diff -Nru ros-bloom-0.6.5/bloom/generators/rosdebian.py ros-bloom-0.6.6/bloom/generators/rosdebian.py
--- ros-bloom-0.6.5/bloom/generators/rosdebian.py	2018-06-25 14:04:09.000000000 +0000
+++ ros-bloom-0.6.6/bloom/generators/rosdebian.py	2018-06-29 02:45:58.000000000 +0000
@@ -98,10 +98,15 @@
                 subs['BuildDepends'].append(workspace_pkg_name)
                 subs['Depends'].append(workspace_pkg_name)
 
-            # Add vendor typesupport packages to build dependencies for rosidl_interface_packages.
+            # Add packages necessary to build vendor typesupport for rosidl_interface_packages to their
+            # build dependencies.
             if self.rosdistro in ['bouncy'] and \
                     'rosidl_interface_packages' in [p.name for p in package.member_of_groups]:
-                ROS2_VENDOR_TYPESUPPORT_PACKAGES = [
+                ROS2_VENDOR_TYPESUPPORT_DEPENDENCIES = [
+                    'rmw-connext-cpp',
+                    'rmw-fastrtps-cpp',
+                    'rmw-implementation',
+                    'rmw-opensplice-cpp',
                     'rosidl-typesupport-connext-c',
                     'rosidl-typesupport-connext-cpp',
                     'rosidl-typesupport-opensplice-c',
@@ -109,7 +114,7 @@
                 ]
 
                 subs['BuildDepends'] += [
-                    rosify_package_name(name, self.rosdistro) for name in ROS2_VENDOR_TYPESUPPORT_PACKAGES]
+                    rosify_package_name(name, self.rosdistro) for name in ROS2_VENDOR_TYPESUPPORT_DEPENDENCIES]
         return subs
 
     def generate_branching_arguments(self, package, branch):
diff -Nru ros-bloom-0.6.5/CHANGELOG.rst ros-bloom-0.6.6/CHANGELOG.rst
--- ros-bloom-0.6.5/CHANGELOG.rst	2018-06-25 14:04:09.000000000 +0000
+++ ros-bloom-0.6.6/CHANGELOG.rst	2018-06-29 02:45:58.000000000 +0000
@@ -1,3 +1,7 @@
+0.6.6 (2018-06-28 19:44:00 -0800)
+---------------------------------
+- Updated vendor typesupport injection for ROS 2. `#477 <https://github.com/ros-infrastructure/bloom/pull/477>`_
+
 0.6.5 (2018-06-25 07:00:00 -0800)
 ---------------------------------
 - Added injection of vendor typesupport packages into build deps for ROS 2. `#475 <https://github.com/ros-infrastructure/bloom/pull/475>`_
diff -Nru ros-bloom-0.6.5/debian/changelog ros-bloom-0.6.6/debian/changelog
--- ros-bloom-0.6.5/debian/changelog	2018-06-27 07:46:25.000000000 +0000
+++ ros-bloom-0.6.6/debian/changelog	2018-07-02 18:41:05.000000000 +0000
@@ -1,3 +1,9 @@
+ros-bloom (0.6.6-1) unstable; urgency=medium
+
+  * New upstream version 0.6.6
+
+ -- Jochen Sprickerhof <jspricke@debian.org>  Mon, 02 Jul 2018 20:41:05 +0200
+
 ros-bloom (0.6.5-1) unstable; urgency=medium
 
   * New upstream version 0.6.5
diff -Nru ros-bloom-0.6.5/setup.py ros-bloom-0.6.6/setup.py
--- ros-bloom-0.6.5/setup.py	2018-06-25 14:04:09.000000000 +0000
+++ ros-bloom-0.6.6/setup.py	2018-06-29 02:45:58.000000000 +0000
@@ -22,7 +22,7 @@
 
 setup(
     name='bloom',
-    version='0.6.5',
+    version='0.6.6',
     packages=find_packages(exclude=['test', 'test.*']),
     package_data={
         'bloom.generators.debian': [