diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 8d4e27931b..10f34abe81 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -448,13 +448,7 @@ if(CONFIG_LIB_CDRSTREAM)
 	# Copy .msg files
 	foreach(msg_file ${msg_files})
 		get_filename_component(msg ${msg_file} NAME_WE)
-		get_filename_component(msg_directory ${msg_file} DIRECTORY)
-		get_filename_component(msg_directory ${msg_directory} NAME)
-		if(msg_directory STREQUAL "versioned")
-			configure_file(${PX4_SOURCE_DIR}/msg/${msg_directory}/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY)
-		else()
-			configure_file(${PX4_SOURCE_DIR}/msg/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY)
-		endif()
+		configure_file(${msg_file} ${idl_out_path}/${msg}.msg COPYONLY)
 		list(APPEND uorb_cdr_idl ${idl_out_path}/${msg}.idl)
 		list(APPEND uorb_cdr_msg ${idl_out_path}/${msg}.msg)
 		list(APPEND uorb_cdr_idl_uorb ${idl_uorb_path}/${msg}.h)
diff --git a/src/modules/uxrce_dds_client/CMakeLists.txt b/src/modules/uxrce_dds_client/CMakeLists.txt
index acbc56c5a6..e5fc481543 100644
--- a/src/modules/uxrce_dds_client/CMakeLists.txt
+++ b/src/modules/uxrce_dds_client/CMakeLists.txt
@@ -117,7 +117,6 @@ else()
 
 	add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h
 		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_dds_topics.py
-			--topic-msg-dir ${PX4_SOURCE_DIR}/msg
 			--client-outdir ${CMAKE_CURRENT_BINARY_DIR}
 			--dds-topics-file ${CMAKE_CURRENT_SOURCE_DIR}/dds_topics.yaml
 			--template_file ${CMAKE_CURRENT_SOURCE_DIR}/dds_topics.h.em
diff --git a/src/modules/uxrce_dds_client/generate_dds_topics.py b/src/modules/uxrce_dds_client/generate_dds_topics.py
index 4052958df8..78e3bf3b93 100644
--- a/src/modules/uxrce_dds_client/generate_dds_topics.py
+++ b/src/modules/uxrce_dds_client/generate_dds_topics.py
@@ -43,9 +43,6 @@ import em
 import yaml
 
 parser = argparse.ArgumentParser()
-parser.add_argument("-m", "--topic-msg-dir", dest='msgdir', type=str,
-                    help="Topics message, by default using relative path 'msg/'", default="msg")
-
 parser.add_argument("-y", "--dds-topics-file", dest='yaml_file', type=str,
                     help="Setup topics file path, by default using 'dds_topics.yaml'")