diff --git a/src/modules/zenoh/CMakeLists.txt b/src/modules/zenoh/CMakeLists.txt
index be94793dbc..158b1e2333 100644
--- a/src/modules/zenoh/CMakeLists.txt
+++ b/src/modules/zenoh/CMakeLists.txt
@@ -86,11 +86,11 @@ endif()
 add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/default_topics.c
 COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/../uxrce_dds_client/generate_dds_topics.py
 	--client-outdir ${CMAKE_CURRENT_BINARY_DIR}
-	--dds-topics-file ${CMAKE_CURRENT_SOURCE_DIR}/../uxrce_dds_client/dds_topics.yaml
+	--dds-topics-file ${CMAKE_CURRENT_SOURCE_DIR}/dds_topics.yaml
 	--template_file ${CMAKE_CURRENT_SOURCE_DIR}/default_topics.c.em
 DEPENDS
 	${CMAKE_CURRENT_SOURCE_DIR}/../uxrce_dds_client/generate_dds_topics.py
-	${CMAKE_CURRENT_SOURCE_DIR}/../uxrce_dds_client/dds_topics.yaml
+	${CMAKE_CURRENT_SOURCE_DIR}/dds_topics.yaml
 	${CMAKE_CURRENT_SOURCE_DIR}/default_topics.c.em
 COMMENT "Generating Default config"
 )
diff --git a/src/modules/zenoh/dds_topics.yaml b/src/modules/zenoh/dds_topics.yaml
new file mode 100644
index 0000000000..bbd0d8c631
--- /dev/null
+++ b/src/modules/zenoh/dds_topics.yaml
@@ -0,0 +1,161 @@
+#####
+#
+# This file maps all the topics that are to be used on the uXRCE-DDS client.
+#
+#####
+publications:
+
+  - topic: /fmu/out/register_ext_component_reply
+    type: px4_msgs::msg::RegisterExtComponentReply
+
+  - topic: /fmu/out/arming_check_request
+    type: px4_msgs::msg::ArmingCheckRequest
+
+  - topic: /fmu/out/mode_completed
+    type: px4_msgs::msg::ModeCompleted
+
+  - topic: /fmu/out/battery_status
+    type: px4_msgs::msg::BatteryStatus
+
+  - topic: /fmu/out/collision_constraints
+    type: px4_msgs::msg::CollisionConstraints
+
+  - topic: /fmu/out/estimator_status_flags
+    type: px4_msgs::msg::EstimatorStatusFlags
+
+  - topic: /fmu/out/failsafe_flags
+    type: px4_msgs::msg::FailsafeFlags
+
+  - topic: /fmu/out/manual_control_setpoint
+    type: px4_msgs::msg::ManualControlSetpoint
+
+  - topic: /fmu/out/message_format_response
+    type: px4_msgs::msg::MessageFormatResponse
+
+  - topic: /fmu/out/position_setpoint_triplet
+    type: px4_msgs::msg::PositionSetpointTriplet
+
+  - topic: /fmu/out/sensor_combined
+    type: px4_msgs::msg::SensorCombined
+
+  - topic: /fmu/out/timesync_status
+    type: px4_msgs::msg::TimesyncStatus
+
+  # - topic: /fmu/out/vehicle_angular_velocity
+  #   type: px4_msgs::msg::VehicleAngularVelocity
+
+  - topic: /fmu/out/vehicle_land_detected
+    type: px4_msgs::msg::VehicleLandDetected
+
+  - topic: /fmu/out/vehicle_attitude
+    type: px4_msgs::msg::VehicleAttitude
+
+  - topic: /fmu/out/vehicle_control_mode
+    type: px4_msgs::msg::VehicleControlMode
+
+  - topic: /fmu/out/vehicle_command_ack
+    type: px4_msgs::msg::VehicleCommandAck
+
+  - topic: /fmu/out/vehicle_global_position
+    type: px4_msgs::msg::VehicleGlobalPosition
+
