diff --git a/.bazelrc b/.bazelrc
index b0c59c76..c53f8050 100644
--- a/.bazelrc
+++ b/.bazelrc
@@ -30,6 +30,10 @@ build:clang --repo_env=CC=clang
 build:clang --repo_env=CXX=clang++
 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 --@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
 # team members. This needs to be last statement in this config,
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/fastcdr.BUILD.bazel b/repositories/fastcdr.BUILD.bazel
new file mode 100644
index 00000000..7885706b
--- /dev/null
+++ b/repositories/fastcdr.BUILD.bazel
@@ -0,0 +1,33 @@
+""" Builds FastCDR.
+"""
+
+load("@rules_foreign_cc//foreign_cc:defs.bzl", "cmake")
+
+filegroup(
+    name = "all_srcs",
+    srcs = glob(["**"]),
+)
+
+cache_entries = {
+    "CMAKE_POSITION_INDEPENDENT_CODE": "ON",  # Must be set!
+    "BUILD_SHARED_LIBS": "OFF",
+    # FastCDR specific options.
+    "APPEND_PROJECT_NAME_TO_INCLUDEDIR": "OFF",
+    "BUILD_DOCUMENTATION": "OFF",
+    "CHECK_DOCUMENTATION": "OFF",
+    "EPROSIMA_BUILD": "OFF",
+    "EPROSIMA_BUILD_TESTS": "OFF",
+    "EPROSIMA_INSTALLER": "OFF",
+}
+
+cmake(
+    name = "fastcdr",
+    build_args = [
+        "--",
+        "-j4",
+    ],
+    cache_entries = cache_entries,
+    lib_source = ":all_srcs",
+    out_static_libs = ["libfastcdr.a"],
+    visibility = ["//visibility:public"],
+)
diff --git a/repositories/fastrtps.BUILD.bazel b/repositories/fastrtps.BUILD.bazel
new file mode 100644
index 00000000..cc512324
--- /dev/null
+++ b/repositories/fastrtps.BUILD.bazel
@@ -0,0 +1,134 @@
+""" Builds FastDDS.
+"""
+
+load("@bazel_skylib//lib:dicts.bzl", "dicts")
+load("@bazel_skylib//lib:selects.bzl", "selects")
+load("@bazel_skylib//rules:common_settings.bzl", "bool_flag")
+load("@rules_foreign_cc//foreign_cc:defs.bzl", "cmake")
+
+bool_flag(
+    name = "enable_shm",
+    build_setting_default = False,
+)
+
+config_setting(
+    name = "enable_shm_on",
+    flag_values = {":enable_shm": "True"},
+    visibility = ["//visibility:public"],
+)
+
+config_setting(
+    name = "enable_shm_off",
+    flag_values = {":enable_shm": "False"},
+    visibility = ["//visibility:public"],
+)
+
+selects.config_setting_group(
+    name = "linux_or_macos",
+    match_any = [
+        "@platforms//os:linux",
+        "@platforms//os:macos",
+    ],
+)
+
+selects.config_setting_group(
+    name = "linux_or_macos_with_shm",
+    match_all = [
+        ":linux_or_macos",
+        ":enable_shm_on",
+    ],
+)
+
+selects.config_setting_group(
+    name = "qnx_with_shm",
+    match_all = [
+        "@platforms//os:qnx",
+        ":enable_shm_on",
+    ],
+)
+
+selects.config_setting_group(
+    name = "linux_or_macos_without_shm",
+    match_all = [
+        ":linux_or_macos",
+        ":enable_shm_off",
+    ],
+)
+
+selects.config_setting_group(
+    name = "qnx_without_shm",
+    match_all = [
+        "@platforms//os:qnx",
+        ":enable_shm_off",
+    ],
+)
+
+filegroup(
+    name = "all_srcs",
+    srcs = glob(["**"]),
+)
+
+cache_entries = {
+    "CMAKE_POSITION_INDEPENDENT_CODE": "ON",  # Must be set!
+    "BUILD_SHARED_LIBS": "OFF",
+    # FastDDS specific options.
