diff --git a/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/serialization_helpers.hpp b/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/serialization_helpers.hpp
new file mode 100644
index 0000000..a1326e4
--- /dev/null
+++ b/rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/serialization_helpers.hpp
@@ -0,0 +1,195 @@
+// Copyright 2023 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROSIDL_TYPESUPPORT_FASTRTPS_CPP__SERIALIZATION_HELPERS_HPP_
+#define ROSIDL_TYPESUPPORT_FASTRTPS_CPP__SERIALIZATION_HELPERS_HPP_
+
+#include <rosidl_typesupport_fastrtps_cpp/visibility_control.h>
+
+#include <rosidl_runtime_cpp/cdr_compatible_fixed_capacity_string.hpp>
+#include <fastcdr/Cdr.h>
+
+#include <string>
+
+namespace eprosima {
+namespace fastcdr {
+
+template<uint32_t Capacity>
+inline eprosima::fastcdr::Cdr& operator << (
+    eprosima::fastcdr::Cdr& cdr, const rosidl_runtime_cpp::CDRCompatibleFixedCapacityString<Capacity>& str)
+{
+    cdr << Capacity;
+    cdr.serializeArray(str.c_str(), Capacity);
+    return cdr;
+}
+
+template<uint32_t Capacity>
+inline eprosima::fastcdr::Cdr& operator >> (
+    eprosima::fastcdr::Cdr& cdr, rosidl_runtime_cpp::CDRCompatibleFixedCapacityString<Capacity>& str)
+{
+    std::string tmp_str;
+    cdr >> tmp_str;
+    str = tmp_str;
+    return cdr;
+}
+
+}  // namespace fastcdr
+}  // namespace eprosima
+
+namespace rosidl_typesupport_fastrtps_cpp {
+
+template<typename Allocator>
+inline void get_string_size(
+    const std::basic_string<char, std::char_traits<char>, Allocator>& str,
+    size_t& current_alignment)
+{
+  const size_t padding = 4;
+  current_alignment += padding +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
+      str.size() + 1;
+}
+
+template<typename Allocator>
+inline void get_string_size(
+    const std::basic_string<char16_t, std::char_traits<char16_t>, Allocator>& str,
+    size_t& current_alignment)
+{
+  const size_t padding = 4;
+  const size_t wchar_size = 4;
+
+  current_alignment += padding +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
+      wchar_size * (str.size() + 1);
+}
+
+template<uint32_t Capacity>
+inline void get_string_size(
+    const rosidl_runtime_cpp::CDRCompatibleFixedCapacityString<Capacity>& /* str */,
+    size_t& current_alignment)
+{
+  const size_t padding = 4;
+  current_alignment += padding +
+      eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
+      Capacity;
+}
+
+template <typename T>
+struct max_string_size_helper
+{
+};
+
+template <typename Allocator>
+struct max_string_size_helper<std::basic_string<char, std::char_traits<char>, Allocator> >
+{
+    static inline void max_string_size(
+        bool& full_bounded,
+        bool& is_plain,
+        size_t& current_alignment,
+        const size_t array_size,
+        const size_t max_size)
+    {
+        const size_t padding = 4;
+
+        full_bounded = false;
+        is_plain = false;
+        for (size_t index = 0; index < array_size; ++index) {
+            current_alignment += padding +
+                eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
+                max_size + 1;
+        }
+    }
+};
+
+template <typename Allocator>
+struct max_string_size_helper<std::basic_string<char16_t, std::char_traits<char16_t>, Allocator> >
+{
+    static inline void max_string_size(
+        bool& full_bounded,
+        bool& is_plain,
+        size_t& current_alignment,
+        const size_t array_size,
+        const size_t max_size)
+    {
+        const size_t padding = 4;
+        const size_t wchar_size = 4;
+
+        full_bounded = false;
+        is_plain = false;
+        for (size_t index = 0; index < array_size; ++index) {
+            current_alignment += padding +
+                eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
+                wchar_size * (max_size + 1);
+        }
+    }
+};
+
+template<uint32_t Capacity>
+struct max_string_size_helper<rosidl_runtime_cpp::CDRCompatibleFixedCapacityString<Capacity> >
+{
+    static inline void max_string_size(
+        bool& /*full_bounded*/,
+        bool& /*is_plain*/,
+        size_t& current_alignment,
+        const size_t array_size,
+        const size_t /*max_size*/)
+    {
+        const size_t padding = 4;
+        for (size_t index = 0; index < array_size; ++index) {
+            current_alignment += padding +
+                eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
+                Capacity;
+        }
+    }
+};
+
+template<typename T, std::size_t N>
+struct max_string_size_helper<std::array<T, N> > : public max_string_size_helper<T>
+{};
+
+template<typename T, typename Allocator>
+struct max_string_size_helper<std::vector<T, Allocator> >
+{
+    static inline void max_string_size(
+        bool& full_bounded,
+        bool& is_plain,
+        size_t& current_alignment,
+        const size_t array_size,
+        const size_t max_size)
+    {
+        full_bounded = false;
+        is_plain = false;
+
+        max_string_size_helper<T>::max_string_size(full_bounded, is_plain, current_alignment, array_size, max_size);
+    }
+};
+
+template<typename T, std::size_t N, typename Allocator>
+struct max_string_size_helper<rosidl_runtime_cpp::BoundedVector<T, N, Allocator> >
+{
+    static inline void max_string_size(
+        bool& full_bounded,
+        bool& is_plain,
+        size_t& current_alignment,
+        const size_t array_size,
+        const size_t max_size)
+    {
+        is_plain = false;
+
+        max_string_size_helper<T>::max_string_size(full_bounded, is_plain, current_alignment, array_size, max_size);
+    }
+};
+
+}  // namespace rosidl_typesupport_fastrtps_cpp
+
+#endif  // ROSIDL_TYPESUPPORT_FASTRTPS_CPP__SERIALIZATION_HELPERS_HPP_
diff --git a/rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em b/rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em
index a02d04f..203e6e2 100644
--- a/rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em
+++ b/rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em
@@ -1,6 +1,7 @@
 @# Included from rosidl_typesupport_fastrtps_cpp/resource/idl__type_support.cpp.em
 @{
 from rosidl_generator_c import idl_structure_type_to_c_typename
+from rosidl_generator_cpp import msg_type_to_cpp
 from rosidl_generator_type_description import GET_DESCRIPTION_FUNC
 from rosidl_generator_type_description import GET_HASH_FUNC
 from rosidl_generator_type_description import GET_SOURCES_FUNC
@@ -21,6 +22,7 @@ header_files = [
     'rosidl_typesupport_fastrtps_cpp/identifier.hpp',
     'rosidl_typesupport_fastrtps_cpp/message_type_support.h',
     'rosidl_typesupport_fastrtps_cpp/message_type_support_decl.hpp',
+    'rosidl_typesupport_fastrtps_cpp/serialization_helpers.hpp',
     'rosidl_typesupport_fastrtps_cpp/wstring_conversion.hpp',
     'fastcdr/Cdr.h',
 ]
@@ -298,9 +300,7 @@ get_serialized_size(
   size_t initial_alignment = current_alignment;
 
