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Just a followup to Dirk's answer. The language generators are not automatically discovered currently, so it's still necessary to patch rosidl_default_generators to add extra generators (see https://github.com/esteve/ros2_java#desktop). I've submitted https://github.com/ros2/rosidl_typesupport/pull/24 and https://github.com/ros2/rosidl_typesupport/pull/24 to address that.

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