diff --git a/src/modules/rover_pos_control/RoverPositionControl.cpp b/src/modules/rover_pos_control/RoverPositionControl.cpp
index 91dc5c339d..b48337f3d6 100644
--- a/src/modules/rover_pos_control/RoverPositionControl.cpp
+++ b/src/modules/rover_pos_control/RoverPositionControl.cpp
@@ -496,6 +496,20 @@ RoverPositionControl::Run()
 			// timestamp and publish controls
 			_act_controls.timestamp = hrt_absolute_time();
 			_actuator_controls_pub.publish(_act_controls);
+
+			vehicle_thrust_setpoint_s v_thrust_sp{};
+			v_thrust_sp.timestamp = hrt_absolute_time();
+			v_thrust_sp.xyz[0] = _act_controls.control[actuator_controls_s::INDEX_THROTTLE];
+			v_thrust_sp.xyz[1] = 0.0f;
+			v_thrust_sp.xyz[2] = 0.0f;
+			_vehicle_thrust_setpoint_pub.publish(v_thrust_sp);
+
+			vehicle_torque_setpoint_s v_torque_sp{};
+			v_torque_sp.timestamp = hrt_absolute_time();
+			v_torque_sp.xyz[0] = _act_controls.control[actuator_controls_s::INDEX_ROLL];
+			v_torque_sp.xyz[1] = _act_controls.control[actuator_controls_s::INDEX_PITCH];
+			v_torque_sp.xyz[2] = _act_controls.control[actuator_controls_s::INDEX_YAW];
+			_vehicle_torque_setpoint_pub.publish(v_torque_sp);
 		}
 	}
 }
diff --git a/src/modules/rover_pos_control/RoverPositionControl.hpp b/src/modules/rover_pos_control/RoverPositionControl.hpp
index 5fc1593df9..7bfe8a6e85 100644
--- a/src/modules/rover_pos_control/RoverPositionControl.hpp
+++ b/src/modules/rover_pos_control/RoverPositionControl.hpp
@@ -73,6 +73,8 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/vehicle_thrust_setpoint.h>
+#include <uORB/topics/vehicle_torque_setpoint.h>
 
 using matrix::Dcmf;
 
@@ -126,6 +128,8 @@ private:
 	actuator_controls_s				_act_controls{};		/**< direct control of actuators */
 	vehicle_attitude_s				_vehicle_att{};
 	vehicle_local_position_setpoint_s       _trajectory_setpoint{};
+	uORB::Publication<vehicle_thrust_setpoint_s>	_vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
+	uORB::Publication<vehicle_torque_setpoint_s>	_vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
 
 	uORB::SubscriptionData<vehicle_acceleration_s>		_vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};