diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index da0a9707f2b..e2f1c6ddad6 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -135,6 +135,9 @@ set(config_module_list
 	modules/uORB
 	modules/dataman
 
+	# micro RTPS
+	modules/micrortps_bridge/micrortps_client
+
 	#
 	# Libraries
 	#
@@ -198,6 +201,14 @@ set(config_module_list
 	#examples/ekf_att_pos_estimator
 )
 
+set(config_rtps_send_topics
+   sensor_combined
+   )
+
+set(config_rtps_receive_topics
+   sensor_baro
+   )
+
 set(config_extra_builtin_cmds
 	serdis
 	sercon