diff --git a/msg/templates/urtps/RtpsTopics.cpp.template b/msg/templates/urtps/RtpsTopics.cpp.template
index 6f031a10c3..b787fc3b7f 100644
--- a/msg/templates/urtps/RtpsTopics.cpp.template
+++ b/msg/templates/urtps/RtpsTopics.cpp.template
@@ -9,11 +9,12 @@
 @#  - msgs (List) list of all msg files
 @###############################################
 @{
+import os
+
 import genmsg.msgs
 import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 from px_generate_uorb_topic_files import MsgScope # this is in Tools/
-from uorb_rtps_message_ids import * # this is in Tools/
 
 topic_names = [single_spec.short_name for single_spec in spec]
 send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
@@ -88,7 +89,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
     switch (topic_ID)
     {
 @[for topic in send_topics]@
-        case @(message_id(topic)): // @(topic)
+        case @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)): // @(topic)
         {
             @(topic)_ st;
             eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
@@ -116,7 +117,7 @@ bool RtpsTopics::hasMsg(uint8_t *topic_ID)
         switch (_sub_topics[_next_sub_idx])
         {
 @[for topic in recv_topics]@
-            case @(message_id(topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(message_id(topic)); break;
+            case @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)): if (_@(topic)_sub.hasMsg()) *topic_ID = @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)); break;
 @[end for]@
             default:
                 printf("Unexpected topic ID to check hasMsg\n");
@@ -140,7 +141,7 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
     switch (topic_ID)
     {
 @[for topic in recv_topics]@
-        case @(message_id(topic)): // @(topic)
+        case @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)): // @(topic)
             if (_@(topic)_sub.hasMsg())
             {
                 @(topic)_ msg = _@(topic)_sub.getMsg();
diff --git a/msg/templates/urtps/RtpsTopics.h.template b/msg/templates/urtps/RtpsTopics.h.template
index 07dce5e6f7..9dda842f62 100644
--- a/msg/templates/urtps/RtpsTopics.h.template
+++ b/msg/templates/urtps/RtpsTopics.h.template
@@ -9,11 +9,12 @@
 @#  - msgs (List) list of all msg files
 @###############################################
 @{
+import os
+
 import genmsg.msgs
 import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 from px_generate_uorb_topic_files import MsgScope # this is in Tools/
-from uorb_rtps_message_ids import * # this is in Tools/
 
 topic_names = [single_spec.short_name for single_spec in spec]
 send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
@@ -88,7 +89,7 @@ private:
     unsigned _next_sub_idx = 0;
     char _sub_topics[@(len(recv_topics))] = {
 @[for topic in recv_topics]@
-        @(message_id(topic)), // @(topic)
+        @(rtps_message_id(os.path.abspath('uorb_rtps_message_ids.json'), topic)), // @(topic)
 @[end for]@
     };
 @[end if]@
diff --git a/msg/templates/urtps/microRTPS_agent.cpp.template b/msg/templates/urtps/microRTPS_agent.cpp.template
index 62ac2e855f..641c53a359 100644
--- a/msg/templates/urtps/microRTPS_agent.cpp.template
+++ b/msg/templates/urtps/microRTPS_agent.cpp.template
@@ -14,7 +14,6 @@ import genmsg.msgs
 import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 from px_generate_uorb_topic_files import MsgScope # this is in Tools/
-from uorb_rtps_message_ids import * # this is in Tools/
 
 topic_names = [single_spec.short_name for single_spec in spec]
 send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
diff --git a/msg/tools/px_generate_uorb_topic_helper.py b/msg/tools/px_generate_uorb_topic_helper.py
index 652eab95c8..21a9f1091f 100644
--- a/msg/tools/px_generate_uorb_topic_helper.py
+++ b/msg/tools/px_generate_uorb_topic_helper.py
@@ -4,6 +4,7 @@
 # Another positive effect of having the code here, is that this file will get
 # precompiled and thus message generation will be much faster
 
