diff --git a/msg/templates/urtps/msg.idl.template b/msg/templates/urtps/msg.idl.template
index 5430ecaea6..93674f639c 100644
--- a/msg/templates/urtps/msg.idl.template
+++ b/msg/templates/urtps/msg.idl.template
@@ -38,13 +38,27 @@
 @{
 import genmsg.msgs
 import gencpp
-from px_generate_uorb_topic_helper import * # this is in Tools/
+from px_generate_uorb_topic_helper import *  # this is in Tools/
+
+builtin_types = set()
 }@
 @#################################################
 @# Searching for serialize function per each field
 @#################################################
 @{
 
+def get_include_directives(spec):
+    include_directives = set()
+    for field in (spec.parsed_fields()):
+        if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)):
+            continue
+        builtin_type = str(field.base_type).replace('px4/', '')
+        include_directive = '#include "%s_.idl"' % builtin_type
+        builtin_types.add(builtin_type)
+        include_directives.add(include_directive)
+    return sorted(include_directives)
+
+
 def get_idl_type_name(field_type):
     if field_type in type_idl_map:
         return type_idl_map[field_type]
@@ -52,23 +66,43 @@ def get_idl_type_name(field_type):
         (package, name) = genmsg.names.package_resource_name(field_type)
         return name
 
+
 def add_msg_field(field):
     if (not field.is_header):
-        if (not field.is_array):
-            print("    " + str(get_idl_type_name(field.type)) + ' ' + field.name + ';')
+        if field.is_array:
+            print("    " + str(get_idl_type_name(field.base_type)) +
+                  ' ' + field.name + '[' + str(field.array_len) + '];')
         else:
-            print("    " + str(get_idl_type_name(field.base_type)) + ' ' + field.name + '[' +str(field.array_len)+ '];')
+            print("    " + str(get_idl_type_name(field.type)) +
+                  ' ' + field.name + ';')
+
 
 def add_msg_fields():
     # sort fields (using a stable sort) as in the declaration of the type
-    sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
+    sorted_fields = sorted(spec.parsed_fields(),
+                           key=sizeof_field_type, reverse=True)
     for field in sorted_fields:
         add_msg_field(field)
-
-
 }@
-@
+#ifndef __@(spec.short_name)__idl__
+#define __@(spec.short_name)__idl__
+
+@#############################
+@# Include dependency messages
+@#############################
+@[for line in get_include_directives(spec)]@
+@(line)
+@[end for]@
+
+@[for type in builtin_types]@
+typedef @(type + '_') @(type);
+@[end for]@
+
 struct @(spec.short_name)_
 {
 @add_msg_fields()
 }; // struct @(spec.short_name)_
+
+#pragma keylist @(spec.short_name)_
+
+#endif  // __@(spec.short_name)__idl__
diff --git a/msg/tools/px_generate_uorb_topic_helper.py b/msg/tools/px_generate_uorb_topic_helper.py
index 28ff0de25d..4a4088190b 100644
--- a/msg/tools/px_generate_uorb_topic_helper.py
+++ b/msg/tools/px_generate_uorb_topic_helper.py
@@ -76,18 +76,20 @@ type_serialize_map = {
 }
 
 type_idl_map = {
+    'bool': 'boolean',
+    'byte': 'octet',
+    'char': 'char',
     'int8': 'octet',
-    'int16': 'short',
-    'int32': 'long',
-    'int64': 'long long',
     'uint8': 'octet',
+    'int16': 'short',
     'uint16': 'unsigned short',
+    'int32': 'long',
     'uint32': 'unsigned long',
+    'int64': 'long long',
     'uint64': 'unsigned long long',
     'float32': 'float',
     'float64': 'double',
-    'bool': 'boolean',
-    'char': 'char',
+    'string': 'string',
 }
 
 msgtype_size_map = {
diff --git a/msg/tools/uorb_rtps_message_ids.yaml b/msg/tools/uorb_rtps_message_ids.yaml
index bd613ff0d3..dcc3209c46 100644
--- a/msg/tools/uorb_rtps_message_ids.yaml
+++ b/msg/tools/uorb_rtps_message_ids.yaml
@@ -8,8 +8,8 @@ rtps:
       id: 15
     - msg: esc_report
       id: 21
-    #- msg: esc_status
-    #  id: 22
+    - msg: esc_status
+      id: 22
     - msg: estimator_status
       id: 23
     - msg: iridiumsbd_status