diff --git a/msg/tools/generate_microRTPS_bridge.py b/msg/tools/generate_microRTPS_bridge.py
index 20fdda4d19..981b56c983 100644
--- a/msg/tools/generate_microRTPS_bridge.py
+++ b/msg/tools/generate_microRTPS_bridge.py
@@ -57,28 +57,63 @@ except ImportError:
 
 def check_rtps_id_uniqueness(classifier):
     """
-    Checks if:
-    1. there are no ID's for different msgs repeated on the map
-    2. the same msg is set to be sent/received and unclassified at the same time
+    Checks if there are no ID's for different msgs repeated on the map
     """
-    msgs_to_use = classifier.msgs_to_send
-    msgs_to_use.update(classifier.msgs_to_receive)
-    msgs_to_ignore = classifier.msgs_to_ignore
 
-    used_ids = msgs_to_use.values()
-    used_ids.sort()
+    repeated_ids = dict()
 
-    repeated_keys = dict()
-    for key, value in msgs_to_use.items():
-        if used_ids.count(value) > 1:
-            repeated_keys.update({key: value})
+    # check if there are repeated ID's on the messages to send
+    for key, value in classifier.msgs_to_send.items():
+        if classifier.msgs_to_send.values().count(value) > 1:
+            repeated_ids.update({key: value})
 
-    if not repeated_keys:
+    # check if there are repeated ID's on the messages to receive
+    for key, value in classifier.msgs_to_receive.items():
+        if classifier.msgs_to_receive.values().count(value) > 1:
+            repeated_ids.update({key: value})
+
+    # check if there are repeated ID's on the messages to ignore
+    for key, value in classifier.msgs_to_ignore.items():
+        if classifier.msgs_to_ignore.values().count(value) > 1:
+            repeated_ids.update({key: value})
+
+    # check if there are repeated IDs between classfied and unclassified msgs
+    # check send and ignore lists
+    send_ignore_common_ids = list(set(classifier.msgs_to_ignore.values(
+    )).intersection(classifier.msgs_to_send.values()))
+    for item in zip(classifier.msgs_to_send.items(), classifier.msgs_to_ignore.items()):
+        for repeated in send_ignore_common_ids:
+            if item[1] == repeated:
+                repeated_ids.update({item[0]: item[1]})
+    for item in classifier.msgs_to_ignore.items():
+        for repeated in send_ignore_common_ids:
+            if item[1] == repeated:
+                repeated_ids.update({item[0]: item[1]})
+
+    # check receive and ignore lists
+    receive_ignore_common_ids = list(set(classifier.msgs_to_ignore.values(
+    )).intersection(classifier.msgs_to_receive.values()))
+    for item in classifier.msgs_to_receive.items():
+        for repeated in receive_ignore_common_ids:
+            if item[1] == repeated:
+                repeated_ids.update({item[0]: item[1]})
+    for item in classifier.msgs_to_ignore.items():
+        for repeated in receive_ignore_common_ids:
+            if item[1] == repeated:
+                repeated_ids.update({item[0]: item[1]})
+
+    all_msgs = classifier.msgs_to_send
+    all_msgs.update(classifier.msgs_to_receive)
+    all_msgs.update(classifier.msgs_to_ignore)
+    all_ids = all_msgs.values()
+    all_ids.sort()
+
+    if not repeated_ids:
         print("All good. RTPS ID's are unique")
     else:
-        raise AssertionError(", ".join('%s' % msgs for msgs in repeated_keys.keys()) +
-                             " have their keys repeated. Please choose from the following pool:\n" +
-                             ", ".join('%d' % id for id in px_generate_uorb_topic_helper.check_available_ids(used_ids)))
+        raise AssertionError(", ".join('%s' % msgs for msgs in repeated_ids.keys()) +
+                             " have their ID's repeated. Please choose from the following pool:\n" +
+                             ", ".join('%d' % id for id in px_generate_uorb_topic_helper.check_available_ids(all_ids)))
 