+import json
 
 import genmsg.msgs
 import gencpp
@@ -296,3 +297,15 @@ def print_field_def(field):
 
     print('\t%s%s%s %s%s;%s'%(type_prefix, type_px4, type_appendix, field.name,
                 array_size, comment))
+
+def rtps_message_id(json_file, message):
+    """
+    Get RTPS ID of uORB message
+    """
+    with open(json_file, 'r') as f:
+        msg_id_map = json.load(f)
+
+    for dict in msg_id_map["rtps"]:
+        if message in dict["msg"]:
+            return dict["id"]
+    return 0
diff --git a/msg/tools/uorb_rtps_message_ids.json b/msg/tools/uorb_rtps_message_ids.json
new file mode 100644
index 0000000000..db5308f9f8
--- /dev/null
+++ b/msg/tools/uorb_rtps_message_ids.json
@@ -0,0 +1,352 @@
+{
+  "rtps": [
+    {
+      "msg": "actuator_armed",
+      "id": 1
+    },
+    {
+      "msg": "actuator_controls",
+      "id": 2
+    },
+    {
+      "msg": "actuator_direct",
+      "id": 3
+    },
+    {
+      "msg": "actuator_outputs",
+      "id": 4
+    },
+    {
+      "msg": "adc_report",
+      "id": 5
+    },
+    {
+      "msg": "airspeed",
+      "id": 6
+    },
+    {
+      "msg": "att_pos_mocap",
+      "id": 7
+    },
+    {
+      "msg": "battery_status",
+      "id": 8
+    },
+    {
+      "msg": "camera_capture",
+      "id": 9
+    },
+    {
+      "msg": "camera_trigger",
+      "id": 10
+    },
+    {
+      "msg": "collision_report",
+      "id": 11
+    },
+    {
+      "msg": "commander_state",
+      "id": 12
+    },
+    {
+      "msg": "cpuload",
+      "id": 14
+    },
+    {
+      "msg": "debug_key_value",
+      "id": 15
+    },
+    {
+      "msg": "differential_pressure",
+      "id": 16
+    },
+    {
+      "msg": "distance_sensor",
+      "id": 17
+    },
+    {
+      "msg": "ekf2_innovations",
+      "id": 18
+    },
+    {
+      "msg": "ekf2_timestamps",
+      "id": 20
+    },
+    {
+      "msg": "esc_report",
+      "id": 21
+    },
+    {
+      "msg": "esc_status",
+      "id": 22
+    },
+    {
+      "msg": "estimator_status",
+      "id": 23
+    },
+    {
+      "msg": "fence",
+      "id": 24
+    },
+    {
+      "msg": "fence_vertex",
+      "id": 25
+    },
+    {
+      "msg": "follow_target",
+      "id": 27
+    },
+    {
+      "msg": "fw_pos_ctrl_status",
+      "id": 28
+    },
+    {
+      "msg": "geofence_result",
+      "id": 29
+    },
+    {
+      "msg": "gps_dump",
+      "id": 30
+    },
+    {
+      "msg": "gps_inject_data",
+      "id": 31
+    },
+    {
+      "msg": "home_position",
+      "id": 33
+    },
+    {
+      "msg": "input_rc",
+      "id": 34
+    },
+    {
+      "msg": "led_control",
+      "id": 35
+    },
+    {
+      "msg": "log_message",
+      "id": 36
+    },
+    {
+      "msg": "manual_control_setpoint",
+      "id": 37
+    },
+    {
+      "msg": "mavlink_log",
+      "id": 38
+    },
+    {
+      "msg": "mc_att_ctrl_status",
+      "id": 39
+    },
+    {
+      "msg": "mission",
+      "id": 40
+    },
+    {
+      "msg": "mission_result",
+      "id": 41
+    },
+    {
+      "msg": "mount_orientation",
+      "id": 42
+    },
+    {
+      "msg": "multirotor_motor_limits",
+      "id": 43
+    },
+    {
+      "msg": "offboard_control_mode",
+      "id": 44
+    },
+    {
+      "msg": "optical_flow",
+      "id": 45
+    },
+    {
+      "msg": "parameter_update",