+    "BUILD_DOCUMENTATION": "OFF",
+    "CHECK_DOCUMENTATION": "OFF",
+    "COMPILE_EXAMPLES": "OFF",
+    "COMPILE_TOOLS": "OFF",
+    "FASTDDS_STATISTICS": "OFF",
+    "INSTALL_EXAMPLES": "OFF",
+    "INSTALL_TOOLS": "OFF",
+    "NO_TLS": "ON",
+    "SECURITY": "OFF",
+}
+
+cache_entries_with_shm = {
+    "SHM_TRANSPORT_DEFAULT": "ON",
+}
+
+cache_entries_without_shm = {
+    "SHM_TRANSPORT_DEFAULT": "OFF",
+}
+
+cmake(
+    name = "fastrtps",
+    build_args = [
+        "--",
+        "-j4",
+    ],
+    cache_entries = select(
+        {
+            ":enable_shm_on": dicts.add(
+                cache_entries,
+                cache_entries_with_shm,
+            ),
+            ":enable_shm_off": dicts.add(
+                cache_entries,
+                cache_entries_without_shm,
+            ),
+        },
+        no_match_error = "Unsupported build configuration",
+    ),
+    lib_source = ":all_srcs",
+    linkopts = select(
+        {
+            ":linux_or_macos_with_shm": [
+                "-lpthread",
+                "-lrt",
+            ],
+            ":qnx_with_shm": ["-lrt"],
+            ":linux_or_macos_without_shm": ["-lpthread"],
+            ":qnx_without_shm": [],
+        },
+        no_match_error = "Only Linux, macOS and QNX are supported!",
+    ),
+    out_static_libs = ["libfastrtps.a"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "@asio",
+        "@fastcdr",
+        "@foonathan_memory",
+        "@tinyxml2",
+    ],
+)
diff --git a/repositories/foonathan_memory.BUILD.bazel b/repositories/foonathan_memory.BUILD.bazel
new file mode 100644
index 00000000..5a56a3ef
--- /dev/null
+++ b/repositories/foonathan_memory.BUILD.bazel
@@ -0,0 +1,29 @@
+""" Builds foonathan_memory.
+"""
+
+load("@rules_foreign_cc//foreign_cc:defs.bzl", "cmake")
+
+filegroup(
+    name = "all_srcs",
+    srcs = glob(["**"]),
+)
+
+cache_entries = {
+    "CMAKE_POSITION_INDEPENDENT_CODE": "ON",  # Must be set!
+    "BUILD_SHARED_LIBS": "OFF",
+    # foonathan_memory specific options.
+    "FOONATHAN_MEMORY_BUILD_EXAMPLES": "OFF",
+    "FOONATHAN_MEMORY_BUILD_TESTS": "OFF",
+}
+
+cmake(
+    name = "foonathan_memory",
+    build_args = [
+        "--",
+        "-j4",
+    ],
+    cache_entries = cache_entries,
+    lib_source = ":all_srcs",
+    out_static_libs = ["libfoonathan_memory-0.7.3.a"],
+    visibility = ["//visibility:public"],
+)
diff --git a/repositories/patches/foonathan_memory_remove_dbg_suffix.patch b/repositories/patches/foonathan_memory_remove_dbg_suffix.patch
new file mode 100644
index 00000000..9610e608
--- /dev/null
+++ b/repositories/patches/foonathan_memory_remove_dbg_suffix.patch
@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 0b82f0b..50c1bb9 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -13,9 +13,6 @@ set(FOONATHAN_MEMORY_VERSION "${FOONATHAN_MEMORY_VERSION_MAJOR}.${FOONATHAN_MEMO
+                              CACHE STRING "version of memory" FORCE)
+ 
+ 
+-# set a debug postfix
+-set(CMAKE_DEBUG_POSTFIX "-dbg")
+-
+ # installation destinations
+ if(UNIX OR VXWORKS)
+     include(GNUInstallDirs)
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/rmw_fastrtps.BUILD.bazel b/repositories/rmw_fastrtps.BUILD.bazel
new file mode 100644
index 00000000..19134a01
--- /dev/null
+++ b/repositories/rmw_fastrtps.BUILD.bazel
@@ -0,0 +1,54 @@
+""" Builds rmw_fastrtps.