 
 default_client_out = px_generate_uorb_topic_helper.get_absolute_path(
diff --git a/msg/tools/px_generate_uorb_topic_helper.py b/msg/tools/px_generate_uorb_topic_helper.py
index 4a4088190b..bd62c895e5 100644
--- a/msg/tools/px_generate_uorb_topic_helper.py
+++ b/msg/tools/px_generate_uorb_topic_helper.py
@@ -377,18 +377,23 @@ def rtps_message_id(msg_id_map, message):
     """
     Get RTPS ID of uORB message
     """
+    error_msg = ""
+
+    # check if the message has an ID set
+    for dict in msg_id_map[0]['rtps']:
+        if message in dict['msg']:
+            if dict['id'] is not None:
+                return dict['id']
+            else:
+                error_msg = "ID is None!"
+                break
+
+    # create list of the available IDs if it fails to get an ID
     used_ids = list()
-    # check 'send' list
-    for dict in msg_id_map[0]['rtps']['send']:
-        used_ids.append(dict['id'])
-        if message in dict['msg']:
-            return dict['id']
-    # check 'receive' list
-    for dict in msg_id_map[0]['rtps']['receive']:
-        used_ids.append(dict['id'])
-        if message in dict['msg']:
-            return dict['id']
+    for dict in msg_id_map[0]['rtps']:
+        if dict['id'] is not None:
+            used_ids.append(dict['id'])
 
     raise AssertionError(
-        "%s does not have a RTPS ID set in the definition file. Please add an ID from the available pool:\n" % message +
+        "%s %s Please add an ID from the available pool:\n" % (message, error_msg) +
         ", ".join('%d' % id for id in check_available_ids(used_ids)))
diff --git a/msg/tools/uorb_rtps_classifier.py b/msg/tools/uorb_rtps_classifier.py
index db0057dde3..ad26a173bc 100644
--- a/msg/tools/uorb_rtps_classifier.py
+++ b/msg/tools/uorb_rtps_classifier.py
@@ -89,33 +89,36 @@ class Classifier():
     # setters (for class init)
     def set_msgs_to_send(self):
         send = {}
-        for dict in self.msg_id_map['rtps']['send']:
-            send.update({dict['msg']: dict['id']})
+        for dict in self.msg_id_map['rtps']:
+            if 'send' in dict.keys():
+                send.update({dict['msg']: dict['id']})
         return send
 
     def set_msgs_to_receive(self):
         receive = {}
-        for dict in self.msg_id_map['rtps']['receive']:
-            receive.update({dict['msg']: dict['id']})
+        for dict in self.msg_id_map['rtps']:
+            if 'receive' in dict.keys():
+                receive.update({dict['msg']: dict['id']})
         return receive
 
     def set_msgs_to_ignore(self):
         ignore = {}
-        for dict in self.msg_id_map['rtps']['unclassified']:
-            ignore.update({dict['msg']: dict['id']})
+        for dict in self.msg_id_map['rtps']:
+            if ('send' not in dict.keys()) and ('receive' not in dict.keys()):
+                ignore.update({dict['msg']: dict['id']})
         return ignore
 
     def set_msg_files_send(self):
         return [os.path.join(self.msg_folder, msg + ".msg")
-                                for msg in self.msgs_to_send.keys()]
+                for msg in self.msgs_to_send.keys()]
 
     def set_msg_files_receive(self):
         return [os.path.join(self.msg_folder, msg + ".msg")
-                                   for msg in self.msgs_to_receive.keys()]
+                for msg in self.msgs_to_receive.keys()]
 
     def set_msg_files_ignore(self):
         return [os.path.join(self.msg_folder, msg + ".msg")
-                                  for msg in self.msgs_to_ignore.keys()]
+                for msg in self.msgs_to_ignore.keys()]
 
     @staticmethod
     def parse_yaml_msg_id_file(yaml_file):
@@ -154,7 +157,8 @@ if __name__ == "__main__":
     args = parser.parse_args()
 
     msg_folder = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-    classifier = Classifier(os.path.join(msg_folder, args.yaml_file), msg_folder)
+    classifier = Classifier(os.path.join(
+        msg_folder, args.yaml_file), msg_folder)
 
