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If your underlay workspace doesn't support Connext you can't simply enable it in your overlay. The recommended way would be to build ROS 2 (all of it) from source.
You could probably get away with an overlay but that workspace must contain all packages which are influenced by the available rmw implementation. That would include the rmw_connext (all pkgs of the repo), the pkgs rosidl_typesupport_c(pp), rmw_implementation as well as any package containing messages / services. (Maybe I am forgetting some so building all of ROS 2 from source is certainly the safer bet.)
Btw. the upcoming Bouncy release (~ next week) will provide support Connext built-in. So there is no need to rebuild anything "in the underlay".
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