+"""
+
+load(
+    "@com_github_mvukov_rules_ros2//ros2:cc_defs.bzl",
+    "ros2_cpp_binary",
+    "ros2_cpp_library",
+)
+
+ros2_cpp_library(
+    name = "rmw_fastrtps_shared_cpp",
+    srcs = glob([
+        "rmw_fastrtps_shared_cpp/src/*.cpp",
+        "rmw_fastrtps_shared_cpp/src/**/*.hpp",
+    ]),
+    hdrs = glob([
+        "rmw_fastrtps_shared_cpp/include/**/*.h",
+        "rmw_fastrtps_shared_cpp/include/**/*.hpp",
+    ]),
+    includes = ["rmw_fastrtps_shared_cpp/include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "@fastrtps",
+        "@ros2_rcpputils//:rcpputils",
+        "@ros2_rcutils//:rcutils",
+        "@ros2_rmw//:rmw",
+        "@ros2_rmw//:rmw_cpp",
+        "@ros2_rmw_dds_common//:rmw_dds_common_lib",
+        "@ros2_rosidl//:rosidl_runtime_c",
+        "@ros2_rosidl//:rosidl_typesupport_introspection_c",
+        "@ros2_rosidl//:rosidl_typesupport_introspection_cpp",
+        "@ros2_tracing//:tracetools",
+    ],
+)
+
+ros2_cpp_binary(
+    name = "rmw_fastrtps_dynamic_cpp",
+    srcs = glob([
+        "rmw_fastrtps_dynamic_cpp/include/**/*.h",
+        "rmw_fastrtps_dynamic_cpp/include/**/*.hpp",
+        "rmw_fastrtps_dynamic_cpp/src/*.cpp",
+        "rmw_fastrtps_dynamic_cpp/src/*.hpp",
+    ]),
+    copts = ["-fvisibility=hidden"],
+    includes = ["rmw_fastrtps_dynamic_cpp/include"],
+    linkopts = ["-fvisibility=hidden"],
+    linkshared = True,
+    visibility = ["//visibility:public"],
+    deps = [
+        ":rmw_fastrtps_shared_cpp",
+        "@ros2_rosidl_typesupport_fastrtps//:rosidl_typesupport_fastrtps_c",
+        "@ros2_rosidl_typesupport_fastrtps//:rosidl_typesupport_fastrtps_cpp",
+    ],
+)
diff --git a/repositories/rmw_implementation.BUILD.bazel b/repositories/rmw_implementation.BUILD.bazel
index 7549c9cb..867cf597 100644
--- a/repositories/rmw_implementation.BUILD.bazel
+++ b/repositories/rmw_implementation.BUILD.bazel
@@ -11,13 +11,21 @@ ros2_cpp_library(
         "rmw_implementation/src/visibility_control.h",
     ],
     copts = ["-w"],
-    data = [
-        "@ros2_rmw_cyclonedds//:rmw_cyclonedds",
-    ],
+    data = select(
+        {
+            "@com_github_mvukov_rules_ros2//ros2:use_cyclonedds": ["@ros2_rmw_cyclonedds//:rmw_cyclonedds"],
+            "@com_github_mvukov_rules_ros2//ros2:use_fastdds_dynamic": ["@ros2_rmw_fastrtps//:rmw_fastrtps_dynamic_cpp"],
+        },
+        no_match_error = "Unsupported dds vendor",
+    ),
     includes = ["include"],
-    local_defines = [
-        "RMW_LIBRARY_PATH=\\\"$(rootpath @ros2_rmw_cyclonedds//:rmw_cyclonedds)\\\"",
-    ],
+    local_defines = select(
+        {
+            "@com_github_mvukov_rules_ros2//ros2:use_cyclonedds": ["RMW_LIBRARY_PATH=\\\"$(rootpath @ros2_rmw_cyclonedds//:rmw_cyclonedds)\\\""],
+            "@com_github_mvukov_rules_ros2//ros2:use_fastdds_dynamic": ["RMW_LIBRARY_PATH=\\\"$(rootpath @ros2_rmw_fastrtps//:rmw_fastrtps_dynamic_cpp)\\\""],
+        },
+        no_match_error = "Unsupported dds vendor",
+    ),
     visibility = ["//visibility:public"],
     deps = [
         "@ros2_rcpputils//:rcpputils",
diff --git a/repositories/ros2_repo_mappings.yaml b/repositories/ros2_repo_mappings.yaml
index 615f0588..19fb3b7a 100644
--- a/repositories/ros2_repo_mappings.yaml
+++ b/repositories/ros2_repo_mappings.yaml
@@ -15,6 +15,18 @@ repositories:
   cyclonedds:
     name: cyclonedds
     build_file: "@com_github_mvukov_rules_ros2//repositories:cyclonedds.BUILD.bazel"
+  fastcdr:
+    name: fastcdr
+    build_file: "@com_github_mvukov_rules_ros2//repositories:fastcdr.BUILD.bazel"
+  fastrtps:
+    name: fastrtps # 2.6.2
+    build_file: "@com_github_mvukov_rules_ros2//repositories:fastrtps.BUILD.bazel"
+  foonathan_memory:
+    name: foonathan_memory
+    build_file: "@com_github_mvukov_rules_ros2//repositories:foonathan_memory.BUILD.bazel"
+    patch_args: ["-p1"]
+    patches:
+      - "@com_github_mvukov_rules_ros2//repositories/patches:foonathan_memory_remove_dbg_suffix.patch"
   geometry2:
     name: ros2_geometry2
     build_file: "@com_github_mvukov_rules_ros2//repositories:geometry2.BUILD.bazel"
@@ -96,6 +108,12 @@ repositories:
   rmw_dds_common:
