diff --git a/msg/templates/urtps/microRTPS_agent_CMakeLists.txt.template b/msg/templates/urtps/microRTPS_agent_CMakeLists.txt.template
index 200baecc8b..aa74552c5c 100644
--- a/msg/templates/urtps/microRTPS_agent_CMakeLists.txt.template
+++ b/msg/templates/urtps/microRTPS_agent_CMakeLists.txt.template
@@ -49,6 +49,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_CLANG OR
     endif()
 endif()
 
-file(GLOB MICRORTPS_AGENT_SOURCES *.cpp)
+file(GLOB MICRORTPS_AGENT_SOURCES *.cpp *.h)
 add_executable(micrortps_agent ${MICRORTPS_AGENT_SOURCES})
 target_link_libraries(micrortps_agent fastrtps fastcdr)