     if args.send:
         if args.path:
diff --git a/msg/tools/uorb_rtps_message_ids.yaml b/msg/tools/uorb_rtps_message_ids.yaml
index dcc3209c46..88f7a6f9c1 100644
--- a/msg/tools/uorb_rtps_message_ids.yaml
+++ b/msg/tools/uorb_rtps_message_ids.yaml
@@ -1,252 +1,286 @@
 rtps:
-  send:
-    - msg: airspeed
-      id: 5
-    - msg: battery_status
-      id: 6
-    - msg: differential_pressure
-      id: 15
-    - msg: esc_report
-      id: 21
-    - msg: esc_status
-      id: 22
-    - msg: estimator_status
-      id: 23
-    - msg: iridiumsbd_status
-      id: 30
-    - msg: radio_status
-      id: 55
-    - msg: rate_ctrl_status
-      id: 56
-    - msg: satellite_info
-      id: 60
-    - msg: sensor_accel
-      id: 61
-    - msg: sensor_baro
-      id: 62
-    - msg: sensor_bias
-      id: 63
-    - msg: sensor_combined
-      id: 64
-    - msg: sensor_correction
-      id: 65
-    - msg: sensor_gyro
-      id: 66
-    - msg: sensor_mag
-      id: 67
-    - msg: sensor_preflight
-      id: 68
-    - msg: sensor_selection
-      id: 69
-    - msg: servorail_status
-      id: 70
-    - msg: subsystem_info
-      id: 71
-    - msg: tecs_status
-      id: 74
-    - msg: telemetry_status
-      id: 75
-    - msg: transponder_report
-      id: 79
-    - msg: vehicle_global_position
-      id: 92
-    - msg: vehicle_gps_position
-      id: 93
-    - msg: vehicle_land_detected
-      id: 94
-    - msg: vehicle_odometry
-      id: 98
-    - msg: vehicle_status
-      id: 101
-    - msg: vtol_vehicle_status
-      id: 104
-  receive:
-    - msg: camera_trigger
-      id: 8
-    - msg: debug_key_value
-      id: 12
-    - msg: debug_value
-      id: 13
-    - msg: debug_vect
-      id: 14
-    - msg: obstacle_distance
-      id: 42
-    - msg: optical_flow
-      id: 44
-    # multi topics TODO
-    # - msg: vehicle_mocap_odometry
-    #   id: 132
-    # - msg: vehicle_visual_odometry
-    #   id: 133
-  unclassified:
-    - msg: actuator_armed
-      id: 0
-    - msg: actuator_control
-      id: 1
-    - msg: actuator_direct
-      id: 2
-    - msg: actuator_output
-      id: 3
-    - msg: adc_report
-      id: 4
-    - msg: camera_capture
-      id: 7
-    - msg: collision_report
-      id: 9
-    - msg: commander_state
-      id: 10
-    - msg: cpuload
-      id: 11
-    - msg: distance_sensor
-      id: 16
-    - msg: ekf2_innovations
-      id: 17
-    - msg: ekf2_timestamps
-      id: 18
-    - msg: ekf_gps_drift
-      id: 19
-    - msg: ekf_gps_position
-      id: 20
-    - msg: follow_target
-      id: 24
-    - msg: geofence_result
-      id: 25
-    - msg: gps_dump
-      id: 26
-    - msg: gps_inject_data
-      id: 27
-    - msg: home_position
-      id: 28
-    - msg: input_rc
-      id: 29
-    - msg: irlock_report
-      id: 31
-    - msg: landing_target_innovation
-      id: 32
-    - msg: landing_target_pose
-      id: 33
-    - msg: led_control
-      id: 34
-    - msg: log_message
-      id: 35
-    - msg: manual_control_setpoint
-      id: 36
-    - msg: mavlink_log
-      id: 37
-    - msg: mission
-      id: 38
-    - msg: mission_result
-      id: 39
-    - msg: mount_orientation
-      id: 40
-    - msg: multirotor_motor_limit
-      id: 41
-    - msg: offboard_control_mode
-      id: 43
-    - msg: parameter_update
-      id: 45
-    - msg: ping
-      id: 46
-    - msg: position_controller_landing_status
-      id: 47
-    - msg: position_controller_status
-      id: 48
-    - msg: position_setpoint
-      id: 49
-    - msg: position_setpoint_triplet
-      id: 50
-    - msg: power_button_state
-      id: 51
-    - msg: pwm_input
-      id: 52
-    - msg: qshell_req
-      id: 53
-    - msg: qshell_retval
-      id: 54
-    - msg: rc_channels
-      id: 57
-    - msg: rc_parameter_map
-      id: 58
