diff --git a/msg/tools/generate_microRTPS_bridge.py b/msg/tools/generate_microRTPS_bridge.py
index fe16649e7a..0082b6758f 100644
--- a/msg/tools/generate_microRTPS_bridge.py
+++ b/msg/tools/generate_microRTPS_bridge.py
@@ -82,6 +82,35 @@ def parse_yaml_msg_id_file(yaml_file):
             raise
 
 
+def get_used_rtps_ids(msg_id_map):
+    msg_ids = {}
+    for dict in msg_id_map['rtps']:
+        msg_ids.update({dict['msg']: dict['id']})
+    return msg_ids
+
+
+def check_rtps_id_uniqueness(msg_id_map):
+    """
+    Checks if there are no ID's repeated on the map
+    """
+    msg_ids = get_used_rtps_ids(msg_id_map)
+
+    used_ids = msg_ids.values()
+    used_ids.sort()
+
+    repeated_keys = dict()
+    for key, value in msg_ids.items():
+        if used_ids.count(value) > 1:
+            repeated_keys.update({key: value})
+
+    if not repeated_keys:
+        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)))
+
+
 default_client_out = get_absolute_path(
     "src/modules/micrortps_bridge/micrortps_client")
 default_agent_out = get_absolute_path(
@@ -206,6 +235,8 @@ uorb_templates_dir = os.path.join(msg_folder, args.uorb_templates)
 urtps_templates_dir = os.path.join(msg_folder, args.urtps_templates)
 # parse yaml file into a map of ids
 rtps_ids = parse_yaml_msg_id_file(os.path.join(msg_folder, args.yaml_file))
+# check if there are no ID's repeated
+check_rtps_id_uniqueness(rtps_ids)
 
 
 uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.template'
diff --git a/msg/tools/px_generate_uorb_topic_helper.py b/msg/tools/px_generate_uorb_topic_helper.py
index 6f3a6bb79f..40accb4565 100644
--- a/msg/tools/px_generate_uorb_topic_helper.py
+++ b/msg/tools/px_generate_uorb_topic_helper.py
@@ -347,18 +347,23 @@ def print_field_def(field):
                                 array_size, comment))
 
 
+def check_available_ids(used_msg_ids_list):
+    """
+    Checks the available RTPS ID's
+    """
+    return set(list(range(0, 255))) - set(used_msg_ids_list)
+
+
 def rtps_message_id(msg_id_map, message):
     """
     Get RTPS ID of uORB message
     """
-    msg_id = -1
+    used_ids = list()
     for dict in msg_id_map[0]['rtps']:
+        used_ids.append(dict['id'])
         if message in dict['msg']:
-            msg_id = dict['id']
+            return dict['id']
 
-    if msg_id != -1:
-        return msg_id
-    else:
-        raise AssertionError(
-            "%s does not have a RTPS ID set in the definition file. Please add an ID from the available pool!")
-        exit(1)
+    raise AssertionError(
+        "%s does not have a RTPS ID set in the definition file. Please add an ID from the available pool:\n" % message +
+        ", ".join('%d' % id for id in check_available_ids(used_ids)))