROSIDL_TYPESUPPORT_FASTRTPS_GENERATOR_CPP_APP_PY],
-    legacy_create_init = False,
-    main = _ROSIDL_TYPESUPPORT_FASTRTPS_GENERATOR_CPP_APP_PY,
-    visibility = ["//visibility:public"],
-    deps = [":rosidl_typesupport_fastrtps_generator_cpp_lib"],
-)
-
-filegroup(
-    name = "rosidl_typesupport_fastrtps_generator_cpp_templates",
-    srcs = glob(["rosidl_typesupport_fastrtps_cpp/resource/*.em"]),
-    visibility = ["//visibility:public"],
-)