diff --git a/src/systemcmds/topic_listener/CMakeLists.txt b/src/systemcmds/topic_listener/CMakeLists.txt
index 8a54062937..ec6351364d 100644
--- a/src/systemcmds/topic_listener/CMakeLists.txt
+++ b/src/systemcmds/topic_listener/CMakeLists.txt
@@ -32,14 +32,12 @@
 ############################################################################
 
 add_custom_command(OUTPUT topic_listener.cpp
-                COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/generate_listener.py ${PX4_SOURCE_DIR} > topic_listener.cpp
-                DEPENDS msg_gen
+                COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_listener.py ${PX4_SOURCE_DIR} > topic_listener.cpp
+                DEPENDS generate_listener.py msg_gen
                 )
 
 add_custom_target(generate_topic_listener
-	DEPENDS
-		topic_listener.cpp
-		${PX4_SOURCE_DIR}/Tools/generate_listener.py)
+	DEPENDS topic_listener.cpp generate_listener.py)
 
 px4_add_module(
 	MODULE systemcmds__topic_listener
diff --git a/Tools/generate_listener.py b/src/systemcmds/topic_listener/generate_listener.py
similarity index 100%
rename from Tools/generate_listener.py
rename to src/systemcmds/topic_listener/generate_listener.py