+      "id": 47
+    },
+    {
+      "msg": "position_setpoint",
+      "id": 48
+    },
+    {
+      "msg": "position_setpoint_triplet",
+      "id": 49
+    },
+    {
+      "msg": "pwm_input",
+      "id": 40
+    },
+    {
+      "msg": "qshell_req",
+      "id": 51
+    },
+    {
+      "msg": "rc_channels",
+      "id": 52
+    },
+    {
+      "msg": "rc_parameter_map",
+      "id": 53
+    },
+    {
+      "msg": "safety",
+      "id": 54
+    },
+    {
+      "msg": "satellite_info",
+      "id": 55
+    },
+    {
+      "msg": "sensor_accel",
+      "id": 56
+    },
+    {
+      "msg": "sensor_baro",
+      "id": 57
+    },
+    {
+      "msg": "sensor_combined",
+      "id": 58
+    },
+    {
+      "msg": "sensor_correction",
+      "id": 59
+    },
+    {
+      "msg": "sensor_gyro",
+      "id": 60
+    },
+    {
+      "msg": "sensor_mag",
+      "id": 61
+    },
+    {
+      "msg": "sensor_preflight",
+      "id": 62
+    },
+    {
+      "msg": "sensor_selection",
+      "id": 63
+    },
+    {
+      "msg": "servorail_status",
+      "id": 64
+    },
+    {
+      "msg": "subsystem_info",
+      "id": 65
+    },
+    {
+      "msg": "system_power",
+      "id": 66
+    },
+    {
+      "msg": "task_stack_info",
+      "id": 67
+    },
+    {
+      "msg": "tecs_status",
+      "id": 68
+    },
+    {
+      "msg": "telemetry_status",
+      "id": 69
+    },
+    {
+      "msg": "test_motor",
+      "id": 70
+    },
+    {
+      "msg": "time_offset",
+      "id": 71
+    },
+    {
+      "msg": "transponder_report",
+      "id": 72
+    },
+    {
+      "msg": "uavcan_parameter_request",
+      "id": 73
+    },
+    {
+      "msg": "uavcan_parameter_value",
+      "id": 74
+    },
+    {
+      "msg": "ulog_stream_ack",
+      "id": 75
+    },
+    {
+      "msg": "ulog_stream",
+      "id": 76
+    },
+    {
+      "msg": "vehicle_attitude",
+      "id": 77
+    },
+    {
+      "msg": "vehicle_attitude_setpoint",
+      "id": 78
+    },
+    {
+      "msg": "vehicle_command_ack",
+      "id": 79
+    },
+    {
+      "msg": "vehicle_command",
+      "id": 80
+    },
+    {
+      "msg": "vehicle_control_mode",
+      "id": 81
+    },
+    {
+      "msg": "vehicle_global_position",
+      "id": 83
+    },
+    {
+      "msg": "vehicle_gps_position",
+      "id": 85
+    },
+    {
+      "msg": "vehicle_land_detected",
+      "id": 86
+    },
+    {
+      "msg": "vehicle_local_position",
+      "id": 87
+    },
+    {
+      "msg": "vehicle_local_position_setpoint",
+      "id": 88
+    },
+    {
+      "msg": "vehicle_rates_setpoint",
+      "id": 89
+    },
+    {
+      "msg": "vehicle_roi",
+      "id": 90
+    },
+    {
+      "msg": "vehicle_status_flags",
+      "id": 91
+    },
+    {
+      "msg": "vehicle_status",
+      "id": 92
+    },
+    {
+      "msg": "vtol_vehicle_status",
+      "id": 93
+    },
+    {
+      "msg": "wind_estimate",
+      "id": 94
+    }
+  ]
+}
diff --git a/msg/tools/uorb_rtps_message_ids.py b/msg/tools/uorb_rtps_message_ids.py
deleted file mode 100644
index 9d983a8cbe..0000000000
--- a/msg/tools/uorb_rtps_message_ids.py
+++ /dev/null
@@ -1,108 +0,0 @@
-
-# Message identification constants
-
-
-msg_id_map = {
-    'actuator_armed': 1,
-    'actuator_controls': 2,
-    'actuator_direct': 3,
-    'actuator_outputs': 4,
