diff --git a/Tools/zenoh/px_generate_zenoh_topic_files.py b/Tools/zenoh/px_generate_zenoh_topic_files.py
index a6f5d12c4b7..cfa69f8d99b 100755
--- a/Tools/zenoh/px_generate_zenoh_topic_files.py
+++ b/Tools/zenoh/px_generate_zenoh_topic_files.py
@@ -155,7 +155,12 @@ def generate_topics_list_file_from_files(files, outputdir, template_filename, te
     for msg_filename in files:
         topics.extend(get_topics(msg_filename))
 
-    tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names, "rihs01_hashes": rihs01_hashes}
+    datatypes_with_topics = dict()
+    for msg_filename in files:
+        datatype = re.sub(r'(?<!^)(?=[A-Z])', '_', os.path.basename(msg_filename)).lower().replace(".msg","")
+        datatypes_with_topics[datatype] = get_topics(msg_filename)
+
+    tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names, "rihs01_hashes": rihs01_hashes, "datatypes_with_topics": datatypes_with_topics}
     tl_template_file = os.path.join(templatedir, template_filename)
     tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
 
diff --git a/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em b/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
index 6307297bbf5..c6808cecbcc 100644
--- a/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
+++ b/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
@@ -74,7 +74,7 @@ full_base_names.sort()
 
 @[for idx, topic_name in enumerate(datatypes)]@
 @{
-type_topic_count = len([e for e in topic_names_all if e.startswith(topic_name)])
+type_topic_count = len(datatypes_with_topics[topic_name])
 }@
 #ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
 #  define CONFIG_ZENOH_PUBSUB_@(topic_name.upper())_COUNT @(type_topic_count)
@@ -105,7 +105,7 @@ uorb_id_idx = 0
 @[for idx, topic_name in enumerate(datatypes)]@
 #ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
 @{
-topic_names = [e for e in topic_names_all if e.startswith(topic_name)]
+topic_names = datatypes_with_topics[topic_name]
 }@
 @[for topic_name_inst in topic_names]@
 		{
@@ -160,6 +160,8 @@ Zenoh_Subscriber* genSubscriber(const char *name) {
 }
 
 const char* genTypeName(const char *name, const uint8_t* hash) {
+    //FIXME this isn't fully clean because we've got topics that never matches datatype name
+    // i.e. ESTIMATOR_AID_SOURCE2D however storing all strings in flash isn't ideal either
     const char *pch;
     for (auto &sub : _topics) {
         pch = strstr(name, sub.orb_meta->o_name);