diff --git a/ROMFS/px4fmu_common/init.d-posix/1016_iris_rtps b/ROMFS/px4fmu_common/init.d-posix/1016_iris_rtps
new file mode 100644
index 0000000000..a0b09e29d1
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1016_iris_rtps
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (RTPS)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
diff --git a/ROMFS/px4fmu_common/init.d-posix/1016_iris_rtps.post b/ROMFS/px4fmu_common/init.d-posix/1016_iris_rtps.post
new file mode 100644
index 0000000000..1b3e86297f
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1016_iris_rtps.post
@@ -0,0 +1,2 @@
+# shellcheck disable=SC2154
+micrortps_client start -t UDP
diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index 036bcee25f..ec3a32a604 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit 036bcee25f178cef9350107b4283f05e334adc1b
+Subproject commit ec3a32a60441f5238fe91a46ddc2696799450d84
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index 69d47779cb..b5ad19a96b 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -49,7 +49,7 @@ ExternalProject_Add(sitl_gazebo
 set(viewers none jmavsim gazebo)
 set(debuggers none ide gdb lldb ddd valgrind callgrind)
 set(models none shell
-	if750a iris iris_opt_flow iris_vision iris_rplidar iris_irlock iris_obs_avoid solo typhoon_h480
+	if750a iris iris_opt_flow iris_vision iris_rplidar iris_irlock iris_obs_avoid iris_rtps solo typhoon_h480
 	plane
 	standard_vtol tailsitter tiltrotor
 	hippocampus rover)