-    'adc_report': 5,
-    'airspeed': 6,
-    'att_pos_mocap': 7,
-    'battery_status': 8,
-    'camera_capture': 9,
-    'camera_trigger': 10,
-    'collision_report': 11,
-    'commander_state': 12,
-
-    'cpuload': 14,
-    'debug_key_value': 15,
-    'differential_pressure': 16,
-    'distance_sensor': 17,
-    'ekf2_innovations': 18,
-
-    'ekf2_timestamps': 20,
-    'esc_report': 21,
-    'esc_status': 22,
-    'estimator_status': 23,
-    'fence': 24,
-    'fence_vertex': 25,
-
-    'follow_target': 27,
-    'fw_pos_ctrl_status': 28,
-    'geofence_result': 29,
-    'gps_dump': 30,
-    'gps_inject_data': 31,
-
-    'home_position': 33,
-    'input_rc': 34,
-    'led_control': 35,
-    'log_message': 36,
-    'manual_control_setpoint': 37,
-    'mavlink_log': 38,
-    'mc_att_ctrl_status': 39,
-    'mission': 40,
-    'mission_result': 41,
-    'mount_orientation': 42,
-    'multirotor_motor_limits': 43,
-    'offboard_control_mode': 44,
-    'optical_flow': 45,
-
-    'parameter_update': 47,
-    'position_setpoint': 48,
-    'position_setpoint_triplet': 49,
-    'pwm_input': 50,
-    'qshell_req': 51,
-    'rc_channels': 52,
-    'rc_parameter_map': 53,
-    'safety': 54,
-    'satellite_info': 55,
-    'sensor_accel': 56,
-    'sensor_baro': 57,
-    'sensor_combined': 58,
-    'sensor_correction': 59,
-    'sensor_gyro': 60,
-    'sensor_mag': 61,
-    'sensor_preflight': 62,
-    'sensor_selection': 63,
-    'servorail_status': 64,
-    'subsystem_info': 65,
-    'system_power': 66,
-    'task_stack_info': 67,
-    'tecs_status': 68,
-    'telemetry_status': 69,
-    'test_motor': 70,
-    'time_offset': 71,
-    'transponder_report': 72,
-    'uavcan_parameter_request': 73,
-    'uavcan_parameter_value': 74,
-    'ulog_stream_ack': 75,
-    'ulog_stream': 76,
-    'vehicle_attitude': 77,
-    'vehicle_attitude_setpoint': 78,
-    'vehicle_command_ack': 79,
-    'vehicle_command': 80,
-    'vehicle_control_mode': 81,
-
-    'vehicle_global_position': 83,
-
-    'vehicle_gps_position': 85,
-    'vehicle_land_detected': 86,
-    'vehicle_local_position': 87,
-    'vehicle_local_position_setpoint': 88,
-    'vehicle_rates_setpoint': 89,
-    'vehicle_roi': 90,
-    'vehicle_status_flags': 91,
-    'vehicle_status': 92,
-    'vtol_vehicle_status': 93,
-    'wind_estimate': 94,
-}
-
-def message_id(message):
-    """
-    Get id of a message
-    """
-    if message in msg_id_map:
-        return msg_id_map[message]
-    return 0
diff --git a/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt b/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
index 50769604f3..fa0c6630d9 100644
--- a/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
+++ b/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
@@ -71,6 +71,10 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
 		${msg_out_path}/micrortps_client/microRTPS_transport.h
 		)
 
+	# Copy json file to the bin dir to be used by empy on the file generation
+	configure_file("${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_message_ids.json"
+	     "${CMAKE_CURRENT_BINARY_DIR}/uorb_rtps_message_ids.json" COPYONLY)
+
 	add_custom_command(OUTPUT ${topic_bridge_files_out}
 		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/generate_microRTPS_bridge.py
 			--fastrtpsgen-dir $ENV{FASTRTPSGEN_DIR}