diff --git a/msg/tools/uorb_rtps_classifier.py b/msg/tools/uorb_rtps_classifier.py
index e1d8b57418..09eea08b65 100644
--- a/msg/tools/uorb_rtps_classifier.py
+++ b/msg/tools/uorb_rtps_classifier.py
@@ -36,6 +36,7 @@ import sys
 import os
 import argparse
 import yaml
+import re
 
 
 class Classifier():
@@ -44,8 +45,11 @@ class Classifier():
     """
 
     def __init__(self, yaml_file, msg_folder):
-        self.msg_id_map = self.parse_yaml_msg_id_file(yaml_file)
         self.msg_folder = msg_folder
+        self.all_msgs_list = self.set_all_msgs()
+        self.msg_id_map = self.parse_yaml_msg_id_file(yaml_file)
+        self.check_if_listed(yaml_file)
+
         self.msgs_to_send = self.set_msgs_to_send()
         self.msgs_to_receive = self.set_msgs_to_receive()
         self.msgs_to_ignore = self.set_msgs_to_ignore()
@@ -54,6 +58,13 @@ class Classifier():
         self.msg_files_ignore = self.set_msg_files_ignore()
 
     # setters (for class init)
+    def set_all_msgs(self):
+        msg_list = []
+        for filename in os.listdir(self.msg_folder):
+            if '.msg' in filename:
+                msg_list.append(re.sub(".msg", "", filename))
+        return msg_list
+
     def set_msgs_to_send(self):
         send = {}
         for dict in self.msg_id_map['rtps']:
@@ -87,6 +98,29 @@ class Classifier():
         return [os.path.join(self.msg_folder, msg + ".msg")
                 for msg in self.msgs_to_ignore.keys()]
 
+    def check_if_listed(self, yaml_file):
+        """
+        Checks if all msgs are listed under the RTPS ID yaml file
+        """
+        none_listed_msgs = []
+        for msg in self.all_msgs_list:
+            result = not any(
+                dict.values()[0] == msg for dict in self.msg_id_map['rtps'])
+            if result:
+                none_listed_msgs.append(msg)
+
+        if len(none_listed_msgs) > 0:
+            if len(none_listed_msgs) == 1:
+                error_msg = "The following message is not listen under "
+            elif len(none_listed_msgs) > 1:
+                error_msg = "The following messages are not listen under "
+
+            raise AssertionError(
+                "\n%s %s: " % (error_msg, yaml_file) + ", ".join('%s' % msg for msg in none_listed_msgs) +
+                "\n\nPlease add them to the yaml file with the respective ID and, if applicable, mark them" +
+                "to be sent or received by the micro-RTPS bridge.\n"
+                "NOTE: If the message has multi-topics (#TOPICS), these should be added as well.\n")
+
     @staticmethod
     def parse_yaml_msg_id_file(yaml_file):
         """
@@ -128,8 +162,8 @@ if __name__ == "__main__":
         msg_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
     else:
         msg_dir = os.path.abspath(args.msgdir)
-    classifier = (Classifier(os.path.abspath(args.yaml_file), msg_dir) if os.path.isabs(args.yaml_file) \
-        else Classifier(os.path.join(msg_dir, args.yaml_file), msg_dir))
+    classifier = (Classifier(os.path.abspath(args.yaml_file), msg_dir) if os.path.isabs(args.yaml_file)
+                  else Classifier(os.path.join(msg_dir, args.yaml_file), msg_dir))
 
     if args.send:
         if args.path:
diff --git a/msg/tools/uorb_rtps_message_ids.yaml b/msg/tools/uorb_rtps_message_ids.yaml
index 282778a86f..47d29ca68f 100644
--- a/msg/tools/uorb_rtps_message_ids.yaml
+++ b/msg/tools/uorb_rtps_message_ids.yaml
@@ -1,11 +1,11 @@
 rtps:
   - msg: actuator_armed
     id: 0
-  - msg: actuator_control
+  - msg: actuator_controls
     id: 1
   - msg: actuator_direct
     id: 2
-  - msg: actuator_output
+  - msg: actuator_outputs
     id: 3
   - msg: adc_report
     id: 4
@@ -80,7 +80,7 @@ rtps:
     send: true
   - msg: irlock_report
     id: 32
-  - msg: landing_target_innovation
+  - msg: landing_target_innovations
     id: 33
   - msg: landing_target_pose
     id: 34
@@ -246,14 +246,24 @@ rtps:
   - msg: collision_constraints
     id: 107
     send: true
+  - msg: multirotor_motor_limits
+    id: 108
+  - msg: vehicle_constraints
+    id: 109
+  - msg: orbit_status
+    id: 110
+  - msg: power_monitor
+    id: 111
+  - msg: landing_gear
+    id: 112
   # multi topics
-  - msg: actuator_control0
+  - msg: actuator_controls_0
     id: 120
-  - msg: actuator_control1
+  - msg: actuator_controls_1
     id: 121
-  - msg: actuator_control2
+  - msg: actuator_controls_2
     id: 122
-  - msg: actuator_control3
+  - msg: actuator_controls_3
     id: 123
   - msg: actuator_controls_virtual_fw
     id: 124