   const size_t padding = 4;
-  const size_t wchar_size = 4;
   (void)padding;
-  (void)wchar_size;
 
 @[for member in message.structure.members]@
   // Member: @(member.name)
@@ -321,12 +321,8 @@ get_serialized_size(
 @[    end if]@
 @[    if isinstance(member.type.value_type, AbstractGenericString)]@
     for (size_t index = 0; index < array_size; ++index) {
-      current_alignment += padding +
-        eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
-@[      if isinstance(member.type.value_type, AbstractWString)]@
-        wchar_size *
-@[      end if]@
-        (ros_message.@(member.name)[index].size() + 1);
+      rosidl_typesupport_fastrtps_cpp::get_string_size(
+        ros_message.@(member.name)[index], current_alignment);
     }
 @[    elif isinstance(member.type.value_type, BasicType)]@
     size_t item_size = sizeof(ros_message.@(member.name)[0]);
@@ -342,12 +338,8 @@ get_serialized_size(
   }
 @[  else]@
 @[    if isinstance(member.type, AbstractGenericString)]@
-  current_alignment += padding +
-    eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
-@[      if isinstance(member.type, AbstractWString)]@
-    wchar_size *
-@[      end if]@
-    (ros_message.@(member.name).size() + 1);
+  rosidl_typesupport_fastrtps_cpp::get_string_size(
+    ros_message.@(member.name), current_alignment);
 @[    elif isinstance(member.type, BasicType)]@
   {
     size_t item_size = sizeof(ros_message.@(member.name));
@@ -375,9 +367,7 @@ max_serialized_size_@(message.structure.namespaced_type.name)(
   size_t initial_alignment = current_alignment;
 
   const size_t padding = 4;
-  const size_t wchar_size = 4;
   (void)padding;
-  (void)wchar_size;
 
   full_bounded = true;
   is_plain = true;
@@ -410,22 +400,11 @@ if isinstance(type_, AbstractNestedType):
     type_ = type_.value_type
 }@
 @[  if isinstance(type_, AbstractGenericString)]@
-    full_bounded = false;
-    is_plain = false;
-    for (size_t index = 0; index < array_size; ++index) {
-      current_alignment += padding +
-        eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
-@[    if type_.has_maximum_size()]@
-@[      if isinstance(type_, AbstractWString)]@
-        wchar_size *
-@[      end if]@
-        @(type_.maximum_size) +
-@[    end if]@
-@[    if isinstance(type_, AbstractWString)]@
-        wchar_size *
-@[    end if]@
-        1;
-    }
+    rosidl_typesupport_fastrtps_cpp::max_string_size_helper<
+      decltype(@('::'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name] + [member.name])))>
+      ::max_string_size(
+        full_bounded, is_plain, current_alignment, array_size,
+        @(type_.has_maximum_size() ? type_.maximum_size : 0));
 @[  elif isinstance(type_, BasicType)]@
 @[    if type_.typename in ('boolean', 'octet', 'char', 'uint8', 'int8')]@
     current_alignment += array_size * sizeof(uint8_t);