diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml
index 23cb5082dd..13d8bb0197 100644
--- a/src/modules/uxrce_dds_client/dds_topics.yaml
+++ b/src/modules/uxrce_dds_client/dds_topics.yaml
@@ -192,5 +192,23 @@ subscriptions:
   - topic: /fmu/in/lateral_control_configuration
     type: px4_msgs::msg::LateralControlConfiguration
 
+  - topic: /fmu/in/rover_position_setpoint
+    type: px4_msgs::msg::RoverPositionSetpoint
+
+  - topic: /fmu/in/rover_velocity_setpoint
+    type: px4_msgs::msg::RoverVelocitySetpoint
+
+  - topic: /fmu/in/rover_attitude_setpoint
+    type: px4_msgs::msg::RoverAttitudeSetpoint
+
+  - topic: /fmu/in/rover_rate_setpoint
+    type: px4_msgs::msg::RoverRateSetpoint
+
+  - topic: /fmu/in/rover_throttle_setpoint
+    type: px4_msgs::msg::RoverThrottleSetpoint
+
+  - topic: /fmu/in/rover_steering_setpoint
+    type: px4_msgs::msg::RoverSteeringSetpoint
+
 # Create uORB::PublicationMulti
 subscriptions_multi: