diff --git a/rosbag2/include/rosbag2/typesupport_helpers.hpp b/rosbag2/include/rosbag2/typesupport_helpers.hpp
index fda9de6a85..d8519a0389 100644
--- a/rosbag2/include/rosbag2/typesupport_helpers.hpp
+++ b/rosbag2/include/rosbag2/typesupport_helpers.hpp
@@ -16,6 +16,7 @@
 #define ROSBAG2__TYPESUPPORT_HELPERS_HPP_
 
 #include <string>
+#include <tuple>
 #include <utility>
 
 #include "rosidl_generator_cpp/message_type_support_decl.hpp"
@@ -28,9 +29,14 @@ ROSBAG2_PUBLIC
 const rosidl_message_type_support_t *
 get_typesupport(const std::string & type, const std::string & typesupport_identifier);
 
+[[deprecated("use extract_type_identifier(const std::string & full_type) instead")]]
 ROSBAG2_PUBLIC
 const std::pair<std::string, std::string> extract_type_and_package(const std::string & full_type);
 
+ROSBAG2_PUBLIC
+const std::tuple<std::string, std::string, std::string>
+extract_type_identifier(const std::string & full_type);
+
 }  // namespace rosbag2
 
 #endif  // ROSBAG2__TYPESUPPORT_HELPERS_HPP_
diff --git a/rosbag2/src/rosbag2/typesupport_helpers.cpp b/rosbag2/src/rosbag2/typesupport_helpers.cpp
index d8c3e02ec9..d4cd3e0b22 100644
--- a/rosbag2/src/rosbag2/typesupport_helpers.cpp
+++ b/rosbag2/src/rosbag2/typesupport_helpers.cpp
@@ -17,6 +17,7 @@
 #include <memory>
 #include <stdexcept>
 #include <string>
+#include <tuple>
 #include <utility>
 
 #include "ament_index_cpp/get_resources.hpp"
@@ -62,6 +63,17 @@ std::string get_typesupport_library_path(
 }
 
 const std::pair<std::string, std::string> extract_type_and_package(const std::string & full_type)
+{
+  std::string package_name;
+  std::string type_name;
+
+  std::tie(package_name, std::ignore, type_name) = extract_type_identifier(full_type);
+
+  return {package_name, type_name};
+}
+
+const std::tuple<std::string, std::string, std::string>
+extract_type_identifier(const std::string & full_type)
 {
   char type_separator = '/';
   auto sep_position_back = full_type.find_last_of(type_separator);
@@ -75,17 +87,23 @@ const std::pair<std::string, std::string> extract_type_and_package(const std::st
   }
 
   std::string package_name = full_type.substr(0, sep_position_front);
+  std::string middle_module = "";
+  if (sep_position_back - sep_position_front > 0) {
+    middle_module =
+      full_type.substr(sep_position_front + 1, sep_position_back - sep_position_front - 1);
+  }
   std::string type_name = full_type.substr(sep_position_back + 1);
 
-  return {package_name, type_name};
+  return std::make_tuple(package_name, middle_module, type_name);
 }
 
 const rosidl_message_type_support_t *
 get_typesupport(const std::string & type, const std::string & typesupport_identifier)
 {
   std::string package_name;
+  std::string middle_module;
   std::string type_name;
-  std::tie(package_name, type_name) = extract_type_and_package(type);
+  std::tie(package_name, middle_module, type_name) = extract_type_identifier(type);
 
   std::string poco_dynamic_loading_error = "Something went wrong loading the typesupport library "
     "for message type " + package_name + "/" + type_name + ".";
@@ -96,7 +114,7 @@ get_typesupport(const std::string & type, const std::string & typesupport_identi
     auto typesupport_library = std::make_shared<Poco::SharedLibrary>(library_path);
 
     auto symbol_name = typesupport_identifier + "__get_message_type_support_handle__" +
-      package_name + "__msg__" + type_name;
+      package_name + "__" + (middle_module.empty() ? "msg" : middle_module) + "__" + type_name;
 
     if (!typesupport_library->hasSymbol(symbol_name)) {
       throw std::runtime_error(poco_dynamic_loading_error + " Symbol not found.");
diff --git a/rosbag2/test/rosbag2/test_typesupport_helpers.cpp b/rosbag2/test/rosbag2/test_typesupport_helpers.cpp
index f7ad099891..0d3187b2a0 100644
--- a/rosbag2/test/rosbag2/test_typesupport_helpers.cpp
+++ b/rosbag2/test/rosbag2/test_typesupport_helpers.cpp
@@ -24,18 +24,25 @@
 using namespace ::testing;  // NOLINT
 