     name: ros2_rmw_dds_common
     build_file: "@com_github_mvukov_rules_ros2//repositories:rmw_dds_common.BUILD.bazel"
+  rmw_fastrtps:
+    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"
   rmw_implementation:
     name: ros2_rmw_implementation
     build_file: "@com_github_mvukov_rules_ros2//repositories:rmw_implementation.BUILD.bazel"
diff --git a/repositories/ros2_repositories_impl.bzl b/repositories/ros2_repositories_impl.bzl
index 005489ce..7f7e300c 100644
--- a/repositories/ros2_repositories_impl.bzl
+++ b/repositories/ros2_repositories_impl.bzl
@@ -48,6 +48,35 @@ def ros2_repositories_impl():
         url = "https://github.com/eclipse-cyclonedds/cyclonedds/archive/refs/tags/0.9.1.tar.gz",
     )
 
+    maybe(
+        http_archive,
+        name = "fastcdr",
+        build_file = "@com_github_mvukov_rules_ros2//repositories:fastcdr.BUILD.bazel",
+        sha256 = "5c4b2ad5493abd30b9475b14856641a8944c98077a36bd0760c1d83c65216e67",
+        strip_prefix = "Fast-CDR-1.1.0",
+        url = "https://github.com/eProsima/Fast-CDR/archive/refs/tags/v1.1.0.tar.gz",
+    )
+
+    maybe(
+        http_archive,
+        name = "fastrtps",
+        build_file = "@com_github_mvukov_rules_ros2//repositories:fastrtps.BUILD.bazel",
+        sha256 = "463af750b4d956710611d58179e02817de65f3f9beb94c600c74d826b0746a84",
+        strip_prefix = "Fast-DDS-2.6.2",
+        url = "https://github.com/eProsima/Fast-DDS/archive/refs/tags/v2.6.2.tar.gz",
+    )
+
+    maybe(
+        http_archive,
+        name = "foonathan_memory",
+        build_file = "@com_github_mvukov_rules_ros2//repositories:foonathan_memory.BUILD.bazel",
+        patch_args = ["-p1"],
+        patches = ["@com_github_mvukov_rules_ros2//repositories/patches:foonathan_memory_remove_dbg_suffix.patch"],
+        sha256 = "4203d15db22a94a3978eeb1afb59a37d35c57c0f148733f0f1a53a6281cb74dd",
+        strip_prefix = "memory-0.7-3",
+        url = "https://github.com/foonathan/memory/archive/refs/tags/v0.7-3.tar.gz",
+    )
+
     maybe(
         http_archive,
         name = "ros2_geometry2",
@@ -253,6 +282,17 @@ def ros2_repositories_impl():
         url = "https://github.com/ros2/rmw_dds_common/archive/refs/tags/1.6.0.tar.gz",
     )
 
+    maybe(
+        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",
+    )
+
     maybe(
         http_archive,
         name = "ros2_rmw_implementation",
@@ -353,6 +393,15 @@ def ros2_repositories_impl():
         url = "https://github.com/ros2/rosidl_typesupport/archive/refs/tags/2.0.0.tar.gz",
     )
 
+    maybe(
+        http_archive,
+        name = "ros2_rosidl_typesupport_fastrtps",
+        build_file = "@com_github_mvukov_rules_ros2//repositories:rosidl_typesupport_fastrtps.BUILD.bazel",
+        sha256 = "41deed571ab95f7d2a191af6e4536536f13266df059b0b11f6469be8e44cf304",
+        strip_prefix = "rosidl_typesupport_fastrtps-2.2.1",
+        url = "https://github.com/ros2/rosidl_typesupport_fastrtps/archive/refs/tags/2.2.1.tar.gz",
+    )
+
     maybe(
         http_archive,
         name = "ros2_rpyutils",
diff --git a/repositories/rosidl.BUILD.bazel b/repositories/rosidl.BUILD.bazel
index 63bf837e..2cee51d7 100644
--- a/repositories/rosidl.BUILD.bazel
+++ b/repositories/rosidl.BUILD.bazel
@@ -168,6 +168,7 @@ ros2_c_library(
     srcs = glob(["rosidl_typesupport_introspection_c/src/*.c"]),
     hdrs = glob(["rosidl_typesupport_introspection_c/include/**/*.h"]),
     includes = ["rosidl_typesupport_introspection_c/include"],
+    linkstatic = False,
     visibility = ["//visibility:public"],
 )
 
@@ -179,6 +180,7 @@ ros2_cpp_library(
         "rosidl_typesupport_introspection_cpp/include/**/*.h",
     ]),
     includes = ["rosidl_typesupport_introspection_cpp/include"],
+    linkstatic = False,
     visibility = ["//visibility:public"],
     deps = [
         ":rosidl_runtime_c",
diff --git a/repositories/rosidl_typesupport_fastrtps.BUILD.bazel b/repositories/rosidl_typesupport_fastrtps.BUILD.bazel
new file mode 100644
index 00000000..f70bd233
--- /dev/null
+++ b/repositories/rosidl_typesupport_fastrtps.BUILD.bazel
@@ -0,0 +1,42 @@
+""" Builds rosidl_typesupport_fastrtps.
