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For completeness I'll address my experience with the introspection typesupport that's suggested in the accepted answer.

Indeed, I was able to create/edit messages using the functions generated by rosidl_generator_c and rosidl_typesuppport_introspection_c. Furthermore, by using dlopen/dlsym to retrieve the symbols corresponding to messages by their name, I entirely avoid generating files from templates. At the cost of some runtime penalty, of course.