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The rosidl_typesupport_cpp performs the dispatch (in case there is more than one typesupport library available for C++). It happens in this file: https://github.com/ros2/rosidl_typesupport/blob/1769ba822b64573a450b8fe6a716d92deba9256e/rosidl_typesupport_cpp/src/type_support_dispatch.hpp#L63-L67