+"""
+
+load("@bazel_skylib//rules:copy_file.bzl", "copy_file")
+load(
+    "@com_github_mvukov_rules_ros2//ros2:cc_defs.bzl",
+    "ros2_c_library",
+    "ros2_cpp_library",
+)
+load("@rules_python//python:defs.bzl", "py_binary", "py_library")
+
+ros2_cpp_library(
+    name = "rosidl_typesupport_fastrtps_c",
+    srcs = glob(["rosidl_typesupport_fastrtps_c/src/*.cpp"]),
+    hdrs = glob([
+        "rosidl_typesupport_fastrtps_c/include/**/*.h",
+        "rosidl_typesupport_fastrtps_c/include/**/*.hpp",
+    ]),
+    includes = ["rosidl_typesupport_fastrtps_c/include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "@ros2_rcpputils//:rcpputils",
+        "@ros2_rcutils//:rcutils",
+        "@ros2_rosidl//:rosidl_runtime_c",
+    ],
+)
+
+ros2_cpp_library(
+    name = "rosidl_typesupport_fastrtps_cpp",
+    srcs = glob(["rosidl_typesupport_fastrtps_cpp/src/*.cpp"]),
+    hdrs = glob([
+        "rosidl_typesupport_fastrtps_cpp/include/**/*.h",
+        "rosidl_typesupport_fastrtps_cpp/include/**/*.hpp",
+    ]),
+    includes = ["rosidl_typesupport_fastrtps_cpp/include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":rosidl_typesupport_fastrtps_c",
+        "@ros2_rcpputils//:rcpputils",
+        "@ros2_rosidl//:rosidl_runtime_c",
+    ],
+)
diff --git a/ros2/BUILD.bazel b/ros2/BUILD.bazel
index 59a136f2..28327ad8 100644
--- a/ros2/BUILD.bazel
+++ b/ros2/BUILD.bazel
@@ -1,6 +1,8 @@
 """ ROS 2 common definitions.
 """
 
+load("@bazel_skylib//lib:selects.bzl", "selects")
+load("@bazel_skylib//rules:common_settings.bzl", "string_flag")
 load("@rules_python//python:defs.bzl", "py_binary", "py_library")
 
 exports_files([
@@ -64,3 +66,24 @@ py_binary(
         "@ros2cli//:ros2lifecycle",
     ],
 )
+
+string_flag(
+    name = "dds_vendor",
+    build_setting_default = "cyclonedds",
+    values = [
+        "cyclonedds",
+        "fastdds",
+    ],
+)
+
+config_setting(
+    name = "use_cyclonedds",
+    flag_values = {":dds_vendor": "cyclonedds"},
+    visibility = ["//visibility:public"],
+)
+
+config_setting(
+    name = "use_fastdds_dynamic",
+    flag_values = {":dds_vendor": "fastdds"},
+    visibility = ["//visibility:public"],
+)
diff --git a/ros2/test/BUILD.bazel b/ros2/test/BUILD.bazel
index 42ed53ca..25260f2e 100644
--- a/ros2/test/BUILD.bazel
+++ b/ros2/test/BUILD.bazel
@@ -60,6 +60,7 @@ ros2_cpp_test(
     idl_deps = [
         "@ros2_common_interfaces//:std_msgs",
     ],
+    linkstatic = False,
     deps = [
         "@com_google_googletest//:gtest",
         "@ros2_rclcpp//:rclcpp",