-    - msg: safety
-      id: 59
-    - msg: system_power
-      id: 72
-    - msg: task_stack_info
-      id: 73
-    - msg: test_motor
-      id: 76
-    - msg: timesync_status
-      id: 77
-    - msg: trajectory_waypoint
-      id: 78
-    - msg: tune_control
-      id: 80
-    - msg: uavcan_parameter_request
-      id: 81
-    - msg: uavcan_parameter_value
-      id: 82
-    - msg: ulog_stream
-      id: 83
-    - msg: ulog_stream_ack
-      id: 84
-    - msg: vehicle_air_data
-      id: 85
-    - msg: vehicle_attitude
-      id: 86
-    - msg: vehicle_attitude_setpoint
-      id: 87
-    - msg: vehicle_command
-      id: 88
-    - msg: vehicle_command_ack
-      id: 89
-    - msg: vehicle_constraint
-      id: 90
-    - msg: vehicle_control_mode
-      id: 91
-    - msg: vehicle_local_position
-      id: 95
-    - msg: vehicle_local_position_setpoint
-      id: 96
-    - msg: vehicle_magnetometer
-      id: 97
-    - msg: vehicle_rates_setpoint
-      id: 99
-    - msg: vehicle_roi
-      id: 100
-    - msg: vehicle_status_flags
-      id: 102
-    - msg: vehicle_trajectory_waypoint
-      id: 103
-    - msg: wind_estimate
-      id: 105
-    # multi topics
-    - msg: actuator_control0
-      id: 120
-    - msg: actuator_control1
-      id: 121
-    - msg: actuator_control2
-      id: 122
-    - msg: actuator_control3
-      id: 123
-    - msg: actuator_controls_virtual_fw
-      id: 124
-    - msg: actuator_controls_virtual_mc
-      id: 125
-    - msg: mc_virtual_attitude_setpoint
-      id: 126
-    - msg: fw_virtual_attitude_setpoint
-      id: 127
-    - msg: vehicle_attitude_groundtruth
-      id: 128
-    - msg: vehicle_vision_attitude
-      id: 129
-    - msg: vehicle_global_position_groundtruth
-      id: 130
-    - msg: vehicle_local_position_groundtruth
-      id: 131
-    - msg: mc_virtual_rates_setpoint
-      id: 134
-    - msg: fw_virtual_rates_setpoint
-      id: 135
-    - msg: vehicle_trajectory_waypoint_desired
-      id: 136
+  - msg: actuator_armed
+    id: 0
+  - msg: actuator_control
+    id: 1
+  - msg: actuator_direct
+    id: 2
+  - msg: actuator_output
+    id: 3
+  - msg: adc_report
+    id: 4
+  - msg: airspeed
+    id: 5
+    send: true
+  - msg: battery_status
+    id: 6
+    send: true
+  - msg: camera_capture
+    id: 7
+  - msg: camera_trigger
+    id: 8
+    receive: true
+  - msg: collision_report
+    id: 9
+  - msg: commander_state
+    id: 10
+  - msg: cpuload
+    id: 11
+  - msg: debug_key_value
+    id: 12
+    receive: true
+  - msg: debug_value
+    id: 13
+    receive: true
+  - msg: debug_vect
+    id: 14
+    receive: true
+  - msg: differential_pressure
+    id: 15
+    send: true
+  - msg: distance_sensor
+    id: 16
+  - msg: ekf2_innovations
+    id: 17
+  - msg: ekf2_timestamps
+    id: 18
+  - msg: ekf_gps_drift
+    id: 19
+  - msg: ekf_gps_position
+    id: 20
+  - msg: esc_report
+    id: 21
+    send: true
+  - msg: esc_status
+    id: 22
+    send: true
+  - msg: estimator_status
+    id: 23
+    send: true
+  - msg: iridiumsbd_status
+    id: 30
+    send: true
+  - msg: follow_target
+    id: 24
+  - msg: geofence_result
+    id: 25
+  - msg: gps_dump
+    id: 26
+  - msg: gps_inject_data
+    id: 27
+  - msg: home_position
+    id: 28
+  - msg: input_rc
+    id: 29
+  - msg: irlock_report
+    id: 31
+  - msg: landing_target_innovation
+    id: 32
+  - msg: landing_target_pose
+    id: 33
+  - msg: led_control
+    id: 34
+  - msg: log_message
+    id: 35
+  - msg: manual_control_setpoint
+    id: 36
+  - msg: mavlink_log
+    id: 37
+  - msg: mission
+    id: 38
+  - msg: mission_result
+    id: 39
+  - msg: mount_orientation
+    id: 40
+  - msg: multirotor_motor_limit
+    id: 41
+  - msg: obstacle_distance
+    id: 42
+    receive: true