 TEST(TypesupportHelpersTest, throws_exception_if_filetype_has_no_type) {
-  EXPECT_ANY_THROW(rosbag2::extract_type_and_package("just_a_package_name"));
+  EXPECT_ANY_THROW(rosbag2::extract_type_identifier("just_a_package_name"));
 }
 
 TEST(TypesupportHelpersTest, throws_exception_if_filetype_has_slash_at_the_start_only) {
-  EXPECT_ANY_THROW(rosbag2::extract_type_and_package("/name_with_slash_at_start"));
+  EXPECT_ANY_THROW(rosbag2::extract_type_identifier("/name_with_slash_at_start"));
 }
 
 TEST(TypesupportHelpersTest, throws_exception_if_filetype_has_slash_at_the_end_only) {
-  EXPECT_ANY_THROW(rosbag2::extract_type_and_package("name_with_slash_at_end/"));
+  EXPECT_ANY_THROW(rosbag2::extract_type_identifier("name_with_slash_at_end/"));
 }
 
-TEST(TypesupportHelpersTest, separates_into_package_and_name_for_correct_package) {
+#if !defined(_WIN32)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else  // !defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
+TEST(TypesupportHelpersTest, separates_into_package_and_name_for_correct_package_legacy) {
   std::string package;
   std::string name;
   std::tie(package, name) = rosbag2::extract_type_and_package("package/name");
@@ -44,13 +51,42 @@ TEST(TypesupportHelpersTest, separates_into_package_and_name_for_correct_package
   EXPECT_THAT(name, StrEq("name"));
 }
 
+TEST(TypesupportHelpersTest, separates_into_package_and_name_for_multiple_slashes_legacy) {
+  std::string package;
+  std::string name;
+  std::tie(package, name) =
+    rosbag2::extract_type_and_package("package/middle_module/name");
+
+  EXPECT_THAT(package, StrEq("package"));
+  EXPECT_THAT(name, StrEq("name"));
+}
+#if !defined(_WIN32)
+# pragma GCC diagnostic pop
+#else  // !defined(_WIN32)
+# pragma warning(pop)
+#endif
+
+TEST(TypesupportHelpersTest, separates_into_package_and_name_for_correct_package) {
+  std::string package;
+  std::string middle_module;
+  std::string name;
+  std::tie(package, middle_module, name) = rosbag2::extract_type_identifier("package/name");
+
+  EXPECT_THAT(package, StrEq("package"));
+  EXPECT_THAT(middle_module, StrEq(""));
+  EXPECT_THAT(name, StrEq("name"));
+}
+
 TEST(TypesupportHelpersTest, separates_into_package_and_name_for_multiple_slashes) {
   std::string package;
+  std::string middle_module;
   std::string name;
-  std::tie(package, name) = rosbag2::extract_type_and_package("name/with/multiple_slashes");
+  std::tie(package, middle_module, name) =
+    rosbag2::extract_type_identifier("package/middle_module/name");
 
-  EXPECT_THAT(package, StrEq("name"));
-  EXPECT_THAT(name, StrEq("multiple_slashes"));
+  EXPECT_THAT(package, StrEq("package"));
+  EXPECT_THAT(middle_module, StrEq("middle_module"));
+  EXPECT_THAT(name, StrEq("name"));
 }
 
 TEST(TypesupportHelpersTest, throws_exception_if_library_cannot_be_found) {
@@ -58,10 +94,18 @@ TEST(TypesupportHelpersTest, throws_exception_if_library_cannot_be_found) {
     rosbag2::get_typesupport("invalid/message", "rosidl_typesupport_cpp"), std::runtime_error);
 }
 
-TEST(TypesupportHelpersTest, returns_c_type_info_for_valid_library) {
+TEST(TypesupportHelpersTest, returns_c_type_info_for_valid_legacy_library) {
   auto string_typesupport =
     rosbag2::get_typesupport("test_msgs/BasicTypes", "rosidl_typesupport_cpp");
 
   EXPECT_THAT(std::string(string_typesupport->typesupport_identifier),
     ContainsRegex("rosidl_typesupport"));
 }
+
+TEST(TypesupportHelpersTest, returns_c_type_info_for_valid_library) {
+  auto string_typesupport =
+    rosbag2::get_typesupport("test_msgs/msg/BasicTypes", "rosidl_typesupport_cpp");
+
+  EXPECT_THAT(std::string(string_typesupport->typesupport_identifier),
+    ContainsRegex("rosidl_typesupport"));
+}