diff --git a/ros2topic/ros2topic/api/__init__.py b/ros2topic/ros2topic/api/__init__.py
index dbded8efa..00f82e015 100644
--- a/ros2topic/ros2topic/api/__init__.py
+++ b/ros2topic/ros2topic/api/__init__.py
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import importlib
-
 from time import sleep
 
 import rclpy
@@ -23,6 +21,7 @@
 from rclpy.validate_full_topic_name import validate_full_topic_name
 from ros2cli.node.strategy import NodeStrategy
 from ros2msg.api import message_type_completer
+from rosidl_runtime_py import import_message_type
 
 
 def get_topic_names_and_types(*, node, include_hidden_topics=False):
@@ -54,24 +53,6 @@ def __call__(self, prefix, parsed_args, **kwargs):
                     parsed_args, self.include_hidden_topics_key))
 
 
-def import_message_type(topic_name, message_type):
-    # TODO(dirk-thomas) this logic should come from a rosidl related package
-    try:
-        package_name, message_name = message_type.split('/', 2)
-        if not package_name or not message_name:
-            raise ValueError()
-    except ValueError:
-        raise RuntimeError('The passed message type is invalid')
-
-    # TODO(sloretz) node API to get topic types should indicate if action or msg
-    middle_module = 'msg'
-    if topic_name.endswith('/_action/feedback'):
-        middle_module = 'action'
-
-    module = importlib.import_module(package_name + '.' + middle_module)
-    return getattr(module, message_name)
-
-
 class TopicTypeCompleter:
     """Callable returning an existing topic type or all message types."""
 
diff --git a/ros2topic/ros2topic/verb/echo.py b/ros2topic/ros2topic/verb/echo.py
index 91e75cf31..07f21f082 100644
--- a/ros2topic/ros2topic/verb/echo.py
+++ b/ros2topic/ros2topic/verb/echo.py
@@ -20,9 +20,9 @@
 from rclpy.validate_full_topic_name import validate_full_topic_name
 from ros2cli.node.direct import DirectNode
 from ros2topic.api import get_topic_names_and_types
-from ros2topic.api import import_message_type
 from ros2topic.api import TopicNameCompleter
 from ros2topic.verb import VerbExtension
+from rosidl_runtime_py import import_message_type
 from rosidl_runtime_py import message_to_csv
 from rosidl_runtime_py import message_to_yaml
 
diff --git a/ros2topic/ros2topic/verb/pub.py b/ros2topic/ros2topic/verb/pub.py
index 967f4acfc..16a9da0f8 100644
--- a/ros2topic/ros2topic/verb/pub.py
+++ b/ros2topic/ros2topic/verb/pub.py
@@ -16,10 +16,10 @@
 
 import rclpy
 from ros2cli.node import NODE_NAME_PREFIX
-from ros2topic.api import import_message_type
 from ros2topic.api import TopicNameCompleter
 from ros2topic.api import TopicTypeCompleter
 from ros2topic.verb import VerbExtension
+from rosidl_runtime_py import import_message_type
 from rosidl_runtime_py import set_message_fields
 
 import yaml