+  - msg: offboard_control_mode
+    id: 43
+  - msg: optical_flow
+    id: 44
+    receive: true
+  - msg: parameter_update
+    id: 45
+  - msg: ping
+    id: 46
+  - msg: position_controller_landing_status
+    id: 47
+  - msg: position_controller_status
+    id: 48
+  - msg: position_setpoint
+    id: 49
+  - msg: position_setpoint_triplet
+    id: 50
+  - msg: power_button_state
+    id: 51
+  - msg: pwm_input
+    id: 52
+  - msg: qshell_req
+    id: 53
+  - msg: qshell_retval
+    id: 54
+  - msg: radio_status
+    id: 55
+    send: true
+  - msg: rate_ctrl_status
+    id: 56
+    send: true
+  - msg: rc_channels
+    id: 57
+  - msg: rc_parameter_map
+    id: 58
+  - msg: safety
+    id: 59
+  - msg: satellite_info
+    id: 60
+    send: true
+  - msg: sensor_accel
+    id: 61
+    send: true
+  - msg: sensor_baro
+    id: 62
+    send: true
+  - msg: sensor_bias
+    id: 63
+    send: true
+  - msg: sensor_combined
+    id: 64
+    send: true
+  - msg: sensor_correction
+    id: 65
+    send: true
+  - msg: sensor_gyro
+    id: 66
+    send: true
+  - msg: sensor_mag
+    id: 67
+    send: true
+  - msg: sensor_preflight
+    id: 68
+    send: true
+  - msg: sensor_selection
+    id: 69
+    send: true
+  - msg: servorail_status
+    id: 70
+    send: true
+  - msg: subsystem_info
+    id: 71
+    send: true
+  - msg: system_power
+    id: 72
+  - msg: task_stack_info
+    id: 73
+  - msg: tecs_status
+    id: 74
+    send: true
+  - msg: telemetry_status
+    id: 75
+    send: true
+  - msg: test_motor
+    id: 76
+  - msg: timesync_status
+    id: 77
+  - msg: trajectory_waypoint
+    id: 78
+  - msg: transponder_report
+    id: 79
+    send: true
+  - msg: tune_control
+    id: 80
+  - msg: uavcan_parameter_request
+    id: 81
+  - msg: uavcan_parameter_value
+    id: 82
+  - msg: ulog_stream
+    id: 83
+  - msg: ulog_stream_ack
+    id: 84
+  - msg: vehicle_air_data
+    id: 85
+  - msg: vehicle_attitude
+    id: 86
+  - msg: vehicle_attitude_setpoint
+    id: 87
+  - msg: vehicle_command
+    id: 88
+  - msg: vehicle_command_ack
+    id: 89
+  - msg: vehicle_constraint
+    id: 90
+  - msg: vehicle_control_mode
+    id: 91
+  - msg: vehicle_global_position
+    id: 92
+    send: true
+  - msg: vehicle_gps_position
+    id: 93
+    send: true
+  - msg: vehicle_land_detected
+    id: 94
+    send: true
+  - msg: vehicle_local_position
+    id: 95
+  - msg: vehicle_local_position_setpoint
+    id: 96
+  - msg: vehicle_magnetometer
+    id: 97
+  - msg: vehicle_odometry
+    id: 98
+    send: true
+  - msg: vehicle_rates_setpoint
+    id: 99
+  - msg: vehicle_roi
+    id: 100
+  - msg: vehicle_status
+    id: 101
+    send: true
+  - msg: vehicle_status_flags
+    id: 102
+  - msg: vehicle_trajectory_waypoint
+    id: 103
+  - msg: vtol_vehicle_status
+    id: 104
+    send: true
+  - msg: wind_estimate
+    id: 105
+  # multi topics
+  - msg: actuator_control0
+    id: 120
+  - msg: actuator_control1
+    id: 121
+  - msg: actuator_control2
+    id: 122
+  - msg: actuator_control3
+    id: 123
+  - msg: actuator_controls_virtual_fw
+    id: 124
+  - msg: actuator_controls_virtual_mc
+    id: 125
+  - msg: mc_virtual_attitude_setpoint
+    id: 126
+  - msg: fw_virtual_attitude_setpoint
+    id: 127
+  - msg: vehicle_attitude_groundtruth
+    id: 128
+  - msg: vehicle_vision_attitude
+    id: 129
+  - msg: vehicle_global_position_groundtruth
+    id: 130
+  - msg: vehicle_local_position_groundtruth
+    id: 131
+  # - msg: vehicle_mocap_odometry
+  #   id: 132
+  #   receive: true
+  # - msg: vehicle_visual_odometry
+  #   id: 133
+  #   receive: true
+  - msg: mc_virtual_rates_setpoint
+    id: 134
+  - msg: fw_virtual_rates_setpoint
+    id: 135
+  - msg: vehicle_trajectory_waypoint_desired
+    id: 136