+  - topic: /fmu/out/vehicle_gps_position
+    type: px4_msgs::msg::SensorGps
+
+  - topic: /fmu/out/vehicle_local_position
+    type: px4_msgs::msg::VehicleLocalPosition
+
+  - topic: /fmu/out/vehicle_odometry
+    type: px4_msgs::msg::VehicleOdometry
+
+  - topic: /fmu/out/vehicle_status
+    type: px4_msgs::msg::VehicleStatus
+
+  - topic: /fmu/out/airspeed_validated
+    type: px4_msgs::msg::AirspeedValidated
+
+# Create uORB::Publication
+subscriptions:
+  - topic: /fmu/in/register_ext_component_request
+    type: px4_msgs::msg::RegisterExtComponentRequest
+
+  - topic: /fmu/in/unregister_ext_component
+    type: px4_msgs::msg::UnregisterExtComponent
+
+  - topic: /fmu/in/config_overrides_request
+    type: px4_msgs::msg::ConfigOverrides
+
+  - topic: /fmu/in/arming_check_reply
+    type: px4_msgs::msg::ArmingCheckReply
+
+  - topic: /fmu/in/message_format_request
+    type: px4_msgs::msg::MessageFormatRequest
+
+  - topic: /fmu/in/mode_completed
+    type: px4_msgs::msg::ModeCompleted
+
+  - topic: /fmu/in/config_control_setpoints
+    type: px4_msgs::msg::VehicleControlMode
+
+  - topic: /fmu/in/distance_sensor
+    type: px4_msgs::msg::DistanceSensor
+
+  - topic: /fmu/in/manual_control_input
+    type: px4_msgs::msg::ManualControlSetpoint
+
+  - topic: /fmu/in/offboard_control_mode
+    type: px4_msgs::msg::OffboardControlMode
+
+  - topic: /fmu/in/onboard_computer_status
+    type: px4_msgs::msg::OnboardComputerStatus
+
+  - topic: /fmu/in/obstacle_distance
+    type: px4_msgs::msg::ObstacleDistance
+
+  - topic: /fmu/in/sensor_optical_flow
+    type: px4_msgs::msg::SensorOpticalFlow
+
+  - topic: /fmu/in/goto_setpoint
+    type: px4_msgs::msg::GotoSetpoint
+
+  - topic: /fmu/in/telemetry_status
+    type: px4_msgs::msg::TelemetryStatus
+
+  - topic: /fmu/in/trajectory_setpoint
+    type: px4_msgs::msg::TrajectorySetpoint
+
+  - topic: /fmu/in/vehicle_attitude_setpoint
+    type: px4_msgs::msg::VehicleAttitudeSetpoint
+
+  - topic: /fmu/in/vehicle_mocap_odometry
+    type: px4_msgs::msg::VehicleOdometry
+
+  - topic: /fmu/in/vehicle_rates_setpoint
+    type: px4_msgs::msg::VehicleRatesSetpoint
+
+  - topic: /fmu/in/vehicle_visual_odometry
+    type: px4_msgs::msg::VehicleOdometry
+
+  - topic: /fmu/in/vehicle_command
+    type: px4_msgs::msg::VehicleCommand
+
+  - topic: /fmu/in/vehicle_command_mode_executor
+    type: px4_msgs::msg::VehicleCommand
+
+  - topic: /fmu/in/vehicle_thrust_setpoint
+    type: px4_msgs::msg::VehicleThrustSetpoint
+
+  - topic: /fmu/in/vehicle_torque_setpoint
+    type: px4_msgs::msg::VehicleTorqueSetpoint
+
+  - topic: /fmu/in/actuator_motors
+    type: px4_msgs::msg::ActuatorMotors
+
+  - topic: /fmu/in/actuator_servos
+    type: px4_msgs::msg::ActuatorServos
+
+  - topic: /fmu/in/aux_global_position
+    type: px4_msgs::msg::VehicleGlobalPosition
+
+# Create uORB::PublicationMulti
+subscriptions_multi: