From cea185268e133ad22418fb9990f9c19df6e30681 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 19 Oct 2022 19:36:47 -0400
Subject: [PATCH] msg ROS2 compatibility, microdds_client improvements
 (timesync, reduced code size, added topics, etc), fastrtps purge

- update all msgs to be directly compatible with ROS2
 - microdds_client improvements
   - timesync
   - reduced code size
   - add to most default builds if we can afford it
   - lots of other little changes
 - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
---
 .ci/Jenkinsfile-compile                       |   7 -
 .github/workflows/checks.yml                  |   1 -
 .github/workflows/metadata.yml                |  34 +-
 .gitmodules                                   |   7 +-
 .vscode/cmake-variants.yaml                   |   6 +-
 Documentation/Doxyfile.in                     |   1 -
 Jenkinsfile                                   | 157 +---
 Makefile                                      |  21 +-
 README.md                                     |   2 +-
 .../px4fmu_common/init.d-posix/CMakeLists.txt |   1 -
 ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps  |   4 -
 ROMFS/px4fmu_common/init.d-posix/rcS          |   7 +-
 Tools/astyle/files_to_check_code_style.sh     |   3 -
 Tools/build_micrortps_agent.sh                |  15 -
 {msg/tools => Tools/msg}/__init__.py          |   0
 {msg/tools => Tools/msg}/generate_msg_docs.py |   4 +-
 Tools/msg/px_generate_uorb_topic_files.py     | 253 ++++++
 .../msg}/px_generate_uorb_topic_helper.py     |   8 +-
 {msg => Tools/msg}/templates/ucdr/msg.h.em    |  72 +-
 {msg => Tools/msg}/templates/uorb/msg.cpp.em  |  16 +-
 {msg => Tools/msg}/templates/uorb/msg.h.em    |  24 +-
 .../msg}/templates/uorb/uORBTopics.cpp.em     |  19 +-
 .../msg}/templates/uorb/uORBTopics.hpp.em     |  17 +-
 Tools/setup/arch.sh                           |   4 +-
 Tools/setup/ubuntu.sh                         |   4 +-
 Tools/update_px4_ros2_bridge.sh               | 135 ---
 boards/beaglebone/blue/default.px4board       |   1 +
 boards/cubepilot/cubeorange/default.px4board  |   3 +-
 .../diatone/mamba-f405-mk2/default.px4board   |   1 -
 boards/emlid/navio2/default.px4board          |   1 +
 boards/holybro/kakutef7/default.px4board      |   1 +
 boards/holybro/kakuteh7/default.px4board      |   1 +
 boards/matek/h743-mini/default.px4board       |   1 +
 boards/matek/h743-slim/default.px4board       |   1 +
 boards/matek/h743/default.px4board            |   1 +
 boards/modalai/fc-v1/default.px4board         |   1 +
 boards/modalai/fc-v1/rtps.px4board            |   1 -
 boards/modalai/fc-v2/default.px4board         |   3 +-
 boards/mro/ctrl-zero-classic/default.px4board |   1 +
 boards/mro/ctrl-zero-h7-oem/default.px4board  |   1 +
 boards/mro/ctrl-zero-h7-oem/rtps.px4board     |   1 -
 boards/mro/ctrl-zero-h7/default.px4board      |   1 +
 boards/mro/ctrl-zero-h7/rtps.px4board         |   1 -
 boards/mro/pixracerpro/default.px4board       |   1 +
 boards/mro/pixracerpro/rtps.px4board          |   1 -
 boards/nxp/fmuk66-e/default.px4board          |   5 +-
 boards/nxp/fmuk66-e/rtps.px4board             |   1 -
 boards/nxp/fmuk66-v3/default.px4board         |   1 +
 boards/nxp/fmuk66-v3/rtps.px4board            |   1 -
 boards/nxp/fmurt1062-v1/default.px4board      |   1 +
 boards/omnibus/f4sd/default.px4board          |   1 +
 boards/px4/fmu-v4/rtps.px4board               |   1 -
 boards/px4/fmu-v5/cryptotest.px4board         |   4 +-
 boards/px4/fmu-v5/default.px4board            |   1 +
 boards/px4/fmu-v5/protected.px4board          |  11 +-
 boards/px4/fmu-v5/rtps.px4board               |   3 -
 boards/px4/fmu-v5/stackcheck.px4board         |  14 +-
 boards/px4/fmu-v5/uavcanv0periph.px4board     |   5 +-
 boards/px4/fmu-v5x/default.px4board           |  10 +-
 boards/px4/fmu-v5x/rtps.px4board              |  15 -
 boards/px4/fmu-v5x/test.px4board              |   6 +-
 boards/px4/fmu-v6c/default.px4board           |   1 +
 boards/px4/fmu-v6x/default.px4board           |   8 +-
 boards/px4/sitl/default.px4board              |   1 +
 boards/px4/sitl/rtps.px4board                 |   1 -
 .../smartap-airlink/default.px4board          |   1 +
 boards/spracing/h7extreme/default.px4board    |   1 +
 msg/{action_request.msg => ActionRequest.msg} |   0
 msg/{actuator_armed.msg => ActuatorArmed.msg} |   0
 ...ator_controls.msg => ActuatorControls.msg} |   2 +-
 ..._status.msg => ActuatorControlsStatus.msg} |   2 +-
 ...actuator_motors.msg => ActuatorMotors.msg} |   0
 ...tuator_outputs.msg => ActuatorOutputs.msg} |   0
 ...actuator_servos.msg => ActuatorServos.msg} |   0
 ...servos_trim.msg => ActuatorServosTrim.msg} |   0
 msg/{actuator_test.msg => ActuatorTest.msg}   |   0
 msg/{adc_report.msg => AdcReport.msg}         |   0
 msg/{airspeed.msg => Airspeed.msg}            |   0
 ...ed_validated.msg => AirspeedValidated.msg} |   0
 msg/{airspeed_wind.msg => AirspeedWind.msg}   |   0
 ....msg => AutotuneAttitudeControlStatus.msg} |   0
 msg/{battery_status.msg => BatteryStatus.msg} |   0
 msg/{button_event.msg => ButtonEvent.msg}     |   2 +-
 msg/CMakeLists.txt                            | 471 +++++-----
 msg/{camera_capture.msg => CameraCapture.msg} |   0
 msg/{camera_status.msg => CameraStatus.msg}   |   0
 msg/{camera_trigger.msg => CameraTrigger.msg} |   2 -
 ...cellular_status.msg => CellularStatus.msg} |   0
 ...nstraints.msg => CollisionConstraints.msg} |   0
 ...llision_report.msg => CollisionReport.msg} |   0
 ..._status.msg => ControlAllocatorStatus.msg} |   0
 msg/{cpuload.msg => Cpuload.msg}              |   0
 msg/{debug_array.msg => DebugArray.msg}       |   0
 ...{debug_key_value.msg => DebugKeyValue.msg} |   0
 msg/{debug_value.msg => DebugValue.msg}       |   0
 msg/{debug_vect.msg => DebugVect.msg}         |   0
 ..._pressure.msg => DifferentialPressure.msg} |   0
 ...distance_sensor.msg => DistanceSensor.msg} |   0
 ...ekf2_timestamps.msg => Ekf2Timestamps.msg} |   0
 msg/{esc_report.msg => EscReport.msg}         |   0
 msg/{esc_status.msg => EscStatus.msg}         |   2 +-
 ...source_1d.msg => EstimatorAidSource1d.msg} |   1 -
 ...source_2d.msg => EstimatorAidSource2d.msg} |   1 -
 ...source_3d.msg => EstimatorAidSource3d.msg} |   1 -
 msg/{estimator_bias.msg => EstimatorBias.msg} |   1 -
 ...vent_flags.msg => EstimatorEventFlags.msg} |   0
 ..._gps_status.msg => EstimatorGpsStatus.msg} |   0
 ...novations.msg => EstimatorInnovations.msg} |   0
 ...status.msg => EstimatorSelectorStatus.msg} |   0
 ...ensor_bias.msg => EstimatorSensorBias.msg} |   0
 ...timator_states.msg => EstimatorStates.msg} |   0
 ...timator_status.msg => EstimatorStatus.msg} |   0
 ...tus_flags.msg => EstimatorStatusFlags.msg} |   0
 msg/{event.msg => Event.msg}                  |   0
 msg/{failsafe_flags.msg => FailsafeFlags.msg} |   0
 ...r_status.msg => FailureDetectorStatus.msg} |   0
 msg/{follow_target.msg => FollowTarget.msg}   |   0
 ...stimator.msg => FollowTargetEstimator.msg} |   0
 ...rget_status.msg => FollowTargetStatus.msg} |   0
 ...nerator_status.msg => GeneratorStatus.msg} |   0
 ...geofence_result.msg => GeofenceResult.msg} |   0
 ...tus.msg => GimbalDeviceAttitudeStatus.msg} |   0
 ...mation.msg => GimbalDeviceInformation.msg} |   0
 ...titude.msg => GimbalDeviceSetAttitude.msg} |   0
 ...ation.msg => GimbalManagerInformation.msg} |   0
 ...itude.msg => GimbalManagerSetAttitude.msg} |   0
 ....msg => GimbalManagerSetManualControl.msg} |   0
 ...ger_status.msg => GimbalManagerStatus.msg} |   0
 msg/{gps_dump.msg => GpsDump.msg}             |   0
 ...{gps_inject_data.msg => GpsInjectData.msg} |   0
 msg/{gripper.msg => Gripper.msg}              |   0
 msg/{health_report.msg => HealthReport.msg}   |   1 -
 msg/{heater_status.msg => HeaterStatus.msg}   |   0
 msg/{home_position.msg => HomePosition.msg}   |   0
 ...t_estimate.msg => HoverThrustEstimate.msg} |   0
 msg/{input_rc.msg => InputRc.msg}             |   0
 ...msg => InternalCombustionEngineStatus.msg} |   0
 ...iumsbd_status.msg => IridiumsbdStatus.msg} |   0
 msg/{irlock_report.msg => IrlockReport.msg}   |   0
 msg/{landing_gear.msg => LandingGear.msg}     |   0
 ...tions.msg => LandingTargetInnovations.msg} |   0
 ..._target_pose.msg => LandingTargetPose.msg} |   0
 msg/{led_control.msg => LedControl.msg}       |   0
 msg/{log_message.msg => LogMessage.msg}       |   0
 msg/{logger_status.msg => LoggerStatus.msg}   |   0
 ...{mag_worker_data.msg => MagWorkerData.msg} |   0
 ...imate.msg => MagnetometerBiasEstimate.msg} |   0
 ...setpoint.msg => ManualControlSetpoint.msg} |   0
 ...switches.msg => ManualControlSwitches.msg} |   0
 msg/{mavlink_log.msg => MavlinkLog.msg}       |   0
 msg/{mavlink_tunnel.msg => MavlinkTunnel.msg} |   0
 msg/{mission.msg => Mission.msg}              |   0
 msg/{mission_result.msg => MissionResult.msg} |   0
 ...t_orientation.msg => MountOrientation.msg} |   0
 ...sion_item.msg => NavigatorMissionItem.msg} |   0
 msg/{npfg_status.msg => NpfgStatus.msg}       |   0
 ...acle_distance.msg => ObstacleDistance.msg} |   0
 ...ntrol_mode.msg => OffboardControlMode.msg} |   0
 ...r_status.msg => OnboardComputerStatus.msg} |   0
 msg/{orb_test.msg => OrbTest.msg}             |   0
 msg/{orb_test_large.msg => OrbTestLarge.msg}  |   0
 ...{orb_test_medium.msg => OrbTestMedium.msg} |   0
 msg/{orbit_status.msg => OrbitStatus.msg}     |   0
 ...rameter_update.msg => ParameterUpdate.msg} |   0
 msg/{ping.msg => Ping.msg}                    |   0
 ...sg => PositionControllerLandingStatus.msg} |   0
 ...tatus.msg => PositionControllerStatus.msg} |   0
 ...tion_setpoint.msg => PositionSetpoint.msg} |   0
 ...riplet.msg => PositionSetpointTriplet.msg} |   6 +-
 ..._button_state.msg => PowerButtonState.msg} |   0
 msg/{power_monitor.msg => PowerMonitor.msg}   |   0
 msg/{pps_capture.msg => PpsCapture.msg}       |   0
 msg/{pwm_input.msg => PwmInput.msg}           |   0
 msg/{px4io_status.msg => Px4ioStatus.msg}     |   0
 msg/{radio_status.msg => RadioStatus.msg}     |   0
 ...ate_ctrl_status.msg => RateCtrlStatus.msg} |   0
 msg/{rc_channels.msg => RcChannels.msg}       |   0
 ...c_parameter_map.msg => RcParameterMap.msg} |   0
 msg/{rpm.msg => Rpm.msg}                      |   0
 ..._time_estimate.msg => RtlTimeEstimate.msg} |   0
 msg/{satellite_info.msg => SatelliteInfo.msg} |   0
 msg/{sensor_accel.msg => SensorAccel.msg}     |   0
 ...sor_accel_fifo.msg => SensorAccelFifo.msg} |   0
 msg/{sensor_baro.msg => SensorBaro.msg}       |   0
 ...sensor_combined.msg => SensorCombined.msg} |   0
 ...or_correction.msg => SensorCorrection.msg} |   0
 ...ss_relative.msg => SensorGnssRelative.msg} |   0
 msg/{sensor_gps.msg => SensorGps.msg}         |   0
 msg/{sensor_gyro.msg => SensorGyro.msg}       |   0
 ...{sensor_gyro_fft.msg => SensorGyroFft.msg} |   0
 ...ensor_gyro_fifo.msg => SensorGyroFifo.msg} |   0
 ...or_hygrometer.msg => SensorHygrometer.msg} |   0
 msg/{sensor_mag.msg => SensorMag.msg}         |   0
 ...optical_flow.msg => SensorOpticalFlow.msg} |   0
 ...eflight_mag.msg => SensorPreflightMag.msg} |   0
 ...nsor_selection.msg => SensorSelection.msg} |   0
 msg/{sensors_status.msg => SensorsStatus.msg} |   2 +-
 ...rs_status_imu.msg => SensorsStatusImu.msg} |   0
 msg/{system_power.msg => SystemPower.msg}     |   0
 msg/{takeoff_status.msg => TakeoffStatus.msg} |   0
 ...{task_stack_info.msg => TaskStackInfo.msg} |   0
 msg/{tecs_status.msg => TecsStatus.msg}       |   0
 ...lemetry_status.msg => TelemetryStatus.msg} |   0
 ...timesync_status.msg => TimesyncStatus.msg} |   7 +-
 ...ectory_bezier.msg => TrajectoryBezier.msg} |   0
 ...ry_setpoint.msg => TrajectorySetpoint.msg} |   0
 ...ry_waypoint.msg => TrajectoryWaypoint.msg} |   0
 ...onder_report.msg => TransponderReport.msg} |   0
 msg/{tune_control.msg => TuneControl.msg}     |   0
 ...request.msg => UavcanParameterRequest.msg} |   0
 ...ter_value.msg => UavcanParameterValue.msg} |   0
 msg/{ulog_stream.msg => UlogStream.msg}       |   0
 ...{ulog_stream_ack.msg => UlogStreamAck.msg} |   0
 msg/{uwb_distance.msg => UwbDistance.msg}     |   0
 msg/{uwb_grid.msg => UwbGrid.msg}             |   0
 ...celeration.msg => VehicleAcceleration.msg} |   0
 ...ehicle_air_data.msg => VehicleAirData.msg} |   0
 ...ion.msg => VehicleAngularAcceleration.msg} |   0
 ...=> VehicleAngularAccelerationSetpoint.msg} |   0
 ...elocity.msg => VehicleAngularVelocity.msg} |   0
 ...hicle_attitude.msg => VehicleAttitude.msg} |   2 +-
 ...tpoint.msg => VehicleAttitudeSetpoint.msg} |   0
 ...vehicle_command.msg => VehicleCommand.msg} |   0
 ..._command_ack.msg => VehicleCommandAck.msg} |   0
 ...constraints.msg => VehicleConstraints.msg} |   0
 ...ontrol_mode.msg => VehicleControlMode.msg} |   0
 ...position.msg => VehicleGlobalPosition.msg} |   0
 msg/{vehicle_imu.msg => VehicleImu.msg}       |   0
 ...le_imu_status.msg => VehicleImuStatus.msg} |   0
 ...d_detected.msg => VehicleLandDetected.msg} |   0
 ..._position.msg => VehicleLocalPosition.msg} |   0
 ...t.msg => VehicleLocalPositionSetpoint.msg} |   0
 ...gnetometer.msg => VehicleMagnetometer.msg} |   0
 ...hicle_odometry.msg => VehicleOdometry.msg} |   0
 ...ptical_flow.msg => VehicleOpticalFlow.msg} |   0
 ...flow_vel.msg => VehicleOpticalFlowVel.msg} |   0
 ..._setpoint.msg => VehicleRatesSetpoint.msg} |   0
 msg/{vehicle_roi.msg => VehicleRoi.msg}       |   0
 msg/{vehicle_status.msg => VehicleStatus.msg} |   0
 ...setpoint.msg => VehicleThrustSetpoint.msg} |   0
 ...setpoint.msg => VehicleTorqueSetpoint.msg} |   0
 ...bezier.msg => VehicleTrajectoryBezier.msg} |   2 +-
 ...oint.msg => VehicleTrajectoryWaypoint.msg} |   2 +-
 ...hicle_status.msg => VtolVehicleStatus.msg} |   0
 msg/{wheel_encoders.msg => WheelEncoders.msg} |   0
 msg/{wind.msg => Wind.msg}                    |   0
 ...ator_status.msg => YawEstimatorStatus.msg} |   0
 msg/templates/module.yaml                     |   6 -
 msg/templates/px4/ros/msg.h.em                |  94 --
 msg/templates/px4/uorb/msg.h.em               |  99 --
 msg/templates/uorb_microcdr/dds_topics.h.em   | 225 -----
 .../uorb_microcdr/microRTPS_client.cpp.em     | 310 -------
 msg/templates/uorb_microcdr/msg.cpp.em        | 156 ----
 msg/templates/uorb_microcdr/msg.h.em          |  69 --
 msg/templates/uorb_microcdr/uORBTopics.cpp.em |  42 -
 msg/templates/uorb_microcdr/uORBTopics.hpp.em |  44 -
 msg/templates/urtps/Publisher.cpp.em          | 219 -----
 msg/templates/urtps/Publisher.h.em            | 120 ---
 msg/templates/urtps/RtpsTopics.cpp.em         | 187 ----
 msg/templates/urtps/RtpsTopics.h.em           | 220 -----
 msg/templates/urtps/Subscriber.cpp.em         | 284 ------
 msg/templates/urtps/Subscriber.h.em           | 140 ---
 msg/templates/urtps/microRTPS_agent.cpp.em    | 408 ---------
 .../urtps/microRTPS_agent_CMakeLists.txt.em   |  63 --
 msg/templates/urtps/microRTPS_timesync.cpp.em | 295 ------
 msg/templates/urtps/microRTPS_timesync.h.em   | 303 -------
 msg/templates/urtps/microRTPS_transport.cpp   | 841 -----------------
 msg/templates/urtps/microRTPS_transport.h     | 164 ----
 msg/templates/urtps/msg.idl.em                | 154 ----
 msg/timesync.msg                              |   4 -
 msg/tools/generate_microRTPS_bridge.py        | 465 ----------
 msg/tools/px_generate_uorb_topic_files.py     | 561 ------------
 msg/tools/uorb_rtps_classifier.py             | 186 ----
 msg/tools/uorb_to_ros_msgs.py                 | 127 ---
 msg/tools/uorb_to_ros_urtps_topics.py         | 160 ----
 msg/tools/urtps_bridge_topics.yaml            |  94 --
 platforms/common/uORB/Subscription.hpp        |   2 +
 src/drivers/drv_hrt.h                         |  12 +-
 src/drivers/protocol_splitter/Kconfig         |   5 -
 .../protocol_splitter/protocol_splitter.cpp   | 845 ------------------
 src/lib/CMakeLists.txt                        |   1 +
 .../timesync}/CMakeLists.txt                  |  15 +-
 src/lib/timesync/Timesync.cpp                 | 168 ++++
 src/lib/timesync/Timesync.hpp                 | 144 +++
 .../airship_att_control_main.cpp              |   2 +-
 src/modules/commander/failsafe/CMakeLists.txt |   2 +-
 .../failsafe/parse_flags_from_msg.py          |   4 +-
 src/modules/ekf2/EKF/airspeed_fusion.cpp      |   4 +-
 src/modules/ekf2/EKF/ekf.h                    |  76 +-
 src/modules/ekf2/EKF/mag_fusion.cpp           |   4 +-
 src/modules/ekf2/EKF/optflow_fusion.cpp       |   2 +-
 src/modules/ekf2/EKF/sideslip_fusion.cpp      |   4 +-
 src/modules/ekf2/EKF/vel_pos_fusion.cpp       |  16 +-
 .../EKF/zero_innovation_heading_update.cpp    |   6 +-
 src/modules/ekf2/EKF2.hpp                     |  36 +-
 src/modules/mavlink/CMakeLists.txt            |   1 +
 src/modules/mavlink/mavlink_timesync.cpp      | 132 +--
 src/modules/mavlink/mavlink_timesync.h        |  92 +-
 src/modules/microdds_client/CMakeLists.txt    | 190 ++--
 .../microdds_client/Micro-XRCE-DDS-Client     |   2 +-
 src/modules/microdds_client/dds_topics.h.em   | 127 +++
 src/modules/microdds_client/dds_topics.yaml   |  86 ++
 .../microdds_client/generate_dds_topics.py    | 143 +++
 .../microdds_client/microdds_client.cpp       | 268 ++++--
 src/modules/microdds_client/microdds_client.h |  17 +-
 src/modules/microdds_client/module.yaml       |  56 ++
 src/modules/microdds_client/utilities.hpp     | 138 +++
 src/modules/micrortps_bridge/CMakeLists.txt   | 193 ----
 src/modules/micrortps_bridge/Kconfig          |  12 -
 src/modules/micrortps_bridge/README.md        |   1 -
 src/modules/micrortps_bridge/micro-CDR        |   1 -
 .../micrortps_client/CMakeLists.txt           | 120 ---
 .../micrortps_client/microRTPS_client.h       |  99 --
 .../microRTPS_client_main.cpp                 | 330 -------
 .../micrortps_client/module.yaml              |  38 -
 .../res/basic_example_flow.png                | Bin 182298 -> 0 bytes
 .../sitl_targets_gazebo.cmake                 |   4 +-
 test/mavsdk_tests/mavsdk_test_runner.py       |   4 +-
 318 files changed, 1948 insertions(+), 8939 deletions(-)
 delete mode 100644 ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps
 delete mode 100755 Tools/build_micrortps_agent.sh
 rename {msg/tools => Tools/msg}/__init__.py (100%)
 rename {msg/tools => Tools/msg}/generate_msg_docs.py (98%)
 create mode 100755 Tools/msg/px_generate_uorb_topic_files.py
 rename {msg/tools => Tools/msg}/px_generate_uorb_topic_helper.py (96%)
 rename {msg => Tools/msg}/templates/ucdr/msg.h.em (54%)
 rename {msg => Tools/msg}/templates/uorb/msg.cpp.em (85%)
 rename {msg => Tools/msg}/templates/uorb/msg.h.em (90%)
 rename {msg => Tools/msg}/templates/uorb/uORBTopics.cpp.em (84%)
 rename {msg => Tools/msg}/templates/uorb/uORBTopics.hpp.em (85%)
 delete mode 100755 Tools/update_px4_ros2_bridge.sh
 delete mode 100644 boards/modalai/fc-v1/rtps.px4board
 delete mode 100644 boards/mro/ctrl-zero-h7-oem/rtps.px4board
 delete mode 100644 boards/mro/ctrl-zero-h7/rtps.px4board
 delete mode 100644 boards/mro/pixracerpro/rtps.px4board
 delete mode 100644 boards/nxp/fmuk66-e/rtps.px4board
 delete mode 100644 boards/nxp/fmuk66-v3/rtps.px4board
 delete mode 100644 boards/px4/fmu-v4/rtps.px4board
 delete mode 100644 boards/px4/fmu-v5/rtps.px4board
 delete mode 100644 boards/px4/fmu-v5x/rtps.px4board
 delete mode 100644 boards/px4/sitl/rtps.px4board
 rename msg/{action_request.msg => ActionRequest.msg} (100%)
 rename msg/{actuator_armed.msg => ActuatorArmed.msg} (100%)
 rename msg/{actuator_controls.msg => ActuatorControls.msg} (88%)
 rename msg/{actuator_controls_status.msg => ActuatorControlsStatus.msg} (66%)
 rename msg/{actuator_motors.msg => ActuatorMotors.msg} (100%)
 rename msg/{actuator_outputs.msg => ActuatorOutputs.msg} (100%)
 rename msg/{actuator_servos.msg => ActuatorServos.msg} (100%)
 rename msg/{actuator_servos_trim.msg => ActuatorServosTrim.msg} (100%)
 rename msg/{actuator_test.msg => ActuatorTest.msg} (100%)
 rename msg/{adc_report.msg => AdcReport.msg} (100%)
 rename msg/{airspeed.msg => Airspeed.msg} (100%)
 rename msg/{airspeed_validated.msg => AirspeedValidated.msg} (100%)
 rename msg/{airspeed_wind.msg => AirspeedWind.msg} (100%)
 rename msg/{autotune_attitude_control_status.msg => AutotuneAttitudeControlStatus.msg} (100%)
 rename msg/{battery_status.msg => BatteryStatus.msg} (100%)
 rename msg/{button_event.msg => ButtonEvent.msg} (85%)
 rename msg/{camera_capture.msg => CameraCapture.msg} (100%)
 rename msg/{camera_status.msg => CameraStatus.msg} (100%)
 rename msg/{camera_trigger.msg => CameraTrigger.msg} (89%)
 rename msg/{cellular_status.msg => CellularStatus.msg} (100%)
 rename msg/{collision_constraints.msg => CollisionConstraints.msg} (100%)
 rename msg/{collision_report.msg => CollisionReport.msg} (100%)
 rename msg/{control_allocator_status.msg => ControlAllocatorStatus.msg} (100%)
 rename msg/{cpuload.msg => Cpuload.msg} (100%)
 rename msg/{debug_array.msg => DebugArray.msg} (100%)
 rename msg/{debug_key_value.msg => DebugKeyValue.msg} (100%)
 rename msg/{debug_value.msg => DebugValue.msg} (100%)
 rename msg/{debug_vect.msg => DebugVect.msg} (100%)
 rename msg/{differential_pressure.msg => DifferentialPressure.msg} (100%)
 rename msg/{distance_sensor.msg => DistanceSensor.msg} (100%)
 rename msg/{ekf2_timestamps.msg => Ekf2Timestamps.msg} (100%)
 rename msg/{esc_report.msg => EscReport.msg} (100%)
 rename msg/{esc_status.msg => EscStatus.msg} (98%)
 rename msg/{estimator_aid_source_1d.msg => EstimatorAidSource1d.msg} (96%)
 rename msg/{estimator_aid_source_2d.msg => EstimatorAidSource2d.msg} (95%)
 rename msg/{estimator_aid_source_3d.msg => EstimatorAidSource3d.msg} (95%)
 rename msg/{estimator_bias.msg => EstimatorBias.msg} (96%)
 rename msg/{estimator_event_flags.msg => EstimatorEventFlags.msg} (100%)
 rename msg/{estimator_gps_status.msg => EstimatorGpsStatus.msg} (100%)
 rename msg/{estimator_innovations.msg => EstimatorInnovations.msg} (100%)
 rename msg/{estimator_selector_status.msg => EstimatorSelectorStatus.msg} (100%)
 rename msg/{estimator_sensor_bias.msg => EstimatorSensorBias.msg} (100%)
 rename msg/{estimator_states.msg => EstimatorStates.msg} (100%)
 rename msg/{estimator_status.msg => EstimatorStatus.msg} (100%)
 rename msg/{estimator_status_flags.msg => EstimatorStatusFlags.msg} (100%)
 rename msg/{event.msg => Event.msg} (100%)
 rename msg/{failsafe_flags.msg => FailsafeFlags.msg} (100%)
 rename msg/{failure_detector_status.msg => FailureDetectorStatus.msg} (100%)
 rename msg/{follow_target.msg => FollowTarget.msg} (100%)
 rename msg/{follow_target_estimator.msg => FollowTargetEstimator.msg} (100%)
 rename msg/{follow_target_status.msg => FollowTargetStatus.msg} (100%)
 rename msg/{generator_status.msg => GeneratorStatus.msg} (100%)
 rename msg/{geofence_result.msg => GeofenceResult.msg} (100%)
 rename msg/{gimbal_device_attitude_status.msg => GimbalDeviceAttitudeStatus.msg} (100%)
 rename msg/{gimbal_device_information.msg => GimbalDeviceInformation.msg} (100%)
 rename msg/{gimbal_device_set_attitude.msg => GimbalDeviceSetAttitude.msg} (100%)
 rename msg/{gimbal_manager_information.msg => GimbalManagerInformation.msg} (100%)
 rename msg/{gimbal_manager_set_attitude.msg => GimbalManagerSetAttitude.msg} (100%)
 rename msg/{gimbal_manager_set_manual_control.msg => GimbalManagerSetManualControl.msg} (100%)
 rename msg/{gimbal_manager_status.msg => GimbalManagerStatus.msg} (100%)
 rename msg/{gps_dump.msg => GpsDump.msg} (100%)
 rename msg/{gps_inject_data.msg => GpsInjectData.msg} (100%)
 rename msg/{gripper.msg => Gripper.msg} (100%)
 rename msg/{health_report.msg => HealthReport.msg} (99%)
 rename msg/{heater_status.msg => HeaterStatus.msg} (100%)
 rename msg/{home_position.msg => HomePosition.msg} (100%)
 rename msg/{hover_thrust_estimate.msg => HoverThrustEstimate.msg} (100%)
 rename msg/{input_rc.msg => InputRc.msg} (100%)
 rename msg/{internal_combustion_engine_status.msg => InternalCombustionEngineStatus.msg} (100%)
 rename msg/{iridiumsbd_status.msg => IridiumsbdStatus.msg} (100%)
 rename msg/{irlock_report.msg => IrlockReport.msg} (100%)
 rename msg/{landing_gear.msg => LandingGear.msg} (100%)
 rename msg/{landing_target_innovations.msg => LandingTargetInnovations.msg} (100%)
 rename msg/{landing_target_pose.msg => LandingTargetPose.msg} (100%)
 rename msg/{led_control.msg => LedControl.msg} (100%)
 rename msg/{log_message.msg => LogMessage.msg} (100%)
 rename msg/{logger_status.msg => LoggerStatus.msg} (100%)
 rename msg/{mag_worker_data.msg => MagWorkerData.msg} (100%)
 rename msg/{magnetometer_bias_estimate.msg => MagnetometerBiasEstimate.msg} (100%)
 rename msg/{manual_control_setpoint.msg => ManualControlSetpoint.msg} (100%)
 rename msg/{manual_control_switches.msg => ManualControlSwitches.msg} (100%)
 rename msg/{mavlink_log.msg => MavlinkLog.msg} (100%)
 rename msg/{mavlink_tunnel.msg => MavlinkTunnel.msg} (100%)
 rename msg/{mission.msg => Mission.msg} (100%)
 rename msg/{mission_result.msg => MissionResult.msg} (100%)
 rename msg/{mount_orientation.msg => MountOrientation.msg} (100%)
 rename msg/{navigator_mission_item.msg => NavigatorMissionItem.msg} (100%)
 rename msg/{npfg_status.msg => NpfgStatus.msg} (100%)
 rename msg/{obstacle_distance.msg => ObstacleDistance.msg} (100%)
 rename msg/{offboard_control_mode.msg => OffboardControlMode.msg} (100%)
 rename msg/{onboard_computer_status.msg => OnboardComputerStatus.msg} (100%)
 rename msg/{orb_test.msg => OrbTest.msg} (100%)
 rename msg/{orb_test_large.msg => OrbTestLarge.msg} (100%)
 rename msg/{orb_test_medium.msg => OrbTestMedium.msg} (100%)
 rename msg/{orbit_status.msg => OrbitStatus.msg} (100%)
 rename msg/{parameter_update.msg => ParameterUpdate.msg} (100%)
 rename msg/{ping.msg => Ping.msg} (100%)
 rename msg/{position_controller_landing_status.msg => PositionControllerLandingStatus.msg} (100%)
 rename msg/{position_controller_status.msg => PositionControllerStatus.msg} (100%)
 rename msg/{position_setpoint.msg => PositionSetpoint.msg} (100%)
 rename msg/{position_setpoint_triplet.msg => PositionSetpointTriplet.msg} (67%)
 rename msg/{power_button_state.msg => PowerButtonState.msg} (100%)
 rename msg/{power_monitor.msg => PowerMonitor.msg} (100%)
 rename msg/{pps_capture.msg => PpsCapture.msg} (100%)
 rename msg/{pwm_input.msg => PwmInput.msg} (100%)
 rename msg/{px4io_status.msg => Px4ioStatus.msg} (100%)
 rename msg/{radio_status.msg => RadioStatus.msg} (100%)
 rename msg/{rate_ctrl_status.msg => RateCtrlStatus.msg} (100%)
 rename msg/{rc_channels.msg => RcChannels.msg} (100%)
 rename msg/{rc_parameter_map.msg => RcParameterMap.msg} (100%)
 rename msg/{rpm.msg => Rpm.msg} (100%)
 rename msg/{rtl_time_estimate.msg => RtlTimeEstimate.msg} (100%)
 rename msg/{satellite_info.msg => SatelliteInfo.msg} (100%)
 rename msg/{sensor_accel.msg => SensorAccel.msg} (100%)
 rename msg/{sensor_accel_fifo.msg => SensorAccelFifo.msg} (100%)
 rename msg/{sensor_baro.msg => SensorBaro.msg} (100%)
 rename msg/{sensor_combined.msg => SensorCombined.msg} (100%)
 rename msg/{sensor_correction.msg => SensorCorrection.msg} (100%)
 rename msg/{sensor_gnss_relative.msg => SensorGnssRelative.msg} (100%)
 rename msg/{sensor_gps.msg => SensorGps.msg} (100%)
 rename msg/{sensor_gyro.msg => SensorGyro.msg} (100%)
 rename msg/{sensor_gyro_fft.msg => SensorGyroFft.msg} (100%)
 rename msg/{sensor_gyro_fifo.msg => SensorGyroFifo.msg} (100%)
 rename msg/{sensor_hygrometer.msg => SensorHygrometer.msg} (100%)
 mode change 100755 => 100644
 rename msg/{sensor_mag.msg => SensorMag.msg} (100%)
 rename msg/{sensor_optical_flow.msg => SensorOpticalFlow.msg} (100%)
 rename msg/{sensor_preflight_mag.msg => SensorPreflightMag.msg} (100%)
 rename msg/{sensor_selection.msg => SensorSelection.msg} (100%)
 rename msg/{sensors_status.msg => SensorsStatus.msg} (87%)
 rename msg/{sensors_status_imu.msg => SensorsStatusImu.msg} (100%)
 rename msg/{system_power.msg => SystemPower.msg} (100%)
 rename msg/{takeoff_status.msg => TakeoffStatus.msg} (100%)
 rename msg/{task_stack_info.msg => TaskStackInfo.msg} (100%)
 rename msg/{tecs_status.msg => TecsStatus.msg} (100%)
 rename msg/{telemetry_status.msg => TelemetryStatus.msg} (100%)
 rename msg/{timesync_status.msg => TimesyncStatus.msg} (72%)
 rename msg/{trajectory_bezier.msg => TrajectoryBezier.msg} (100%)
 rename msg/{trajectory_setpoint.msg => TrajectorySetpoint.msg} (100%)
 rename msg/{trajectory_waypoint.msg => TrajectoryWaypoint.msg} (100%)
 rename msg/{transponder_report.msg => TransponderReport.msg} (100%)
 rename msg/{tune_control.msg => TuneControl.msg} (100%)
 rename msg/{uavcan_parameter_request.msg => UavcanParameterRequest.msg} (100%)
 rename msg/{uavcan_parameter_value.msg => UavcanParameterValue.msg} (100%)
 rename msg/{ulog_stream.msg => UlogStream.msg} (100%)
 rename msg/{ulog_stream_ack.msg => UlogStreamAck.msg} (100%)
 rename msg/{uwb_distance.msg => UwbDistance.msg} (100%)
 rename msg/{uwb_grid.msg => UwbGrid.msg} (100%)
 rename msg/{vehicle_acceleration.msg => VehicleAcceleration.msg} (100%)
 rename msg/{vehicle_air_data.msg => VehicleAirData.msg} (100%)
 rename msg/{vehicle_angular_acceleration.msg => VehicleAngularAcceleration.msg} (100%)
 rename msg/{vehicle_angular_acceleration_setpoint.msg => VehicleAngularAccelerationSetpoint.msg} (100%)
 rename msg/{vehicle_angular_velocity.msg => VehicleAngularVelocity.msg} (100%)
 rename msg/{vehicle_attitude.msg => VehicleAttitude.msg} (86%)
 rename msg/{vehicle_attitude_setpoint.msg => VehicleAttitudeSetpoint.msg} (100%)
 rename msg/{vehicle_command.msg => VehicleCommand.msg} (100%)
 rename msg/{vehicle_command_ack.msg => VehicleCommandAck.msg} (100%)
 rename msg/{vehicle_constraints.msg => VehicleConstraints.msg} (100%)
 rename msg/{vehicle_control_mode.msg => VehicleControlMode.msg} (100%)
 rename msg/{vehicle_global_position.msg => VehicleGlobalPosition.msg} (100%)
 rename msg/{vehicle_imu.msg => VehicleImu.msg} (100%)
 rename msg/{vehicle_imu_status.msg => VehicleImuStatus.msg} (100%)
 rename msg/{vehicle_land_detected.msg => VehicleLandDetected.msg} (100%)
 rename msg/{vehicle_local_position.msg => VehicleLocalPosition.msg} (100%)
 rename msg/{vehicle_local_position_setpoint.msg => VehicleLocalPositionSetpoint.msg} (100%)
 rename msg/{vehicle_magnetometer.msg => VehicleMagnetometer.msg} (100%)
 rename msg/{vehicle_odometry.msg => VehicleOdometry.msg} (100%)
 rename msg/{vehicle_optical_flow.msg => VehicleOpticalFlow.msg} (100%)
 rename msg/{vehicle_optical_flow_vel.msg => VehicleOpticalFlowVel.msg} (100%)
 rename msg/{vehicle_rates_setpoint.msg => VehicleRatesSetpoint.msg} (100%)
 rename msg/{vehicle_roi.msg => VehicleRoi.msg} (100%)
 rename msg/{vehicle_status.msg => VehicleStatus.msg} (100%)
 rename msg/{vehicle_thrust_setpoint.msg => VehicleThrustSetpoint.msg} (100%)
 rename msg/{vehicle_torque_setpoint.msg => VehicleTorqueSetpoint.msg} (100%)
 rename msg/{vehicle_trajectory_bezier.msg => VehicleTrajectoryBezier.msg} (93%)
 rename msg/{vehicle_trajectory_waypoint.msg => VehicleTrajectoryWaypoint.msg} (95%)
 rename msg/{vtol_vehicle_status.msg => VtolVehicleStatus.msg} (100%)
 rename msg/{wheel_encoders.msg => WheelEncoders.msg} (100%)
 rename msg/{wind.msg => Wind.msg} (100%)
 rename msg/{yaw_estimator_status.msg => YawEstimatorStatus.msg} (100%)
 delete mode 100644 msg/templates/module.yaml
 delete mode 100644 msg/templates/px4/ros/msg.h.em
 delete mode 100644 msg/templates/px4/uorb/msg.h.em
 delete mode 100644 msg/templates/uorb_microcdr/dds_topics.h.em
 delete mode 100644 msg/templates/uorb_microcdr/microRTPS_client.cpp.em
 delete mode 100644 msg/templates/uorb_microcdr/msg.cpp.em
 delete mode 100644 msg/templates/uorb_microcdr/msg.h.em
 delete mode 100644 msg/templates/uorb_microcdr/uORBTopics.cpp.em
 delete mode 100644 msg/templates/uorb_microcdr/uORBTopics.hpp.em
 delete mode 100644 msg/templates/urtps/Publisher.cpp.em
 delete mode 100644 msg/templates/urtps/Publisher.h.em
 delete mode 100644 msg/templates/urtps/RtpsTopics.cpp.em
 delete mode 100644 msg/templates/urtps/RtpsTopics.h.em
 delete mode 100644 msg/templates/urtps/Subscriber.cpp.em
 delete mode 100644 msg/templates/urtps/Subscriber.h.em
 delete mode 100644 msg/templates/urtps/microRTPS_agent.cpp.em
 delete mode 100644 msg/templates/urtps/microRTPS_agent_CMakeLists.txt.em
 delete mode 100644 msg/templates/urtps/microRTPS_timesync.cpp.em
 delete mode 100644 msg/templates/urtps/microRTPS_timesync.h.em
 delete mode 100644 msg/templates/urtps/microRTPS_transport.cpp
 delete mode 100644 msg/templates/urtps/microRTPS_transport.h
 delete mode 100644 msg/templates/urtps/msg.idl.em
 delete mode 100644 msg/timesync.msg
 delete mode 100644 msg/tools/generate_microRTPS_bridge.py
 delete mode 100755 msg/tools/px_generate_uorb_topic_files.py
 delete mode 100644 msg/tools/uorb_rtps_classifier.py
 delete mode 100755 msg/tools/uorb_to_ros_msgs.py
 delete mode 100755 msg/tools/uorb_to_ros_urtps_topics.py
 delete mode 100644 msg/tools/urtps_bridge_topics.yaml
 delete mode 100644 src/drivers/protocol_splitter/Kconfig
 delete mode 100644 src/drivers/protocol_splitter/protocol_splitter.cpp
 rename src/{drivers/protocol_splitter => lib/timesync}/CMakeLists.txt (90%)
 create mode 100644 src/lib/timesync/Timesync.cpp
 create mode 100644 src/lib/timesync/Timesync.hpp
 create mode 100644 src/modules/microdds_client/dds_topics.h.em
 create mode 100644 src/modules/microdds_client/dds_topics.yaml
 create mode 100644 src/modules/microdds_client/generate_dds_topics.py
 create mode 100644 src/modules/microdds_client/module.yaml
 create mode 100644 src/modules/microdds_client/utilities.hpp
 delete mode 100644 src/modules/micrortps_bridge/CMakeLists.txt
 delete mode 100644 src/modules/micrortps_bridge/Kconfig
 delete mode 100644 src/modules/micrortps_bridge/README.md
 delete mode 160000 src/modules/micrortps_bridge/micro-CDR
 delete mode 100644 src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
 delete mode 100644 src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
 delete mode 100644 src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
 delete mode 100644 src/modules/micrortps_bridge/micrortps_client/module.yaml
 delete mode 100644 src/modules/micrortps_bridge/res/basic_example_flow.png

diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile
index c4ad1ac591..ba9b8a1523 100644
--- a/.ci/Jenkinsfile-compile
+++ b/.ci/Jenkinsfile-compile
@@ -69,24 +69,18 @@ pipeline {
                      "matek_h743-slim_default",
                      "matek_h743_default",
                      "modalai_fc-v1_default",
-                     "modalai_fc-v1_rtps",
                      "modalai_fc-v2_default",
                      "modalai_voxl2-io_default",
                      "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
                      "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7-oem_rtps",
                      "mro_ctrl-zero-h7_default",
-                     "mro_ctrl-zero-h7_rtps",
                      "mro_pixracerpro_default",
-                     "mro_pixracerpro_rtps",
                      "mro_x21-777_default",
                      "mro_x21_default",
                      "nxp_fmuk66-e_default",
-                     "nxp_fmuk66-e_rtps",
                      "nxp_fmuk66-e_socketcan",
                      "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_rtps",
                      "nxp_fmuk66-v3_socketcan",
                      "nxp_fmurt1062-v1_default",
                      "nxp_ucans32k146_canbootloader",
@@ -104,7 +98,6 @@ pipeline {
                      "px4_fmu-v5_debug",
                      "px4_fmu-v5_default",
                      "px4_fmu-v5_lto",
-                     "px4_fmu-v5_rtps",
                      "px4_fmu-v5_stackcheck",
                      "px4_fmu-v5_uavcanv0periph",
                      "px4_fmu-v5x_default",
diff --git a/.github/workflows/checks.yml b/.github/workflows/checks.yml
index 9c72c966fa..ef15d32171 100644
--- a/.github/workflows/checks.yml
+++ b/.github/workflows/checks.yml
@@ -23,7 +23,6 @@ jobs:
           "shellcheck_all",
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",
           "NO_NINJA_BUILD=1 px4_sitl_default",
-          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
           "airframe_metadata",
           "module_documentation",
           "parameters_metadata",
diff --git a/.github/workflows/metadata.yml b/.github/workflows/metadata.yml
index 4372a34da1..10799ba38f 100644
--- a/.github/workflows/metadata.yml
+++ b/.github/workflows/metadata.yml
@@ -116,7 +116,7 @@ jobs:
         ls -ls *
       # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
 
-  micrortps_agent:
+  ROS2_msgs:
     runs-on: ubuntu-latest
     container: px4io/px4-dev-base-focal:2021-09-08
     steps:
@@ -124,34 +124,8 @@ jobs:
       with:
         token: ${{ secrets.ACCESS_TOKEN }}
 
-    - name: microRTPS agent
-      run: |
-        make px4_sitl_rtps
-        git clone https://github.com/PX4/micrortps_agent.git
-        cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
-
-  ROS_msgs:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS msgs
+    - name: PX4 ROS2 msgs
       run: |
         git clone https://github.com/PX4/px4_msgs.git
-        python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
-
-  ROS2_bridge:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS2 bridge
-      run: |
-        git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
+        rm px4_msgs/msg/*.msg
+        cp msg/*.msg px4_msgs/msg/
diff --git a/.gitmodules b/.gitmodules
index a1b3d788af..4b9627a94c 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -18,10 +18,6 @@
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
 	branch = main
-[submodule "src/modules/micrortps_bridge/micro-CDR"]
-	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/PX4/Micro-CDR.git
-	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -64,4 +60,5 @@
 	branch = px4
 [submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
 	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
-	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
+	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
+	branch = px4
diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml
index d47e962fd6..1f93a5ce3e 100644
--- a/.vscode/cmake-variants.yaml
+++ b/.vscode/cmake-variants.yaml
@@ -6,11 +6,11 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
-    px4_sitl_rtps:
-      short: px4_sitl_rtps
+    px4_sitl_nolockstep:
+      short: px4_sitl_nolockstep
       buildType: RelWithDebInfo
       settings:
-        CONFIG: px4_sitl_rtps
+        CONFIG: px4_sitl_nolockstep
     px4_sitl_asan:
       short: px4_sitl (AddressSanitizer)
       buildType: AddressSanitizer
diff --git a/Documentation/Doxyfile.in b/Documentation/Doxyfile.in
index f6d12430c7..0874d152cf 100644
--- a/Documentation/Doxyfile.in
+++ b/Documentation/Doxyfile.in
@@ -829,7 +829,6 @@ RECURSIVE              = YES
 # run.
 
 EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
-                         @CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
                          @CMAKE_SOURCE_DIR@/src/examples \
                          @CMAKE_SOURCE_DIR@/src/templates
 
diff --git a/Jenkinsfile b/Jenkinsfile
index b25af16dff..30deefc365 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -13,76 +13,6 @@ pipeline {
         }
       }
       parallel {
-        // stage('Catkin build on ROS workspace') {
-        //   agent {
-        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-08-18'
-        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-        //     }
-        //   }
-        //   steps {
-        //     sh 'ls -l'
-        //     sh '''#!/bin/bash -l
-        //       echo $0;
-        //       mkdir -p catkin_ws/src;
-        //       cd catkin_ws;
-        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo
-        //       git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/simulation/gazebo/sitl_gazebo src/mavlink_sitl_gazebo;
-        //       git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
-        //       source /opt/ros/melodic/setup.bash;
-        //       export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
-        //       catkin init;
-        //       catkin build -j$(nproc) -l$(nproc);
-        //     '''
-        //     // test if the binary was correctly installed and runs using 'mavros_posix_sitl.launch'
-        //     sh '''#!/bin/bash -l
-        //       echo $0;
-        //       source catkin_ws/devel/setup.bash;
-        //       rostest px4 pub_test.launch;
-        //     '''
-        //   }
-        //   post {
-        //     always {
-        //       sh 'rm -rf catkin_ws'
-        //     }
-        //     failure {
-        //       archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
-        //     }
-        //   }
-        //   options {
-        //     checkoutToSubdirectory('catkin_ws/src/Firmware')
-        //   }
-        // }
-
-        stage('Colcon build on ROS2 workspace') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
-            }
-          }
-          steps {
-            sh 'ls -l'
-            sh '''#!/bin/bash -l
-              echo $0;
-              unset ROS_DISTRO;
-              mkdir -p colcon_ws/src;
-              cd colcon_ws;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-              source /opt/ros/foxy/setup.sh;
-              colcon build --event-handlers console_direct+ --symlink-install;
-            '''
-          }
-          post {
-            always {
-              sh 'rm -rf colcon_ws'
-            }
-          }
-          options {
-            checkoutToSubdirectory('colcon_ws/src/Firmware')
-          }
-        }
 
         stage('Airframe') {
           agent {
@@ -149,7 +79,7 @@ pipeline {
             docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
           }
           steps {
-            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
+            sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
             dir('build') {
               archiveArtifacts(artifacts: 'msg_docs/*.md')
               stash includes: 'msg_docs/*.md', name: 'msg_documentation'
@@ -288,37 +218,6 @@ pipeline {
           }
         }
 
-        stage('microRTPS agent') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            sh('git fetch --all --tags')
-            sh('make distclean; git clean -ff -x -d .')
-            sh('make px4_sitl_rtps')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
-              sh("rm -rf micrortps_agent/src micrortps_agent/idl")
-              sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
-              sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
-              sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
-              sh('rm -rf micrortps_agent')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
         stage('PX4 ROS msgs') {
           agent {
             docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -329,66 +228,16 @@ pipeline {
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
               // 'main' branch
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('rm -f px4_msgs/msg/*.msg')
+              sh('cp msg/*.msg px4_msgs/msg/')
               sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
               sh('cd px4_msgs; git push origin main || true')
-              // 'ros1' branch
-              sh('cd px4_msgs; git checkout ros1')
-              sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
-              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin ros1 || true')
               sh('rm -rf px4_msgs')
             }
           }
           when {
             anyOf {
               branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
-            }
-          }
-        }
-
-        stage('PX4 ROS2 bridge') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
-              // deploy uORB RTPS ID map
-              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
-              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
-              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
-              // deploy uORB RTPS required tools
-              sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
-              sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
-              sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
-              sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
-              // deploy templates
-              sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
-              sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
-              sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
-              sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
-              sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
-              sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
-              sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
-              sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
-              sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
-              sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
-              sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
-              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
-              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
-              sh('rm -rf px4_msgs')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-              branch 'master' // should be removed, but in case there is something going on...
-              branch 'pr-jenkins' // for testing
             }
           }
         }
diff --git a/Makefile b/Makefile
index 34aa1c1273..c61ea751d0 100644
--- a/Makefile
+++ b/Makefile
@@ -172,11 +172,6 @@ ifdef PYTHON_EXECUTABLE
 	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif
 
-# Check if the microRTPS agent is to be built
-ifdef BUILD_MICRORTPS_AGENT
-  override CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
-endif
-
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -253,7 +248,7 @@ endef
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware
 
 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -278,15 +273,7 @@ misc_qgc_extra_firmware: \
 	check_airmind_mindpx-v2_default \
 	sizes
 
-# builds with RTPS
-check_rtps: \
-	check_px4_fmu-v3_rtps \
-	check_px4_fmu-v4_rtps \
-	check_px4_fmu-v4pro_rtps \
-	check_px4_sitl_rtps \
-	sizes
-
-.PHONY: sizes check quick_check check_rtps uorb_graphs
+.PHONY: sizes check quick_check uorb_graphs
 
 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
@@ -495,7 +482,9 @@ shellcheck_all:
 
 validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
-	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
+	-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
+	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 
 # Cleanup
diff --git a/README.md b/README.md
index a7daa142c4..edc263b4e7 100644
--- a/README.md
+++ b/README.md
@@ -75,7 +75,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
     * [Paul Riseborough](https://github.com/priseborough)
   * Vision based navigation and Obstacle Avoidance
     * [Markus Achtelik](https://github.com/markusachtelik)
-  * RTPS/ROS2 Interface
+  * DDS/ROS2 Interface
     * [Nuno Marques](https://github.com/TSC21)
 
 See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
diff --git a/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt
index 419ed0ed18..1ba7ccde27 100644
--- a/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt
@@ -36,7 +36,6 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	px4-rc.mavlink
 	px4-rc.params
-	px4-rc.rtps
 	px4-rc.simulator
 	rc.replay
 	rcS
diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps b/ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps
deleted file mode 100644
index d3cfa4f817..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 09ae36ce4f..4e6acb9c56 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -259,11 +259,8 @@ fi
 
 navigator start
 
-# Try to start the micrortps_client with UDP transport if module exists
-if px4-micrortps_client status > /dev/null 2>&1
-then
-	. px4-rc.rtps
-fi
+# Try to start the microdds_client with UDP transport if module exists
+microdds_client start -t udp -p 8888
 
 if param greater -s MNT_MODE_IN -1
 then
diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh
index 33a98569ae..6681bf84ac 100755
--- a/Tools/astyle/files_to_check_code_style.sh
+++ b/Tools/astyle/files_to_check_code_style.sh
@@ -8,7 +8,6 @@ if [ $# -gt 0 ]; then
 fi
 
 exec find boards msg src platforms test \
-    -path msg/templates/urtps -prune -o \
     -path platforms/nuttx/NuttX -prune -o \
     -path platforms/qurt/dspal -prune -o \
     -path src/drivers/uavcan/libuavcan -prune -o \
@@ -21,8 +20,6 @@ exec find boards msg src platforms test \
     -path src/modules/ekf2/EKF -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
     -path src/modules/mavlink/mavlink -prune -o \
-    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
-    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
     -path test/mavsdk_tests/catch2 -prune -o \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/crypto/libtomcrypt -prune -o \
diff --git a/Tools/build_micrortps_agent.sh b/Tools/build_micrortps_agent.sh
deleted file mode 100755
index 6d45eaeb41..0000000000
--- a/Tools/build_micrortps_agent.sh
+++ /dev/null
@@ -1,15 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-SCRIPT_DIR=$0
-if [[ ${SCRIPT_DIR:0:1} != '/' ]]; then
-  SCRIPT_DIR=$(dirname $(realpath -s "$PWD/$0"))
-fi
-
-PX4_DIR=$(cd "$(dirname $(dirname $SCRIPT_DIR))" && pwd)
-
-if [ -d $PX4_DIR/build/*_rtps ]; then
-  cd $PX4_DIR/build/*_rtps/src/modules/micrortps_bridge/micrortps_agent/
-  cmake -Bbuild
-  cmake --build build -j$(nproc --all)
-fi
diff --git a/msg/tools/__init__.py b/Tools/msg/__init__.py
similarity index 100%
rename from msg/tools/__init__.py
rename to Tools/msg/__init__.py
diff --git a/msg/tools/generate_msg_docs.py b/Tools/msg/generate_msg_docs.py
similarity index 98%
rename from msg/tools/generate_msg_docs.py
rename to Tools/msg/generate_msg_docs.py
index 8dd961968b..cd80971586 100755
--- a/msg/tools/generate_msg_docs.py
+++ b/Tools/msg/generate_msg_docs.py
@@ -66,7 +66,7 @@ if __name__ == "__main__":
         with open(msg_filename, 'r') as source_file:
             msg_contents = source_file.read()
 
-        #Format markdown using msg name, comment, url, contents.  
+        #Format markdown using msg name, comment, url, contents.
         markdown_output="""# %s (UORB message)
 
 %s
@@ -90,7 +90,7 @@ if __name__ == "__main__":
     readme_text="""# uORB Message Reference
 
 :::note
-This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/msg/tools/generate_msg_docs.py) from the source code.
+This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
 :::
 
 This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)).
diff --git a/Tools/msg/px_generate_uorb_topic_files.py b/Tools/msg/px_generate_uorb_topic_files.py
new file mode 100755
index 0000000000..4a26cbf10a
--- /dev/null
+++ b/Tools/msg/px_generate_uorb_topic_files.py
@@ -0,0 +1,253 @@
+#!/usr/bin/env python3
+#############################################################################
+#
+#   Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+#############################################################################
+
+"""
+px_generate_uorb_topic_files.py
+Generates c/cpp header/source files for uorb topics from .msg
+message files
+"""
+
+import os
+import argparse
+import re
+import sys
+
+try:
+    import em
+except ImportError as e:
+    print("Failed to import em: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user empy")
+    print("")
+    sys.exit(1)
+
+try:
+    import genmsg.template_tools
+except ImportError as e:
+    print("Failed to import genmsg: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyros-genmsg")
+    print("")
+    sys.exit(1)
+
+
+__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
+__copyright__ = "Copyright (C) 2013-2022 PX4 Development Team."
+__license__ = "BSD"
+__email__ = "thomasgubler@gmail.com"
+
+
+TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
+TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
+OUTPUT_FILE_EXT = ['.h', '.cpp']
+INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
+PACKAGE = 'px4'
+TOPICS_TOKEN = '# TOPICS '
+
+
+def get_topics(filename):
+    """
+    Get TOPICS names from a "# TOPICS" line
+    """
+    ofile = open(filename, 'r')
+    text = ofile.read()
+    result = []
+    for each_line in text.split('\n'):
+        if each_line.startswith(TOPICS_TOKEN):
+            topic_names_str = each_line.strip()
+            topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
+            topic_names_list = topic_names_str.split(" ")
+            for topic in topic_names_list:
+                # topic name PascalCase (file name) to snake_case (topic name)
+                topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', topic).lower()
+                result.append(topic_name)
+    ofile.close()
+
+    if len(result) == 0:
+        # topic name PascalCase (file name) to snake_case (topic name)
+        file_base_name = os.path.basename(filename).replace(".msg", "")
+        topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
+        result.append(topic_name)
+
+    return result
+
+
+def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
+    """
+    Converts a single .msg file to an uorb header/source file
+    """
+    msg_context = genmsg.msg_loader.MsgContext.create_default()
+    full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename))
+
+    file_base_name = os.path.basename(filename).replace(".msg", "")
+
+    full_type_name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
+
+    spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
+
+    field_name_and_type = {}
+    for field in spec.parsed_fields():
+        field_name_and_type.update({field.name: field.type})
+
+    # assert if the timestamp field exists
+    try:
+        assert 'timestamp' in field_name_and_type
+    except AssertionError:
+        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
+              spec.short_name + " msg definition!")
+        exit(1)
+
+    # assert if the timestamp field is of type uint64
+    try:
+        assert field_name_and_type.get('timestamp') == 'uint64'
+    except AssertionError:
+        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
+              " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
+        exit(1)
+
+    topics = get_topics(filename)
+
+    if includepath:
+        search_path = genmsg.command_line.includepath_to_dict(includepath)
+    else:
+        search_path = {}
+
+    genmsg.msg_loader.load_depends(msg_context, spec, search_path)
+
+    em_globals = {
+        "name_snake_case": full_type_name_snake,
+        "file_name_in": filename,
+        "search_path": search_path,
+        "msg_context": msg_context,
+        "spec": spec,
+        "topics": topics,
+    }
+
+    # Make sure output directory exists:
+    if not os.path.isdir(outputdir):
+        os.makedirs(outputdir)
+
+    template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
+    output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
+
+    return generate_by_template(output_file, template_file, em_globals)
+
+
+def generate_by_template(output_file, template_file, em_globals):
+    """
+    Invokes empy intepreter to geneate output_file by the
+    given template_file and predefined em_globals dict
+    """
+    # check if folder exists:
+    folder_name = os.path.dirname(output_file)
+    if not os.path.exists(folder_name):
+        os.makedirs(folder_name)
+
+    ofile = open(output_file, 'w')
+    # todo, reuse interpreter
+    interpreter = em.Interpreter(output=ofile, globals=em_globals, options={
+                                 em.RAW_OPT: True, em.BUFFERED_OPT: True})
+    try:
+        interpreter.file(open(template_file))
+    except OSError as e:
+        ofile.close()
+        os.remove(output_file)
+        raise
+    interpreter.shutdown()
+    ofile.close()
+    return True
+
+
+def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
+    # generate cpp file with topics list
+    filenames = []
+    for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
+        filenames.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower())
+
+    topics = []
+    for msg_filename in files:
+        topics.extend(get_topics(msg_filename))
+
+    tl_globals = {"msgs": filenames, "topics": topics}
+    tl_template_file = os.path.join(templatedir, template_filename)
+    tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
+
+    generate_by_template(tl_out_file, tl_template_file, tl_globals)
+
+
+def append_to_include_path(path_to_append, curr_include, package):
+    for p in path_to_append:
+        curr_include.append('%s:%s' % (package, p))
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Convert msg files to uorb headers/sources')
+    parser.add_argument('--headers', help='Generate header files', action='store_true')
+    parser.add_argument('--sources', help='Generate source files', action='store_true')
+    parser.add_argument('-f', dest='file',
+                        help="files to convert (use only without -d)",
+                        nargs="+")
+    parser.add_argument('-i', dest="include_paths",
+                        help='Additional Include Paths', nargs="*",
+                        default=None)
+    parser.add_argument('-e', dest='templatedir',
+                        help='directory with template files',)
+    parser.add_argument('-k', dest='package', default=PACKAGE,
+                        help='package name')
+    parser.add_argument('-o', dest='outputdir',
+                        help='output directory for header files')
+    parser.add_argument('-p', dest='prefix', default='',
+                        help='string added as prefix to the output file '
+                        ' name when converting directories')
+    args = parser.parse_args()
+
+    if args.include_paths:
+        append_to_include_path(args.include_paths, INCL_DEFAULT, args.package)
+
+    if args.headers:
+        generate_idx = 0
+    elif args.sources:
+        generate_idx = 1
+    else:
+        print('Error: either --headers or --sources must be specified')
+        exit(-1)
+    if args.file is not None:
+        for f in args.file:
+            generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
+
+        # Generate topics list header and source file
+        if os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
+            generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)
diff --git a/msg/tools/px_generate_uorb_topic_helper.py b/Tools/msg/px_generate_uorb_topic_helper.py
similarity index 96%
rename from msg/tools/px_generate_uorb_topic_helper.py
rename to Tools/msg/px_generate_uorb_topic_helper.py
index 1f90a01ddf..2ee3e1093b 100644
--- a/msg/tools/px_generate_uorb_topic_helper.py
+++ b/Tools/msg/px_generate_uorb_topic_helper.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 #############################################################################
 #
-#   Copyright (C) 2013-2021 PX4 Pro Development Team. All rights reserved.
+#   Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -41,6 +41,7 @@ precompiled and thus message generation will be much faster
 
 import os
 import errno
+import re
 
 import genmsg.msgs
 
@@ -236,8 +237,12 @@ def convert_type(spec_type, use_short_type=False):
         c_type = type_map_short[msg_type]
     elif msg_type in type_map:
         c_type = type_map[msg_type]
+    else:
+        c_type = re.sub(r'(?<!^)(?=[A-Z])', '_', c_type).lower() # PascalCase to snake_case
+
     if is_array:
         return c_type + "[" + str(array_length) + "]"
+
     return c_type
 
 
@@ -257,6 +262,7 @@ def print_field_def(field):
     type_prefix = ''
     if (sl_pos >= 0):
         type_name = type_name[sl_pos + 1:]
+        type_name = re.sub(r'(?<!^)(?=[A-Z])', '_', type_name).lower() # PascalCase to snake_case
         type_prefix = 'struct '
         type_appendix = '_s'
 
diff --git a/msg/templates/ucdr/msg.h.em b/Tools/msg/templates/ucdr/msg.h.em
similarity index 54%
rename from msg/templates/ucdr/msg.h.em
rename to Tools/msg/templates/ucdr/msg.h.em
index 589533631e..59203bb75f 100644
--- a/msg/templates/ucdr/msg.h.em
+++ b/Tools/msg/templates/ucdr/msg.h.em
@@ -6,15 +6,51 @@
 @# generates CDR serialization & deserialization methods
 @#
 @# Context:
+@#  - file_name_in (String) Source file
 @#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@#  - search_path (str) Path to .msg files
+@#  - search_path (dict) search paths for genmsg
+@#  - topics (List of String) topic names
 @###############################################
+/****************************************************************************
+ *
+ *   Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
 @{
 import genmsg.msgs
+import re
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
-topic = spec.short_name
-uorb_struct = '%s_s'%spec.short_name
+topic = name_snake_case
+uorb_struct = '%s_s'%name_snake_case
 
 # get fields, struct size and paddings
 def add_fields(msg_fields, name_prefix='', offset=0):
@@ -79,7 +115,8 @@ for field in spec.parsed_fields():
         if not field.is_header:
             (package, name) = genmsg.names.package_resource_name(field.base_type)
             package = package or spec.package # convert '' to package
-            print('#include <uORB/ucdr/%s.h>'%(name))
+            name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
+            print('#include <uORB/ucdr/%s.h>'%(name_snake))
 }@
 
 static inline constexpr int ucdr_topic_size_@(topic)()
@@ -87,11 +124,8 @@ static inline constexpr int ucdr_topic_size_@(topic)()
 	return @(struct_size);
 }
 
-bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf)
+bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf, int64_t time_offset = 0)
 {
-	if (ucdr_buffer_remaining(&buf) < @(struct_size)) {
-		return false;
-	}
 @{
 for field_type, field_name, field_size, padding in fields:
 	if padding > 0:
@@ -99,7 +133,18 @@ for field_type, field_name, field_size, padding in fields:
 		print('\tbuf.offset += {:}; // padding'.format(padding))
 
 	print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field_name, field_size))
-	print('\tmemcpy(buf.iterator, &topic.{0}, sizeof(topic.{0}));'.format(field_name))
+
+	if field_type == 'uint64' and field_name == 'timestamp':
+		print('\tconst uint64_t timestamp_adjusted = topic.timestamp + time_offset;')
+		print('\tmemcpy(buf.iterator, &timestamp_adjusted, sizeof(topic.{0}));'.format(field_name))
+
+	elif field_type == 'uint64' and field_name == 'timestamp_sample':
+		print('\tconst uint64_t timestamp_sample_adjusted = topic.timestamp_sample + time_offset;')
+		print('\tmemcpy(buf.iterator, &timestamp_sample_adjusted, sizeof(topic.{0}));'.format(field_name))
+
+	else:
+		print('\tmemcpy(buf.iterator, &topic.{0}, sizeof(topic.{0}));'.format(field_name))
+
 	print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
 	print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))
 
@@ -107,11 +152,8 @@ for field_type, field_name, field_size, padding in fields:
 	return true;
 }
 
-bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic)
+bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic, int64_t time_offset = 0)
 {
-	if (ucdr_buffer_remaining(&buf) < @(struct_size)) {
-		return false;
-	}
 @{
 for field_type, field_name, field_size, padding in fields:
 	if padding > 0:
@@ -120,6 +162,10 @@ for field_type, field_name, field_size, padding in fields:
 
 	print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field_name, field_size))
 	print('\tmemcpy(&topic.{0}, buf.iterator, sizeof(topic.{0}));'.format(field_name))
+
+	if field_type == 'uint64' and (field_name == 'timestamp' or field_name == 'timestamp_sample'):
+		print('\ttopic.{0} -= time_offset;'.format(field_name))
+
 	print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
 	print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))
 
diff --git a/msg/templates/uorb/msg.cpp.em b/Tools/msg/templates/uorb/msg.cpp.em
similarity index 85%
rename from msg/templates/uorb/msg.cpp.em
rename to Tools/msg/templates/uorb/msg.cpp.em
index 03776549f5..e613d9511f 100644
--- a/msg/templates/uorb/msg.cpp.em
+++ b/Tools/msg/templates/uorb/msg.cpp.em
@@ -13,12 +13,11 @@
 @#  - file_name_in (String) Source file
 @#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
 @#  - search_path (dict) search paths for genmsg
-@#  - topics (List of String) multi-topic names
-@#  - constrained_flash set to true if flash is constrained
+@#  - topics (List of String) topic names
 @###############################################
 /****************************************************************************
  *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -56,8 +55,7 @@ import genmsg.msgs
 
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
-uorb_struct = '%s_s'%spec.short_name
-topic_name = spec.short_name
+uorb_struct = '%s_s'%name_snake_case
 
 sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
 struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
@@ -67,7 +65,7 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field
 #include <inttypes.h>
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/defines.h>
-#include <uORB/topics/@(topic_name).h>
+#include <uORB/topics/@(name_snake_case).h>
 #include <uORB/topics/uORBTopics.hpp>
 #include <drivers/drv_hrt.h>
 #include <lib/drivers/device/Device.hpp>
@@ -76,10 +74,10 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field
 
 @# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
 @# This is used for the logger
-constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );";
+constexpr char __orb_@(name_snake_case)_fields[] = "@( ";".join(topic_fields) );";
 
-@[for multi_topic in topics]@
-ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields, static_cast<uint8_t>(ORB_ID::@multi_topic));
+@[for topic in topics]@
+ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast<uint8_t>(ORB_ID::@topic));
 @[end for]
 
 void print_message(const orb_metadata *meta, const @uorb_struct& message)
diff --git a/msg/templates/uorb/msg.h.em b/Tools/msg/templates/uorb/msg.h.em
similarity index 90%
rename from msg/templates/uorb/msg.h.em
rename to Tools/msg/templates/uorb/msg.h.em
index 9854e1eaef..69aa1347a1 100644
--- a/msg/templates/uorb/msg.h.em
+++ b/Tools/msg/templates/uorb/msg.h.em
@@ -13,11 +13,11 @@
 @#  - file_name_in (String) Source file
 @#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
 @#  - search_path (dict) search paths for genmsg
-@#  - topics (List of String) multi-topic names
+@#  - topics (List of String) topic names
 @###############################################
 /****************************************************************************
  *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -52,12 +52,12 @@
 
 @{
 import genmsg.msgs
+import re
 
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
-uorb_struct = '%s_s'%spec.short_name
-uorb_struct_upper = spec.short_name.upper()
-topic_name = spec.short_name
+uorb_struct = '%s_s'%name_snake_case
+uorb_struct_upper = name_snake_case.upper()
 }@
 
 #pragma once
@@ -77,6 +77,8 @@ for field in spec.parsed_fields():
         if (not field.is_header):
             (package, name) = genmsg.names.package_resource_name(field.base_type)
             package = package or spec.package # convert '' to package
+
+            name = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
             print('#include <uORB/topics/%s.h>'%(name))
 }@
 
@@ -127,9 +129,17 @@ for constant in spec.constants:
 #endif
 };
 
+#ifdef __cplusplus
+namespace px4 {
+	namespace msg {
+		using @(spec.short_name) = @(uorb_struct);
+	} // namespace msg
+} // namespace px4
+#endif
+
 /* register this as object request broker structure */
-@[for multi_topic in topics]@
-ORB_DECLARE(@multi_topic);
+@[for topic in topics]@
+ORB_DECLARE(@topic);
 @[end for]
 
 #ifdef __cplusplus
diff --git a/msg/templates/uorb/uORBTopics.cpp.em b/Tools/msg/templates/uorb/uORBTopics.cpp.em
similarity index 84%
rename from msg/templates/uorb/uORBTopics.cpp.em
rename to Tools/msg/templates/uorb/uORBTopics.cpp.em
index c71082e354..c8b1c88397 100644
--- a/msg/templates/uorb/uORBTopics.cpp.em
+++ b/Tools/msg/templates/uorb/uORBTopics.cpp.em
@@ -8,11 +8,11 @@
 @#
 @# Context:
 @#  - msgs (List) list of all msg files
-@#  - topics (List) list of all topic names
+@#  - multi_topics (List) list of all multi-topic names
 @###############################################
 /****************************************************************************
  *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -46,19 +46,22 @@
 #include <uORB/topics/uORBTopics.hpp>
 #include <uORB/uORB.h>
 @{
-msg_names = [mn.replace(".msg", "") for mn in msgs]
+msg_names = list(set([mn.replace(".msg", "") for mn in msgs])) # set() filters duplicates
+msg_names.sort()
 msgs_count = len(msg_names)
-topics_all = topics
-topics_all.sort()
-topics_count_all = len(topics_all)
+
+topic_names = list(set(topics)) # set() filters duplicates
+topic_names.sort()
+topics_count = len(topics)
+
 }@
 @[for msg_name in msg_names]@
 #include <uORB/topics/@(msg_name).h>
 @[end for]
 
 const constexpr struct orb_metadata *const uorb_topics_list[ORB_TOPICS_COUNT] = {
-@[for idx, topic_name in enumerate(topics_all, 1)]@
-	ORB_ID(@(topic_name))@[if idx != topics_count_all], @[end if]
+@[for idx, topic_name in enumerate(topic_names, 1)]@
+	ORB_ID(@(topic_name))@[if idx != topic_names], @[end if]
 @[end for]
 };
 
diff --git a/msg/templates/uorb/uORBTopics.hpp.em b/Tools/msg/templates/uorb/uORBTopics.hpp.em
similarity index 85%
rename from msg/templates/uorb/uORBTopics.hpp.em
rename to Tools/msg/templates/uorb/uORBTopics.hpp.em
index 528b95acee..aea7015cc7 100644
--- a/msg/templates/uorb/uORBTopics.hpp.em
+++ b/Tools/msg/templates/uorb/uORBTopics.hpp.em
@@ -7,12 +7,11 @@
 @# Start of Template
 @#
 @# Context:
-@#  - msgs (List) list of all msg files
 @#  - topics (List) list of all topic names
 @###############################################
 /****************************************************************************
  *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2021-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -44,11 +43,9 @@
  ****************************************************************************/
 
 @{
-msg_names = [mn.replace(".msg", "") for mn in msgs]
-msgs_count = len(msg_names)
-topics_all = topics
-topics_all.sort()
-topics_count_all = len(topics_all)
+topics_count = len(topics)
+topic_names_all = list(set(topics)) # set() filters duplicates
+topic_names_all.sort()
 }@
 
 #pragma once
@@ -57,7 +54,7 @@ topics_count_all = len(topics_all)
 
 #include <uORB/uORB.h>
 
-static constexpr size_t ORB_TOPICS_COUNT{@(topics_count_all)};
+static constexpr size_t ORB_TOPICS_COUNT{@(topics_count)};
 static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
 
 /*
@@ -66,8 +63,8 @@ static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
 extern const struct orb_metadata *const *orb_get_topics() __EXPORT;
 
 enum class ORB_ID : uint8_t {
-@[for idx, msg_name in enumerate(topics_all)]@
-	@(msg_name) = @(idx),
+@[for idx, topic_name in enumerate(topic_names_all)]@
+	@(topic_name) = @(idx),
 @[end for]
 	INVALID
 };
diff --git a/Tools/setup/arch.sh b/Tools/setup/arch.sh
index 83bc225d49..f27d7e756f 100755
--- a/Tools/setup/arch.sh
+++ b/Tools/setup/arch.sh
@@ -9,8 +9,6 @@
 ## - jMAVSim simulator (omit with arg: --no-sim-tools)
 ## - Gazebo simulator (not by default, use --gazebo)
 ##
-## Not Installs:
-## - FastRTPS and FastCDR
 
 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
@@ -122,7 +120,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	echo
 	echo "Installing PX4 simulation dependencies"
 
-	# java (jmavsim or fastrtps)
+	# java (jmavsim)
 	sudo pacman -S --noconfirm --needed \
 		ant \
 		jdk-openjdk \
diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh
index 6d1439bb6c..b17539de6f 100755
--- a/Tools/setup/ubuntu.sh
+++ b/Tools/setup/ubuntu.sh
@@ -10,8 +10,6 @@ set -e
 ## - NuttX toolchain (omit with arg: --no-nuttx)
 ## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
 ##
-## Not Installs:
-## - FastRTPS and FastCDR
 
 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
@@ -216,7 +214,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	else
 		java_version=14
 	fi
-	# Java (jmavsim or fastrtps)
+	# Java (jmavsim)
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		ant \
 		openjdk-$java_version-jre \
diff --git a/Tools/update_px4_ros2_bridge.sh b/Tools/update_px4_ros2_bridge.sh
deleted file mode 100755
index 58ebca5b7c..0000000000
--- a/Tools/update_px4_ros2_bridge.sh
+++ /dev/null
@@ -1,135 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-agent_template_files_updated=0
-code_generator_files_updated=0
-
-# parse help argument
-if [[ $1 == "-h" ]] || [[ $1 == "--help" ]]; then
-  echo -e "Usage: update_px4_ros2_bridge.bash [options...] \t This script allows to update px4_ros_com and px4_msgs in a specified directory." >&2
-  echo
-  echo -e "\t--ws_dir \t\t Location of the ament/colcon workspace. Default: $HOME/colcon_ws."
-  echo -e "\t--px4_ros_com \t\t Updates px4_ros_com microRTPS agent code generation and templates."
-  echo -e "\t--px4_msgs \t\t Updates px4_msgs messages definition files."
-  echo -e "\t--all \t\t Updates both px4_ros_com and px4_msgs."
-  echo
-  exit 0
-fi
-
-# parse the arguments
-while [ $# -gt 0 ]; do
-  if [[ $1 == *"--"* ]]; then
-    v="${1/--/}"
-    if [ ! -z $2 ]; then
-      declare $v="$2"
-    else
-      declare $v=1
-    fi
-  fi
-  shift
-done
-
-# get script directory
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-
-# get PX4-Autopilot directory
-PX4_DIR=$(cd "$(dirname "$SCRIPT_DIR")" && pwd)
-
-function compare_and_update () {
-  cmp -s "$1" "$2"
-  if [ $? -eq 1 ]; then
-    cp "$1" "$2"
-    return 0
-  fi
-
-  return 1;
-}
-
-# update microRTPS agent code generators / helpers
-function update_agent_code {
-  declare -a templates=( \
-    "microRTPS_agent.cpp.em" \
-    "microRTPS_timesync.cpp.em" \
-    "microRTPS_timesync.h.em" \
-    "microRTPS_transport.cpp" \
-    "microRTPS_transport.h" \
-    "Publisher.cpp.em" \
-    "Publisher.h.em" \
-    "Subscriber.cpp.em" \
-    "Subscriber.h.em" \
-    "RtpsTopics.cpp.em" \
-    "RtpsTopics.h.em" \
-    )
-
-  for file in ${templates[@]}; do
-    compare_and_update "$PX4_DIR/msg/templates/urtps/$file" "$ws_dir/src/px4_ros_com/templates/$file" \
-      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/templates/$file' updated" && ((agent_template_files_updated+=1))
-  done
-  if [ $agent_template_files_updated -eq 0 ]; then
-    echo -e "--\t\t- No template files updated"
-  elif [ $agent_template_files_updated -eq 1 ]; then
-    echo -e "--\t\t  - 1 template file updated"
-  else
-    echo -e "--\t\t  - $agent_template_files_updated template files updated"
-  fi
-}
-
-# update microRTPS agent code templates
-function update_agent_templates {
-  declare -a code_generators=( \
-    "uorb_rtps_classifier.py" \
-    "generate_microRTPS_bridge.py" \
-    "px_generate_uorb_topic_files.py" \
-    )
-  for file in ${code_generators[@]}; do
-    compare_and_update "$PX4_DIR/msg/tools/$file $ws_dir/src/px4_ros_com/scripts/$file" \
-      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/scripts/$file' updated" && ((code_generator_files_updated+=1))
-  done
-  if [ $code_generator_files_updated -eq 0 ]; then
-    echo -e "--\t\t- No code generators / helpers files updated"
-  elif [ $code_generator_files_updated -eq 1 ]; then
-    echo -e "--\t\t  - 1 code generator / helper file updated"
-  else
-    echo -e "--\t\t  - $code_generator_files_updated code generator / helper files updated"
-  fi
-}
-
-# update px4_ros_com files
-function update_px4_ros_com {
-  python3 $PX4_DIR/msg/tools/uorb_to_ros_urtps_topics.py -i $PX4_DIR/msg/tools/urtps_bridge_topics.yaml -o $ws_dir/src/px4_ros_com/templates/urtps_bridge_topics.yaml
-  echo -e "---------------          \033[1mmicroRTPS agent code generation and templates update\033[0m          ----------------"
-  echo "-------------------------------------------------------------------------------------------------------"
-  update_agent_code
-  update_agent_templates
-  return 0
-}
-
-# function to update px4_msgs
-function update_px4_msgs {
-  find "$ws_dir/src/px4_msgs/msg/" -maxdepth 1 -type f -delete
-  python3 $PX4_DIR/msg/tools/uorb_to_ros_msgs.py $PX4_DIR/msg/ $ws_dir/src/px4_msgs/msg/
-}
-
-# decisor
-echo "-------------------------------------------------------------------------------------------------------"
-if [ -d "${ws_dir}" ]; then
-  ws_dir=$(cd "$ws_dir" && pwd)
-  if [ ! -z ${all} ]; then
-    update_px4_ros_com
-    echo "-------------------------------------------------------------------------------------------------------"
-    update_px4_msgs
-  elif [ ! -z ${px4_ros_com} ]; then
-    update_px4_ros_com
-    echo "-------------------------------------------------------------------------------------------------------"
-  elif [ ! -z ${px4_msgs} ]; then
-    update_px4_msgs
-  fi
-  echo -e "--------------------------------          \033[0;32mUpdate successful!\033[0m          ---------------------------------"
-  echo "-------------------------------------------------------------------------------------------------------"
-  exit 0
-else
-  echo -e "-- \033[0;31mWorkspace directory doesn't exist...\033[0m"
-  echo -e "----------------------------------          \033[0;31mUpdate failed!\033[0m          -----------------------------------"
-  echo "-------------------------------------------------------------------------------------------------------"
-  exit $ERRCODE
-fi
diff --git a/boards/beaglebone/blue/default.px4board b/boards/beaglebone/blue/default.px4board
index e28a13c13b..edb01b3b89 100644
--- a/boards/beaglebone/blue/default.px4board
+++ b/boards/beaglebone/blue/default.px4board
@@ -48,6 +48,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
diff --git a/boards/cubepilot/cubeorange/default.px4board b/boards/cubepilot/cubeorange/default.px4board
index fe85f68e6a..1f12767b7c 100644
--- a/boards/cubepilot/cubeorange/default.px4board
+++ b/boards/cubepilot/cubeorange/default.px4board
@@ -34,7 +34,6 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -53,7 +52,6 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -63,6 +61,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
diff --git a/boards/diatone/mamba-f405-mk2/default.px4board b/boards/diatone/mamba-f405-mk2/default.px4board
index 7fcd4a1a81..6655e8e388 100644
--- a/boards/diatone/mamba-f405-mk2/default.px4board
+++ b/boards/diatone/mamba-f405-mk2/default.px4board
@@ -15,7 +15,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
diff --git a/boards/emlid/navio2/default.px4board b/boards/emlid/navio2/default.px4board
index 48faec33f6..0eee7a73c3 100644
--- a/boards/emlid/navio2/default.px4board
+++ b/boards/emlid/navio2/default.px4board
@@ -50,6 +50,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
diff --git a/boards/holybro/kakutef7/default.px4board b/boards/holybro/kakutef7/default.px4board
index 455d95d091..c4d16ff985 100644
--- a/boards/holybro/kakutef7/default.px4board
+++ b/boards/holybro/kakutef7/default.px4board
@@ -29,6 +29,7 @@ CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
diff --git a/boards/holybro/kakuteh7/default.px4board b/boards/holybro/kakuteh7/default.px4board
index 629c1a557f..9e53c4a38d 100644
--- a/boards/holybro/kakuteh7/default.px4board
+++ b/boards/holybro/kakuteh7/default.px4board
@@ -56,6 +56,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
diff --git a/boards/matek/h743-mini/default.px4board b/boards/matek/h743-mini/default.px4board
index a9069bb741..e654a21f97 100644
--- a/boards/matek/h743-mini/default.px4board
+++ b/boards/matek/h743-mini/default.px4board
@@ -53,6 +53,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
diff --git a/boards/matek/h743-slim/default.px4board b/boards/matek/h743-slim/default.px4board
index bcff78646b..06c0cd20c3 100644
--- a/boards/matek/h743-slim/default.px4board
+++ b/boards/matek/h743-slim/default.px4board
@@ -52,6 +52,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
diff --git a/boards/matek/h743/default.px4board b/boards/matek/h743/default.px4board
index 87395dd23d..0e3b91b463 100644
--- a/boards/matek/h743/default.px4board
+++ b/boards/matek/h743/default.px4board
@@ -53,6 +53,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
diff --git a/boards/modalai/fc-v1/default.px4board b/boards/modalai/fc-v1/default.px4board
index dbf4338931..8c3e771211 100644
--- a/boards/modalai/fc-v1/default.px4board
+++ b/boards/modalai/fc-v1/default.px4board
@@ -66,6 +66,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
diff --git a/boards/modalai/fc-v1/rtps.px4board b/boards/modalai/fc-v1/rtps.px4board
deleted file mode 100644
index 81e62c7825..0000000000
--- a/boards/modalai/fc-v1/rtps.px4board
+++ /dev/null
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board
index a49105cf96..104d5e9947 100644
--- a/boards/modalai/fc-v2/default.px4board
+++ b/boards/modalai/fc-v2/default.px4board
@@ -36,7 +36,6 @@ CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -54,7 +53,6 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -64,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
diff --git a/boards/mro/ctrl-zero-classic/default.px4board b/boards/mro/ctrl-zero-classic/default.px4board
index d592c791f4..f9bcd91e0a 100644
--- a/boards/mro/ctrl-zero-classic/default.px4board
+++ b/boards/mro/ctrl-zero-classic/default.px4board
@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
diff --git a/boards/mro/ctrl-zero-h7-oem/default.px4board b/boards/mro/ctrl-zero-h7-oem/default.px4board
index 5c64e1af3c..9fa47c2e4b 100644
--- a/boards/mro/ctrl-zero-h7-oem/default.px4board
+++ b/boards/mro/ctrl-zero-h7-oem/default.px4board
@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
diff --git a/boards/mro/ctrl-zero-h7-oem/rtps.px4board b/boards/mro/ctrl-zero-h7-oem/rtps.px4board
deleted file mode 100644
index 81e62c7825..0000000000
--- a/boards/mro/ctrl-zero-h7-oem/rtps.px4board
+++ /dev/null
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
diff --git a/boards/mro/ctrl-zero-h7/default.px4board b/boards/mro/ctrl-zero-h7/default.px4board
index 5fc4ad7dd8..11f35c83b1 100644
--- a/boards/mro/ctrl-zero-h7/default.px4board
+++ b/boards/mro/ctrl-zero-h7/default.px4board
@@ -63,6 +63,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
diff --git a/boards/mro/ctrl-zero-h7/rtps.px4board b/boards/mro/ctrl-zero-h7/rtps.px4board
deleted file mode 100644
index 81e62c7825..0000000000
--- a/boards/mro/ctrl-zero-h7/rtps.px4board
+++ /dev/null
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
diff --git a/boards/mro/pixracerpro/default.px4board b/boards/mro/pixracerpro/default.px4board
index f3c6137964..72b170ffcb 100644
--- a/boards/mro/pixracerpro/default.px4board
+++ b/boards/mro/pixracerpro/default.px4board
@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
diff --git a/boards/mro/pixracerpro/rtps.px4board b/boards/mro/pixracerpro/rtps.px4board
deleted file mode 100644
index 81e62c7825..0000000000
--- a/boards/mro/pixracerpro/rtps.px4board
+++ /dev/null
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
diff --git a/boards/nxp/fmuk66-e/default.px4board b/boards/nxp/fmuk66-e/default.px4board
index 3772be3f2b..f0d2e8fe15 100644
--- a/boards/nxp/fmuk66-e/default.px4board
+++ b/boards/nxp/fmuk66-e/default.px4board
@@ -41,6 +41,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -49,6 +50,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -64,7 +66,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -75,7 +77,6 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
diff --git a/boards/nxp/fmuk66-e/rtps.px4board b/boards/nxp/fmuk66-e/rtps.px4board
deleted file mode 100644
index 81e62c7825..0000000000
--- a/boards/nxp/fmuk66-e/rtps.px4board
+++ /dev/null
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
diff --git a/boards/nxp/fmuk66-v3/default.px4board b/boards/nxp/fmuk66-v3/default.px4board
index 63032fb003..40ef605364 100644
--- a/boards/nxp/fmuk66-v3/default.px4board
+++ b/boards/nxp/fmuk66-v3/default.px4board
@@ -68,6 +68,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
diff --git a/boards/nxp/fmuk66-v3/rtps.px4board b/boards/nxp/fmuk66-v3/rtps.px4board
deleted file mode 100644
index 81e62c7825..0000000000
--- a/boards/nxp/fmuk66-v3/rtps.px4board
+++ /dev/null
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
diff --git a/boards/nxp/fmurt1062-v1/default.px4board b/boards/nxp/fmurt1062-v1/default.px4board
index cea42ef564..bdc42a1cc6 100644
--- a/boards/nxp/fmurt1062-v1/default.px4board
+++ b/boards/nxp/fmurt1062-v1/default.px4board
@@ -45,6 +45,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
diff --git a/boards/omnibus/f4sd/default.px4board b/boards/omnibus/f4sd/default.px4board
index 3c5dacf2f4..3de33fb7eb 100644
--- a/boards/omnibus/f4sd/default.px4board
+++ b/boards/omnibus/f4sd/default.px4board
@@ -29,6 +29,7 @@ CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
diff --git a/boards/px4/fmu-v4/rtps.px4board b/boards/px4/fmu-v4/rtps.px4board
deleted file mode 100644
index 81e62c7825..0000000000
--- a/boards/px4/fmu-v4/rtps.px4board
+++ /dev/null
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
diff --git a/boards/px4/fmu-v5/cryptotest.px4board b/boards/px4/fmu-v5/cryptotest.px4board
index 274e5b45ca..c023a5cb75 100644
--- a/boards/px4/fmu-v5/cryptotest.px4board
+++ b/boards/px4/fmu-v5/cryptotest.px4board
@@ -1,5 +1,7 @@
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_CRYPTO=y
-CONFIG_DRIVERS_SW_CRYPTO=y
 CONFIG_DRIVERS_STUB_KEYSTORE=y
+CONFIG_DRIVERS_SW_CRYPTO=y
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
diff --git a/boards/px4/fmu-v5/default.px4board b/boards/px4/fmu-v5/default.px4board
index 0ac4351440..7d3514675c 100644
--- a/boards/px4/fmu-v5/default.px4board
+++ b/boards/px4/fmu-v5/default.px4board
@@ -73,6 +73,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
diff --git a/boards/px4/fmu-v5/protected.px4board b/boards/px4/fmu-v5/protected.px4board
index d51a7314d5..284cb67dbc 100644
--- a/boards/px4/fmu-v5/protected.px4board
+++ b/boards/px4/fmu-v5/protected.px4board
@@ -4,9 +4,13 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
 CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_COMMON_OPTICAL_FLOW=n
 CONFIG_COMMON_TELEMETRY=n
-CONFIG_DRIVERS_OSD=n
+CONFIG_DRIVERS_CAMERA_CAPTURE=n
+CONFIG_DRIVERS_CAMERA_TRIGGER=n
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_PCA9685=n
+CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_ROBOCLAW=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
@@ -17,8 +21,8 @@ CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_POS_CONTROL_L1=n
 CONFIG_MODULES_GYRO_FFT=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
@@ -30,7 +34,6 @@ CONFIG_SYSTEMCMDS_DUMPFILE=n
 CONFIG_SYSTEMCMDS_GPIO=n
 CONFIG_SYSTEMCMDS_I2CDETECT=n
 CONFIG_SYSTEMCMDS_LED_CONTROL=n
-CONFIG_SYSTEMCMDS_MOTOR_TEST=n
 CONFIG_SYSTEMCMDS_MTD=n
 CONFIG_SYSTEMCMDS_NSHTERM=n
 CONFIG_SYSTEMCMDS_REFLECT=n
diff --git a/boards/px4/fmu-v5/rtps.px4board b/boards/px4/fmu-v5/rtps.px4board
deleted file mode 100644
index e77de930f2..0000000000
--- a/boards/px4/fmu-v5/rtps.px4board
+++ /dev/null
@@ -1,3 +0,0 @@
-CONFIG_DRIVERS_HEATER=n
-CONFIG_DRIVERS_OSD=n
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
diff --git a/boards/px4/fmu-v5/stackcheck.px4board b/boards/px4/fmu-v5/stackcheck.px4board
index 213d5767a8..e6cc948fde 100644
--- a/boards/px4/fmu-v5/stackcheck.px4board
+++ b/boards/px4/fmu-v5/stackcheck.px4board
@@ -1,43 +1,43 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_COMMON_BAROMETERS=n
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
+CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_COMMON_HYGROMETERS=n
 CONFIG_COMMON_TELEMETRY=n
+CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_BATT_SMBUS=n
 CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
-CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
 CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_POWER_MONITOR_INA226=n
 CONFIG_DRIVERS_PWM_INPUT=n
-CONFIG_DRIVERS_PWM_OUT_SIM=n
 CONFIG_DRIVERS_ROBOCLAW=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_GIMBAL=n
 CONFIG_MODULES_GYRO_CALIBRATION=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
-CONFIG_SYSTEMCMDS_MOTOR_TEST=n
 CONFIG_SYSTEMCMDS_REFLECT=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
diff --git a/boards/px4/fmu-v5/uavcanv0periph.px4board b/boards/px4/fmu-v5/uavcanv0periph.px4board
index 59d08a9b56..9578fb422a 100644
--- a/boards/px4/fmu-v5/uavcanv0periph.px4board
+++ b/boards/px4/fmu-v5/uavcanv0periph.px4board
@@ -4,8 +4,8 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
 CONFIG_COMMON_HYGROMETERS=n
 CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_ADC_ADS1115=n
-CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_GPS=n
+CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
 CONFIG_DRIVERS_IRLOCK=n
@@ -14,15 +14,14 @@ CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_ROBOCLAW=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
+CONFIG_MODULES_MICRODDS_CLIENT=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board
index f0ff95bb6d..09b04fbcd6 100644
--- a/boards/px4/fmu-v5x/default.px4board
+++ b/boards/px4/fmu-v5x/default.px4board
@@ -9,7 +9,8 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_PPB="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -30,12 +31,9 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
-CONFIG_DRIVERS_PCA9685=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
@@ -76,6 +74,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
@@ -88,7 +87,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -103,7 +101,6 @@ CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -112,4 +109,3 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_FAKE_GPS=y
diff --git a/boards/px4/fmu-v5x/rtps.px4board b/boards/px4/fmu-v5x/rtps.px4board
deleted file mode 100644
index 272e47aa57..0000000000
--- a/boards/px4/fmu-v5x/rtps.px4board
+++ /dev/null
@@ -1,15 +0,0 @@
-CONFIG_COMMON_BAROMETERS=n
-CONFIG_COMMON_TELEMETRY=n
-CONFIG_DRIVERS_OSD=n
-CONFIG_EXAMPLES_FAKE_GPS=n
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
-CONFIG_SYSTEMCMDS_DUMPFILE=n
-CONFIG_SYSTEMCMDS_GPIO=n
-CONFIG_SYSTEMCMDS_MOTOR_TEST=n
-CONFIG_SYSTEMCMDS_REFLECT=n
-CONFIG_SYSTEMCMDS_SD_BENCH=n
-CONFIG_SYSTEMCMDS_SD_STRESS=n
-CONFIG_SYSTEMCMDS_SERIAL_TEST=n
-CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
diff --git a/boards/px4/fmu-v5x/test.px4board b/boards/px4/fmu-v5x/test.px4board
index 5279a489dc..1c71c5afbc 100644
--- a/boards/px4/fmu-v5x/test.px4board
+++ b/boards/px4/fmu-v5x/test.px4board
@@ -1,13 +1,11 @@
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_PCA9685=n
-CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_RPM=n
-CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
diff --git a/boards/px4/fmu-v6c/default.px4board b/boards/px4/fmu-v6c/default.px4board
index 9f550cf3c0..ff3292e15d 100644
--- a/boards/px4/fmu-v6c/default.px4board
+++ b/boards/px4/fmu-v6c/default.px4board
@@ -57,6 +57,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board
index 992238ede2..ef2ff976cb 100644
--- a/boards/px4/fmu-v6x/default.px4board
+++ b/boards/px4/fmu-v6x/default.px4board
@@ -8,8 +8,8 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
@@ -53,7 +52,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -66,11 +64,10 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
@@ -87,7 +84,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board
index 32bc968c23..1dcc9d36ca 100644
--- a/boards/px4/sitl/default.px4board
+++ b/boards/px4/sitl/default.px4board
@@ -35,6 +35,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
diff --git a/boards/px4/sitl/rtps.px4board b/boards/px4/sitl/rtps.px4board
deleted file mode 100644
index 81e62c7825..0000000000
--- a/boards/px4/sitl/rtps.px4board
+++ /dev/null
@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y
diff --git a/boards/sky-drones/smartap-airlink/default.px4board b/boards/sky-drones/smartap-airlink/default.px4board
index 943191213e..6d4ae08ccf 100644
--- a/boards/sky-drones/smartap-airlink/default.px4board
+++ b/boards/sky-drones/smartap-airlink/default.px4board
@@ -69,6 +69,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
diff --git a/boards/spracing/h7extreme/default.px4board b/boards/spracing/h7extreme/default.px4board
index 75ef687ce5..f44aeac552 100644
--- a/boards/spracing/h7extreme/default.px4board
+++ b/boards/spracing/h7extreme/default.px4board
@@ -37,6 +37,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
diff --git a/msg/action_request.msg b/msg/ActionRequest.msg
similarity index 100%
rename from msg/action_request.msg
rename to msg/ActionRequest.msg
diff --git a/msg/actuator_armed.msg b/msg/ActuatorArmed.msg
similarity index 100%
rename from msg/actuator_armed.msg
rename to msg/ActuatorArmed.msg
diff --git a/msg/actuator_controls.msg b/msg/ActuatorControls.msg
similarity index 88%
rename from msg/actuator_controls.msg
rename to msg/ActuatorControls.msg
index 010e72790d..5a183a2cdc 100644
--- a/msg/actuator_controls.msg
+++ b/msg/ActuatorControls.msg
@@ -20,5 +20,5 @@ uint8 GROUP_INDEX_GIMBAL = 2
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 float32[9] control
 
-# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2
+# TOPICS actuator_controls_0 actuator_controls_1 actuator_controls_2
 # TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
diff --git a/msg/actuator_controls_status.msg b/msg/ActuatorControlsStatus.msg
similarity index 66%
rename from msg/actuator_controls_status.msg
rename to msg/ActuatorControlsStatus.msg
index 4e3bf83450..287fac8a4d 100644
--- a/msg/actuator_controls_status.msg
+++ b/msg/ActuatorControlsStatus.msg
@@ -7,4 +7,4 @@ uint8 INDEX_THROTTLE = 3
 
 float32[4] control_power
 
-# TOPICS actuator_controls_status actuator_controls_status_0 actuator_controls_status_1
+# TOPICS actuator_controls_status_0 actuator_controls_status_1
diff --git a/msg/actuator_motors.msg b/msg/ActuatorMotors.msg
similarity index 100%
rename from msg/actuator_motors.msg
rename to msg/ActuatorMotors.msg
diff --git a/msg/actuator_outputs.msg b/msg/ActuatorOutputs.msg
similarity index 100%
rename from msg/actuator_outputs.msg
rename to msg/ActuatorOutputs.msg
diff --git a/msg/actuator_servos.msg b/msg/ActuatorServos.msg
similarity index 100%
rename from msg/actuator_servos.msg
rename to msg/ActuatorServos.msg
diff --git a/msg/actuator_servos_trim.msg b/msg/ActuatorServosTrim.msg
similarity index 100%
rename from msg/actuator_servos_trim.msg
rename to msg/ActuatorServosTrim.msg
diff --git a/msg/actuator_test.msg b/msg/ActuatorTest.msg
similarity index 100%
rename from msg/actuator_test.msg
rename to msg/ActuatorTest.msg
diff --git a/msg/adc_report.msg b/msg/AdcReport.msg
similarity index 100%
rename from msg/adc_report.msg
rename to msg/AdcReport.msg
diff --git a/msg/airspeed.msg b/msg/Airspeed.msg
similarity index 100%
rename from msg/airspeed.msg
rename to msg/Airspeed.msg
diff --git a/msg/airspeed_validated.msg b/msg/AirspeedValidated.msg
similarity index 100%
rename from msg/airspeed_validated.msg
rename to msg/AirspeedValidated.msg
diff --git a/msg/airspeed_wind.msg b/msg/AirspeedWind.msg
similarity index 100%
rename from msg/airspeed_wind.msg
rename to msg/AirspeedWind.msg
diff --git a/msg/autotune_attitude_control_status.msg b/msg/AutotuneAttitudeControlStatus.msg
similarity index 100%
rename from msg/autotune_attitude_control_status.msg
rename to msg/AutotuneAttitudeControlStatus.msg
diff --git a/msg/battery_status.msg b/msg/BatteryStatus.msg
similarity index 100%
rename from msg/battery_status.msg
rename to msg/BatteryStatus.msg
diff --git a/msg/button_event.msg b/msg/ButtonEvent.msg
similarity index 85%
rename from msg/button_event.msg
rename to msg/ButtonEvent.msg
index bc745b9017..bbca356aab 100644
--- a/msg/button_event.msg
+++ b/msg/ButtonEvent.msg
@@ -3,4 +3,4 @@ bool triggered				# Set to true if the event is triggered
 
 # TOPICS button_event safety_button
 
-uint8 ORB_QUEUE_LENGTH = 2
\ No newline at end of file
+uint8 ORB_QUEUE_LENGTH = 2
diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index d459488399..756f2f454c 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -37,223 +37,188 @@ cmake_policy(SET CMP0057 NEW)
 include(px4_list_make_absolute)
 
 set(msg_files
-	action_request.msg
-	actuator_armed.msg
-	actuator_controls.msg
-	actuator_controls_status.msg
-	actuator_motors.msg
-	actuator_outputs.msg
-	actuator_servos.msg
-	actuator_servos_trim.msg
-	actuator_test.msg
-	adc_report.msg
-	airspeed.msg
-	airspeed_validated.msg
-	airspeed_wind.msg
-	autotune_attitude_control_status.msg
-	battery_status.msg
-	button_event.msg
-	camera_capture.msg
-	camera_status.msg
-	camera_trigger.msg
-	cellular_status.msg
-	collision_constraints.msg
-	collision_report.msg
-	control_allocator_status.msg
-	cpuload.msg
-	differential_pressure.msg
-	distance_sensor.msg
-	ekf2_timestamps.msg
-	esc_report.msg
-	esc_status.msg
-	estimator_aid_source_1d.msg
-	estimator_aid_source_2d.msg
-	estimator_aid_source_3d.msg
-	estimator_bias.msg
-	estimator_event_flags.msg
-	estimator_gps_status.msg
-	estimator_innovations.msg
-	estimator_selector_status.msg
-	estimator_sensor_bias.msg
-	estimator_states.msg
-	estimator_status.msg
-	estimator_status_flags.msg
-	event.msg
-	failure_detector_status.msg
-	failsafe_flags.msg
-	follow_target.msg
-	follow_target_estimator.msg
-	follow_target_status.msg
-	generator_status.msg
-	geofence_result.msg
-	gimbal_device_attitude_status.msg
-	gimbal_device_information.msg
-	gimbal_device_set_attitude.msg
-	gimbal_manager_information.msg
-	gimbal_manager_set_attitude.msg
-	gimbal_manager_set_manual_control.msg
-	gimbal_manager_status.msg
-	gps_dump.msg
-	gps_inject_data.msg
-	health_report.msg
-	gripper.msg
-	heater_status.msg
-	home_position.msg
-	hover_thrust_estimate.msg
-	input_rc.msg
-	internal_combustion_engine_status.msg
-	iridiumsbd_status.msg
-	irlock_report.msg
-	landing_gear.msg
-	landing_target_innovations.msg
-	landing_target_pose.msg
-	led_control.msg
-	log_message.msg
-	logger_status.msg
-	mag_worker_data.msg
-	magnetometer_bias_estimate.msg
-	manual_control_setpoint.msg
-	manual_control_switches.msg
-	mavlink_log.msg
-	mavlink_tunnel.msg
-	mission.msg
-	mission_result.msg
-	mount_orientation.msg
-	navigator_mission_item.msg
-	npfg_status.msg
-	obstacle_distance.msg
-	offboard_control_mode.msg
-	onboard_computer_status.msg
-	orbit_status.msg
-	parameter_update.msg
-	ping.msg
-	position_controller_landing_status.msg
-	position_controller_status.msg
-	position_setpoint.msg
-	position_setpoint_triplet.msg
-	power_button_state.msg
-	power_monitor.msg
-	pps_capture.msg
-	pwm_input.msg
-	px4io_status.msg
-	radio_status.msg
-	rate_ctrl_status.msg
-	rc_channels.msg
-	rc_parameter_map.msg
-	rpm.msg
-	rtl_time_estimate.msg
-	satellite_info.msg
-	sensor_accel.msg
-	sensor_accel_fifo.msg
-	sensor_baro.msg
-	sensor_combined.msg
-	sensor_correction.msg
-	sensor_gnss_relative.msg
-	sensor_gps.msg
-	sensor_gyro.msg
-	sensor_gyro_fft.msg
-	sensor_gyro_fifo.msg
-	sensor_hygrometer.msg
-	sensor_mag.msg
-	sensor_optical_flow.msg
-	sensor_preflight_mag.msg
-	sensor_selection.msg
-	sensors_status.msg
-	sensors_status_imu.msg
-	system_power.msg
-	takeoff_status.msg
-	task_stack_info.msg
-	tecs_status.msg
-	telemetry_status.msg
-	timesync.msg
-	timesync_status.msg
-	trajectory_bezier.msg
-	trajectory_setpoint.msg
-	trajectory_waypoint.msg
-	transponder_report.msg
-	tune_control.msg
-	uavcan_parameter_request.msg
-	uavcan_parameter_value.msg
-	ulog_stream.msg
-	ulog_stream_ack.msg
-	uwb_distance.msg
-	uwb_grid.msg
-	vehicle_acceleration.msg
-	vehicle_air_data.msg
-	vehicle_angular_acceleration.msg
-	vehicle_angular_acceleration_setpoint.msg
-	vehicle_angular_velocity.msg
-	vehicle_attitude.msg
-	vehicle_attitude_setpoint.msg
-	vehicle_command.msg
-	vehicle_command_ack.msg
-	vehicle_constraints.msg
-	vehicle_control_mode.msg
-	vehicle_global_position.msg
-	vehicle_imu.msg
-	vehicle_imu_status.msg
-	vehicle_land_detected.msg
-	vehicle_local_position.msg
-	vehicle_local_position_setpoint.msg
-	vehicle_magnetometer.msg
-	vehicle_odometry.msg
-	vehicle_optical_flow.msg
-	vehicle_optical_flow_vel.msg
-	vehicle_rates_setpoint.msg
-	vehicle_roi.msg
-	vehicle_status.msg
-	vehicle_thrust_setpoint.msg
-	vehicle_torque_setpoint.msg
-	vehicle_trajectory_bezier.msg
-	vehicle_trajectory_waypoint.msg
-	vtol_vehicle_status.msg
-	wheel_encoders.msg
-	wind.msg
-	yaw_estimator_status.msg
+	ActionRequest.msg
+	ActuatorArmed.msg
+	ActuatorControls.msg
+	ActuatorControlsStatus.msg
+	ActuatorMotors.msg
+	ActuatorOutputs.msg
+	ActuatorServos.msg
+	ActuatorServosTrim.msg
+	ActuatorTest.msg
+	AdcReport.msg
+	Airspeed.msg
+	AirspeedValidated.msg
+	AirspeedWind.msg
+	AutotuneAttitudeControlStatus.msg
+	BatteryStatus.msg
+	ButtonEvent.msg
+	CameraCapture.msg
+	CameraStatus.msg
+	CameraTrigger.msg
+	CellularStatus.msg
+	CollisionConstraints.msg
+	CollisionReport.msg
+	ControlAllocatorStatus.msg
+	Cpuload.msg
+	DebugArray.msg
+	DebugKeyValue.msg
+	DebugValue.msg
+	DebugVect.msg
+	DifferentialPressure.msg
+	DistanceSensor.msg
+	Ekf2Timestamps.msg
+	EscReport.msg
+	EscStatus.msg
+	EstimatorAidSource1d.msg
+	EstimatorAidSource2d.msg
+	EstimatorAidSource3d.msg
+	EstimatorBias.msg
+	EstimatorEventFlags.msg
+	EstimatorGpsStatus.msg
+	EstimatorInnovations.msg
+	EstimatorSelectorStatus.msg
+	EstimatorSensorBias.msg
+	EstimatorStates.msg
+	EstimatorStatus.msg
+	EstimatorStatusFlags.msg
+	Event.msg
+	FailsafeFlags.msg
+	FailureDetectorStatus.msg
+	FollowTarget.msg
+	FollowTargetEstimator.msg
+	FollowTargetStatus.msg
+	GeneratorStatus.msg
+	GeofenceResult.msg
+	GimbalDeviceAttitudeStatus.msg
+	GimbalDeviceInformation.msg
+	GimbalDeviceSetAttitude.msg
+	GimbalManagerInformation.msg
+	GimbalManagerSetAttitude.msg
+	GimbalManagerSetManualControl.msg
+	GimbalManagerStatus.msg
+	GpsDump.msg
+	GpsInjectData.msg
+	Gripper.msg
+	HealthReport.msg
+	HeaterStatus.msg
+	HomePosition.msg
+	HoverThrustEstimate.msg
+	InputRc.msg
+	InternalCombustionEngineStatus.msg
+	IridiumsbdStatus.msg
+	IrlockReport.msg
+	LandingGear.msg
+	LandingTargetInnovations.msg
+	LandingTargetPose.msg
+	LedControl.msg
+	LoggerStatus.msg
+	LogMessage.msg
+	MagnetometerBiasEstimate.msg
+	MagWorkerData.msg
+	ManualControlSetpoint.msg
+	ManualControlSwitches.msg
+	MavlinkLog.msg
+	MavlinkTunnel.msg
+	Mission.msg
+	MissionResult.msg
+	MountOrientation.msg
+	NavigatorMissionItem.msg
+	NpfgStatus.msg
+	ObstacleDistance.msg
+	OffboardControlMode.msg
+	OnboardComputerStatus.msg
+	OrbitStatus.msg
+	OrbTest.msg
+	OrbTestLarge.msg
+	OrbTestMedium.msg
+	ParameterUpdate.msg
+	Ping.msg
+	PositionControllerLandingStatus.msg
+	PositionControllerStatus.msg
+	PositionSetpoint.msg
+	PositionSetpointTriplet.msg
+	PowerButtonState.msg
+	PowerMonitor.msg
+	PpsCapture.msg
+	PwmInput.msg
+	Px4ioStatus.msg
+	RadioStatus.msg
+	RateCtrlStatus.msg
+	RcChannels.msg
+	RcParameterMap.msg
+	Rpm.msg
+	RtlTimeEstimate.msg
+	SatelliteInfo.msg
+	SensorAccel.msg
+	SensorAccelFifo.msg
+	SensorBaro.msg
+	SensorCombined.msg
+	SensorCorrection.msg
+	SensorGnssRelative.msg
+	SensorGps.msg
+	SensorGyro.msg
+	SensorGyroFft.msg
+	SensorGyroFifo.msg
+	SensorHygrometer.msg
+	SensorMag.msg
+	SensorOpticalFlow.msg
+	SensorPreflightMag.msg
+	SensorSelection.msg
+	SensorsStatus.msg
+	SensorsStatusImu.msg
+	SystemPower.msg
+	TakeoffStatus.msg
+	TaskStackInfo.msg
+	TecsStatus.msg
+	TelemetryStatus.msg
+	TimesyncStatus.msg
+	TrajectoryBezier.msg
+	TrajectorySetpoint.msg
+	TrajectoryWaypoint.msg
+	TransponderReport.msg
+	TuneControl.msg
+	UavcanParameterRequest.msg
+	UavcanParameterValue.msg
+	UlogStream.msg
+	UlogStreamAck.msg
+	UwbDistance.msg
+	UwbGrid.msg
+	VehicleAcceleration.msg
+	VehicleAirData.msg
+	VehicleAngularAcceleration.msg
+	VehicleAngularAccelerationSetpoint.msg
+	VehicleAngularVelocity.msg
+	VehicleAttitude.msg
+	VehicleAttitudeSetpoint.msg
+	VehicleCommand.msg
+	VehicleCommandAck.msg
+	VehicleConstraints.msg
+	VehicleControlMode.msg
+	VehicleGlobalPosition.msg
+	VehicleImu.msg
+	VehicleImuStatus.msg
+	VehicleLandDetected.msg
+	VehicleLocalPosition.msg
+	VehicleLocalPositionSetpoint.msg
+	VehicleMagnetometer.msg
+	VehicleOdometry.msg
+	VehicleOpticalFlow.msg
+	VehicleOpticalFlowVel.msg
+	VehicleRatesSetpoint.msg
+	VehicleRoi.msg
+	VehicleStatus.msg
+	VehicleThrustSetpoint.msg
+	VehicleTorqueSetpoint.msg
+	VehicleTrajectoryBezier.msg
+	VehicleTrajectoryWaypoint.msg
+	VtolVehicleStatus.msg
+	WheelEncoders.msg
+	Wind.msg
+	YawEstimatorStatus.msg
 )
-
-if(NOT px4_constrained_flash_build)
-	list(APPEND msg_files
-		debug_array.msg
-		debug_key_value.msg
-		debug_value.msg
-		debug_vect.msg
-	)
-endif()
-
-if(PX4_TESTING)
-	list(APPEND msg_files
-		orb_test.msg
-		orb_test_large.msg
-		orb_test_medium.msg
-	)
-endif()
-
 list(SORT msg_files)
 
-set(deprecated_msgs
-	ekf2_innovations.msg	# 2019-11-22, Updated estimator interface and logging; replaced by 'estimator_innovations'.
-	)
-
-foreach(msg IN LISTS deprecated_msgs)
-	if(msg IN_LIST msg_files)
-		get_filename_component(msg_we ${msg} NAME_WE)
-		list(APPEND invalid_msgs ${msg_we})
-	endif()
-endforeach()
-if(invalid_msgs)
-	list(LENGTH invalid_msgs invalid_msgs_size)
-	if(${invalid_msgs_size} GREATER 1)
-		foreach(msg IN LISTS invalid_msgs)
-			string(CONCAT invalid_msgs_cs ${invalid_msgs_cs} "'${msg}', ")
-		endforeach()
-		STRING(REGEX REPLACE ", +$" "" invalid_msgs_cs ${invalid_msgs_cs})
-		message(FATAL_ERROR "${invalid_msgs_cs} are listed as deprecated. Please use different names for the messages.")
-	else()
-		message(FATAL_ERROR "'${invalid_msgs}' is listed as deprecated. Please use a different name for the message.")
-	endif()
-endif()
-
 px4_list_make_absolute(msg_files ${CMAKE_CURRENT_SOURCE_DIR} ${msg_files})
 
 if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
@@ -271,63 +236,64 @@ endif()
 # headers
 set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
 set(ucdr_out_path ${PX4_BINARY_DIR}/uORB/ucdr)
-set(msg_source_out_path	${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
+set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
 
-set(uorb_headers ${msg_out_path}/uORBTopics.hpp)
-set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
+set(uorb_headers)
+set(uorb_sources)
 set(uorb_ucdr_headers)
 foreach(msg_file ${msg_files})
 	get_filename_component(msg ${msg_file} NAME_WE)
+
+	# Pascal case to snake case (MsgFile -> msg_file)
+	string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" msg "${msg}")
+	string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" msg "${msg}")
+	string(TOLOWER "${msg}" msg)
+
 	list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
 	list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
 	list(APPEND uorb_ucdr_headers ${ucdr_out_path}/${msg}.h)
 endforeach()
 
-if (px4_constrained_flash_build)
-	set(added_arguments --constrained-flash)
-endif()
-
 # set parent scope msg_files for other modules to consume (eg topic_listener)
 set(msg_files ${msg_files} PARENT_SCOPE)
 
 # Generate uORB headers
-add_custom_command(OUTPUT ${uorb_headers}
-	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+add_custom_command(
+	OUTPUT
+		${uorb_headers}
+		${msg_out_path}/uORBTopics.hpp
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${msg_out_path}
-		-e templates/uorb
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers
-		-q
-		${added_arguments}
+		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
 		${msg_files}
-		templates/uorb/msg.h.em
-		templates/uorb/uORBTopics.hpp.em
-		tools/px_generate_uorb_topic_files.py
-		tools/px_generate_uorb_topic_helper.py
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.h.em
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.hpp.em
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic headers"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
 	)
 add_custom_target(uorb_headers DEPENDS ${uorb_headers})
 
-add_custom_command(OUTPUT ${uorb_ucdr_headers}
-	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+# Generate microcdr headers
+add_custom_command(
+	OUTPUT ${uorb_ucdr_headers}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${ucdr_out_path}
-		-e templates/ucdr
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/ucdr_headers
-		-q
-		${added_arguments}
+		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr
 	DEPENDS
 		${msg_files}
-		templates/ucdr/msg.h.em
-		tools/px_generate_uorb_topic_files.py
-		tools/px_generate_uorb_topic_helper.py
+		${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr/msg.h.em
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic ucdr headers"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
@@ -335,26 +301,27 @@ add_custom_command(OUTPUT ${uorb_ucdr_headers}
 add_custom_target(uorb_ucdr_headers DEPENDS ${uorb_ucdr_headers})
 
 # Generate uORB sources
-add_custom_command(OUTPUT ${uorb_sources}
-	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+add_custom_command(
+	OUTPUT
+		${uorb_sources}
+		${msg_source_out_path}/uORBTopics.cpp
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--sources
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${msg_source_out_path}
-		-e templates/uorb
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources
-		-q
-		${added_arguments}
+		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
 		${msg_files}
-		templates/uorb/msg.cpp.em
-		templates/uorb/uORBTopics.cpp.em
-		tools/px_generate_uorb_topic_files.py
-		tools/px_generate_uorb_topic_helper.py
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.cpp.em
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.cpp.em
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic sources"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
 	)
 
-add_library(uorb_msgs ${uorb_sources})
+add_library(uorb_msgs ${uorb_headers} ${msg_out_path}/uORBTopics.hpp ${uorb_sources} ${msg_source_out_path}/uORBTopics.cpp)
+target_link_libraries(uorb_msgs PRIVATE m)
 add_dependencies(uorb_msgs prebuild_targets uorb_headers)
diff --git a/msg/camera_capture.msg b/msg/CameraCapture.msg
similarity index 100%
rename from msg/camera_capture.msg
rename to msg/CameraCapture.msg
diff --git a/msg/camera_status.msg b/msg/CameraStatus.msg
similarity index 100%
rename from msg/camera_status.msg
rename to msg/CameraStatus.msg
diff --git a/msg/camera_trigger.msg b/msg/CameraTrigger.msg
similarity index 89%
rename from msg/camera_trigger.msg
rename to msg/CameraTrigger.msg
index 0da1dd109d..abfdac6dda 100644
--- a/msg/camera_trigger.msg
+++ b/msg/CameraTrigger.msg
@@ -5,5 +5,3 @@ uint32 seq		# Image sequence number
 bool feedback	# Trigger feedback from camera
 
 uint32 ORB_QUEUE_LENGTH = 2
-
-# TOPICS camera_trigger
\ No newline at end of file
diff --git a/msg/cellular_status.msg b/msg/CellularStatus.msg
similarity index 100%
rename from msg/cellular_status.msg
rename to msg/CellularStatus.msg
diff --git a/msg/collision_constraints.msg b/msg/CollisionConstraints.msg
similarity index 100%
rename from msg/collision_constraints.msg
rename to msg/CollisionConstraints.msg
diff --git a/msg/collision_report.msg b/msg/CollisionReport.msg
similarity index 100%
rename from msg/collision_report.msg
rename to msg/CollisionReport.msg
diff --git a/msg/control_allocator_status.msg b/msg/ControlAllocatorStatus.msg
similarity index 100%
rename from msg/control_allocator_status.msg
rename to msg/ControlAllocatorStatus.msg
diff --git a/msg/cpuload.msg b/msg/Cpuload.msg
similarity index 100%
rename from msg/cpuload.msg
rename to msg/Cpuload.msg
diff --git a/msg/debug_array.msg b/msg/DebugArray.msg
similarity index 100%
rename from msg/debug_array.msg
rename to msg/DebugArray.msg
diff --git a/msg/debug_key_value.msg b/msg/DebugKeyValue.msg
similarity index 100%
rename from msg/debug_key_value.msg
rename to msg/DebugKeyValue.msg
diff --git a/msg/debug_value.msg b/msg/DebugValue.msg
similarity index 100%
rename from msg/debug_value.msg
rename to msg/DebugValue.msg
diff --git a/msg/debug_vect.msg b/msg/DebugVect.msg
similarity index 100%
rename from msg/debug_vect.msg
rename to msg/DebugVect.msg
diff --git a/msg/differential_pressure.msg b/msg/DifferentialPressure.msg
similarity index 100%
rename from msg/differential_pressure.msg
rename to msg/DifferentialPressure.msg
diff --git a/msg/distance_sensor.msg b/msg/DistanceSensor.msg
similarity index 100%
rename from msg/distance_sensor.msg
rename to msg/DistanceSensor.msg
diff --git a/msg/ekf2_timestamps.msg b/msg/Ekf2Timestamps.msg
similarity index 100%
rename from msg/ekf2_timestamps.msg
rename to msg/Ekf2Timestamps.msg
diff --git a/msg/esc_report.msg b/msg/EscReport.msg
similarity index 100%
rename from msg/esc_report.msg
rename to msg/EscReport.msg
diff --git a/msg/esc_status.msg b/msg/EscStatus.msg
similarity index 98%
rename from msg/esc_status.msg
rename to msg/EscStatus.msg
index f786f6d351..e5e220ce0d 100644
--- a/msg/esc_status.msg
+++ b/msg/EscStatus.msg
@@ -25,4 +25,4 @@ uint8 esc_online_flags					# Bitmask indicating which ESC is online/offline
 
 uint8 esc_armed_flags					# Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.
 
-esc_report[8] esc
+EscReport[8] esc
diff --git a/msg/estimator_aid_source_1d.msg b/msg/EstimatorAidSource1d.msg
similarity index 96%
rename from msg/estimator_aid_source_1d.msg
rename to msg/EstimatorAidSource1d.msg
index be544f2102..46faddafac 100644
--- a/msg/estimator_aid_source_1d.msg
+++ b/msg/EstimatorAidSource1d.msg
@@ -18,7 +18,6 @@ bool fusion_enabled          # true when measurements are being fused
 bool innovation_rejected     # true if the observation has been rejected
 bool fused                   # true if the sample was successfully fused
 
-# TOPICS estimator_aid_source_1d
 # TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt
 # TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
 # TOPICS estimator_aid_src_fake_hgt
diff --git a/msg/estimator_aid_source_2d.msg b/msg/EstimatorAidSource2d.msg
similarity index 95%
rename from msg/estimator_aid_source_2d.msg
rename to msg/EstimatorAidSource2d.msg
index ada6be79d9..a70c9acaf5 100644
--- a/msg/estimator_aid_source_2d.msg
+++ b/msg/EstimatorAidSource2d.msg
@@ -18,6 +18,5 @@ bool fusion_enabled          # true when measurements are being fused
 bool innovation_rejected     # true if the observation has been rejected
 bool fused                   # true if the sample was successfully fused
 
-# TOPICS estimator_aid_source_2d
 # TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos
 # TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow
diff --git a/msg/estimator_aid_source_3d.msg b/msg/EstimatorAidSource3d.msg
similarity index 95%
rename from msg/estimator_aid_source_3d.msg
rename to msg/EstimatorAidSource3d.msg
index e5c082eeec..bb53ae9823 100644
--- a/msg/estimator_aid_source_3d.msg
+++ b/msg/EstimatorAidSource3d.msg
@@ -18,7 +18,6 @@ bool fusion_enabled          # true when measurements are being fused
 bool innovation_rejected     # true if the observation has been rejected
 bool fused                   # true if the sample was successfully fused
 
-# TOPICS estimator_aid_source_3d
 # TOPICS estimator_aid_src_ev_vel
 # TOPICS estimator_aid_src_gnss_vel
 # TOPICS estimator_aid_src_mag
diff --git a/msg/estimator_bias.msg b/msg/EstimatorBias.msg
similarity index 96%
rename from msg/estimator_bias.msg
rename to msg/EstimatorBias.msg
index 988a6ce557..3dbadb94e1 100644
--- a/msg/estimator_bias.msg
+++ b/msg/EstimatorBias.msg
@@ -9,5 +9,4 @@ float32 innov			# innovation of the last measurement fusion (m)
 float32 innov_var		# innovation variance of the last measurement fusion (m^2)
 float32 innov_test_ratio	# normalized innovation squared test ratio
 
-# TOPICS estimator_bias
 # TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias estimator_ev_hgt_bias
diff --git a/msg/estimator_event_flags.msg b/msg/EstimatorEventFlags.msg
similarity index 100%
rename from msg/estimator_event_flags.msg
rename to msg/EstimatorEventFlags.msg
diff --git a/msg/estimator_gps_status.msg b/msg/EstimatorGpsStatus.msg
similarity index 100%
rename from msg/estimator_gps_status.msg
rename to msg/EstimatorGpsStatus.msg
diff --git a/msg/estimator_innovations.msg b/msg/EstimatorInnovations.msg
similarity index 100%
rename from msg/estimator_innovations.msg
rename to msg/EstimatorInnovations.msg
diff --git a/msg/estimator_selector_status.msg b/msg/EstimatorSelectorStatus.msg
similarity index 100%
rename from msg/estimator_selector_status.msg
rename to msg/EstimatorSelectorStatus.msg
diff --git a/msg/estimator_sensor_bias.msg b/msg/EstimatorSensorBias.msg
similarity index 100%
rename from msg/estimator_sensor_bias.msg
rename to msg/EstimatorSensorBias.msg
diff --git a/msg/estimator_states.msg b/msg/EstimatorStates.msg
similarity index 100%
rename from msg/estimator_states.msg
rename to msg/EstimatorStates.msg
diff --git a/msg/estimator_status.msg b/msg/EstimatorStatus.msg
similarity index 100%
rename from msg/estimator_status.msg
rename to msg/EstimatorStatus.msg
diff --git a/msg/estimator_status_flags.msg b/msg/EstimatorStatusFlags.msg
similarity index 100%
rename from msg/estimator_status_flags.msg
rename to msg/EstimatorStatusFlags.msg
diff --git a/msg/event.msg b/msg/Event.msg
similarity index 100%
rename from msg/event.msg
rename to msg/Event.msg
diff --git a/msg/failsafe_flags.msg b/msg/FailsafeFlags.msg
similarity index 100%
rename from msg/failsafe_flags.msg
rename to msg/FailsafeFlags.msg
diff --git a/msg/failure_detector_status.msg b/msg/FailureDetectorStatus.msg
similarity index 100%
rename from msg/failure_detector_status.msg
rename to msg/FailureDetectorStatus.msg
diff --git a/msg/follow_target.msg b/msg/FollowTarget.msg
similarity index 100%
rename from msg/follow_target.msg
rename to msg/FollowTarget.msg
diff --git a/msg/follow_target_estimator.msg b/msg/FollowTargetEstimator.msg
similarity index 100%
rename from msg/follow_target_estimator.msg
rename to msg/FollowTargetEstimator.msg
diff --git a/msg/follow_target_status.msg b/msg/FollowTargetStatus.msg
similarity index 100%
rename from msg/follow_target_status.msg
rename to msg/FollowTargetStatus.msg
diff --git a/msg/generator_status.msg b/msg/GeneratorStatus.msg
similarity index 100%
rename from msg/generator_status.msg
rename to msg/GeneratorStatus.msg
diff --git a/msg/geofence_result.msg b/msg/GeofenceResult.msg
similarity index 100%
rename from msg/geofence_result.msg
rename to msg/GeofenceResult.msg
diff --git a/msg/gimbal_device_attitude_status.msg b/msg/GimbalDeviceAttitudeStatus.msg
similarity index 100%
rename from msg/gimbal_device_attitude_status.msg
rename to msg/GimbalDeviceAttitudeStatus.msg
diff --git a/msg/gimbal_device_information.msg b/msg/GimbalDeviceInformation.msg
similarity index 100%
rename from msg/gimbal_device_information.msg
rename to msg/GimbalDeviceInformation.msg
diff --git a/msg/gimbal_device_set_attitude.msg b/msg/GimbalDeviceSetAttitude.msg
similarity index 100%
rename from msg/gimbal_device_set_attitude.msg
rename to msg/GimbalDeviceSetAttitude.msg
diff --git a/msg/gimbal_manager_information.msg b/msg/GimbalManagerInformation.msg
similarity index 100%
rename from msg/gimbal_manager_information.msg
rename to msg/GimbalManagerInformation.msg
diff --git a/msg/gimbal_manager_set_attitude.msg b/msg/GimbalManagerSetAttitude.msg
similarity index 100%
rename from msg/gimbal_manager_set_attitude.msg
rename to msg/GimbalManagerSetAttitude.msg
diff --git a/msg/gimbal_manager_set_manual_control.msg b/msg/GimbalManagerSetManualControl.msg
similarity index 100%
rename from msg/gimbal_manager_set_manual_control.msg
rename to msg/GimbalManagerSetManualControl.msg
diff --git a/msg/gimbal_manager_status.msg b/msg/GimbalManagerStatus.msg
similarity index 100%
rename from msg/gimbal_manager_status.msg
rename to msg/GimbalManagerStatus.msg
diff --git a/msg/gps_dump.msg b/msg/GpsDump.msg
similarity index 100%
rename from msg/gps_dump.msg
rename to msg/GpsDump.msg
diff --git a/msg/gps_inject_data.msg b/msg/GpsInjectData.msg
similarity index 100%
rename from msg/gps_inject_data.msg
rename to msg/GpsInjectData.msg
diff --git a/msg/gripper.msg b/msg/Gripper.msg
similarity index 100%
rename from msg/gripper.msg
rename to msg/Gripper.msg
diff --git a/msg/health_report.msg b/msg/HealthReport.msg
similarity index 99%
rename from msg/health_report.msg
rename to msg/HealthReport.msg
index 5d38e6db2a..189518052b 100644
--- a/msg/health_report.msg
+++ b/msg/HealthReport.msg
@@ -10,4 +10,3 @@ uint64 health_error_flags
 
 uint64 arming_check_warning_flags
 uint64 arming_check_error_flags
-
diff --git a/msg/heater_status.msg b/msg/HeaterStatus.msg
similarity index 100%
rename from msg/heater_status.msg
rename to msg/HeaterStatus.msg
diff --git a/msg/home_position.msg b/msg/HomePosition.msg
similarity index 100%
rename from msg/home_position.msg
rename to msg/HomePosition.msg
diff --git a/msg/hover_thrust_estimate.msg b/msg/HoverThrustEstimate.msg
similarity index 100%
rename from msg/hover_thrust_estimate.msg
rename to msg/HoverThrustEstimate.msg
diff --git a/msg/input_rc.msg b/msg/InputRc.msg
similarity index 100%
rename from msg/input_rc.msg
rename to msg/InputRc.msg
diff --git a/msg/internal_combustion_engine_status.msg b/msg/InternalCombustionEngineStatus.msg
similarity index 100%
rename from msg/internal_combustion_engine_status.msg
rename to msg/InternalCombustionEngineStatus.msg
diff --git a/msg/iridiumsbd_status.msg b/msg/IridiumsbdStatus.msg
similarity index 100%
rename from msg/iridiumsbd_status.msg
rename to msg/IridiumsbdStatus.msg
diff --git a/msg/irlock_report.msg b/msg/IrlockReport.msg
similarity index 100%
rename from msg/irlock_report.msg
rename to msg/IrlockReport.msg
diff --git a/msg/landing_gear.msg b/msg/LandingGear.msg
similarity index 100%
rename from msg/landing_gear.msg
rename to msg/LandingGear.msg
diff --git a/msg/landing_target_innovations.msg b/msg/LandingTargetInnovations.msg
similarity index 100%
rename from msg/landing_target_innovations.msg
rename to msg/LandingTargetInnovations.msg
diff --git a/msg/landing_target_pose.msg b/msg/LandingTargetPose.msg
similarity index 100%
rename from msg/landing_target_pose.msg
rename to msg/LandingTargetPose.msg
diff --git a/msg/led_control.msg b/msg/LedControl.msg
similarity index 100%
rename from msg/led_control.msg
rename to msg/LedControl.msg
diff --git a/msg/log_message.msg b/msg/LogMessage.msg
similarity index 100%
rename from msg/log_message.msg
rename to msg/LogMessage.msg
diff --git a/msg/logger_status.msg b/msg/LoggerStatus.msg
similarity index 100%
rename from msg/logger_status.msg
rename to msg/LoggerStatus.msg
diff --git a/msg/mag_worker_data.msg b/msg/MagWorkerData.msg
similarity index 100%
rename from msg/mag_worker_data.msg
rename to msg/MagWorkerData.msg
diff --git a/msg/magnetometer_bias_estimate.msg b/msg/MagnetometerBiasEstimate.msg
similarity index 100%
rename from msg/magnetometer_bias_estimate.msg
rename to msg/MagnetometerBiasEstimate.msg
diff --git a/msg/manual_control_setpoint.msg b/msg/ManualControlSetpoint.msg
similarity index 100%
rename from msg/manual_control_setpoint.msg
rename to msg/ManualControlSetpoint.msg
diff --git a/msg/manual_control_switches.msg b/msg/ManualControlSwitches.msg
similarity index 100%
rename from msg/manual_control_switches.msg
rename to msg/ManualControlSwitches.msg
diff --git a/msg/mavlink_log.msg b/msg/MavlinkLog.msg
similarity index 100%
rename from msg/mavlink_log.msg
rename to msg/MavlinkLog.msg
diff --git a/msg/mavlink_tunnel.msg b/msg/MavlinkTunnel.msg
similarity index 100%
rename from msg/mavlink_tunnel.msg
rename to msg/MavlinkTunnel.msg
diff --git a/msg/mission.msg b/msg/Mission.msg
similarity index 100%
rename from msg/mission.msg
rename to msg/Mission.msg
diff --git a/msg/mission_result.msg b/msg/MissionResult.msg
similarity index 100%
rename from msg/mission_result.msg
rename to msg/MissionResult.msg
diff --git a/msg/mount_orientation.msg b/msg/MountOrientation.msg
similarity index 100%
rename from msg/mount_orientation.msg
rename to msg/MountOrientation.msg
diff --git a/msg/navigator_mission_item.msg b/msg/NavigatorMissionItem.msg
similarity index 100%
rename from msg/navigator_mission_item.msg
rename to msg/NavigatorMissionItem.msg
diff --git a/msg/npfg_status.msg b/msg/NpfgStatus.msg
similarity index 100%
rename from msg/npfg_status.msg
rename to msg/NpfgStatus.msg
diff --git a/msg/obstacle_distance.msg b/msg/ObstacleDistance.msg
similarity index 100%
rename from msg/obstacle_distance.msg
rename to msg/ObstacleDistance.msg
diff --git a/msg/offboard_control_mode.msg b/msg/OffboardControlMode.msg
similarity index 100%
rename from msg/offboard_control_mode.msg
rename to msg/OffboardControlMode.msg
diff --git a/msg/onboard_computer_status.msg b/msg/OnboardComputerStatus.msg
similarity index 100%
rename from msg/onboard_computer_status.msg
rename to msg/OnboardComputerStatus.msg
diff --git a/msg/orb_test.msg b/msg/OrbTest.msg
similarity index 100%
rename from msg/orb_test.msg
rename to msg/OrbTest.msg
diff --git a/msg/orb_test_large.msg b/msg/OrbTestLarge.msg
similarity index 100%
rename from msg/orb_test_large.msg
rename to msg/OrbTestLarge.msg
diff --git a/msg/orb_test_medium.msg b/msg/OrbTestMedium.msg
similarity index 100%
rename from msg/orb_test_medium.msg
rename to msg/OrbTestMedium.msg
diff --git a/msg/orbit_status.msg b/msg/OrbitStatus.msg
similarity index 100%
rename from msg/orbit_status.msg
rename to msg/OrbitStatus.msg
diff --git a/msg/parameter_update.msg b/msg/ParameterUpdate.msg
similarity index 100%
rename from msg/parameter_update.msg
rename to msg/ParameterUpdate.msg
diff --git a/msg/ping.msg b/msg/Ping.msg
similarity index 100%
rename from msg/ping.msg
rename to msg/Ping.msg
diff --git a/msg/position_controller_landing_status.msg b/msg/PositionControllerLandingStatus.msg
similarity index 100%
rename from msg/position_controller_landing_status.msg
rename to msg/PositionControllerLandingStatus.msg
diff --git a/msg/position_controller_status.msg b/msg/PositionControllerStatus.msg
similarity index 100%
rename from msg/position_controller_status.msg
rename to msg/PositionControllerStatus.msg
diff --git a/msg/position_setpoint.msg b/msg/PositionSetpoint.msg
similarity index 100%
rename from msg/position_setpoint.msg
rename to msg/PositionSetpoint.msg
diff --git a/msg/position_setpoint_triplet.msg b/msg/PositionSetpointTriplet.msg
similarity index 67%
rename from msg/position_setpoint_triplet.msg
rename to msg/PositionSetpointTriplet.msg
index 7c9a2ca78b..6f9ac4d2a2 100644
--- a/msg/position_setpoint_triplet.msg
+++ b/msg/PositionSetpointTriplet.msg
@@ -3,6 +3,6 @@
 
 uint64 timestamp		# time since system start (microseconds)
 
-px4/position_setpoint previous
-px4/position_setpoint current
-px4/position_setpoint next
+PositionSetpoint previous
+PositionSetpoint current
+PositionSetpoint next
diff --git a/msg/power_button_state.msg b/msg/PowerButtonState.msg
similarity index 100%
rename from msg/power_button_state.msg
rename to msg/PowerButtonState.msg
diff --git a/msg/power_monitor.msg b/msg/PowerMonitor.msg
similarity index 100%
rename from msg/power_monitor.msg
rename to msg/PowerMonitor.msg
diff --git a/msg/pps_capture.msg b/msg/PpsCapture.msg
similarity index 100%
rename from msg/pps_capture.msg
rename to msg/PpsCapture.msg
diff --git a/msg/pwm_input.msg b/msg/PwmInput.msg
similarity index 100%
rename from msg/pwm_input.msg
rename to msg/PwmInput.msg
diff --git a/msg/px4io_status.msg b/msg/Px4ioStatus.msg
similarity index 100%
rename from msg/px4io_status.msg
rename to msg/Px4ioStatus.msg
diff --git a/msg/radio_status.msg b/msg/RadioStatus.msg
similarity index 100%
rename from msg/radio_status.msg
rename to msg/RadioStatus.msg
diff --git a/msg/rate_ctrl_status.msg b/msg/RateCtrlStatus.msg
similarity index 100%
rename from msg/rate_ctrl_status.msg
rename to msg/RateCtrlStatus.msg
diff --git a/msg/rc_channels.msg b/msg/RcChannels.msg
similarity index 100%
rename from msg/rc_channels.msg
rename to msg/RcChannels.msg
diff --git a/msg/rc_parameter_map.msg b/msg/RcParameterMap.msg
similarity index 100%
rename from msg/rc_parameter_map.msg
rename to msg/RcParameterMap.msg
diff --git a/msg/rpm.msg b/msg/Rpm.msg
similarity index 100%
rename from msg/rpm.msg
rename to msg/Rpm.msg
diff --git a/msg/rtl_time_estimate.msg b/msg/RtlTimeEstimate.msg
similarity index 100%
rename from msg/rtl_time_estimate.msg
rename to msg/RtlTimeEstimate.msg
diff --git a/msg/satellite_info.msg b/msg/SatelliteInfo.msg
similarity index 100%
rename from msg/satellite_info.msg
rename to msg/SatelliteInfo.msg
diff --git a/msg/sensor_accel.msg b/msg/SensorAccel.msg
similarity index 100%
rename from msg/sensor_accel.msg
rename to msg/SensorAccel.msg
diff --git a/msg/sensor_accel_fifo.msg b/msg/SensorAccelFifo.msg
similarity index 100%
rename from msg/sensor_accel_fifo.msg
rename to msg/SensorAccelFifo.msg
diff --git a/msg/sensor_baro.msg b/msg/SensorBaro.msg
similarity index 100%
rename from msg/sensor_baro.msg
rename to msg/SensorBaro.msg
diff --git a/msg/sensor_combined.msg b/msg/SensorCombined.msg
similarity index 100%
rename from msg/sensor_combined.msg
rename to msg/SensorCombined.msg
diff --git a/msg/sensor_correction.msg b/msg/SensorCorrection.msg
similarity index 100%
rename from msg/sensor_correction.msg
rename to msg/SensorCorrection.msg
diff --git a/msg/sensor_gnss_relative.msg b/msg/SensorGnssRelative.msg
similarity index 100%
rename from msg/sensor_gnss_relative.msg
rename to msg/SensorGnssRelative.msg
diff --git a/msg/sensor_gps.msg b/msg/SensorGps.msg
similarity index 100%
rename from msg/sensor_gps.msg
rename to msg/SensorGps.msg
diff --git a/msg/sensor_gyro.msg b/msg/SensorGyro.msg
similarity index 100%
rename from msg/sensor_gyro.msg
rename to msg/SensorGyro.msg
diff --git a/msg/sensor_gyro_fft.msg b/msg/SensorGyroFft.msg
similarity index 100%
rename from msg/sensor_gyro_fft.msg
rename to msg/SensorGyroFft.msg
diff --git a/msg/sensor_gyro_fifo.msg b/msg/SensorGyroFifo.msg
similarity index 100%
rename from msg/sensor_gyro_fifo.msg
rename to msg/SensorGyroFifo.msg
diff --git a/msg/sensor_hygrometer.msg b/msg/SensorHygrometer.msg
old mode 100755
new mode 100644
similarity index 100%
rename from msg/sensor_hygrometer.msg
rename to msg/SensorHygrometer.msg
diff --git a/msg/sensor_mag.msg b/msg/SensorMag.msg
similarity index 100%
rename from msg/sensor_mag.msg
rename to msg/SensorMag.msg
diff --git a/msg/sensor_optical_flow.msg b/msg/SensorOpticalFlow.msg
similarity index 100%
rename from msg/sensor_optical_flow.msg
rename to msg/SensorOpticalFlow.msg
diff --git a/msg/sensor_preflight_mag.msg b/msg/SensorPreflightMag.msg
similarity index 100%
rename from msg/sensor_preflight_mag.msg
rename to msg/SensorPreflightMag.msg
diff --git a/msg/sensor_selection.msg b/msg/SensorSelection.msg
similarity index 100%
rename from msg/sensor_selection.msg
rename to msg/SensorSelection.msg
diff --git a/msg/sensors_status.msg b/msg/SensorsStatus.msg
similarity index 87%
rename from msg/sensors_status.msg
rename to msg/SensorsStatus.msg
index 28c2797812..c16bf1c6a2 100644
--- a/msg/sensors_status.msg
+++ b/msg/SensorsStatus.msg
@@ -12,4 +12,4 @@ uint8[4] priority
 bool[4] enabled
 bool[4] external
 
-# TOPICS sensors_status sensors_status_baro sensors_status_mag
+# TOPICS sensors_status_baro sensors_status_mag
diff --git a/msg/sensors_status_imu.msg b/msg/SensorsStatusImu.msg
similarity index 100%
rename from msg/sensors_status_imu.msg
rename to msg/SensorsStatusImu.msg
diff --git a/msg/system_power.msg b/msg/SystemPower.msg
similarity index 100%
rename from msg/system_power.msg
rename to msg/SystemPower.msg
diff --git a/msg/takeoff_status.msg b/msg/TakeoffStatus.msg
similarity index 100%
rename from msg/takeoff_status.msg
rename to msg/TakeoffStatus.msg
diff --git a/msg/task_stack_info.msg b/msg/TaskStackInfo.msg
similarity index 100%
rename from msg/task_stack_info.msg
rename to msg/TaskStackInfo.msg
diff --git a/msg/tecs_status.msg b/msg/TecsStatus.msg
similarity index 100%
rename from msg/tecs_status.msg
rename to msg/TecsStatus.msg
diff --git a/msg/telemetry_status.msg b/msg/TelemetryStatus.msg
similarity index 100%
rename from msg/telemetry_status.msg
rename to msg/TelemetryStatus.msg
diff --git a/msg/timesync_status.msg b/msg/TimesyncStatus.msg
similarity index 72%
rename from msg/timesync_status.msg
rename to msg/TimesyncStatus.msg
index 9d557352dc..71e84e85ab 100644
--- a/msg/timesync_status.msg
+++ b/msg/TimesyncStatus.msg
@@ -1,8 +1,9 @@
 uint64 timestamp			# time since system start (microseconds)
 
-uint8 SOURCE_PROTOCOL_MAVLINK = 0
-uint8 SOURCE_PROTOCOL_RTPS = 1
-uint8 source_protocol			# timesync source. Source can be MAVLink or the microRTPS bridge
+uint8 SOURCE_PROTOCOL_UNKNOWN = 0
+uint8 SOURCE_PROTOCOL_MAVLINK = 1
+uint8 SOURCE_PROTOCOL_DDS     = 2
+uint8 source_protocol			# timesync source
 
 uint64 remote_timestamp			# remote system timestamp (microseconds)
 int64 observed_offset			# raw time offset directly observed from this timesync packet (microseconds)
diff --git a/msg/trajectory_bezier.msg b/msg/TrajectoryBezier.msg
similarity index 100%
rename from msg/trajectory_bezier.msg
rename to msg/TrajectoryBezier.msg
diff --git a/msg/trajectory_setpoint.msg b/msg/TrajectorySetpoint.msg
similarity index 100%
rename from msg/trajectory_setpoint.msg
rename to msg/TrajectorySetpoint.msg
diff --git a/msg/trajectory_waypoint.msg b/msg/TrajectoryWaypoint.msg
similarity index 100%
rename from msg/trajectory_waypoint.msg
rename to msg/TrajectoryWaypoint.msg
diff --git a/msg/transponder_report.msg b/msg/TransponderReport.msg
similarity index 100%
rename from msg/transponder_report.msg
rename to msg/TransponderReport.msg
diff --git a/msg/tune_control.msg b/msg/TuneControl.msg
similarity index 100%
rename from msg/tune_control.msg
rename to msg/TuneControl.msg
diff --git a/msg/uavcan_parameter_request.msg b/msg/UavcanParameterRequest.msg
similarity index 100%
rename from msg/uavcan_parameter_request.msg
rename to msg/UavcanParameterRequest.msg
diff --git a/msg/uavcan_parameter_value.msg b/msg/UavcanParameterValue.msg
similarity index 100%
rename from msg/uavcan_parameter_value.msg
rename to msg/UavcanParameterValue.msg
diff --git a/msg/ulog_stream.msg b/msg/UlogStream.msg
similarity index 100%
rename from msg/ulog_stream.msg
rename to msg/UlogStream.msg
diff --git a/msg/ulog_stream_ack.msg b/msg/UlogStreamAck.msg
similarity index 100%
rename from msg/ulog_stream_ack.msg
rename to msg/UlogStreamAck.msg
diff --git a/msg/uwb_distance.msg b/msg/UwbDistance.msg
similarity index 100%
rename from msg/uwb_distance.msg
rename to msg/UwbDistance.msg
diff --git a/msg/uwb_grid.msg b/msg/UwbGrid.msg
similarity index 100%
rename from msg/uwb_grid.msg
rename to msg/UwbGrid.msg
diff --git a/msg/vehicle_acceleration.msg b/msg/VehicleAcceleration.msg
similarity index 100%
rename from msg/vehicle_acceleration.msg
rename to msg/VehicleAcceleration.msg
diff --git a/msg/vehicle_air_data.msg b/msg/VehicleAirData.msg
similarity index 100%
rename from msg/vehicle_air_data.msg
rename to msg/VehicleAirData.msg
diff --git a/msg/vehicle_angular_acceleration.msg b/msg/VehicleAngularAcceleration.msg
similarity index 100%
rename from msg/vehicle_angular_acceleration.msg
rename to msg/VehicleAngularAcceleration.msg
diff --git a/msg/vehicle_angular_acceleration_setpoint.msg b/msg/VehicleAngularAccelerationSetpoint.msg
similarity index 100%
rename from msg/vehicle_angular_acceleration_setpoint.msg
rename to msg/VehicleAngularAccelerationSetpoint.msg
diff --git a/msg/vehicle_angular_velocity.msg b/msg/VehicleAngularVelocity.msg
similarity index 100%
rename from msg/vehicle_angular_velocity.msg
rename to msg/VehicleAngularVelocity.msg
diff --git a/msg/vehicle_attitude.msg b/msg/VehicleAttitude.msg
similarity index 86%
rename from msg/vehicle_attitude.msg
rename to msg/VehicleAttitude.msg
index f704d71933..6eeb20a21e 100644
--- a/msg/vehicle_attitude.msg
+++ b/msg/VehicleAttitude.msg
@@ -8,5 +8,5 @@ float32[4] q                    # Quaternion rotation from the FRD body frame to
 float32[4] delta_q_reset        # Amount by which quaternion has changed during last reset
 uint8 quat_reset_counter        # Quaternion reset counter
 
-# TOPICS vehicle_attitude vehicle_attitude_groundtruth vehicle_vision_attitude
+# TOPICS vehicle_attitude vehicle_attitude_groundtruth
 # TOPICS estimator_attitude
diff --git a/msg/vehicle_attitude_setpoint.msg b/msg/VehicleAttitudeSetpoint.msg
similarity index 100%
rename from msg/vehicle_attitude_setpoint.msg
rename to msg/VehicleAttitudeSetpoint.msg
diff --git a/msg/vehicle_command.msg b/msg/VehicleCommand.msg
similarity index 100%
rename from msg/vehicle_command.msg
rename to msg/VehicleCommand.msg
diff --git a/msg/vehicle_command_ack.msg b/msg/VehicleCommandAck.msg
similarity index 100%
rename from msg/vehicle_command_ack.msg
rename to msg/VehicleCommandAck.msg
diff --git a/msg/vehicle_constraints.msg b/msg/VehicleConstraints.msg
similarity index 100%
rename from msg/vehicle_constraints.msg
rename to msg/VehicleConstraints.msg
diff --git a/msg/vehicle_control_mode.msg b/msg/VehicleControlMode.msg
similarity index 100%
rename from msg/vehicle_control_mode.msg
rename to msg/VehicleControlMode.msg
diff --git a/msg/vehicle_global_position.msg b/msg/VehicleGlobalPosition.msg
similarity index 100%
rename from msg/vehicle_global_position.msg
rename to msg/VehicleGlobalPosition.msg
diff --git a/msg/vehicle_imu.msg b/msg/VehicleImu.msg
similarity index 100%
rename from msg/vehicle_imu.msg
rename to msg/VehicleImu.msg
diff --git a/msg/vehicle_imu_status.msg b/msg/VehicleImuStatus.msg
similarity index 100%
rename from msg/vehicle_imu_status.msg
rename to msg/VehicleImuStatus.msg
diff --git a/msg/vehicle_land_detected.msg b/msg/VehicleLandDetected.msg
similarity index 100%
rename from msg/vehicle_land_detected.msg
rename to msg/VehicleLandDetected.msg
diff --git a/msg/vehicle_local_position.msg b/msg/VehicleLocalPosition.msg
similarity index 100%
rename from msg/vehicle_local_position.msg
rename to msg/VehicleLocalPosition.msg
diff --git a/msg/vehicle_local_position_setpoint.msg b/msg/VehicleLocalPositionSetpoint.msg
similarity index 100%
rename from msg/vehicle_local_position_setpoint.msg
rename to msg/VehicleLocalPositionSetpoint.msg
diff --git a/msg/vehicle_magnetometer.msg b/msg/VehicleMagnetometer.msg
similarity index 100%
rename from msg/vehicle_magnetometer.msg
rename to msg/VehicleMagnetometer.msg
diff --git a/msg/vehicle_odometry.msg b/msg/VehicleOdometry.msg
similarity index 100%
rename from msg/vehicle_odometry.msg
rename to msg/VehicleOdometry.msg
diff --git a/msg/vehicle_optical_flow.msg b/msg/VehicleOpticalFlow.msg
similarity index 100%
rename from msg/vehicle_optical_flow.msg
rename to msg/VehicleOpticalFlow.msg
diff --git a/msg/vehicle_optical_flow_vel.msg b/msg/VehicleOpticalFlowVel.msg
similarity index 100%
rename from msg/vehicle_optical_flow_vel.msg
rename to msg/VehicleOpticalFlowVel.msg
diff --git a/msg/vehicle_rates_setpoint.msg b/msg/VehicleRatesSetpoint.msg
similarity index 100%
rename from msg/vehicle_rates_setpoint.msg
rename to msg/VehicleRatesSetpoint.msg
diff --git a/msg/vehicle_roi.msg b/msg/VehicleRoi.msg
similarity index 100%
rename from msg/vehicle_roi.msg
rename to msg/VehicleRoi.msg
diff --git a/msg/vehicle_status.msg b/msg/VehicleStatus.msg
similarity index 100%
rename from msg/vehicle_status.msg
rename to msg/VehicleStatus.msg
diff --git a/msg/vehicle_thrust_setpoint.msg b/msg/VehicleThrustSetpoint.msg
similarity index 100%
rename from msg/vehicle_thrust_setpoint.msg
rename to msg/VehicleThrustSetpoint.msg
diff --git a/msg/vehicle_torque_setpoint.msg b/msg/VehicleTorqueSetpoint.msg
similarity index 100%
rename from msg/vehicle_torque_setpoint.msg
rename to msg/VehicleTorqueSetpoint.msg
diff --git a/msg/vehicle_trajectory_bezier.msg b/msg/VehicleTrajectoryBezier.msg
similarity index 93%
rename from msg/vehicle_trajectory_bezier.msg
rename to msg/VehicleTrajectoryBezier.msg
index 421ff1a015..d4bf99b469 100644
--- a/msg/vehicle_trajectory_bezier.msg
+++ b/msg/VehicleTrajectoryBezier.msg
@@ -12,7 +12,7 @@ uint8 POINT_4 = 4
 
 uint8 NUMBER_POINTS = 5
 
-trajectory_bezier[5] control_points
+TrajectoryBezier[5] control_points
 uint8 bezier_order
 
 # TOPICS vehicle_trajectory_bezier
diff --git a/msg/vehicle_trajectory_waypoint.msg b/msg/VehicleTrajectoryWaypoint.msg
similarity index 95%
rename from msg/vehicle_trajectory_waypoint.msg
rename to msg/VehicleTrajectoryWaypoint.msg
index 182f548d23..6bff1cec84 100644
--- a/msg/vehicle_trajectory_waypoint.msg
+++ b/msg/VehicleTrajectoryWaypoint.msg
@@ -16,6 +16,6 @@ uint8 POINT_4 = 4
 
 uint8 NUMBER_POINTS = 5
 
-trajectory_waypoint[5] waypoints
+TrajectoryWaypoint[5] waypoints
 
 # TOPICS vehicle_trajectory_waypoint vehicle_trajectory_waypoint_desired
diff --git a/msg/vtol_vehicle_status.msg b/msg/VtolVehicleStatus.msg
similarity index 100%
rename from msg/vtol_vehicle_status.msg
rename to msg/VtolVehicleStatus.msg
diff --git a/msg/wheel_encoders.msg b/msg/WheelEncoders.msg
similarity index 100%
rename from msg/wheel_encoders.msg
rename to msg/WheelEncoders.msg
diff --git a/msg/wind.msg b/msg/Wind.msg
similarity index 100%
rename from msg/wind.msg
rename to msg/Wind.msg
diff --git a/msg/yaw_estimator_status.msg b/msg/YawEstimatorStatus.msg
similarity index 100%
rename from msg/yaw_estimator_status.msg
rename to msg/YawEstimatorStatus.msg
diff --git a/msg/templates/module.yaml b/msg/templates/module.yaml
deleted file mode 100644
index 099976c11e..0000000000
--- a/msg/templates/module.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-module_name: Sagtech MXS
-serial_config:
-    - command: mxs start -d ${SERIAL_DEV} -b p:${BAUD_PARAM}
-      port_config_param:
-        name: TRANS_MXS_CFG
-        group: Transponders
diff --git a/msg/templates/px4/ros/msg.h.em b/msg/templates/px4/ros/msg.h.em
deleted file mode 100644
index e102a087d4..0000000000
--- a/msg/templates/px4/ros/msg.h.em
+++ /dev/null
@@ -1,94 +0,0 @@
-@###############################################
-@#
-@# PX4 ROS compatible message source code
-@# generation for C++
-@#
-@# This file generates the multiplatform wrapper
-@#
-@# EmPy template for generating <msg>.h files
-@# Based on the original template for ROS
-@#
-@###############################################
-@# Start of Template
-@#
-@# Context:
-@#  - file_name_in (String) Source file
-@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@###############################################
-/****************************************************************************
- *
- *   Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* Auto-generated by genmsg_cpp from file @file_name_in */
-
-@{
-import genmsg.msgs
-
-
-cpp_class = 'px4_%s'%spec.short_name
-native_type = spec.short_name
-topic_name = spec.short_name
-}@
-
-#pragma once
-
-@##############################
-@# Generic Includes
-@##############################
-#include "px4/@(topic_name).h"
-#include "platforms/px4_message.h"
-
-@##############################
-@# Class
-@##############################
-
-namespace px4
-{
-
-class @(cpp_class) :
-	public PX4Message<@(native_type)>
-{
-public:
-	@(cpp_class)() :
-		PX4Message<@(native_type)>()
-	{}
-
-	@(cpp_class)(@(native_type) msg) :
-		PX4Message<@(native_type)>(msg)
-	{}
-
-	~@(cpp_class)() {}
-
-	static PX4TopicHandle handle() {return "@(topic_name)";}
-};
-
-};
diff --git a/msg/templates/px4/uorb/msg.h.em b/msg/templates/px4/uorb/msg.h.em
deleted file mode 100644
index deed11912d..0000000000
--- a/msg/templates/px4/uorb/msg.h.em
+++ /dev/null
@@ -1,99 +0,0 @@
-@###############################################
-@#
-@# PX4 ROS compatible message source code
-@# generation for C++
-@#
-@# This file generates the multiplatform wrapper
-@#
-@# EmPy template for generating <msg>.h files
-@# Based on the original template for ROS
-@#
-@###############################################
-@# Start of Template
-@#
-@# Context:
-@#  - file_name_in (String) Source file
-@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@###############################################
-/****************************************************************************
- *
- *   Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* Auto-generated by genmsg_cpp from file @file_name_in */
-
-@{
-import genmsg.msgs
-
-
-native_type = '%s_s'%spec.short_name
-topic_name = spec.short_name
-}@
-
-#pragma once
-
-@##############################
-@# Generic Includes
-@##############################
-#include <uORB/topics/@(topic_name).h>
-#include "platforms/px4_message.h"
-
-@##############################
-@# Class
-@##############################
-
-namespace px4
-{
-@[for multi_topic in topics]@
-@{
-cpp_class = 'px4_%s'%multi_topic
-}@
-
-
-class __EXPORT @(cpp_class) :
-	public PX4Message<@(native_type)>
-{
-public:
-	@(cpp_class)() :
-		PX4Message<@(native_type)>()
-	{}
-
-	@(cpp_class)(@(native_type) msg) :
-		PX4Message<@(native_type)>(msg)
-	{}
-
-	~@(cpp_class)() {}
-
-	static PX4TopicHandle handle() {return ORB_ID(@(multi_topic));}
-};
-@[end for]
-
-};
diff --git a/msg/templates/uorb_microcdr/dds_topics.h.em b/msg/templates/uorb_microcdr/dds_topics.h.em
deleted file mode 100644
index 8d7b5e7a67..0000000000
--- a/msg/templates/uorb_microcdr/dds_topics.h.em
+++ /dev/null
@@ -1,225 +0,0 @@
-@###############################################
-@#
-@# EmPy template
-@#
-@###############################################
-@# Generates publications and subscriptions for XRCE
-@#
-@# Context:
-@#  - msgs (List) list of all RTPS messages
-@#  - topics (List) list of all topic names
-@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@###############################################
-@{
-import os
-
-import genmsg.msgs
-
-from px_generate_uorb_topic_files import MsgScope # this is in Tools/
-
-topic_names = [s.short_name for s in spec]
-send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
-send_base_types = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
-recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
-receive_base_types = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
-}@
-
-
-#include <uxr/client/client.h>
-#include <ucdr/microcdr.h>
-
-#include <uORB/Subscription.hpp>
-#include <uORB/Publication.hpp>
-@[for idx, topic in enumerate(send_topics)]@
-#include <uORB/ucdr/@(send_base_types[idx]).h>
-@[end for]@
-@[for idx, topic in enumerate(recv_topics)]@
-#include <uORB/ucdr/@(receive_base_types[idx]).h>
-@[end for]@
-
-// Subscribers for messages to send
-struct SendTopicsSubs {
-@[    for idx, topic in enumerate(send_topics)]@
-	uORB::Subscription @(topic)_sub{ORB_ID(@(topic))};
-	uxrObjectId @(topic)_data_writer;
-@[    end for]@
-
-	uxrSession* session;
-
-	uint32_t num_payload_sent{};
-
-	bool init(uxrSession* session_, uxrStreamId stream_id, uxrObjectId participant_id);
-	void update(uxrStreamId stream_id);
-};
-
-bool SendTopicsSubs::init(uxrSession* session_, uxrStreamId stream_id, uxrObjectId participant_id)
-{
-	session = session_;
-
-@[    for idx, topic in enumerate(send_topics)]@
-@{
-topic_pascal = topic.replace("_", " ").title().replace(" ", "")
-}@
-	{
-
-		uxrObjectId topic_id = uxr_object_id(@(idx)+1, UXR_TOPIC_ID);
-		const char* topic_xml = "<dds>"
-				"<topic>"
-				"<name>rt/fmu/out/@(topic_pascal)</name>"
-				"<dataType>px4_msgs::msg::dds_::@(topic_pascal)_</dataType>"
-				"</topic>"
-				"</dds>";
-		uint16_t topic_req = uxr_buffer_create_topic_xml(session, stream_id, topic_id, participant_id, topic_xml,
-						UXR_REPLACE);
-
-		uxrObjectId publisher_id = uxr_object_id(@(idx)+1, UXR_PUBLISHER_ID);
-		const char* publisher_xml = "";
-		uint16_t publisher_req = uxr_buffer_create_publisher_xml(session, stream_id, publisher_id, participant_id,
-						publisher_xml, UXR_REPLACE);
-
-		uxrObjectId datawriter_id = uxr_object_id(@(idx)+1, UXR_DATAWRITER_ID);
-		@(topic)_data_writer = datawriter_id;
-		const char* datawriter_xml = "<dds>"
-				"<data_writer>"
-				"<topic>"
-				"<kind>NO_KEY</kind>"
-				"<name>rt/fmu/out/@(topic_pascal)</name>"
-				"<dataType>px4_msgs::msg::dds_::@(topic_pascal)_</dataType>"
-				"</topic>"
-				"</data_writer>"
-				"</dds>";
-		uint16_t datawriter_req = uxr_buffer_create_datawriter_xml(session, stream_id, datawriter_id, publisher_id,
-						datawriter_xml, UXR_REPLACE);
-
-		// Send create entities message and wait its status
-		uint8_t status[3];
-		uint16_t requests[3] = {
-			topic_req, publisher_req, datawriter_req
-		};
-		if (!uxr_run_session_until_all_status(session, 1000, requests, status, 3)) {
-			PX4_ERR("create entities failed: %s, topic: %i publisher: %i datawriter: %i", "@(topic_pascal)", status[0], status[1], status[2]);
-			return false;
-		}
-	}
-
-@[    end for]@
-
-	return true;
-}
-
-void SendTopicsSubs::update(uxrStreamId stream_id)
-{
-@[    for idx, topic in enumerate(send_topics)]@
-	{
-		@(send_base_types[idx])_s data;
-
-		if (@(topic)_sub.update(&data)) {
-			ucdrBuffer ub{};
-			uint32_t topic_size = ucdr_topic_size_@(send_base_types[idx])();
-			uxr_prepare_output_stream(session, stream_id, @(topic)_data_writer, &ub, topic_size);
-			ucdr_serialize_@(send_base_types[idx])(data, ub);
-			// TODO: fill up the MTU and then flush, which reduces the packet overhead
-			uxr_flash_output_streams(session);
-			num_payload_sent += topic_size;
-		}
-	}
-@[    end for]@
-
-}
-
-static void on_topic_update(uxrSession* session, uxrObjectId object_id,
-	uint16_t request_id, uxrStreamId stream_id, struct ucdrBuffer* ub, uint16_t
-	length, void* args);
-
-// Publishers for received messages
-struct RcvTopicsPubs {
-@[    for idx, topic in enumerate(recv_topics)]@
-	uORB::Publication <@(receive_base_types[idx])_s> @(topic)_pub{ORB_ID(@(topic))};
-@[    end for]@
-
-	uxrSession* session;
-
-	uint32_t num_payload_received{};
-
-	bool init(uxrSession* session_, uxrStreamId stream_id, uxrStreamId input_stream, uxrObjectId participant_id);
-};
-
-bool RcvTopicsPubs::init(uxrSession* session_, uxrStreamId stream_id, uxrStreamId input_stream, uxrObjectId participant_id)
-{
-	session = session_;
-    uxr_set_topic_callback(session, on_topic_update, this);
-
-
-@[    for idx, topic in enumerate(recv_topics)]@
-@{
-topic_pascal = topic.replace("_", " ").title().replace(" ", "")
-}@
-	{
-
-		uxrObjectId subscriber_id = uxr_object_id(@(idx)+1, UXR_SUBSCRIBER_ID);
-		const char* subscriber_xml = "";
-		uint16_t subscriber_req = uxr_buffer_create_subscriber_xml(session, stream_id, subscriber_id, participant_id, subscriber_xml, UXR_REPLACE);
-
-		uxrObjectId topic_id = uxr_object_id(1000+@(idx), UXR_TOPIC_ID);
-		const char* topic_xml = "<dds>"
-				"<topic>"
-				"<name>rt/fmu/in/@(topic_pascal)</name>"
-				"<dataType>px4_msgs::msg::dds_::@(topic_pascal)_</dataType>"
-				"</topic>"
-				"</dds>";
-		uint16_t topic_req = uxr_buffer_create_topic_xml(session, stream_id, topic_id, participant_id, topic_xml, UXR_REPLACE);
-
-		uxrObjectId datareader_id = uxr_object_id(@(idx)+1, UXR_DATAREADER_ID);
-		const char* datareader_xml = "<dds>"
-										 "<data_reader>"
-											 "<topic>"
-												 "<kind>NO_KEY</kind>"
-												 "<name>rt/fmu/in/@(topic_pascal)</name>"
-												 "<dataType>px4_msgs::msg::dds_::@(topic_pascal)_</dataType>"
-											 "</topic>"
-										 "</data_reader>"
-									 "</dds>";
-		uint16_t datareader_req = uxr_buffer_create_datareader_xml(session, stream_id, datareader_id, subscriber_id, datareader_xml, UXR_REPLACE);
-
-		uint8_t status[3];
-		uint16_t requests[3] = {topic_req, subscriber_req, datareader_req };
-		if(!uxr_run_session_until_all_status(session, 1000, requests, status, 3))
-		{
-			PX4_ERR("create entities failed: %s %i %i %i", "@(topic)", status[0], status[1], status[2]);
-			return false;
-		}
-
-		uxrDeliveryControl delivery_control = {0};
-		delivery_control.max_samples = UXR_MAX_SAMPLES_UNLIMITED;
-		uxr_buffer_request_data(session, stream_id, datareader_id, input_stream, &delivery_control);
-
-	}
-
-@[    end for]@
-
-	return true;
-}
-
-void on_topic_update(uxrSession* session, uxrObjectId object_id,
-	uint16_t request_id, uxrStreamId stream_id, struct ucdrBuffer* ub, uint16_t
-	length, void* args)
-{
-	RcvTopicsPubs* pubs = (RcvTopicsPubs*)args;
-	pubs->num_payload_received += length;
-
-	switch (object_id.id) {
-@[    for idx, topic in enumerate(recv_topics)]@
-		case @(idx)+1: {
-			@(receive_base_types[idx])_s topic;
-			if (ucdr_deserialize_@(receive_base_types[idx])(*ub, topic)) {
-				pubs->@(topic)_pub.publish(topic);
-			}
-		}
-		break;
-@[    end for]@
-
-		default:
-		PX4_ERR("unknown object id: %i", object_id.id);
-		break;
-	}
-}
diff --git a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
deleted file mode 100644
index ba49bfbcb8..0000000000
--- a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
+++ /dev/null
@@ -1,310 +0,0 @@
-@###############################################
-@#
-@# EmPy template for generating microRTPS_client.cpp file
-@#
-@###############################################
-@# Start of Template
-@#
-@# Context:
-@#  - msgs (List) list of all RTPS messages
-@#  - topics (List) list of all topic names
-@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@###############################################
-@{
-import os
-
-import genmsg.msgs
-
-from px_generate_uorb_topic_files import MsgScope # this is in Tools/
-
-topic_names = [s.short_name for s in spec]
-send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
-send_base_types = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
-recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
-receive_base_types = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
-}@
-/****************************************************************************
- *
- * Copyright (c) 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice, this
- * list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its contributors
- * may be used to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <microRTPS_transport.h>
-#include <microRTPS_client.h>
-
-#include <inttypes.h>
-#include <cstdio>
-#include <ctime>
-#include <pthread.h>
-
-#include <ucdr/microcdr.h>
-#include <px4_time.h>
-#include <uORB/uORB.h>
-
-#include <uORB/PublicationMulti.hpp>
-#include <uORB/Subscription.hpp>
-@[for topic in list(set(topic_names))]@
-#include <uORB/topics/@(topic).h>
-#include <uORB_microcdr/topics/@(topic).h>
-@[end for]@
-
-using namespace time_literals;
-
-@[if recv_topics]@
-// Publishers for received messages
-struct RcvTopicsPubs {
-@[    for idx, topic in enumerate(recv_topics)]@
-	uORB::Publication <@(receive_base_types[idx])_s> @(topic)_pub{ORB_ID(@(topic))};
-@[    end for]@
-};
-@[end if]@
-
-@[if send_topics]@
-// Subscribers for messages to send
-struct SendTopicsSubs {
-@[    for idx, topic in enumerate(send_topics)]@
-	uORB::Subscription @(topic)_sub{ORB_ID(@(topic))};
-@[    end for]@
-};
-
-struct SendThreadArgs {
-	const uint32_t &datarate;
-	uint64_t &total_sent;
-	uint64_t &sent_last_sec;
-	uint64_t &sent;
-	int &sent_loop;
-	SendThreadArgs(const uint32_t &datarate_, uint64_t &total_sent_,
-                    uint64_t &sent_last_sec_, uint64_t &sent_, int &sent_loop_)
-		: datarate(datarate_),
-		  total_sent(total_sent_),
-		  sent_last_sec(sent_last_sec_),
-		  sent(sent_),
-		  sent_loop(sent_loop_) {}
-};
-
-void *send(void *args)
-{
-	char data_buffer[BUFFER_SIZE]{};
-	int read{0};
-	uint32_t length{0};
-	size_t header_length{0};
-	uint8_t last_msg_seq{0};
-	uint8_t last_remote_msg_seq{0};
-
-	struct SendThreadArgs *data = reinterpret_cast<struct SendThreadArgs *>(args);
-	SendTopicsSubs *subs = new SendTopicsSubs();
-
-	float bandwidth_mult{0};
-	float tx_interval{1.f};
-	uint64_t tx_last_sec_read{0};
-	hrt_abstime last_stats_update{0};
-
-	// ucdrBuffer to serialize using the user defined buffer
-	ucdrBuffer writer;
-	header_length = transport_node->get_header_length();
-	ucdr_init_buffer(&writer, reinterpret_cast<uint8_t *>(&data_buffer[header_length]), BUFFER_SIZE - header_length);
-
-	while (!_should_exit_task) {
-@[    for idx, topic in enumerate(send_topics)]@
-		{
-			@(send_base_types[idx])_s @(topic)_data;
-
-			if (subs->@(topic)_sub.update(&@(topic)_data))
-			{
-@[        if topic == 'Timesync' or topic == 'timesync']@
-				if (@(topic)_data.seq != last_remote_msg_seq && @(topic)_data.tc1 == 0) {
-					last_remote_msg_seq = @(topic)_data.seq;
-
-					@(topic)_data.timestamp = hrt_absolute_time();
-					@(topic)_data.seq = last_msg_seq;
-					@(topic)_data.tc1 = hrt_absolute_time() * 1000ULL;
-					@(topic)_data.ts1 = @(topic)_data.ts1;
-
-					last_msg_seq++;
-@[        end if]@
-					// copy raw data into local buffer. Payload is shifted by header length to make room for header
-					serialize_@(send_base_types[idx])(&writer, &@(topic)_data, &data_buffer[header_length], &length);
-
-					if (0 < (read = transport_node->write(static_cast<char>(@(msgs[0].index(topic) + 1)), data_buffer, length))) {
-						data->total_sent += read;
-						tx_last_sec_read += read;
-						++data->sent;
-					}
-
-@[        if topic == 'Timesync' or topic == 'timesync']@
-				}
-
-@[        end if]@
-			}
-		}
-@[    end for]@
-
-		if (hrt_absolute_time() - last_stats_update >= 1_s) {
-			data->sent_last_sec = tx_last_sec_read;
-			if (data->datarate > 0) {
-				bandwidth_mult = static_cast<float>(data->datarate) / static_cast<float>(tx_last_sec_read);
-				// Apply a low-pass filter to determine the new TX interval
-				tx_interval += 0.5f * (tx_interval / bandwidth_mult - tx_interval);
-				// Clamp the interval between 1 and 1000 ms
-				tx_interval = math::constrain(tx_interval, MIN_TX_INTERVAL_US, MAX_TX_INTERVAL_US);
-			}
-			tx_last_sec_read = 0;
-			last_stats_update = hrt_absolute_time();
-		}
-
-		px4_usleep(tx_interval);
-
-		++data->sent_loop;
-	}
-
-	delete(data);
-	delete(subs);
-
-	return nullptr;
-}
-
-static int launch_send_thread(pthread_t &sender_thread, struct SendThreadArgs &args)
-{
-	pthread_attr_t sender_thread_attr;
-	pthread_attr_init(&sender_thread_attr);
-	pthread_attr_setstacksize(&sender_thread_attr, PX4_STACK_ADJUSTED(2250));
-	struct sched_param param;
-	(void)pthread_attr_getschedparam(&sender_thread_attr, &param);
-	param.sched_priority = SCHED_PRIORITY_DEFAULT;
-	(void)pthread_attr_setschedparam(&sender_thread_attr, &param);
-	int rc = pthread_create(&sender_thread, &sender_thread_attr, &send, (void *)&args);
-	if (rc != 0) {
-		errno = rc;
-		PX4_ERR("Could not create send thread (%d)", errno);
-		return -1;
-	}
-	rc = pthread_setname_np(sender_thread, "urtpsclient_snd");
-	if (pthread_setname_np(sender_thread, "urtpsclient_snd")) {
-		errno = rc;
-		PX4_ERR("Could not set pthread name for the send thread (%d)", errno);
-	}
-	pthread_attr_destroy(&sender_thread_attr);
-
-	return 0;
-}
-@[end if]@
-
-void micrortps_start_topics(const uint32_t &datarate, struct timespec &begin, uint64_t &total_rcvd,
-			    uint64_t &total_sent, uint64_t &sent_last_sec,
-			    uint64_t &rcvd_last_sec, uint64_t &received, uint64_t &sent, int &rcvd_loop, int &sent_loop)
-{
-	px4_clock_gettime(CLOCK_REALTIME, &begin);
-	_should_exit_task = false;
-
-@[if recv_topics]@
-	char data_buffer[BUFFER_SIZE]{};
-	int read{0};
-	uint8_t topic_ID{255};
-
-	uint64_t rx_last_sec_read{0};
-	hrt_abstime last_stats_update{0};
-
-	RcvTopicsPubs *pubs = new RcvTopicsPubs();
-
-	// Set the main task name to 'urtpsclient_rcv' in case there is
-	// data to receive
-	px4_prctl(PR_SET_NAME, "urtpsclient_rcv", px4_getpid());
-
-	// ucdrBuffer to deserialize using the user defined buffer
-	ucdrBuffer reader;
-	ucdr_init_buffer(&reader, reinterpret_cast<uint8_t *>(data_buffer), BUFFER_SIZE);
-@[end if]@
-
-@[if send_topics]@
-	// var struct to be updated on the thread
-	SendThreadArgs *sender_thread_args = new SendThreadArgs(datarate, total_sent, sent_last_sec, sent, sent_loop);
-
-	// create a thread for sending data
-	pthread_t sender_thread;
-	launch_send_thread(sender_thread, (*sender_thread_args));
-@[end if]@
-
-	while (!_should_exit_task) {
-@[if recv_topics]@
-
-		read = transport_node->read();
-		if (read > 0) {
-			total_rcvd += read;
-			rx_last_sec_read += read;
-		}
-
-		while (transport_node->parse(&topic_ID, data_buffer, BUFFER_SIZE)) {
-			uint64_t read_time = hrt_absolute_time();
-
-			switch (topic_ID) {
-@[    for idx, topic in enumerate(recv_topics)]@
-			case @(msgs[0].index(topic) + 1): {
-				@(receive_base_types[idx])_s @(topic)_data;
-				deserialize_@(receive_base_types[idx])(&reader, &@(topic)_data, data_buffer);
-
-				if (@(topic)_data.timestamp > read_time) {
-					// don't allow timestamps from the future
-					@(topic)_data.timestamp = read_time;
-				}
-
-				pubs->@(topic)_pub.publish(@(topic)_data);
-				++received;
-			}
-			break;
-@[    end for]@
-			default:
-				PX4_WARN("Unexpected topic ID '%hhu' to getMsg. Please make sure the client is capable of parsing the message associated to the topic ID '%hhu'",
-					 topic_ID, topic_ID);
-				break;
-			}
-		}
-@[end if]@
-
-		if (hrt_absolute_time() - last_stats_update >= 1_s) {
-			rcvd_last_sec = rx_last_sec_read;
-			rx_last_sec_read = 0;
-			last_stats_update = hrt_absolute_time();
-		}
-
-		// loop forever if informed loop number is negative
-		if (_options.loops >= 0 && rcvd_loop >= _options.loops) { break; }
-
-		px4_usleep(_options.sleep_us);
-		++rcvd_loop;
-	}
-
-@[if send_topics]@
-	_should_exit_task = true;
-	pthread_join(sender_thread, nullptr);
-@[end if]@
-@[if recv_topics]@
-	delete(pubs);
-@[end if]@
-}
diff --git a/msg/templates/uorb_microcdr/msg.cpp.em b/msg/templates/uorb_microcdr/msg.cpp.em
deleted file mode 100644
index 458f455f49..0000000000
--- a/msg/templates/uorb_microcdr/msg.cpp.em
+++ /dev/null
@@ -1,156 +0,0 @@
-@###############################################
-@#
-@# PX4 ROS compatible message source code
-@# generation for C++
-@#
-@# EmPy template for generating <msg>.h files
-@# Based on the original template for ROS
-@#
-@###############################################
-@# Start of Template
-@#
-@# Context:
-@#  - file_name_in (String) Source file
-@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@#  - search_path (dict) search paths for genmsg
-@###############################################
-/****************************************************************************
- *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* Auto-generated by genmsg_cpp from file @file_name_in */
-
-@{
-import genmsg.msgs
-
-from px_generate_uorb_topic_helper import * # this is in Tools/
-
-uorb_struct = '%s_s'%spec.short_name
-topic_name = spec.short_name
-}@
-
-#include <px4_platform_common/px4_config.h>
-#include <ucdr/microcdr.h>
-#include <uORB/topics/@(topic_name).h>
-#include <uORB_microcdr/topics/@(topic_name).h>
-
-@#################################################
-@# Searching for serialize function per each field
-@#################################################
-@{
-
-def print_info(field):
-    print("type: ", field.type, "name: ", field.name, "base_type: ", \
-          field.base_type, "field.is_array:", ('0', '1')[field.is_array], " array_len: ", field.array_len, \
-          "is_builtin:", ('0', '1')[field.is_builtin], "is_header:", ('0', '1')[field.is_header])
-
-def print_level_info(fields):
-    for field in fields:
-        print_info(field)
-        if (not field.is_builtin):
-            print("\n")
-            children_fields = get_children_fields(field.base_type, search_path)
-            print_level_info(children_fields)
-            print("\n")
-
-def walk_through_parsed_fields():
-    print_level_info(spec.parsed_fields())
-
-def get_serialization_type_name(type_name):
-    if type_name in type_serialize_map:
-        return type_serialize_map[type_name]
-    else:
-        raise Exception("Type {0} not supported, add to type_serialize_map!".format(type_name))
-
-def add_serialize_functions(fields, scope_name):
-    for field in fields:
-        if (not field.is_header):
-            if (field.is_builtin):
-                if (not field.is_array):
-                    print("    ucdr_serialize_" + str(get_serialization_type_name(field.type)) + "(writer, input->" + scope_name+str(field.name) + ");")
-                else:
-                    print("    ucdr_serialize_array_" + str(get_serialization_type_name(field.base_type)) + "(writer, input->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");")
-            else:
-                name = field.name
-                children_fields = get_children_fields(field.base_type, search_path)
-                if (scope_name):  name = scope_name + name
-                if (not field.is_array):
-                    add_serialize_functions(children_fields, name + '.')
-                else:
-                    for i in range(field.array_len):
-                        add_serialize_functions(children_fields, name + ('[%d].' %i))
-
-def add_deserialize_functions(fields, scope_name):
-    for field in fields:
-        if (not field.is_header):
-            if (field.is_builtin):
-                if (not field.is_array):
-                    print("    ucdr_deserialize_" + str(get_serialization_type_name(field.type)) + "(reader, &output->" + scope_name+str(field.name) + ");")
-                else:
-                    print("    ucdr_deserialize_array_" + str(get_serialization_type_name(field.base_type)) + "(reader, output->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");")
-            else:
-                name = field.name
-                children_fields = get_children_fields(field.base_type, search_path)
-                if (scope_name):  name = scope_name + name
-                if (not field.is_array):
-                    add_deserialize_functions(children_fields, name + '.')
-                else:
-                    for i in range(field.array_len):
-                        add_deserialize_functions(children_fields, name + ('[%d].' %i))
-
-def add_code_to_serialize():
-    add_serialize_functions(spec.parsed_fields(), "")
-
-def add_code_to_deserialize():
-    add_deserialize_functions(spec.parsed_fields(), "")
-}@
-
-void serialize_@(topic_name)(ucdrBuffer *writer, const struct @(uorb_struct) *input, char *output, uint32_t *length)
-{
-    if (nullptr == writer || nullptr == input || nullptr == output || nullptr == length)
-	return;
-
-    ucdr_reset_buffer(writer);
-
-@add_code_to_serialize()
-    (*length) = ucdr_buffer_length(writer);
-}
-
-void deserialize_@(topic_name)(ucdrBuffer *reader, struct @(uorb_struct) *output, const char *input)
-{
-    if (nullptr == reader || nullptr == output || nullptr == input)
-	return;
-
-    ucdr_reset_buffer(reader);
-
-@add_code_to_deserialize()
-}
diff --git a/msg/templates/uorb_microcdr/msg.h.em b/msg/templates/uorb_microcdr/msg.h.em
deleted file mode 100644
index 76b793ab70..0000000000
--- a/msg/templates/uorb_microcdr/msg.h.em
+++ /dev/null
@@ -1,69 +0,0 @@
-@###############################################
-@#
-@# PX4 ROS compatible message source code
-@# generation for C++
-@#
-@# EmPy template for generating <msg>.h files
-@# Based on the original template for ROS
-@#
-@###############################################
-@# Start of Template
-@#
-@# Context:
-@#  - file_name_in (String) Source file
-@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@###############################################
-/****************************************************************************
- *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* Auto-generated by genmsg_cpp from file @file_name_in */
-
-@{
-import genmsg.msgs
-
-from px_generate_uorb_topic_helper import * # this is in Tools/
-
-uorb_struct = '%s_s'%spec.short_name
-topic_name = spec.short_name
-}@
-
-#pragma once
-
-@##############################
-@# Generic Includes
-@##############################
-#include <uORB/topics/@(topic_name).h>
-#include <uORB_microcdr/topics/@(topic_name).h>
-
-void serialize_@(topic_name)(ucdrBuffer *writer, const struct @(uorb_struct) *input, char *output, uint32_t *length);
-void deserialize_@(topic_name)(ucdrBuffer *reader, struct @(uorb_struct) *output, const char *input);
diff --git a/msg/templates/uorb_microcdr/uORBTopics.cpp.em b/msg/templates/uorb_microcdr/uORBTopics.cpp.em
deleted file mode 100644
index 88dc5255d8..0000000000
--- a/msg/templates/uorb_microcdr/uORBTopics.cpp.em
+++ /dev/null
@@ -1,42 +0,0 @@
-@###############################################
-@#
-@# EmPy template for generating uORBTopics.cpp file
-@# for logging purposes
-@#
-@###############################################
-@# Start of Template
-@###############################################
-/****************************************************************************
- *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <uORB/uORB.h>
diff --git a/msg/templates/uorb_microcdr/uORBTopics.hpp.em b/msg/templates/uorb_microcdr/uORBTopics.hpp.em
deleted file mode 100644
index 6eebd31544..0000000000
--- a/msg/templates/uorb_microcdr/uORBTopics.hpp.em
+++ /dev/null
@@ -1,44 +0,0 @@
-@###############################################
-@#
-@# EmPy template for generating uORBTopics.cpp file
-@# for logging purposes
-@#
-@###############################################
-@# Start of Template
-@###############################################
-/****************************************************************************
- *
- *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <uORB/uORB.h>
diff --git a/msg/templates/urtps/Publisher.cpp.em b/msg/templates/urtps/Publisher.cpp.em
deleted file mode 100644
index 86687f06a1..0000000000
--- a/msg/templates/urtps/Publisher.cpp.em
+++ /dev/null
@@ -1,219 +0,0 @@
-@###############################################
-@#
-@# EmPy template for generating <msg>_uRTPS_UART.cpp file
-@#
-@###############################################
-@# Start of Template
-@#
-@# Context:
-@#  - fastrtps_version (str) FastRTPS version installed on the system
-@#  - ros2_distro (str) ROS2 distro name
-@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@###############################################
-@{
-import genmsg.msgs
-from packaging import version
-import re
-
-topic = alias if alias else spec.short_name
-
-try:
-    ros2_distro = ros2_distro.decode("utf-8")
-except AttributeError:
-    pass
-
-topic_name = topic
-
-# For ROS, use the topic pattern convention defined in
-# http://wiki.ros.org/ROS/Patterns/Conventions
-if ros2_distro:
-    topic_name_split = re.sub( r"([A-Z])", r" \1", topic).split()
-    topic_name = topic_name_split[0]
-    for w in topic_name_split[1:]:
-        topic_name += "_" + w
-    topic_name = topic_name.lower()
-}@
-/****************************************************************************
- *
- * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice, this
- * list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its contributors
- * may be used to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*!
- * @@file @(topic)_Publisher.cpp
- * This file contains the implementation of the publisher functions.
- *
- * This file was adapted from the fastrtpsgen tool.
- */
-
-#include "@(topic)_Publisher.h"
-
-#include <fastrtps/Domain.h>
-#include <fastrtps/participant/Participant.h>
-#include <fastrtps/attributes/ParticipantAttributes.h>
-#include <fastrtps/publisher/Publisher.h>
-#include <fastrtps/attributes/PublisherAttributes.h>
-#include <fastrtps/transport/UDPv4TransportDescriptor.h>
-@[if version.parse(fastrtps_version) >= version.parse('2.0')]@
-#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
-
-using SharedMemTransportDescriptor = eprosima::fastdds::rtps::SharedMemTransportDescriptor;
-@[end if]@
-
-
-@(topic)_Publisher::@(topic)_Publisher()
-	: mp_participant(nullptr),
-	  mp_publisher(nullptr)
-{ }
-
-@(topic)_Publisher::~@(topic)_Publisher()
-{
-	Domain::removeParticipant(mp_participant);
-}
-
-bool @(topic)_Publisher::init(const std::string &ns, std::string topic_name)
-{
-	// Create RTPSParticipant
-	ParticipantAttributes PParam;
-@[if version.parse(fastrtps_version) < version.parse('2.0')]@
-	PParam.rtps.builtin.domainId = 0;
-@[else]@
-	PParam.domainId = 0;
-@[end if]@
-@[if version.parse(fastrtps_version) <= version.parse('1.8.4')]@
-	PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
-@[else]@
-	PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
-@[end if]@
-@[if ros2_distro]@
-	// ROS2 default memory management policy
-	PParam.rtps.builtin.writerHistoryMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-@[end if]@
-	std::string nodeName = ns;
-	nodeName.append("@(topic)_publisher");
-	PParam.rtps.setName(nodeName.c_str());
-
-@[if ros2_distro]@
-	// Check if ROS_LOCALHOST_ONLY is set. This means that one wants to use only
-	// the localhost network for data sharing. If FastRTPS/DDS >= 2.0 and
-	// RMW_IMPLEMENTATION is FastDDS then the Shared Memory transport is used
-	const char* localhost_only = std::getenv("ROS_LOCALHOST_ONLY");
-	const char* rmw_implementation = std::getenv("RMW_IMPLEMENTATION");
-	const char* ros_distro = std::getenv("ROS_DISTRO");
-	if (localhost_only && strcmp(localhost_only, "1") == 0
-	    && ((rmw_implementation && ((strcmp(rmw_implementation, "rmw_fastrtps_cpp") == 0)
-	    || (strcmp(rmw_implementation, "rmw_fastrtps_dynamic_cpp") == 0)))
-	    || (!rmw_implementation && ros_distro && strcmp(ros_distro, "foxy") == 0))) {
-		// Create a custom network UDPv4 transport descriptor
-		// to whitelist the localhost
-		auto localhostUdpTransport = std::make_shared<UDPv4TransportDescriptor>();
-		localhostUdpTransport->interfaceWhiteList.emplace_back("127.0.0.1");
-
-		// Disable the built-in Transport Layer
-		PParam.rtps.useBuiltinTransports = false;
-
-		// Add the descriptor as a custom user transport
-		PParam.rtps.userTransports.push_back(localhostUdpTransport);
-
-@[    if version.parse(fastrtps_version) >= version.parse('2.0')]@
-		// Add shared memory transport when available
-		auto shmTransport = std::make_shared<SharedMemTransportDescriptor>();
-		PParam.rtps.userTransports.push_back(shmTransport);
-@[    end if]@
-	}
-@[end if]@
-
-	mp_participant = Domain::createParticipant(PParam);
-
-	if (mp_participant == nullptr) {
-		return false;
-	}
-
-	// Register the type
-	Domain::registerType(mp_participant, static_cast<TopicDataType *>(&@(topic)DataType));
-
-	// Create Publisher
-	PublisherAttributes Wparam;
-	Wparam.topic.topicKind = NO_KEY;
-	Wparam.topic.topicDataType = @(topic)DataType.getName();
-@[if ros2_distro]@
-@[    if ros2_distro == "ardent"]@
-	Wparam.qos.m_partition.push_back("rt");
-	std::string topicName = ns;
-@[    else]@
-	std::string topicName = "rt/";
-	topicName.append(ns);
-@[    end if]@
-	// ROS2 default publish mode QoS policy
-	Wparam.qos.m_publishMode.kind = ASYNCHRONOUS_PUBLISH_MODE;
-@[else]@
-	std::string topicName = ns;
-@[end if]@
-	topic_name.empty() ? topicName.append("fmu/@(topic_name)/out") : topicName.append(topic_name);
-	Wparam.topic.topicName = topicName;
-	mp_publisher = Domain::createPublisher(mp_participant, Wparam, static_cast<PublisherListener *>(&m_listener));
-
-	if (mp_publisher == nullptr) {
-		return false;
-	}
-
-	return true;
-}
-
-void @(topic)_Publisher::PubListener::onPublicationMatched(Publisher *pub, MatchingInfo &info)
-{
-	// The first 6 values of the ID guidPrefix of an entity in a DDS-RTPS Domain
-	// are the same for all its subcomponents (publishers, subscribers)
-	bool is_different_endpoint = false;
-
-	for (size_t i = 0; i < 6; i++) {
-		if (pub->getGuid().guidPrefix.value[i] != info.remoteEndpointGuid.guidPrefix.value[i]) {
-			is_different_endpoint = true;
-			break;
-		}
-	}
-
-	// If the matching happens for the same entity, do not make a match
-	if (is_different_endpoint) {
-		if (info.status == MATCHED_MATCHING) {
-			n_matched++;
-			std::cout << "\033[0;37m[   micrortps_agent   ]\t@(topic) publisher matched\033[0m" << std::endl;
-
-		} else {
-			n_matched--;
-			std::cout << "\033[0;37m[   micrortps_agent   ]\t@(topic) publisher unmatched\033[0m" << std::endl;
-		}
-	}
-}
-
-void @(topic)_Publisher::publish(@(topic)_msg_t *st)
-{
-	mp_publisher->write(st);
-}
diff --git a/msg/templates/urtps/Publisher.h.em b/msg/templates/urtps/Publisher.h.em
deleted file mode 100644
index 6851497d2a..0000000000
--- a/msg/templates/urtps/Publisher.h.em
+++ /dev/null
@@ -1,120 +0,0 @@
-@###############################################
-@#
-@# EmPy template for generating <msg>_uRTPS_UART.cpp file
-@#
-@###############################################
-@# Start of Template
-@#
-@# Context:
-@#  - ros2_distro (str) ROS2 distro name
-@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@###############################################
-@{
-import genmsg.msgs
-from packaging import version
-import re
-
-topic = alias if alias else spec.short_name
-try:
-    ros2_distro = ros2_distro.decode("utf-8")
-except AttributeError:
-    pass
-}@
-/****************************************************************************
- *
- * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice, this
- * list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its contributors
- * may be used to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*!
- * @@file @(topic)_Publisher.h
- * This header file contains the declaration of the publisher functions.
- *
- * This file was adapted from the fastrtpsgen tool.
- */
-
-
-#ifndef _@(topic)__PUBLISHER_H_
-#define _@(topic)__PUBLISHER_H_
-
-#include <fastrtps/fastrtps_fwd.h>
-#include <fastrtps/publisher/PublisherListener.h>
-
-@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
-#include "@(topic)_PubSubTypes.h"
-@[else]@
-#include "@(topic)PubSubTypes.h"
-@[end if]@
-
-using namespace eprosima::fastrtps;
-using namespace eprosima::fastrtps::rtps;
-
-@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
-@[    if ros2_distro]@
-using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
-using @(topic)_msg_datatype = @(package)::msg::dds_::@(topic)_PubSubType;
-@[    else]@
-using @(topic)_msg_t = @(topic)_;
-using @(topic)_msg_datatype = @(topic)_PubSubType;
-@[    end if]@
-@[else]@
-@[    if ros2_distro]@
-using @(topic)_msg_t = @(package)::msg::@(topic);
-using @(topic)_msg_datatype = @(package)::msg::@(topic)PubSubType;
-@[    else]@
-using @(topic)_msg_t = @(topic);
-using @(topic)_msg_datatype = @(topic)PubSubType;
-@[    end if]@
-@[end if]@
-
-class @(topic)_Publisher
-{
-public:
-	@(topic)_Publisher();
-	virtual ~@(topic)_Publisher();
-	bool init(const std::string &ns, std::string topic_name = "");
-	void run();
-	void publish(@(topic)_msg_t *st);
-private:
-	Participant *mp_participant;
-	Publisher *mp_publisher;
-
-	class PubListener : public PublisherListener
-	{
-	public:
-		PubListener() : n_matched(0) {};
-		~PubListener() {};
-		void onPublicationMatched(Publisher *pub, MatchingInfo &info);
-		int n_matched;
-	} m_listener;
-	@(topic)_msg_datatype @(topic)DataType;
-};
-
-#endif // _@(topic)__PUBLISHER_H_
diff --git a/msg/templates/urtps/RtpsTopics.cpp.em b/msg/templates/urtps/RtpsTopics.cpp.em
deleted file mode 100644
index be1d8d2045..0000000000
--- a/msg/templates/urtps/RtpsTopics.cpp.em
+++ /dev/null
@@ -1,187 +0,0 @@
-@###############################################
-@#
-@# EmPy template for generating RtpsTopics.cpp file
-@#
-@###############################################
-@# Start of Template
-@#
-@# Context:
-@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@###############################################
-@{
-import genmsg.msgs
-import os
-from px_generate_uorb_topic_files import MsgScope # this is in Tools/
-
-send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
-recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
-}@
-/****************************************************************************
- *
- * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice, this
- * list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its contributors
- * may be used to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include "RtpsTopics.h"
-
-bool RtpsTopics::init(std::condition_variable *t_send_queue_cv, std::mutex *t_send_queue_mutex,
-		      std::queue<uint8_t> *t_send_queue, const std::string &ns)
-{
-@[if recv_topics]@
-	// Initialise subscribers
-	std::cout << "\033[0;36m---   Subscribers   ---\033[0m" << std::endl;
-@[for topic in recv_topics]@
-
-	if (_@(topic)_sub.init(@(msgs[0].index(topic) + 1), t_send_queue_cv, t_send_queue_mutex, t_send_queue, ns)) {
-		std::cout << "- @(topic) subscriber started" << std::endl;
-
-	} else {
-		std::cerr << "Failed starting @(topic) subscriber" << std::endl;
-		return false;
-	}
-
-@[end for]@
-	std::cout << "\033[0;36m-----------------------\033[0m" << std::endl << std::endl;
-@[end if]@
-@[if send_topics]@
-
-	// Initialise publishers
-	std::cout << "\033[0;36m----   Publishers  ----\033[0m" << std::endl;
-@[for topic in send_topics]@
-
-@[    if topic == 'Timesync' or topic == 'timesync']@
-	if (_@(topic)_pub.init(ns)) {
-		if (_@(topic)_fmu_in_pub.init(ns, std::string("fmu/timesync/in"))) {
-			_timesync->start(&_@(topic)_fmu_in_pub);
-			std::cout << "- @(topic) publishers started" << std::endl;
-		}
-@[    elif topic == 'TimesyncStatus' or topic == 'timesync_status']@
-	if (_@(topic)_pub.init(ns, std::string("timesync_status"))) {
-		_timesync->init_status_pub(&_@(topic)_pub);
-		std::cout << "- @(topic) publisher started" << std::endl;
-@[    else]@
-	if (_@(topic)_pub.init(ns)) {
-		std::cout << "- @(topic) publisher started" << std::endl;
-@[    end if]@
-
-	} else {
-		std::cerr << "ERROR starting @(topic) publisher" << std::endl;
-		return false;
-	}
-
-@[end for]@
-	std::cout << "\033[0;36m-----------------------\033[0m" << std::endl;
-@[end if]@
-	return true;
-}
-
-@[if send_topics]@
-template <typename T>
-void RtpsTopics::sync_timestamp_of_incoming_data(T &msg) {
-	uint64_t timestamp = getMsgTimestamp(&msg);
-	uint64_t timestamp_sample = getMsgTimestampSample(&msg);
-	_timesync->subtractOffset(timestamp);
-	setMsgTimestamp(&msg, timestamp);
-	_timesync->subtractOffset(timestamp_sample);
-	setMsgTimestampSample(&msg, timestamp_sample);
-}
-
-void RtpsTopics::publish(const uint8_t topic_ID, char data_buffer[], size_t len)
-{
-	switch (topic_ID) {
-@[for topic in send_topics]@
-
-	case @(msgs[0].index(topic) + 1): { // @(topic) publisher
-		@(topic)_msg_t st;
-		eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
-		eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
-		st.deserialize(cdr_des);
-@[    if topic == 'Timesync' or topic == 'timesync']@
-		_timesync->processTimesyncMsg(&st, &_@(topic)_pub);
-@[    end if]@
-
-		// apply timestamp offset
-		sync_timestamp_of_incoming_data(st);
-
-		_@(topic)_pub.publish(&st);
-	}
-	break;
-@[end for]@
-
-	default:
-		printf("\033[1;33m[   micrortps_agent   ]\tUnexpected topic ID '%hhu' to publish. Please make sure the agent is capable of parsing the message associated to the topic ID '%hhu'\033[0m\n",
-		       topic_ID, topic_ID);
-		break;
-	}
-}
-@[end if]@
-@[if recv_topics]@
-template <typename T>
-void RtpsTopics::sync_timestamp_of_outgoing_data(T &msg) {
-	uint64_t timestamp = getMsgTimestamp(&msg);
-	uint64_t timestamp_sample = getMsgTimestampSample(&msg);
-	_timesync->addOffset(timestamp);
-	setMsgTimestamp(&msg, timestamp);
-	_timesync->addOffset(timestamp_sample);
-	setMsgTimestampSample(&msg, timestamp_sample);
-}
-
-bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
-{
-	bool ret = false;
-
-	switch (topic_ID) {
-@[for topic in recv_topics]@
-
-	case @(msgs[0].index(topic) + 1): // @(topic) subscriber
-		if (_@(topic)_sub.hasMsg()) {
-			@(topic)_msg_t msg = _@(topic)_sub.getMsg();
-
-			// apply timestamp offset
-			sync_timestamp_of_outgoing_data(msg);
-
-			msg.serialize(scdr);
-			ret = true;
-
-			_@(topic)_sub.unlockMsg();
-		}
-
-		break;
-@[end for]@
-
-	default:
-		printf("\033[1;33m[   micrortps_agent   ]\tUnexpected topic ID '%hhu' to getMsg. Please make sure the agent is capable of parsing the message associated to the topic ID '%hhu'\033[0m\n",
-		       topic_ID, topic_ID);
-		break;
-	}
-
-	return ret;
-}
-@[end if]@
diff --git a/msg/templates/urtps/RtpsTopics.h.em b/msg/templates/urtps/RtpsTopics.h.em
deleted file mode 100644
index b82c7b20c8..0000000000
--- a/msg/templates/urtps/RtpsTopics.h.em
+++ /dev/null
@@ -1,220 +0,0 @@
-@###############################################
-@#
-@# EmPy template for generating RtpsTopics.h file
-@#
-@###############################################
-@# Start of Template
-@#
-@# Context:
-@#  - fastrtps_version (List[str]) FastRTPS version installed on the system
-@#  - package (List[str]) messages package name. Defaulted to 'px4'
-@#  - ros2_distro (List[str]) ROS2 distro name
-@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@###############################################
-@{
-import genmsg.msgs
-import os
-from packaging import version
-from px_generate_uorb_topic_files import MsgScope # this is in Tools/
-
-send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
-recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
-package = package[0]
-fastrtps_version = fastrtps_version[0]
-try:
-    ros2_distro = ros2_distro[0].decode("utf-8")
-except AttributeError:
-    ros2_distro = ros2_distro[0]
-}@
-/****************************************************************************
- *
- * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice, this
- * list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its contributors
- * may be used to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <fastcdr/Cdr.h>
-#include <condition_variable>
-#include <queue>
-#include <type_traits>
-
-#include "microRTPS_timesync.h"
-
-@[for topic in send_topics]@
-#include "@(topic)_Publisher.h"
-@[end for]@
-@[for topic in recv_topics]@
-#include "@(topic)_Subscriber.h"
-@[end for]@
-
-
-@[for topic in (recv_topics + send_topics)]@
-@[    if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
-@[        if ros2_distro]@
-using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
-@[        else]@
-using @(topic)_msg_t = @(topic)_;
-@[        end if]@
-@[    else]@
-@[        if ros2_distro]@
-using @(topic)_msg_t = @(package)::msg::@(topic);
-@[        else]@
-using @(topic)_msg_t = @(topic);
-@[        end if]@
-@[    end if]@
-@[end for]@
-
-class RtpsTopics
-{
-public:
-	bool init(std::condition_variable *t_send_queue_cv, std::mutex *t_send_queue_mutex, std::queue<uint8_t> *t_send_queue,
-		  const std::string &ns);
-	void set_timesync(const std::shared_ptr<TimeSync> &timesync) { _timesync = timesync; };
-@[if send_topics]@
-	template <typename T>
-	void sync_timestamp_of_incoming_data(T &msg);
-	void publish(const uint8_t topic_ID, char data_buffer[], size_t len);
-@[end if]@
-@[if recv_topics]@
-	template <typename T>
-	void sync_timestamp_of_outgoing_data(T &msg);
-	bool getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr);
-@[end if]@
-
-private:
-@[if send_topics]@
-	/** Publishers **/
-@[for topic in send_topics]@
-@[    if topic == 'Timesync' or topic == 'timesync']@
-	@(topic)_Publisher _@(topic)_pub;
-	@(topic)_Publisher _@(topic)_fmu_in_pub;
-@[    else]@
-	@(topic)_Publisher _@(topic)_pub;
-@[    end if]@
-@[end for]@
-@[end if]@
-
-@[if recv_topics]@
-	/** Subscribers **/
-@[for topic in recv_topics]@
-	@(topic)_Subscriber _@(topic)_sub;
-@[end for]@
-@[end if]@
-
-	// SFINAE
-	template<typename T> struct hasTimestampSample{
-	private:
-		template<typename U,
-            typename = decltype(std::declval<U>().timestamp_sample(int64_t()))>
-		static std::true_type detect(int);
-		template<typename U>
-		static std::false_type detect(...);
-	public:
-		static constexpr bool value = decltype(detect<T>(0))::value;
-  };
-
-	template<typename T>
-	inline typename std::enable_if < !hasTimestampSample<T>::value, uint64_t >::type
-	getMsgTimestampSample_impl(const T *) { return 0; }
-
-	/** Msg metada Getters **/
-@[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@
-	template <class T>
-	inline uint64_t getMsgTimestamp(const T *msg) { return msg->timestamp_(); }
-
-	template<typename T>
-	inline typename std::enable_if<hasTimestampSample<T>::value, uint64_t>::type
-	getMsgTimestampSample_impl(const T *msg) { return msg->timestamp_sample_(); }
-
-	template <class T>
-	inline uint8_t getMsgSysID(const T *msg) { return msg->sys_id_(); }
-
-	template <class T>
-	inline uint8_t getMsgSeq(const T *msg) { return msg->seq_(); }
-@[elif ros2_distro]@
-	template <class T>
-	inline uint64_t getMsgTimestamp(const T *msg) { return msg->timestamp(); }
-
-	template<typename T>
-	inline typename std::enable_if<hasTimestampSample<T>::value, uint64_t>::type
-	getMsgTimestampSample_impl(const T *msg) { return msg->timestamp_sample(); }
-
-	template <class T>
-	inline uint8_t getMsgSysID(const T *msg) { return msg->sys_id(); }
-
-	template <class T>
-	inline uint8_t getMsgSeq(const T *msg) { return msg->seq(); }
-@[end if]@
-
-	template <class T>
-	inline uint64_t getMsgTimestampSample(const T *msg) { return getMsgTimestampSample_impl(msg); }
-
-	template<typename T>
-	inline typename std::enable_if <!hasTimestampSample<T>::value, void>::type
-	setMsgTimestampSample_impl(T *, const uint64_t &) {}
-
-	/** Msg metadata Setters **/
-@[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@
-	template <class T>
-	inline void setMsgTimestamp(T *msg, const uint64_t &timestamp) { msg->timestamp_() = timestamp; }
-
-	template <class T>
-	inline typename std::enable_if<hasTimestampSample<T>::value, void>::type
-	setMsgTimestampSample_impl(T *msg, const uint64_t &timestamp_sample) { msg->timestamp_sample_() = timestamp_sample; }
-
-	template <class T>
-	inline void setMsgSysID(T *msg, const uint8_t &sys_id) { msg->sys_id_() = sys_id; }
-
-	template <class T>
-	inline void setMsgSeq(T *msg, const uint8_t &seq) { msg->seq_() = seq; }
-@[elif ros2_distro]@
-	template <class T>
-	inline void setMsgTimestamp(T *msg, const uint64_t &timestamp) { msg->timestamp() = timestamp; }
-
-	template <class T>
-	inline typename std::enable_if<hasTimestampSample<T>::value, void>::type
-	setMsgTimestampSample_impl(T *msg, const uint64_t &timestamp_sample) { msg->timestamp_sample() = timestamp_sample; }
-
-	template <class T>
-	inline void setMsgSysID(T *msg, const uint8_t &sys_id) { msg->sys_id() = sys_id; }
-
-	template <class T>
-	inline void setMsgSeq(T *msg, const uint8_t &seq) { msg->seq() = seq; }
-@[end if]@
-
-	template <class T>
-	inline void setMsgTimestampSample(T *msg, const uint64_t &timestamp_sample) { setMsgTimestampSample_impl(msg, timestamp_sample); }
-
-	/**
-	 * @@brief Timesync object ptr.
-	 *         This object is used to compuyte and apply the time offsets to the
-	 *         messages timestamps.
-	 */
-	std::shared_ptr<TimeSync> _timesync;
-};
diff --git a/msg/templates/urtps/Subscriber.cpp.em b/msg/templates/urtps/Subscriber.cpp.em
deleted file mode 100644
index ab0c5f2d82..0000000000
--- a/msg/templates/urtps/Subscriber.cpp.em
+++ /dev/null
@@ -1,284 +0,0 @@
-@###############################################
-@#
-@# EmPy template for generating <msg>_uRTPS_UART.cpp file
-@#
-@###############################################
-@# Start of Template
-@#
-@# Context:
-@#  - fastrtps_version (str) FastRTPS version installed on the system
-@#  - ros2_distro (str) ROS2 distro name
-@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@###############################################
-@{
-import genmsg.msgs
-from packaging import version
-import re
-
-topic = alias if alias else spec.short_name
-try:
-    ros2_distro = ros2_distro.decode("utf-8")
-except AttributeError:
-    pass
-
-topic_name = topic
-
-# For ROS, use the topic pattern convention defined in
-# http://wiki.ros.org/ROS/Patterns/Conventions
-if ros2_distro:
-    topic_name_split = re.sub( r"([A-Z])", r" \1", topic).split()
-    topic_name = topic_name_split[0]
-    for w in topic_name_split[1:]:
-        topic_name += "_" + w
-    topic_name = topic_name.lower()
-}@
-/****************************************************************************
- *
- * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice, this
- * list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its contributors
- * may be used to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*!
- * @@file @(topic)_Subscriber.cpp
- * This file contains the implementation of the subscriber functions.
- *
- * This file was adapted from the fastrtpsgen tool.
- */
-
-#include "@(topic)_Subscriber.h"
-
-#include <fastrtps/Domain.h>
-#include <fastrtps/participant/Participant.h>
-#include <fastrtps/attributes/ParticipantAttributes.h>
-#include <fastrtps/subscriber/Subscriber.h>
-#include <fastrtps/attributes/SubscriberAttributes.h>
-#include <fastrtps/transport/UDPv4TransportDescriptor.h>
-@[if version.parse(fastrtps_version) >= version.parse('2.0')]@
-#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
-
-using SharedMemTransportDescriptor = eprosima::fastdds::rtps::SharedMemTransportDescriptor;
-@[end if]@
-
-
-@(topic)_Subscriber::@(topic)_Subscriber()
-	: mp_participant(nullptr),
-	  mp_subscriber(nullptr)
-{ }
-
-@(topic)_Subscriber::~@(topic)_Subscriber()
-{
-	Domain::removeParticipant(mp_participant);
-}
-
-bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable *t_send_queue_cv,
-			       std::mutex *t_send_queue_mutex, std::queue<uint8_t> *t_send_queue, const std::string &ns,
-			       std::string topic_name)
-{
-	m_listener.topic_ID = topic_ID;
-	m_listener.t_send_queue_cv = t_send_queue_cv;
-	m_listener.t_send_queue_mutex = t_send_queue_mutex;
-	m_listener.t_send_queue = t_send_queue;
-
-	// Create RTPSParticipant
-	ParticipantAttributes PParam;
-@[if version.parse(fastrtps_version) < version.parse('2.0')]@
-	PParam.rtps.builtin.domainId = 0;
-@[else]@
-	PParam.domainId = 0;
-@[end if]@
-@[if version.parse(fastrtps_version) <= version.parse('1.8.4')]@
-	PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
-@[else]@
-	PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
-@[end if]@
-@[if ros2_distro]@
-	// ROS2 default memory management policy
-	PParam.rtps.builtin.writerHistoryMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-@[end if]@
-	std::string nodeName = ns;
-	nodeName.append("@(topic)_subscriber");
-	PParam.rtps.setName(nodeName.c_str());
-
-@[if ros2_distro]@
-	// Check if ROS_LOCALHOST_ONLY is set. This means that one wants to use only
-	// the localhost network for data sharing. If FastRTPS/DDS >= 2.0 and
-	// RMW_IMPLEMENTATION is FastDDS then the Shared Memory transport is used
-	const char* localhost_only = std::getenv("ROS_LOCALHOST_ONLY");
-	const char* rmw_implementation = std::getenv("RMW_IMPLEMENTATION");
-	const char* ros_distro = std::getenv("ROS_DISTRO");
-	if (localhost_only && strcmp(localhost_only, "1") == 0
-	    && ((rmw_implementation && ((strcmp(rmw_implementation, "rmw_fastrtps_cpp") == 0)
-	    || (strcmp(rmw_implementation, "rmw_fastrtps_dynamic_cpp") == 0)))
-	    || (!rmw_implementation && ros_distro && strcmp(ros_distro, "foxy") == 0))) {
-		// Create a custom network UDPv4 transport descriptor
-		// to whitelist the localhost
-		auto localhostUdpTransport = std::make_shared<UDPv4TransportDescriptor>();
-		localhostUdpTransport->interfaceWhiteList.emplace_back("127.0.0.1");
-
-		// Disable the built-in Transport Layer
-		PParam.rtps.useBuiltinTransports = false;
-
-		// Add the descriptor as a custom user transport
-		PParam.rtps.userTransports.push_back(localhostUdpTransport);
-
-@[    if version.parse(fastrtps_version) >= version.parse('2.0')]@
-		// Add shared memory transport when available
-		auto shmTransport = std::make_shared<SharedMemTransportDescriptor>();
-		PParam.rtps.userTransports.push_back(shmTransport);
-@[    end if]@
-	}
-@[end if]@
-
-	mp_participant = Domain::createParticipant(PParam);
-
-	if (mp_participant == nullptr) {
-		return false;
-	}
-
-	// Register the type
-	Domain::registerType(mp_participant, static_cast<TopicDataType *>(&@(topic)DataType));
-
-	// Create Subscriber
-	SubscriberAttributes Rparam;
-	Rparam.topic.topicKind = NO_KEY;
-	Rparam.topic.topicDataType = @(topic)DataType.getName();
-@[if ros2_distro]@
-@[    if ros2_distro == "ardent"]@
-	Rparam.qos.m_partition.push_back("rt");
-	std::string topicName = ns;
-@[    else]@
-	std::string topicName = "rt/";
-	topicName.append(ns);
-@[    end if]@
-@[else]@
-	std::string topicName = ns;
-@[end if]@
-	topic_name.empty() ? topicName.append("fmu/@(topic_name)/in") : topicName.append(topic_name);
-	Rparam.topic.topicName = topicName;
-	mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, static_cast<SubscriberListener *>(&m_listener));
-
-	if (mp_subscriber == nullptr) {
-		return false;
-	}
-
-	return true;
-}
-
-void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber *sub, MatchingInfo &info)
-{
-@# Since the time sync runs on the bridge itself, it is required that there is a
-@# match between two topics of the same entity
-@[if topic != 'Timesync' and topic != 'timesync' and topic != 'TimesyncStatus' and topic != 'timesync_status']@
-	// The first 6 values of the ID guidPrefix of an entity in a DDS-RTPS Domain
-	// are the same for all its subcomponents (publishers, subscribers)
-	bool is_different_endpoint = false;
-
-	for (size_t i = 0; i < 6; i++) {
-		if (sub->getGuid().guidPrefix.value[i] != info.remoteEndpointGuid.guidPrefix.value[i]) {
-			is_different_endpoint = true;
-			break;
-		}
-	}
-
-	// If the matching happens for the same entity, do not make a match
-	if (is_different_endpoint) {
-		if (info.status == MATCHED_MATCHING) {
-			n_matched++;
-			std::cout << "\033[0;37m[   micrortps_agent   ]\t@(topic) subscriber matched\033[0m" << std::endl;
-
-		} else {
-			n_matched--;
-			std::cout << "\033[0;37m[   micrortps_agent   ]\t@(topic) subscriber unmatched\033[0m" << std::endl;
-		}
-	}
-
-@[else]@
-	(void)sub;
-
-	if (info.status == MATCHED_MATCHING) {
-		n_matched++;
-
-	} else {
-		n_matched--;
-	}
-@[end if]@
-}
-
-void @(topic)_Subscriber::SubListener::onNewDataMessage(Subscriber *sub)
-{
-	if (n_matched > 0) {
-		std::unique_lock<std::mutex> has_msg_lock(has_msg_mutex);
-
-		if (has_msg.load() == true) { // Check if msg has been fetched
-			has_msg_cv.wait(has_msg_lock); // Wait till msg has been fetched
-		}
-
-		has_msg_lock.unlock();
-
-		// Take data
-		if (sub->takeNextData(&msg, &m_info)) {
-			if (m_info.sampleKind == ALIVE) {
-				std::unique_lock<std::mutex> lk(*t_send_queue_mutex);
-
-				++n_msg;
-				has_msg = true;
-
-				t_send_queue->push(topic_ID);
-				lk.unlock();
-				t_send_queue_cv->notify_one();
-
-			}
-		}
-	}
-}
-
-bool @(topic)_Subscriber::hasMsg()
-{
-	if (m_listener.n_matched > 0) {
-		return m_listener.has_msg.load();
-	}
-
-	return false;
-}
-
-@(topic)_msg_t @(topic)_Subscriber::getMsg()
-{
-	return m_listener.msg;
-}
-
-void @(topic)_Subscriber::unlockMsg()
-{
-	if (m_listener.n_matched > 0) {
-		std::unique_lock<std::mutex> has_msg_lock(m_listener.has_msg_mutex);
-		m_listener.has_msg = false;
-		has_msg_lock.unlock();
-		m_listener.has_msg_cv.notify_one();
-	}
-}
diff --git a/msg/templates/urtps/Subscriber.h.em b/msg/templates/urtps/Subscriber.h.em
deleted file mode 100644
index 703112bef3..0000000000
--- a/msg/templates/urtps/Subscriber.h.em
+++ /dev/null
@@ -1,140 +0,0 @@
-@###############################################
-@#
-@# EmPy template for generating <msg>_uRTPS_UART.cpp file
-@#
-@###############################################
-@# Start of Template
-@#
-@# Context:
-@#  - ros2_distro (str) ROS2 distro name
-@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@###############################################
-@{
-import genmsg.msgs
-from packaging import version
-import re
-
-topic = alias if alias else spec.short_name
-try:
-    ros2_distro = ros2_distro.decode("utf-8")
-except AttributeError:
-    pass
-}@
-/****************************************************************************
- *
- * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice, this
- * list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its contributors
- * may be used to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*!
- * @@file @(topic)_Subscriber.h
- * This header file contains the declaration of the subscriber functions.
- *
- * This file was adapted from the fastrtpsgen tool.
- */
-
-
-#ifndef _@(topic)__SUBSCRIBER_H_
-#define _@(topic)__SUBSCRIBER_H_
-
-#include <fastrtps/fastrtps_fwd.h>
-#include <fastrtps/subscriber/SubscriberListener.h>
-#include <fastrtps/subscriber/SampleInfo.h>
-@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
-#include "@(topic)_PubSubTypes.h"
-@[else]@
-#include "@(topic)PubSubTypes.h"
-@[end if]@
-
-#include <atomic>
-#include <condition_variable>
-#include <queue>
-
-using namespace eprosima::fastrtps;
-using namespace eprosima::fastrtps::rtps;
-
-@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
-@[    if ros2_distro]@
-using @(topic)_msg_t = @(package)::msg::dds_::@(topic)_;
-using @(topic)_msg_datatype = @(package)::msg::dds_::@(topic)_PubSubType;
-@[    else]@
-using @(topic)_msg_t = @(topic)_;
-using @(topic)_msg_datatype = @(topic)_PubSubType;
-@[    end if]@
-@[else]@
-@[    if ros2_distro]@
-using @(topic)_msg_t = @(package)::msg::@(topic);
-using @(topic)_msg_datatype = @(package)::msg::@(topic)PubSubType;
-@[    else]@
-using @(topic)_msg_t = @(topic);
-using @(topic)_msg_datatype = @(topic)PubSubType;
-@[    end if]@
-@[end if]@
-
-class @(topic)_Subscriber
-{
-public:
-	@(topic)_Subscriber();
-	virtual ~@(topic)_Subscriber();
-	bool init(uint8_t topic_ID, std::condition_variable *t_send_queue_cv, std::mutex *t_send_queue_mutex,
-		  std::queue<uint8_t> *t_send_queue, const std::string &ns, std::string topic_name = "");
-	void run();
-	bool hasMsg();
-	@(topic)_msg_t getMsg();
-	void unlockMsg();
-
-private:
-	Participant *mp_participant;
-	Subscriber *mp_subscriber;
-
-	class SubListener : public SubscriberListener
-	{
-	public:
-		SubListener() : n_matched(0), n_msg(0), has_msg(false) {};
-		~SubListener() {};
-		void onSubscriptionMatched(Subscriber *sub, MatchingInfo &info);
-		void onNewDataMessage(Subscriber *sub);
-		SampleInfo_t m_info;
-		int n_matched;
-		int n_msg;
-		@(topic)_msg_t msg;
-		std::atomic_bool has_msg;
-		uint8_t topic_ID;
-		std::condition_variable *t_send_queue_cv;
-		std::mutex *t_send_queue_mutex;
-		std::queue<uint8_t> *t_send_queue;
-		std::condition_variable has_msg_cv;
-		std::mutex has_msg_mutex;
-
-	} m_listener;
-	@(topic)_msg_datatype @(topic)DataType;
-};
-
-#endif // _@(topic)__SUBSCRIBER_H_
diff --git a/msg/templates/urtps/microRTPS_agent.cpp.em b/msg/templates/urtps/microRTPS_agent.cpp.em
deleted file mode 100644
index 224bf3dcd7..0000000000
--- a/msg/templates/urtps/microRTPS_agent.cpp.em
+++ /dev/null
@@ -1,408 +0,0 @@
-@###############################################
-@#
-@# EmPy template for generating microRTPS_agent.cpp file
-@#
-@###############################################
-@# Start of Template
-@#
-@# Context:
-@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@#  - ros2_distro (List[str]) ROS2 distro name
-@###############################################
-@{
-import genmsg.msgs
-from px_generate_uorb_topic_files import MsgScope # this is in Tools/
-
-try:
-    ros2_distro = ros2_distro[0].decode("utf-8")
-except AttributeError:
-    ros2_distro = ros2_distro[0]
-
-send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
-recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
-}@
-/****************************************************************************
- *
- * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice, this
- * list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its contributors
- * may be used to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <thread>
-#include <atomic>
-#include <getopt.h>
-#include <unistd.h>
-#include <poll.h>
-#include <chrono>
-#include <ctime>
-#include <csignal>
-#include <termios.h>
-#include <condition_variable>
-#include <queue>
-
-#include <fastcdr/Cdr.h>
-#include <fastcdr/FastCdr.h>
-#include <fastcdr/exceptions/Exception.h>
-#include <fastrtps/Domain.h>
-
-#include "microRTPS_transport.h"
-#include "microRTPS_timesync.h"
-#include "RtpsTopics.h"
-
-@[if ros2_distro]@
-#include <rclcpp/rclcpp.hpp>
-@[end if]@
-
-// Default values
-#define SLEEP_US          1
-#define MAX_SLEEP_US      1000000
-#define BAUDRATE          460800
-#define MAX_DATA_RATE     10000000
-#define DEVICE            "/dev/ttyACM0"
-#define POLL_MS           1
-#define MAX_POLL_MS       1000
-#define DEFAULT_RECV_PORT 2020
-#define DEFAULT_SEND_PORT 2019
-#define DEFAULT_IP        "127.0.0.1"
-
-using namespace eprosima;
-using namespace eprosima::fastrtps;
-
-volatile sig_atomic_t running = 1;
-std::unique_ptr<Transport_node> transport_node;
-std::unique_ptr<RtpsTopics> topics;
-uint32_t total_sent = 0, sent = 0;
-
-struct options {
-	enum class eTransports {
-		UART,
-		UDP
-	};
-	eTransports transport = options::eTransports::UART;
-	char device[64] = DEVICE;
-	int sleep_us = SLEEP_US;
-	uint32_t baudrate = BAUDRATE;
-	int poll_ms = POLL_MS;
-	uint16_t recv_port = DEFAULT_RECV_PORT;
-	uint16_t send_port = DEFAULT_SEND_PORT;
-	char ip[16] = DEFAULT_IP;
-	bool sw_flow_control = false;
-	bool hw_flow_control = false;
-	bool verbose_debug = false;
-	std::string ns = "";
-} _options;
-
-static void usage(const char *name)
-{
-	printf("usage: %s [options]\n\n"
-	       "  -b <baudrate>           UART device baudrate. Defaults to 460800\n"
-	       "  -d <device>             UART device. Defaults to /dev/ttyACM0\n"
-	       "  -f <sw-flow-control>    Activates UART link SW flow control\n"
-	       "  -g <hw-flow-control>    Activates UART link HW flow control\n"
-	       "  -i <ip-address>         Target remote IP address for UDP. Defaults to 127.0.0.1\n"
-	       "  -n <namespace>          Topics namespace. Identifies the vehicle in a multi-agent network\n"
-	       "  -o <poll-ms>            UART polling timeout in milliseconds. Defaults to 1ms\n"
-	       "  -r <reception-port>     UDP port for receiving (local). Defaults to 2020\n"
-	       "  -s <sending-port>       UDP port for sending (remote). Defaults to 2019\n"
-	       "  -t <transport>          [UART|UDP] Defaults to UART\n"
-	       "  -v <increase-verbosity> Add more verbosity\n"
-	       "  -w <sleep-time-us>      Iteration time for data publishing to the DDS world, in microseconds.\n"
-	       "                           Defaults to 1us\n"
-	       "     <ros-args>           (ROS2 only) Allows to pass arguments to the timesync ROS2 node.\n"
-	       "                           Currently used for setting the usage of simulation time by the node using\n"
-	       "                           '--ros-args -p use_sim_time:=true'\n",
-	       name);
-}
-
-static int parse_options(int argc, char **argv)
-{
-	static const struct option options[] = {
-		{"baudrate", required_argument, NULL, 'b'},
-		{"device", required_argument, NULL, 'd'},
-		{"sw-flow-control", no_argument, NULL, 'f'},
-		{"hw-flow-control", no_argument, NULL, 'g'},
-		{"ip-address", required_argument, NULL, 'i'},
-		{"namespace", required_argument, NULL, 'n'},
-		{"poll-ms", required_argument, NULL, 'o'},
-		{"reception-port", required_argument, NULL, 'r'},
-		{"sending-port", required_argument, NULL, 's'},
-		{"transport", required_argument, NULL, 't'},
-		{"increase-verbosity", no_argument, NULL, 'v'},
-		{"sleep-time-us", required_argument, NULL, 'w'},
-		{"ros-args", required_argument, NULL, 0},
-		{"help", no_argument, NULL, 'h'},
-		{NULL, 0, NULL, 0}};
-
-	int ch;
-
-	while ((ch = getopt_long(argc, argv, "t:d:w:b:o:r:s:i:fghvn:", options, nullptr)) >= 0) {
-		switch (ch) {
-		case 't': _options.transport      = strcmp(optarg, "UDP") == 0 ?
-                                                  options::eTransports::UDP
-                                                  : options::eTransports::UART;    break;
-
-		case 'd': if (nullptr != optarg) strcpy(_options.device, optarg);   break;
-
-		case 'w': _options.sleep_us        = strtoul(optarg, nullptr, 10);  break;
-
-		case 'b': _options.baudrate        = strtoul(optarg, nullptr, 10);  break;
-
-		case 'o': _options.poll_ms         = strtol(optarg, nullptr, 10);   break;
-
-		case 'r': _options.recv_port       = strtoul(optarg, nullptr, 10);  break;
-
-		case 's': _options.send_port       = strtoul(optarg, nullptr, 10);  break;
-
-		case 'i': if (nullptr != optarg) strcpy(_options.ip, optarg);       break;
-
-		case 'f': _options.sw_flow_control = true;                          break;
-
-		case 'g': _options.hw_flow_control = true;                          break;
-
-		case 'h': usage(argv[0]); exit(0);                            	    break;
-
-		case 'v': _options.verbose_debug = true;                            break;
-
-		case 'n': if (nullptr != optarg) _options.ns = std::string(optarg) + "/"; break;
-
-		default:
-@[if ros2_distro]@
-			break;
-@[else]@
-			usage(argv[0]);
-			return -1;
-@[end if]@
-		}
-	}
-
-	if (_options.poll_ms < POLL_MS) {
-		_options.poll_ms = POLL_MS;
-		printf("\033[1;33m[   micrortps_agent   ]\tPoll timeout too low. Using %d ms instead\033[0m\n", POLL_MS);
-	} else if (_options.poll_ms > MAX_POLL_MS) {
-		_options.poll_ms = MAX_POLL_MS;
-		printf("\033[1;33m[   micrortps_agent   ]\tPoll timeout too high. Using %d ms instead\033[0m\n", MAX_POLL_MS);
-	}
-
-	if (_options.sleep_us > MAX_SLEEP_US) {
-		_options.sleep_us = MAX_SLEEP_US;
-		printf("\033[1;33m[   micrortps_agent   ]\tPublishing iteration cycle too slow. Using %d us instead\033[0m\n", MAX_SLEEP_US);
-	}
-
-	if (_options.hw_flow_control && _options.sw_flow_control) {
-		printf("\033[0;31m[   micrortps_agent   ]\tHW and SW flow control set. Please set only one or another\033[0m\n");
-		return -1;
-	}
-
-	return 0;
-}
-
-@[if recv_topics]@
-std::atomic<bool> exit_sender_thread(false);
-std::condition_variable t_send_queue_cv;
-std::mutex t_send_queue_mutex;
-std::queue<uint8_t> t_send_queue;
-
-void t_send(void *)
-{
-	char data_buffer[BUFFER_SIZE] = {};
-	uint32_t length = 0;
-	uint8_t topic_ID = 255;
-
-	while (running && !exit_sender_thread) {
-		std::unique_lock<std::mutex> lk(t_send_queue_mutex);
-
-		while (t_send_queue.empty() && !exit_sender_thread) {
-			t_send_queue_cv.wait(lk);
-		}
-
-		topic_ID = t_send_queue.front();
-		t_send_queue.pop();
-		lk.unlock();
-
-		size_t header_length = transport_node->get_header_length();
-		/* make room for the header to fill in later */
-		eprosima::fastcdr::FastBuffer cdrbuffer(&data_buffer[header_length], sizeof(data_buffer) - header_length);
-		eprosima::fastcdr::Cdr scdr(cdrbuffer);
-
-		if (!exit_sender_thread) {
-			if (topics->getMsg(topic_ID, scdr)) {
-				length = scdr.getSerializedDataLength();
-
-				if (0 < (length = transport_node->write(topic_ID, data_buffer, length))) {
-					total_sent += length;
-					++sent;
-				}
-			}
-		}
-	}
-}
-@[end if]@
-
-void signal_handler(int signum)
-{
-	printf("\n\033[1;33m[   micrortps_agent   ]\tInterrupt signal (%d) received.\033[0m\n", signum);
-	running = 0;
-	transport_node->close();
-}
-
-int main(int argc, char **argv)
-{
-	printf("\033[0;37m--- MicroRTPS Agent ---\033[0m\n");
-
-	if (-1 == parse_options(argc, argv)) {
-		printf("\033[1;33m[   micrortps_agent   ]\tEXITING...\033[0m\n");
-		return -1;
-	}
-
-	topics = std::make_unique<RtpsTopics>();
-
-@[if ros2_distro]@
-	// Initialize communications via the rmw implementation and set up a global signal handler.
-	rclcpp::init(argc, argv, rclcpp::InitOptions());
-@[end if]@
-
-	// register signal SIGINT and signal handler
-	signal(SIGINT, signal_handler);
-
-	printf("[   micrortps_agent   ]\tStarting link...\n");
-
-	const char* localhost_only = std::getenv("ROS_LOCALHOST_ONLY");
-
-	if (localhost_only && strcmp(localhost_only, "1") == 0) {
-		printf("[   micrortps_agent   ]\tUsing only the localhost network...\n");
-	}
-
-	/**
-	 * Set the system ID to Mission Computer, in order to identify the agent side
-	 *
-	 * Note: theoretically a multi-agent system is possible, but this would require
-	 * adjustments in the way the timesync is done (would have to create a timesync
-	 * instance per agent). Keeping it contained for a 1:1 link for now is reasonable.
-	 */
-	const uint8_t sys_id = static_cast<uint8_t>(MicroRtps::System::MISSION_COMPUTER);
-
-	switch (_options.transport) {
-	case options::eTransports::UART: {
-			transport_node = std::make_unique<UART_node>(_options.device, _options.baudrate, _options.poll_ms,
-						       _options.sw_flow_control, _options.hw_flow_control, sys_id, _options.verbose_debug);
-			printf("[   micrortps_agent   ]\tUART transport: device: %s; baudrate: %d; poll: %dms; flow_control: %s\n",
-			       _options.device, _options.baudrate, _options.poll_ms,
-			       _options.sw_flow_control ? "SW enabled" : (_options.hw_flow_control ? "HW enabled" : "No"));
-		}
-		break;
-
-	case options::eTransports::UDP: {
-			transport_node = std::make_unique<UDP_node>(_options.ip, _options.recv_port, _options.send_port,
-                                                                   sys_id, _options.verbose_debug);
-			printf("[   micrortps_agent   ]\tUDP transport: ip address: %s; recv port: %u; send port: %u\n",
-			       _options.ip, _options.recv_port, _options.send_port);
-		}
-		break;
-
-	default:
-		printf("\033[0;37m[   micrortps_agent   ]\tEXITING...\033[0m\n");
-		return -1;
-	}
-
-	if (0 > transport_node->init()) {
-		printf("\033[0;37m[   micrortps_agent   ]\tEXITING...\033[0m\n");
-		return -1;
-	}
-
-	sleep(1);
-
-@[if send_topics]@
-	char data_buffer[BUFFER_SIZE] = {};
-	int received = 0, loop = 0;
-	int length = 0, total_read = 0;
-	bool receiving = false;
-	uint8_t topic_ID = 255;
-	std::chrono::time_point<std::chrono::steady_clock> start, end;
-@[end if]@
-
-	// Init timesync
-	topics->set_timesync(std::make_shared<TimeSync>(_options.verbose_debug));
-
-@[if recv_topics]@
-	topics->init(&t_send_queue_cv, &t_send_queue_mutex, &t_send_queue, _options.ns);
-@[end if]@
-
-	running = true;
-@[if recv_topics]@
-	std::thread sender_thread(t_send, nullptr);
-@[end if]@
-
-	while (running) {
-@[if send_topics]@
-		++loop;
-		if (!receiving) { start = std::chrono::steady_clock::now(); }
-
-		// Publish messages received from UART
-		length = transport_node->read();
-		if (length > 0) {
-			total_read += length;
-		}
-
-		while (transport_node->parse(&topic_ID, data_buffer, BUFFER_SIZE)) {
-			topics->publish(topic_ID, data_buffer, sizeof(data_buffer));
-			++received;
-			receiving = true;
-			end = std::chrono::steady_clock::now();
-		}
-@[else]@
-		usleep(_options.sleep_us);
-@[end if]@
-	}
-
-@[if recv_topics]@
-	exit_sender_thread = true;
-	t_send_queue_cv.notify_one();
-	sender_thread.join();
-
-	std::chrono::duration<double> elapsed_secs = end - start;
-	if (received > 0) {
-		printf("[   micrortps_agent   ]\tRECEIVED: %d messages - %d bytes; %d LOOPS - %.03f seconds - %.02fKB/s\n",
-		       received, total_read, loop, elapsed_secs.count(), static_cast<double>(total_read) / (1000 * elapsed_secs.count()));
-	}
-@[end if]@
-@[if recv_topics]@
-	if (sent > 0) {
-		printf("[   micrortps_agent   ]\tSENT:     %lu messages - %lu bytes\n", static_cast<unsigned long>(sent),
-		       static_cast<unsigned long>(total_sent));
-	}
-@[end if]@
-
-@[if ros2_distro]@
-	rclcpp::shutdown();
-@[end if]@
-	transport_node.reset();
-	topics.reset();
-
-	return 0;
-}
diff --git a/msg/templates/urtps/microRTPS_agent_CMakeLists.txt.em b/msg/templates/urtps/microRTPS_agent_CMakeLists.txt.em
deleted file mode 100644
index f75d13f5d1..0000000000
--- a/msg/templates/urtps/microRTPS_agent_CMakeLists.txt.em
+++ /dev/null
@@ -1,63 +0,0 @@
-################################################################################
-#
-# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-# Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice, this
-# list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# 3. Neither the name of the copyright holder nor the names of its contributors
-# may be used to endorse or promote products derived from this software without
-# specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-################################################################################
-
-cmake_minimum_required(VERSION 2.8.12)
-project(micrortps_agent)
-
-# Find requirements
-find_package(fastrtps REQUIRED)
-find_package(fastcdr REQUIRED)
-
-# Set C++14
-include(CheckCXXCompilerFlag)
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_CLANG OR
-    CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  check_cxx_compiler_flag(--std=c++14 SUPPORTS_CXX14)
-  if(SUPPORTS_CXX14)
-    add_compile_options(--std=c++14)
-  else()
-    message(FATAL_ERROR "Compiler doesn't support C++14")
-  endif()
-endif()
-
-file(GLOB MICRORTPS_AGENT_SOURCES src/*.cpp src/*.h)
-add_executable(micrortps_agent ${MICRORTPS_AGENT_SOURCES})
-target_link_libraries(micrortps_agent fastrtps fastcdr)
-
-# Install to '/usr/local/bin' if `make install` is used
-install(
-  TARGETS micrortps_agent
-  ARCHIVE DESTINATION lib
-  RUNTIME DESTINATION bin
-  LIBRARY DESTINATION lib
-)
diff --git a/msg/templates/urtps/microRTPS_timesync.cpp.em b/msg/templates/urtps/microRTPS_timesync.cpp.em
deleted file mode 100644
index a441339fb1..0000000000
--- a/msg/templates/urtps/microRTPS_timesync.cpp.em
+++ /dev/null
@@ -1,295 +0,0 @@
-@###############################################
-@#
-@# EmPy template for generating microRTPS_timesync.cpp file
-@#
-@###############################################
-@# Start of Template
-@#
-@# Context:
-@#  - package (List[str]) messages package name. Defaulted to 'px4'
-@#  - ros2_distro (List[str]) ROS2 distro name
-@###############################################
-@{
-import genmsg.msgs
-from px_generate_uorb_topic_files import MsgScope # this is in Tools/
-
-package = package[0]
-fastrtps_version = fastrtps_version[0]
-try:
-    ros2_distro = ros2_distro[0].decode("utf-8")
-except AttributeError:
-    ros2_distro = ros2_distro[0]
-}@
-/****************************************************************************
- *
- * Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice, this
- * list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its contributors
- * may be used to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*!
- * @@file microRTPS_timesync.cpp
- * @@brief source code for time sync implementation
- */
-
-#include <time.h>
-#include <cmath>
-#include <iostream>
-
-#include "microRTPS_timesync.h"
-
-TimeSync::TimeSync(bool debug)
-	: _offset_ns(-1),
-@[if ros2_distro]@
-	  _timesync_node(std::make_shared<rclcpp::Node>("timesync_node")),
-@[end if]@
-	  _skew_ns_per_sync(0.0),
-	  _num_samples(0),
-	  _request_reset_counter(0),
-	  _last_msg_seq(0),
-	  _last_remote_msg_seq(0),
-	  _debug(debug)
-{ }
-
-TimeSync::~TimeSync() { stop(); }
-
-void TimeSync::start(TimesyncPublisher *pub)
-{
-	stop();
-
-@[if ros2_distro]@
-	auto spin_node = [this]() {
-		rclcpp::spin(_timesync_node);
-	};
-@[end if]@
-
-	auto run = [this, pub]() {
-		while (!_request_stop) {
-			timesync_msg_t msg = newTimesyncMsg();
-
-			pub->publish(&msg);
-
-			std::this_thread::sleep_for(std::chrono::milliseconds(100));
-		}
-	};
-	_request_stop = false;
-@[if ros2_distro]@
-	_timesync_node_thread.reset(new std::thread(spin_node));
-@[end if]@
-	_send_timesync_thread.reset(new std::thread(run));
-}
-
-void TimeSync::init_status_pub(TimesyncStatusPublisher *status_pub)
-{
-	auto run = [this, status_pub]() {
-		while (!_request_stop) {
-			timesync_status_msg_t status_msg = newTimesyncStatusMsg();
-
-			status_pub->publish(&status_msg);
-
-			std::this_thread::sleep_for(std::chrono::milliseconds(100));
-		}
-	};
-	_request_stop = false;
-	_send_timesync_status_thread.reset(new std::thread(run));
-}
-
-void TimeSync::stop()
-{
-	_request_stop = true;
-
-@[if ros2_distro]@
-	if (_timesync_node_thread && _timesync_node_thread->joinable()) { _timesync_node_thread->join(); }
-@[end if]@
-	if (_send_timesync_thread && _send_timesync_thread->joinable()) { _send_timesync_thread->join(); }
-	if (_send_timesync_status_thread && _send_timesync_status_thread->joinable()) { _send_timesync_status_thread->join(); }
-}
-
-void TimeSync::reset()
-{
-	_num_samples = 0;
-	_request_reset_counter = 0;
-}
-
-@[if ros2_distro]@
-uint64_t TimeSync::getROSTimeNSec() const
-{
-	return _timesync_node->now().nanoseconds();
-}
-
-uint64_t TimeSync::getROSTimeUSec() const
-{
-	return RCL_NS_TO_US(getROSTimeNSec());
-}
-@[else]@
-uint64_t TimeSync::getSteadyTimeNSec() const
-{
-	auto time = std::chrono::steady_clock::now();
-	return std::chrono::time_point_cast<std::chrono::nanoseconds>(time).time_since_epoch().count();
-}
-
-uint64_t TimeSync::getSteadyTimeUSec() const
-{
-	auto time = std::chrono::steady_clock::now();
-	return std::chrono::time_point_cast<std::chrono::microseconds>(time).time_since_epoch().count();
-}
-@[end if]@
-
-bool TimeSync::addMeasurement(int64_t local_t1_ns, int64_t remote_t2_ns, int64_t local_t3_ns)
-{
-	_rtti = local_t3_ns - local_t1_ns;
-	_remote_time_stamp = remote_t2_ns;
-
-	// assume rtti is evenly split both directions
-	int64_t remote_t3_ns = remote_t2_ns + _rtti.load() / 2ll;
-
-	int64_t measurement_offset = remote_t3_ns - local_t3_ns;
-
-	if (_request_reset_counter > REQUEST_RESET_COUNTER_THRESHOLD) {
-		reset();
-
-		if (_debug) { std::cout << "\033[1;33m[ micrortps__timesync ]\tTimesync clock changed, resetting\033[0m" << std::endl; }
-	}
-
-	if (_num_samples == 0) {
-		updateOffset(measurement_offset);
-		_skew_ns_per_sync = 0;
-	}
-
-	if (_num_samples >= WINDOW_SIZE) {
-		if (std::abs(measurement_offset - _offset_ns.load()) > TRIGGER_RESET_THRESHOLD_NS) {
-			_request_reset_counter++;
-
-			if (_debug) { std::cout << "\033[1;33m[ micrortps__timesync ]\tTimesync offset outlier, discarding\033[0m" << std::endl; }
-
-			return false;
-
-		} else {
-			_request_reset_counter = 0;
-		}
-	}
-
-	// ignore if rtti > 50ms
-	if (_rtti.load() > 50ll * 1000ll * 1000ll) {
-		if (_debug) { std::cout << "\033[1;33m[ micrortps__timesync ]\tRTTI too high for timesync: " << _rtti.load() / (1000ll * 1000ll) << "ms\033[0m" << std::endl; }
-
-		return false;
-	}
-
-	double alpha = ALPHA_FINAL;
-	double beta = BETA_FINAL;
-
-	if (_num_samples < WINDOW_SIZE) {
-		double schedule = (double)_num_samples / WINDOW_SIZE;
-		double s = 1. - exp(.5 * (1. - 1. / (1. - schedule)));
-		alpha = (1. - s) * ALPHA_INITIAL + s * ALPHA_FINAL;
-		beta = (1. - s) * BETA_INITIAL + s * BETA_FINAL;
-	}
-
-	_offset_prev = _offset_ns.load();
-	updateOffset(static_cast<int64_t>((_skew_ns_per_sync + _offset_ns.load()) * (1. - alpha) +
-					  measurement_offset * alpha));
-	_skew_ns_per_sync =
-		static_cast<int64_t>(beta * (_offset_ns.load() - _offset_prev.load()) + (1. - beta) * _skew_ns_per_sync);
-
-	_num_samples++;
-
-	return true;
-}
-
-void TimeSync::processTimesyncMsg(timesync_msg_t *msg, TimesyncPublisher *pub)
-{
-	if (getMsgSeq(msg) != _last_remote_msg_seq) {
-		_last_remote_msg_seq = getMsgSeq(msg);
-
-		if (getMsgTC1(msg) > 0) {
-@[if ros2_distro]@
-			if (!addMeasurement(getMsgTS1(msg), getMsgTC1(msg), getROSTimeNSec())) {
-@[else]@
-			if (!addMeasurement(getMsgTS1(msg), getMsgTC1(msg), getSteadyTimeNSec())) {
-@[end if]@
-				if (_debug) { std::cerr << "\033[1;33m[ micrortps__timesync ]\tOffset not updated\033[0m" << std::endl; }
-			}
-
-		} else if (getMsgTC1(msg) == 0) {
-@[if ros2_distro]@
-			setMsgTimestamp(msg, getROSTimeUSec());
-@[else]@
-			setMsgTimestamp(msg, getSteadyTimeUSec());
-@[end if]@
-			setMsgSeq(msg, getMsgSeq(msg) + 1);
-@[if ros2_distro]@
-			setMsgTC1(msg, getROSTimeNSec());
-@[else]@
-			setMsgTC1(msg, getSteadyTimeNSec());
-@[end if]@
-
-			pub->publish(msg);
-		}
-	}
-}
-
-timesync_msg_t TimeSync::newTimesyncMsg()
-{
-	timesync_msg_t msg{};
-
-@[if ros2_distro]@
-	setMsgTimestamp(&msg, getROSTimeUSec());
-@[else]@
-	setMsgTimestamp(&msg, getSteadyTimeUSec());
-@[end if]@
-	setMsgSeq(&msg, _last_msg_seq);
-	setMsgTC1(&msg, 0);
-@[if ros2_distro]@
-	setMsgTS1(&msg, getROSTimeNSec());
-@[else]@
-	setMsgTS1(&msg, getSteadyTimeNSec());
-@[end if]@
-
-	_last_msg_seq++;
-
-	return msg;
-}
-
-timesync_status_msg_t TimeSync::newTimesyncStatusMsg()
-{
-	timesync_status_msg_t msg{};
-
-@[if ros2_distro]@
-	setMsgTimestamp(&msg, getROSTimeUSec());
-@[else]@
-	setMsgTimestamp(&msg, getSteadyTimeUSec());
-@[end if]@
-	setMsgSourceProtocol(&msg, 1); // SOURCE_PROTOCOL_RTPS
-	setMsgRemoteTimeStamp(&msg, _remote_time_stamp.load() / 1000ULL);
-	setMsgObservedOffset(&msg, _offset_prev.load());
-	setMsgEstimatedOffset(&msg, _offset_ns.load());
-	setMsgRoundTripTime(&msg, _rtti.load() / 1000ll);
-
-	return msg;
-}
diff --git a/msg/templates/urtps/microRTPS_timesync.h.em b/msg/templates/urtps/microRTPS_timesync.h.em
deleted file mode 100644
index ffe4541f18..0000000000
--- a/msg/templates/urtps/microRTPS_timesync.h.em
+++ /dev/null
@@ -1,303 +0,0 @@
-@###############################################
-@#
-@# EmPy template for generating microRTPS_timesync.h file
-@#
-@###############################################
-@# Start of Template
-@#
-@# Context:
-@#  - package (List[str]) messages package name. Defaulted to 'px4'
-@#  - ros2_distro (List[str]) ROS2 distro name
-@###############################################
-@{
-import genmsg.msgs
-from packaging import version
-from px_generate_uorb_topic_files import MsgScope # this is in Tools/
-
-package = package[0]
-fastrtps_version = fastrtps_version[0]
-try:
-    ros2_distro = ros2_distro[0].decode("utf-8")
-except AttributeError:
-    ros2_distro = ros2_distro[0]
-}@
-/****************************************************************************
- *
- * Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice, this
- * list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its contributors
- * may be used to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*!
- * @@file microRTPS_timesync.h
- * @@brief Adds time sync for the microRTPS bridge
- * @@author Nuno Marques <nuno.marques@@dronesolutions.io>
- * @@author Julian Kent <julian@@auterion.com>
- */
-
-#pragma once
-
-#include <atomic>
-#include <functional>
-#include <thread>
-
-@[if ros2_distro]@
-#include "Timesync_Publisher.h"
-#include "TimesyncStatus_Publisher.h"
-
-#include <rcl/time.h>
-#include <rclcpp/clock.hpp>
-#include <rclcpp/rclcpp.hpp>
-@[else]@
-#include "timesync_Publisher.h"
-#include "timesync_status_Publisher.h"
-@[end if]@
-
-static constexpr double ALPHA_INITIAL = 0.05;
-static constexpr double ALPHA_FINAL = 0.003;
-static constexpr double BETA_INITIAL = 0.05;
-static constexpr double BETA_FINAL = 0.003;
-static constexpr int WINDOW_SIZE = 500;
-static constexpr int64_t UNKNOWN = 0;
-static constexpr int64_t TRIGGER_RESET_THRESHOLD_NS = 100ll * 1000ll * 1000ll;
-static constexpr int REQUEST_RESET_COUNTER_THRESHOLD = 5;
-
-@# Sets the timesync DDS type according to the FastRTPS and ROS2 version
-@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
-@[    if ros2_distro]@
-using timesync_msg_t = @(package)::msg::dds_::Timesync_;
-using timesync_status_msg_t = @(package)::msg::dds_::TimesyncStatus_;
-@[    else]@
-using timesync_msg_t = timesync_;
-using timesync_status_msg_t = timesync_status_;
-@[    end if]@
-@[else]@
-@[    if ros2_distro]@
-using timesync_msg_t = @(package)::msg::Timesync;
-using timesync_status_msg_t = @(package)::msg::TimesyncStatus;
-@[    else]@
-using timesync_msg_t = timesync;
-using timesync_status_msg_t = timesync_status;
-@[    end if]@
-@[end if]@
-@# Sets the timesync publisher entity depending on using ROS2 or not
-@[if ros2_distro]@
-using TimesyncPublisher = Timesync_Publisher;
-using TimesyncStatusPublisher = TimesyncStatus_Publisher;
-@[else]@
-using TimesyncPublisher = timesync_Publisher;
-using TimesyncStatusPublisher = timesync_status_Publisher;
-@[end if]@
-
-class TimeSync
-{
-public:
-	TimeSync(bool debug);
-	virtual ~TimeSync();
-
-	/**
-	 * @@brief Starts the timesync publishing thread
-	 * @@param[in] pub The timesync publisher entity to use
-	 */
-	void start(TimesyncPublisher *pub);
-
-	/**
-	 * @@brief Init and run the timesync status publisher thread
-	 * @@param[in] pub The timesync status publisher entity to use
-	 */
-	void init_status_pub(TimesyncStatusPublisher *status_pub);
-
-	/**
-	 * @@brief Resets the filter
-	 */
-	void reset();
-
-	/**
-	 * @@brief Stops the timesync publishing thread
-	 */
-	void stop();
-
-@[if ros2_distro]@
-	/**
-	 * @@brief Get ROS time in nanoseconds. This will match the system time, which
-	 *         corresponds to the system-wide real time since epoch. If use_sim_time
-	 *         is set, the simulation time is grabbed by the node and used instead
-	 *         More info about ROS2 clock and time in:
-	 *         https://design.ros2.org/articles/clock_and_time.html
-	 * @@return ROS time in nanoseconds
-	 */
-	uint64_t getROSTimeNSec() const;
-
-	/**
-	 * @@brief Get ROS time in microseconds. Fetches the time from getROSTimeNSec()
-	 *         and converts it to microseconds
-	 * @@return ROS time in microseconds
-	 */
-	uint64_t getROSTimeUSec() const;
-@[else]@
-	/**
-	 * @@brief Get clock monotonic time (raw) in nanoseconds
-	 * @@return Steady CLOCK_MONOTONIC time in nanoseconds
-	 */
-	uint64_t getSteadyTimeNSec() const;
-
-	/**
-	 * @@brief Get clock monotonic time (raw) in microseconds
-	 * @@return Steady CLOCK_MONOTONIC time in microseconds
-	 */
-	uint64_t getSteadyTimeUSec() const;
-@[end if]@
-
-	/**
-	 * @@brief Adds a time offset measurement to be filtered
-	 * @@param[in] local_t1_ns The agent CLOCK_MONOTONIC_RAW time in nanoseconds when the message was sent
-	 * @@param[in] remote_t2_ns The (client) remote CLOCK_MONOTONIC time in nanoseconds
-	 * @@param[in] local_t3_ns The agent current CLOCK_MONOTONIC time in nanoseconds
-	 * @@return true or false depending if the time offset was updated
-	 */
-	bool addMeasurement(int64_t local_t1_ns, int64_t remote_t2_ns, int64_t local_t3_ns);
-
-	/**
-	 * @@brief Processes DDS timesync message
-	 * @@param[in,out] msg The timestamp msg to be processed
-	 */
-	void processTimesyncMsg(timesync_msg_t *msg, TimesyncPublisher *pub);
-
-	/**
-	 * @@brief Creates a new timesync DDS message to be sent from the agent to the client
-	 * @@return A new timesync message with the origin in the agent and with the agent timestamp
-	 */
-	timesync_msg_t newTimesyncMsg();
-
-	/**
-	 * @@brief Creates a new timesync status DDS message to be sent from the agent to the client
-	 * @@return A new timesync status message with the origin in the agent and with the agent timestamp
-	 */
-	timesync_status_msg_t newTimesyncStatusMsg();
-
-	/**
-	 * @@brief Get the time sync offset in nanoseconds
-	 * @@return The offset in nanoseconds
-	 */
-	inline int64_t getOffset() { return _offset_ns.load(); }
-
-	/**
-	 * @@brief Sums the time sync offset to the timestamp
-	 * @@param[in,out] timestamp The timestamp to add the offset to
-	 */
-	inline void addOffset(uint64_t &timestamp) { timestamp = (timestamp * 1000LL + _offset_ns.load()) / 1000ULL; }
-
-	/**
-	 * @@brief Substracts the time sync offset to the timestamp
-	 * @@param[in,out] timestamp The timestamp to subtract the offset of
-	 */
-	inline void subtractOffset(uint64_t &timestamp) { timestamp = (timestamp * 1000LL - _offset_ns.load()) / 1000ULL; }
-
-private:
-	std::atomic<int64_t> _offset_ns;
-	std::atomic<int64_t> _offset_prev;
-	std::atomic<uint64_t> _remote_time_stamp;
-	std::atomic<uint32_t> _rtti;
-
-@[if ros2_distro]@
-	/**
-	 * @@brief A ROS2 node to fetch the ROS time to be used for timesync
-	 */
-	std::shared_ptr<rclcpp::Node> _timesync_node;
-@[end if]@
-
-	int64_t _skew_ns_per_sync;
-	int64_t _num_samples;
-
-	int32_t _request_reset_counter;
-	uint8_t _last_msg_seq;
-	uint8_t _last_remote_msg_seq;
-
-	bool _debug;
-
-	std::unique_ptr<std::thread> _send_timesync_thread;
-	std::unique_ptr<std::thread> _send_timesync_status_thread;
-@[if ros2_distro]@
-	std::unique_ptr<std::thread> _timesync_node_thread;
-@[end if]@
-	std::atomic<bool> _request_stop{false};
-
-	/**
-	 * @@brief Updates the offset of the time sync filter
-	 * @@param[in] offset The value of the offset to update to
-	 */
-	inline void updateOffset(const uint64_t &offset) { _offset_ns.store(offset, std::memory_order_relaxed); }
-
-	/** Timesync msg Getters **/
-@[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@
-	inline uint64_t getMsgTimestamp(const timesync_msg_t *msg) { return msg->timestamp_(); }
-	inline uint8_t getMsgSeq(const timesync_msg_t *msg) { return msg->seq_(); }
-	inline int64_t getMsgTC1(const timesync_msg_t *msg) { return msg->tc1_(); }
-	inline int64_t getMsgTS1(const timesync_msg_t *msg) { return msg->ts1_(); }
-@[elif ros2_distro]@
-	inline uint64_t getMsgTimestamp(const timesync_msg_t *msg) { return msg->timestamp(); }
-	inline uint8_t getMsgSeq(const timesync_msg_t *msg) { return msg->seq(); }
-	inline int64_t getMsgTC1(const timesync_msg_t *msg) { return msg->tc1(); }
-	inline int64_t getMsgTS1(const timesync_msg_t *msg) { return msg->ts1(); }
-	@[end if]@
-
-	/** Common timestamp setter **/
-@[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@
-	template <typename T>
-	inline void setMsgTimestamp(T *msg, const uint64_t &timestamp) { msg->timestamp_() = timestamp; }
-@[elif ros2_distro]@
-	template <typename T>
-	inline void setMsgTimestamp(T *msg, const uint64_t &timestamp) { msg->timestamp() = timestamp; }
-@[end if]@
-
-	/** Timesync msg Setters **/
-@[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@
-	inline void setMsgSeq(timesync_msg_t *msg, const uint8_t &seq) { msg->seq_() = seq; }
-	inline void setMsgTC1(timesync_msg_t *msg, const int64_t &tc1) { msg->tc1_() = tc1; }
-	inline void setMsgTS1(timesync_msg_t *msg, const int64_t &ts1) { msg->ts1_() = ts1; }
-@[elif ros2_distro]@
-	inline void setMsgSeq(timesync_msg_t *msg, const uint8_t &seq) { msg->seq() = seq; }
-	inline void setMsgTC1(timesync_msg_t *msg, const int64_t &tc1) { msg->tc1() = tc1; }
-	inline void setMsgTS1(timesync_msg_t *msg, const int64_t &ts1) { msg->ts1() = ts1; }
-@[end if]@
-
-	/** Timesync Status msg Setters **/
-@[if version.parse(fastrtps_version) <= version.parse('1.7.2') or not ros2_distro]@
-	inline void setMsgSourceProtocol(timesync_status_msg_t *msg, const uint8_t &source_protocol) { msg->source_protocol_() = source_protocol; }
-	inline void setMsgRemoteTimeStamp(timesync_status_msg_t *msg, const uint64_t &remote_timestamp) { msg->remote_timestamp_() = remote_timestamp; }
-	inline void setMsgObservedOffset(timesync_status_msg_t *msg, const int64_t &observed_offset) { msg->observed_offset_() = observed_offset; }
-	inline void setMsgEstimatedOffset(timesync_status_msg_t *msg, const int64_t &estimated_offset) { msg->estimated_offset_() = estimated_offset; }
-	inline void setMsgRoundTripTime(timesync_status_msg_t *msg, const uint32_t &round_trip_time) { msg->round_trip_time_() = round_trip_time; }
-@[elif ros2_distro]@
-	inline void setMsgSourceProtocol(timesync_status_msg_t *msg, const uint8_t &source_protocol) { msg->source_protocol() = source_protocol; }
-	inline void setMsgRemoteTimeStamp(timesync_status_msg_t *msg, const uint64_t &remote_timestamp) { msg->remote_timestamp() = remote_timestamp; }
-	inline void setMsgObservedOffset(timesync_status_msg_t *msg, const int64_t &observed_offset) { msg->observed_offset() = observed_offset; }
-	inline void setMsgEstimatedOffset(timesync_status_msg_t *msg, const int64_t &estimated_offset) { msg->estimated_offset() = estimated_offset; }
-	inline void setMsgRoundTripTime(timesync_status_msg_t *msg, const uint32_t &round_trip_time) { msg->round_trip_time() = round_trip_time; }
-@[end if]@
-};
diff --git a/msg/templates/urtps/microRTPS_transport.cpp b/msg/templates/urtps/microRTPS_transport.cpp
deleted file mode 100644
index 51bddadbac..0000000000
--- a/msg/templates/urtps/microRTPS_transport.cpp
+++ /dev/null
@@ -1,841 +0,0 @@
-/****************************************************************************
- *
- * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice, this
- * list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its contributors
- * may be used to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-#include <unistd.h>
-#include <fcntl.h>
-#include <stdio.h>
-#include <errno.h>
-#include <sys/socket.h>
-#include <cstdlib>
-#include <inttypes.h>
-#include <sys/ioctl.h>
-#if __has_include("px4_platform_common/log.h") && __has_include("px4_platform_common/time.h")
-#include <px4_platform_common/log.h>
-#include <px4_platform_common/time.h>
-#endif
-
-#if defined(__linux__) || defined(__PX4_LINUX)
-#include <linux/serial.h>
-#endif /* __linux__ */
-
-#include "microRTPS_transport.h"
-
-
-/** CRC table for the CRC-16. The poly is 0x8005 (x^16 + x^15 + x^2 + 1) */
-uint16_t const crc16_table[256] = {
-	0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
-	0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
-	0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40,
-	0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
-	0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40,
-	0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41,
-	0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641,
-	0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040,
-	0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240,
-	0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441,
-	0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41,
-	0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840,
-	0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
-	0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40,
-	0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640,
-	0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041,
-	0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240,
-	0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441,
-	0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41,
-	0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840,
-	0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41,
-	0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
-	0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640,
-	0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041,
-	0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241,
-	0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440,
-	0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40,
-	0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841,
-	0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
-	0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
-	0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
-	0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040
-};
-
-Transport_node::Transport_node(const uint8_t sys_id, const bool debug):
-	_rx_buff_pos(0),
-	_debug(debug),
-	_sys_id(sys_id)
-{
-}
-
-Transport_node::~Transport_node()
-{
-}
-
-uint16_t Transport_node::crc16_byte(uint16_t crc, const uint8_t data)
-{
-	return (crc >> 8) ^ crc16_table[(crc ^ data) & 0xff];
-}
-
-uint16_t Transport_node::crc16(uint8_t const *buffer, size_t len)
-{
-	uint16_t crc = 0;
-
-	while (len--) {
-		crc = crc16_byte(crc, *buffer++);
-	}
-
-	return crc;
-}
-
-ssize_t Transport_node::read()
-{
-	ssize_t len = node_read((void *)(_rx_buffer + _rx_buff_pos), sizeof(_rx_buffer) - _rx_buff_pos);
-
-	if (len < 0) {
-		int errsv = errno;
-
-		if (errsv && EAGAIN != errsv && ETIMEDOUT != errsv) {
-#ifndef PX4_DEBUG
-
-			if (_debug) { printf("\033[0;31m[ micrortps_transport ]\tRead fail %d\033[0m\n", errsv); }
-
-#else
-
-			if (_debug) { PX4_DEBUG("Read fail %d", errsv); }
-
-#endif /* PX4_DEBUG */
-		}
-
-		return len;
-	}
-
-	_rx_buff_pos += len;
-
-	return len;
-}
-
-#ifndef PX4_DEBUG
-
-void Transport_node::print_buffer_debug()
-{
-	for (uint32_t i = 0; i < BUFFER_SIZE; ++i) {
-		if (i >= _rx_buff_pos) {
-			printf(".");
-			continue;
-		}
-
-		printf("%" PRIi8, _rx_buffer[i]);
-
-		if (_rx_buffer[i] == '>') {
-			printf("(X)");
-		}
-
-		printf(" ");
-	}
-
-	printf("\n_rx_buff_pos: %" PRIu32 "\n", _rx_buff_pos);
-}
-
-#endif /* PX4_DEBUG */
-
-bool Transport_node::parse(
-	uint8_t *topic_id, char out_buffer[], size_t buffer_len)
-{
-	if (nullptr == out_buffer || nullptr == topic_id || !fds_OK()) {
-		return false;
-	}
-
-	*topic_id = 255;
-
-	static constexpr size_t header_size = sizeof(struct Header);
-
-	// No need to look for a message if not even a header fits into the buffer.
-	if (_rx_buff_pos < header_size) {
-		return false;
-	}
-
-	// Try to find the start of a message using the magic start sequence of '>>>'.
-	int32_t msg_start_pos = -1;
-
-	for (uint32_t i = 0; i <= _rx_buff_pos; ++i) {
-		if ('>' == _rx_buffer[i] && memcmp(_rx_buffer + i, ">>>", 3) == 0) {
-			msg_start_pos = i;
-			break;
-		}
-	}
-
-	auto DropDataBeforeIndex = [&](uint32_t index) {
-		if (index == 0) {
-			return;
-		}
-
-		if (index > _rx_buff_pos) {
-			index = _rx_buff_pos;
-
-#ifndef PX4_DEBUG
-
-			if (_debug) { printf("\033[0;31m[ micrortps_transport ]\t clamped index from %" PRIu32 " to %" PRIu32 "\033[0m\n", index, _rx_buff_pos); }
-
-#else
-
-			if (_debug) { PX4_ERR("ERROR: clamped index from %" PRIu32 " to %" PRIu32 "\n", index, _rx_buff_pos); }
-
-#endif /* PX4_DEBUG */
-		}
-
-		memmove(_rx_buffer, _rx_buffer + index, _rx_buff_pos - index);
-		_rx_buff_pos -= index;
-	};
-
-	// No start sequence has been found in the buffer. We can drop all data up to
-	// 2 characters before the end (to account for a non-complete start sequence).
-	if (msg_start_pos == -1) {
-		// Note, _rx_buff_pos should always be larger than 2 as we enforce a min.
-		// buffer content corresponding to a header length some lines above.
-		int32_t drop_before_idx = _rx_buff_pos - 2;
-		DropDataBeforeIndex(drop_before_idx);
-		return false;
-	}
-
-	// A start sequence has been found. We can drop everything before this index
-	// in the buffer. This could happen at the startup when syncing to the
-	// stream or with noise on the data stream.
-	DropDataBeforeIndex(msg_start_pos);
-
-	// We have found a start sequence. Let's check if the header is in the buffer.
-	// [>,>,>,topic_id,sys_id,seq,payload_length_H,payload_length_L,CRCHigh,CRCLow,payloadStart,
-	// ... ,payloadEnd]
-	if (header_size > _rx_buff_pos) {
-		// Header not yet in the buffer.
-		return false;
-	}
-
-	struct Header *header = (struct Header *)&_rx_buffer[0];
-
-	uint32_t payload_len =
-		((uint32_t)header->payload_len_h << 8) | header->payload_len_l;
-
-	// The message won't fit the output or processing buffer. This could happen
-	// with a corrupted header or by an actual message that is too large for our
-	// buffers. Let's drop it.
-	uint32_t message_length = header_size + payload_len;
-
-	if (message_length > buffer_len || (message_length + 3) > BUFFER_SIZE) {
-		DropDataBeforeIndex(3 + header_size);
-		return false;
-	}
-
-	// Let's check if all payload data according to the message length in the
-	// header is already in the buffer.
-	if ((header_size + payload_len) > _rx_buff_pos) {
-		// The buffer does not yet contain the full message. We need to wait for
-		// more data.
-		return false;
-	}
-
-	// The received message comes from this system. Discard it.
-	// This might happen when:
-	//   1. The same UDP port is being used to send a rcv packets or
-	//   2. The same topic on the agent is being used for outgoing and incoming
-	//   data
-	if (header->sys_id == _sys_id) {
-		DropDataBeforeIndex(3);
-		return false;
-	}
-
-	// Check the CRC of the message.
-	uint16_t read_crc = ((uint16_t)header->crc_h << 8) | header->crc_l;
-	uint16_t calc_crc = crc16((uint8_t *)_rx_buffer + header_size, payload_len);
-
-	if (read_crc != calc_crc) {
-#ifndef PX4_DEBUG
-
-		if (_debug) { printf("\033[0;31m[ micrortps_transport ]\tBad CRC %" PRIu16 " != %" PRIu16 "\t\t(↓ %lu)\033[0m\n", read_crc, calc_crc, (unsigned long)(header_size + payload_len)); }
-
-#else
-
-		if (_debug) { PX4_DEBUG("Bad CRC %u != %u\t\t(↓ %lu)", read_crc, calc_crc, (unsigned long)(header_size + payload_len)); }
-
-#endif /* PX4_DEBUG */
-
-		DropDataBeforeIndex(3);
-		return false;
-	}
-
-	// Copy message to output buffer and drop it from the buffer.
-	memmove(out_buffer, _rx_buffer + header_size, payload_len);
-	*topic_id = header->topic_id;
-
-	DropDataBeforeIndex(header_size + payload_len);
-	return true;
-}
-
-size_t Transport_node::get_header_length()
-{
-	return sizeof(struct Header);
-}
-
-ssize_t Transport_node::write(const uint8_t topic_id, char buffer[], size_t length)
-{
-	if (!fds_OK()) {
-		return -1;
-	}
-
-	static struct Header header = {{'>', '>', '>'}, 0u, 0u, 0u, 0u, 0u, 0u, 0u};
-
-	// [>,>,>,topic_id,seq,payload_length,CRCHigh,CRCLow,payload_start, ... ,payload_end]
-	uint16_t crc = crc16((uint8_t *)&buffer[sizeof(header)], length);
-
-	header.topic_id = topic_id;
-	header.sys_id = _sys_id;
-	header.seq = _seq_number++;
-	header.payload_len_h = (length >> 8) & 0xff;
-	header.payload_len_l = length & 0xff;
-	header.crc_h = (crc >> 8) & 0xff;
-	header.crc_l = crc & 0xff;
-
-	/* Headroom for header is created in client */
-	/* Fill in the header in the same payload buffer to call a single node_write */
-	memcpy(buffer, &header, sizeof(header));
-	ssize_t len = node_write(buffer, length + sizeof(header));
-
-	if (len != ssize_t(length + sizeof(header))) {
-		return len;
-	}
-
-	return len + sizeof(header);
-}
-
-UART_node::UART_node(const char *uart_name, const uint32_t baudrate,
-		     const uint32_t poll_ms, const bool hw_flow_control,
-		     const bool sw_flow_control, const uint8_t sys_id,
-				 const bool debug):
-	Transport_node(sys_id, debug),
-	_uart_fd(-1),
-	_baudrate(baudrate),
-	_poll_ms(poll_ms),
-	_hw_flow_control(hw_flow_control),
-	_sw_flow_control(sw_flow_control)
-{
-
-	if (nullptr != uart_name) {
-		strcpy(_uart_name, uart_name);
-	}
-}
-
-UART_node::~UART_node()
-{
-	close();
-}
-
-int UART_node::init()
-{
-	// Open a serial port
-	_uart_fd = open(_uart_name, O_RDWR | O_NOCTTY | O_NONBLOCK);
-
-	if (_uart_fd < 0) {
-#ifndef PX4_ERR
-		printf("\033[0;31m[ micrortps_transport ]\tUART transport: Failed to open device: %s (%d)\033[0m\n", _uart_name, errno);
-#else
-		PX4_ERR("UART transport: Failed to open device: %s (%d)", _uart_name, errno);
-#endif /* PX4_ERR */
-		return -errno;
-	}
-
-	// If using shared UART, no need to set it up
-	if (_baudrate == 0) {
-		_poll_fd[0].fd = _uart_fd;
-		_poll_fd[0].events = POLLIN;
-		return _uart_fd;
-	}
-
-	// Try to set baud rate
-	struct termios uart_config;
-	int termios_state;
-
-	// Back up the original uart configuration to restore it after exit
-	if ((termios_state = tcgetattr(_uart_fd, &uart_config)) < 0) {
-		int errno_bkp = errno;
-#ifndef PX4_ERR
-		printf("\033[0;31m[ micrortps_transport ]\tUART transport: ERR GET CONF %s: %d (%d)\n\033[0m", _uart_name, termios_state,
-		       errno);
-#else
-		PX4_ERR("UART transport: ERR GET CONF %s: %d (%d)", _uart_name, termios_state, errno);
-#endif /* PX4_ERR */
-		close();
-		return -errno_bkp;
-	}
-
-#if defined(__linux__) || defined(__PX4_LINUX)
-	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON);
-	uart_config.c_oflag &= ~(OCRNL | ONLCR | ONLRET | ONOCR | OFILL | OPOST);
-
-	uart_config.c_lflag &= ~(ECHO | ECHOE | ECHOK | ECHOCTL | ECHOKE | ECHONL | ICANON | IEXTEN | ISIG);
-
-	// never send SIGTTOU
-	uart_config.c_lflag &= ~(TOSTOP);
-
-	// ignore modem control lines
-	uart_config.c_cflag |= CLOCAL;
-
-	// 8 bits
-	uart_config.c_cflag |= CS8;
-#else /* __linux__ */
-
-	// Clear ONLCR flag (which appends a CR for every LF)
-	uart_config.c_oflag &= ~ONLCR;
-#endif
-
-	// Flow control
-	if (_hw_flow_control) {
-		// HW flow control
-		uart_config.c_cflag |= CRTSCTS;
-		uart_config.c_iflag &= ~(IXON | IXOFF | IXANY);
-	} else if (_sw_flow_control) {
-		// SW flow control
-		uart_config.c_cflag &= ~CRTSCTS;
-		uart_config.c_lflag |= (IXON | IXOFF | IXANY);
-	} else {
-		uart_config.c_cflag &= ~CRTSCTS;
-		uart_config.c_iflag &= ~(IXON | IXOFF | IXANY);
-	}
-
-	// Set baud rate
-	speed_t speed;
-
-	if (!baudrate_to_speed(_baudrate, &speed)) {
-#ifndef PX4_ERR
-		printf("\033[0;31m[ micrortps_transport ]\tUART transport: ERR SET BAUD %s: Unsupported _baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600, 115200, 230400, 460800, 500000, 921600, 1000000\033[0m\n",
-		       _uart_name, _baudrate);
-#else
-		PX4_ERR("UART transport: ERR SET BAUD %s: Unsupported baudrate: %" PRIu32 "\n\tsupported examples:\n\t9600, 19200, 38400, 57600, 115200, 230400, 460800, 500000, 921600, 1000000\n",
-			_uart_name, _baudrate);
-#endif /* PX4_ERR */
-		close();
-		return -EINVAL;
-	}
-
-	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
-		int errno_bkp = errno;
-#ifndef PX4_ERR
-		printf("\033[0;31m[ micrortps_transport ]\tUART transport: ERR SET BAUD %s: %d (%d)\033[0m\n", _uart_name, termios_state,
-		       errno);
-#else
-		PX4_ERR("ERR SET BAUD %s: %d (%d)", _uart_name, termios_state, errno);
-#endif /* PX4_ERR */
-		close();
-		return -errno_bkp;
-	}
-
-	if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) {
-		int errno_bkp = errno;
-#ifndef PX4_ERR
-		printf("\033[0;31m[ micrortps_transport ]\tUART transport: ERR SET CONF %s (%d)\033[0m\n", _uart_name, errno);
-#else
-		PX4_ERR("UART transport: ERR SET CONF %s (%d)", _uart_name, errno);
-#endif /* PX4_ERR */
-		close();
-		return -errno_bkp;
-	}
-
-#if defined(__linux__) || defined(__PX4_LINUX)
-	// For Linux, set high speed polling at the chip level. Since this routine relies on a USB latency
-	// change at the chip level it may fail on certain chip sets if their driver does not support this
-	// configuration request
-	{
-		struct serial_struct serial_ctl;
-
-		if (ioctl(_uart_fd, TIOCGSERIAL, &serial_ctl) < 0) {
-			printf("\033[0;31m[ micrortps_transport ]\tError while trying to read serial port configuration: %d\033[0m\n", errno);
-
-			if (ioctl(_uart_fd, TCFLSH, TCIOFLUSH) == -1) {
-				int errno_bkp = errno;
-				printf("\033[0;31m[ protocol__splitter ]\tCould not flush terminal\033[0m\n");
-				close();
-				return -errno_bkp;
-			}
-		}
-
-		serial_ctl.flags |= ASYNC_LOW_LATENCY;
-
-		if (ioctl(_uart_fd, TIOCSSERIAL, &serial_ctl) < 0) {
-			int errno_bkp = errno;
-			printf("\033[0;31m[ micrortps_transport ]\tError while trying to write serial port latency: %d\033[0m\n", errno);
-			close();
-			return -errno_bkp;
-		}
-	}
-#endif /* __linux__ */
-
-	char aux[64];
-	bool flush = false;
-
-	while (0 < ::read(_uart_fd, (void *)&aux, 64)) {
-		flush = true;
-#ifndef px4_usleep
-		usleep(1000);
-#else
-		/* With PX4 px4_usleep() should be used. */
-		px4_usleep(1000);
-#endif /* px4_usleep */
-	}
-
-	if (flush) {
-#ifndef PX4_DEBUG
-
-		if (_debug) { printf("[ micrortps_transport ]\tUART transport: Flush\n"); }
-
-#else
-
-		if (_debug) { PX4_DEBUG("UART transport: Flush"); }
-
-#endif /* PX4_DEBUG */
-
-	} else {
-#ifndef PX4_DEBUG
-
-		if (_debug) { printf("[ micrortps_transport ]\tUART transport: No flush\n"); }
-
-#else
-
-		if (_debug) { PX4_DEBUG("UART transport: No flush"); }
-
-#endif /* PX4_INFO */
-	}
-
-	_poll_fd[0].fd = _uart_fd;
-	_poll_fd[0].events = POLLIN;
-
-	return _uart_fd;
-}
-
-bool UART_node::fds_OK()
-{
-	return (-1 != _uart_fd);
-}
-
-uint8_t UART_node::close()
-{
-	if (-1 != _uart_fd) {
-#ifndef PX4_WARN
-		printf("\033[1;33m[ micrortps_transport ]\tClosed UART.\n\033[0m");
-#else
-		PX4_WARN("Closed UART.");
-#endif /* PX4_WARN */
-		::close(_uart_fd);
-		_uart_fd = -1;
-		memset(&_poll_fd, 0, sizeof(_poll_fd));
-	}
-
-	return 0;
-}
-
-ssize_t UART_node::node_read(void *buffer, size_t len)
-{
-	if (nullptr == buffer || !fds_OK()) {
-		return -1;
-	}
-
-	ssize_t ret = 0;
-	int r = poll(_poll_fd, 1, _poll_ms);
-
-	if (r == 1 && (_poll_fd[0].revents & POLLIN)) {
-		ret = ::read(_uart_fd, buffer, len);
-	}
-
-	return ret;
-}
-
-ssize_t UART_node::node_write(void *buffer, size_t len)
-{
-	if (nullptr == buffer || !fds_OK()) {
-		return -1;
-	}
-
-	return ::write(_uart_fd, buffer, len);
-}
-
-bool UART_node::baudrate_to_speed(uint32_t bauds, speed_t *speed)
-{
-#ifndef B460800
-#define B460800 460800
-#endif
-
-#ifndef B500000
-#define B500000 500000
-#endif
-
-#ifndef B921600
-#define B921600 921600
-#endif
-
-#ifndef B1000000
-#define B1000000 1000000
-#endif
-
-#ifndef B1500000
-#define B1500000 1500000
-#endif
-
-#ifndef B2000000
-#define B2000000 2000000
-#endif
-
-	switch (bauds) {
-	case 0:      *speed = B0;		break;
-
-	case 50:     *speed = B50;		break;
-
-	case 75:     *speed = B75;		break;
-
-	case 110:    *speed = B110;		break;
-
-	case 134:    *speed = B134;		break;
-
-	case 150:    *speed = B150;		break;
-
-	case 200:    *speed = B200;		break;
-
-	case 300:    *speed = B300;		break;
-
-	case 600:    *speed = B600;		break;
-
-	case 1200:   *speed = B1200;		break;
-
-	case 1800:   *speed = B1800;		break;
-
-	case 2400:   *speed = B2400;		break;
-
-	case 4800:   *speed = B4800;		break;
-
-	case 9600:   *speed = B9600;		break;
-
-	case 19200:  *speed = B19200;		break;
-
-	case 38400:  *speed = B38400;		break;
-
-	case 57600:  *speed = B57600;		break;
-
-	case 115200: *speed = B115200;		break;
-
-	case 230400: *speed = B230400;		break;
-
-	case 460800: *speed = B460800;		break;
-
-	case 500000: *speed = B500000;		break;
-
-	case 921600: *speed = B921600;		break;
-
-	case 1000000: *speed = B1000000;	break;
-
-	case 1500000: *speed = B1500000;	break;
-
-	case 2000000: *speed = B2000000;	break;
-
-#ifdef B3000000
-	case 3000000: *speed = B3000000;	break;
-
-#endif
-#ifdef B3500000
-	case 3500000: *speed = B3500000;	break;
-
-#endif
-#ifdef B4000000
-	case 4000000: *speed = B4000000;	break;
-
-#endif
-	default:
-		return false;
-	}
-
-	return true;
-}
-
-UDP_node::UDP_node(const char *udp_ip, uint16_t udp_port_recv,
-		   uint16_t udp_port_send, const uint8_t sys_id, const bool debug):
-	Transport_node(sys_id, debug),
-	_sender_fd(-1),
-	_receiver_fd(-1),
-	_udp_port_recv(udp_port_recv),
-	_udp_port_send(udp_port_send)
-{
-	if (nullptr != udp_ip) {
-		strcpy(_udp_ip, udp_ip);
-	}
-}
-
-UDP_node::~UDP_node()
-{
-	close();
-}
-
-int UDP_node::init()
-{
-	if (0 > init_receiver(_udp_port_recv) || 0 > init_sender(_udp_port_send)) {
-		return -1;
-	}
-
-	return 0;
-}
-
-bool UDP_node::fds_OK()
-{
-	return (-1 != _sender_fd && -1 != _receiver_fd);
-}
-
-int UDP_node::init_receiver(uint16_t udp_port)
-{
-#if !defined (__PX4_NUTTX) || (defined (CONFIG_NET) && defined (__PX4_NUTTX))
-	// udp socket data
-	memset((char *)&_receiver_inaddr, 0, sizeof(_receiver_inaddr));
-	_receiver_inaddr.sin_family = AF_INET;
-	_receiver_inaddr.sin_port = htons(udp_port);
-	_receiver_inaddr.sin_addr.s_addr = htonl(INADDR_ANY);
-
-	if ((_receiver_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
-#ifndef PX4_ERR
-		printf("\033[0;31m[ micrortps_transport ]\tUDP transport: Create socket failed\033[0m\n");
-#else
-		PX4_ERR("UDP transport: Create socket failed");
-#endif /* PX4_ERR */
-		return -1;
-	}
-
-#ifndef PX4_INFO
-	printf("[ micrortps_transport ]\tUDP transport: Trying to connect...\n");
-#else
-	PX4_INFO("UDP transport: Trying to connect...");
-#endif /* PX4_INFO */
-
-	if (bind(_receiver_fd, (struct sockaddr *)&_receiver_inaddr, sizeof(_receiver_inaddr)) < 0) {
-#ifndef PX4_ERR
-		printf("\033[0;31m[ micrortps_transport ]\tUDP transport: Bind failed\033[0m\n");
-#else
-		PX4_ERR("UDP transport: Bind failed");
-#endif /* PX4_ERR */
-		return -1;
-	}
-
-#ifndef PX4_INFO
-	printf("[ micrortps_transport ]\tUDP transport: Connected to server!\n\n");
-#else
-	PX4_INFO("UDP transport: Connected to server!");
-#endif /* PX4_INFO */
-#endif /* __PX4_NUTTX */
-	return 0;
-}
-
-int UDP_node::init_sender(uint16_t udp_port)
-{
-#if !defined (__PX4_NUTTX) || (defined (CONFIG_NET) && defined (__PX4_NUTTX))
-
-	if ((_sender_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
-#ifndef PX4_ERR
-		printf("\033[0;31m[ micrortps_transport ]\tUDP transport: Create socket failed\033[0m\n");
-#else
-		PX4_ERR("UDP transport: Create socket failed");
-#endif /* PX4_ERR */
-		return -1;
-	}
-
-	memset((char *) &_sender_outaddr, 0, sizeof(_sender_outaddr));
-	_sender_outaddr.sin_family = AF_INET;
-	_sender_outaddr.sin_port = htons(udp_port);
-
-	if (inet_aton(_udp_ip, &_sender_outaddr.sin_addr) == 0) {
-#ifndef PX4_ERR
-		printf("\033[0;31m[ micrortps_transport ]\tUDP transport: inet_aton() failed\033[0m\n");
-#else
-		PX4_ERR("UDP transport: inet_aton() failed");
-#endif /* PX4_ERR */
-		return -1;
-	}
-
-#endif /* __PX4_NUTTX */
-
-	return 0;
-}
-
-uint8_t UDP_node::close()
-{
-#if !defined (__PX4_NUTTX) || (defined (CONFIG_NET) && defined (__PX4_NUTTX))
-
-	if (_sender_fd != -1) {
-#ifndef PX4_WARN
-		printf("\033[1;33m[ micrortps_transport ]\tUDP transport: Closed sender socket!\033[0m\n");
-#else
-		PX4_WARN("UDP transport: Closed sender socket!");
-#endif /* PX4_WARN */
-		shutdown(_sender_fd, SHUT_RDWR);
-		::close(_sender_fd);
-		_sender_fd = -1;
-	}
-
-	if (_receiver_fd != -1) {
-#ifndef PX4_WARN
-		printf("\033[1;33m[ micrortps_transport ]\tUDP transport: Closed receiver socket!\033[0m\n");
-#else
-		PX4_WARN("UDP transport: Closed receiver socket!");
-#endif /* PX4_WARN */
-		shutdown(_receiver_fd, SHUT_RDWR);
-		::close(_receiver_fd);
-		_receiver_fd = -1;
-	}
-
-#endif /* __PX4_NUTTX */
-	return 0;
-}
-
-ssize_t UDP_node::node_read(void *buffer, size_t len)
-{
-	if (nullptr == buffer || !fds_OK()) {
-		return -1;
-	}
-
-	ssize_t ret = 0;
-#if !defined (__PX4_NUTTX) || (defined (CONFIG_NET) && defined (__PX4_NUTTX))
-	// Blocking call
-	static socklen_t addrlen = sizeof(_receiver_outaddr);
-	ret = recvfrom(_receiver_fd, buffer, len, 0, (struct sockaddr *)&_receiver_outaddr, &addrlen);
-#endif /* !defined (__PX4_NUTTX) || (defined (CONFIG_NET) && defined (__PX4_NUTTX)) */
-	return ret;
-}
-
-ssize_t UDP_node::node_write(void *buffer, size_t len)
-{
-	if (nullptr == buffer || !fds_OK()) {
-		return -1;
-	}
-
-	ssize_t ret = 0;
-#if !defined (__PX4_NUTTX) || (defined (CONFIG_NET) && defined (__PX4_NUTTX))
-	ret = sendto(_sender_fd, buffer, len, 0, (struct sockaddr *)&_sender_outaddr, sizeof(_sender_outaddr));
-#endif /* !defined (__PX4_NUTTX) || (defined (CONFIG_NET) && defined (__PX4_NUTTX)) */
-	return ret;
-}
diff --git a/msg/templates/urtps/microRTPS_transport.h b/msg/templates/urtps/microRTPS_transport.h
deleted file mode 100644
index a9c3567e6d..0000000000
--- a/msg/templates/urtps/microRTPS_transport.h
+++ /dev/null
@@ -1,164 +0,0 @@
-/****************************************************************************
- *
- * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice, this
- * list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its contributors
- * may be used to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <cstring>
-#include <arpa/inet.h>
-#include <poll.h>
-#include <termios.h>
-
-#define BUFFER_SIZE 1024
-#define DEFAULT_UART "/dev/ttyACM0"
-
-namespace MicroRtps {
-	enum class System {
-		FMU,
-		MISSION_COMPUTER
-	};
-}
-
-class Transport_node
-{
-public:
-	Transport_node(const uint8_t sys_id, const bool debug);
-	virtual ~Transport_node();
-
-	virtual int init() {return 0;}
-	virtual uint8_t close() {return 0;}
-
-	ssize_t read();
-	bool parse(uint8_t *topic_id, char out_buffer[], size_t buffer_len);
-
-	/**
-	 * write a buffer
-	 * @param topic_id
-	 * @param buffer buffer to write: it must leave get_header_length() bytes free at the beginning. This will be
-	 *               filled with the header. length does not include get_header_length(). So buffer looks like this:
-	 *                -------------------------------------------------
-	 *               | header (leave free)          | payload data     |
-	 *               | get_header_length() bytes    | length bytes     |
-	 *                -------------------------------------------------
-	 * @param length buffer length excluding header length
-	 * @return length on success, <0 on error
-	 */
-	ssize_t write(const uint8_t topic_id, char buffer[], size_t length);
-
-	/** Get the Length of struct Header to make headroom for the size of struct Header along with payload */
-	size_t get_header_length();
-
-private:
-#ifndef PX4_DEBUG
-	void print_buffer_debug();
-#endif /* PX4_DEBUG */
-
-	struct __attribute__((packed)) Header {
-		char marker[3];
-		uint8_t topic_id;
-		uint8_t sys_id;
-		uint8_t seq;
-		uint8_t payload_len_h;
-		uint8_t payload_len_l;
-		uint8_t crc_h;
-		uint8_t crc_l;
-	};
-
-protected:
-	virtual ssize_t node_read(void *buffer, size_t len) = 0;
-	virtual ssize_t node_write(void *buffer, size_t len) = 0;
-	virtual bool fds_OK() = 0;
-	uint16_t crc16_byte(uint16_t crc, const uint8_t data);
-	uint16_t crc16(uint8_t const *buffer, size_t len);
-
-	uint32_t _rx_buff_pos;
-	char _rx_buffer[BUFFER_SIZE]{};
-
-	bool _debug;
-
-	uint8_t _sys_id;
-	uint8_t _seq_number{0};
-};
-
-class UART_node: public Transport_node
-{
-public:
-	UART_node(const char *uart_name, const uint32_t baudrate,
-		  const uint32_t poll_ms, const bool hw_flow_control,
-		  const bool sw_flow_control, const uint8_t sys_id,
-			const bool debug);
-	virtual ~UART_node();
-
-	int init();
-	uint8_t close();
-
-protected:
-	ssize_t node_read(void *buffer, size_t len);
-	ssize_t node_write(void *buffer, size_t len);
-	bool fds_OK();
-	bool baudrate_to_speed(uint32_t bauds, speed_t *speed);
-
-	int _uart_fd;
-	char _uart_name[64]{};
-	uint32_t _baudrate;
-	uint32_t _poll_ms;
-	bool _hw_flow_control{false};
-	bool _sw_flow_control{false};
-	struct pollfd _poll_fd[1]{};
-};
-
-class UDP_node: public Transport_node
-{
-public:
-	UDP_node(const char *udp_ip, uint16_t udp_port_recv, uint16_t udp_port_send,
-		 const uint8_t sys_id, const bool debug);
-	virtual ~UDP_node();
-
-	int init();
-	uint8_t close();
-
-protected:
-	int init_receiver(uint16_t udp_port);
-	int init_sender(uint16_t udp_port);
-	ssize_t node_read(void *buffer, size_t len);
-	ssize_t node_write(void *buffer, size_t len);
-	bool fds_OK();
-
-	int _sender_fd;
-	int _receiver_fd;
-	char _udp_ip[16]{};
-	uint16_t _udp_port_recv;
-	uint16_t _udp_port_send;
-	struct sockaddr_in _sender_outaddr;
-	struct sockaddr_in _receiver_inaddr;
-	struct sockaddr_in _receiver_outaddr;
-};
diff --git a/msg/templates/urtps/msg.idl.em b/msg/templates/urtps/msg.idl.em
deleted file mode 100644
index 1fa20e3fe6..0000000000
--- a/msg/templates/urtps/msg.idl.em
+++ /dev/null
@@ -1,154 +0,0 @@
-@###############################################
-@#
-@# ROS message to IDL converter
-@#
-@# EmPy template for generating <msg>.idl files
-@#
-@###############################################
-@# Start of Template
-@#
-@# Context:
-@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@################################################################################
-@#
-@# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-@# Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
-@#
-@# Redistribution and use in source and binary forms, with or without
-@# modification, are permitted provided that the following conditions are met:
-@#
-@# 1. Redistributions of source code must retain the above copyright notice, this
-@# list of conditions and the following disclaimer.
-@#
-@# 2. Redistributions in binary form must reproduce the above copyright notice,
-@# this list of conditions and the following disclaimer in the documentation
-@# and/or other materials provided with the distribution.
-@#
-@# 3. Neither the name of the copyright holder nor the names of its contributors
-@# may be used to endorse or promote products derived from this software without
-@# specific prior written permission.
-@#
-@# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-@# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-@# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-@# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-@# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-@# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-@# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-@# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-@# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-@# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-@# POSSIBILITY OF SUCH DAMAGE.
-@#
-@################################################################################
-@{
-import genmsg.msgs
-from packaging import version
-from px_generate_uorb_topic_helper import *  # this is in Tools/
-
-builtin_types = set()
-array_types = set()
-
-topic = alias if alias else spec.short_name
-}@
-@#################################################
-@# 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/', '')
-        if version.parse(fastrtps_version) <= version.parse('1.7.2'):
-            include_directive = '#include "%s_.idl"' % builtin_type
-        else:
-            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]
-    else:
-        (package, name) = genmsg.names.package_resource_name(field_type)
-        return name
-
-
-def add_msg_field(field):
-    if (not field.is_header):
-        if field.is_array:
-            if version.parse(fastrtps_version) <= version.parse('1.7.2'):
-                print('    {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
-            else:
-                print('    {0}__{1}_array_{2} {3};'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
-        else:
-            if version.parse(fastrtps_version) <= version.parse('1.7.2'):
-                base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
-            else:
-                base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
-            print('    {0} {1}_;'.format(base_type, field.name))
-
-def add_msg_fields():
-    for field in spec.parsed_fields():
-        add_msg_field(field)
-
-
-def add_array_typedefs():
-    for field in spec.parsed_fields():
-        if not field.is_header and field.is_array:
-            if version.parse(fastrtps_version) <= version.parse('1.7.2'):
-                base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
-            else:
-                base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
-            array_type = 'typedef {0} {1}__{2}_array_{3}[{4}];'.format(base_type, topic, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len)
-            if array_type not in array_types:
-                array_types.add(array_type)
-    for atype in array_types:
-        print(atype)
-
-
-def add_msg_constants():
-    sorted_constants = sorted(spec.constants,
-                       key=sizeof_field_type, reverse=True)
-    for constant in sorted_constants:
-        print('const {0} {1}__{2} = {3};'.format(get_idl_type_name(constant.type), topic, constant.name, constant.val))
-
-}
-#ifndef __@(topic)__idl__
-#define __@(topic)__idl__
-
-@#############################
-@# Include dependency messages
-@#############################
-@[for line in get_include_directives(spec)]@
-@(line)@
-@[end for]@
-
-
-@# Constants
-@add_msg_constants()
-@# Array types
-@add_array_typedefs()
-@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
-struct @(topic)_
-@[else]@
-struct @(topic)
-@[end if]@
-{
-@add_msg_fields()
-@[if version.parse(fastrtps_version) <= version.parse('1.7.2')]@
-}; // struct @(topic)_
-
-#pragma keylist @(topic)_
-@[else]@
-}; // struct @(topic)
-
-#pragma keylist @(topic)
-@[end if]@
-
-#endif  // __@(topic)__idl__
diff --git a/msg/timesync.msg b/msg/timesync.msg
deleted file mode 100644
index 67f415c744..0000000000
--- a/msg/timesync.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-uint64 timestamp	       # time since system start (microseconds)
-uint8 seq		       # timesync msg sequence
-int64 tc1		       # time sync timestamp 1
-int64 ts1		       # time sync timestamp 2
diff --git a/msg/tools/generate_microRTPS_bridge.py b/msg/tools/generate_microRTPS_bridge.py
deleted file mode 100644
index a1a0b31519..0000000000
--- a/msg/tools/generate_microRTPS_bridge.py
+++ /dev/null
@@ -1,465 +0,0 @@
-#!/usr/bin/env python3
-################################################################################
-#
-# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-# Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice, this
-# list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# 3. Neither the name of the copyright holder nor the names of its contributors
-# may be used to endorse or promote products derived from this software without
-# specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-################################################################################
-
-# This script can generate the client and agent code based on a set of topics
-# to sent and set to receive. It uses fastrtpsgen to generate the code from the
-# IDL for the topic messages. The PX4 msg definitions are used to create the IDL
-# used by fastrtpsgen using templates.
-
-import sys
-import os
-import argparse
-import shutil
-import px_generate_uorb_topic_files
-from uorb_rtps_classifier import Classifier
-import subprocess
-import glob
-import errno
-import re
-
-try:
-    from six.moves import input
-except ImportError as e:
-    print("Failed to import six: " + e)
-    print("")
-    print("You may need to install it using:")
-    print("    pip3 install --user six")
-    print("")
-    sys.exit(1)
-
-try:
-    from packaging import version
-except ImportError as e:
-    print("Failed to import packaging: " + str(e))
-    print("")
-    print("You may need to install it using:")
-    print("    pip3 install --user packaging")
-    print("")
-    sys.exit(1)
-
-
-default_client_out = "src/modules/micrortps_bridge/micrortps_client"
-default_agent_out = "src/modules/micrortps_bridge/micrortps_agent"
-default_uorb_templates_dir = "templates/uorb_microcdr"
-default_urtps_templates_dir = "templates/urtps"
-default_urtps_topics_file = "tools/urtps_bridge_topics.yaml"
-default_package_name = px_generate_uorb_topic_files.PACKAGE
-
-parser = argparse.ArgumentParser()
-
-parser.add_argument("-a", "--agent", dest='agent', action="store_true",
-                    help="Flag for generate the agent, by default is true if -c is not specified")
-parser.add_argument("-c", "--client", dest='client', action="store_true",
-                    help="Flag for generate the client, by default is true if -a is not specified")
-parser.add_argument("-i", "--generate-idl", dest='gen_idl',
-                    action="store_true", help="Flag for generate idl files for each msg")
-parser.add_argument("-j", "--idl-dir", dest='idl_dir',
-                    type=str, help="IDL files dir", default='')
-parser.add_argument("-m", "--mkdir-build", dest='mkdir_build',
-                    action="store_true", help="Flag to create 'build' dir")
-parser.add_argument("-l", "--generate-cmakelists", dest='cmakelists',
-                    action="store_true", help="Flag to generate a CMakeLists.txt file for the micro-RTPS agent")
-parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str,
-                    help="Topics message, by default using relative path 'msg/'", default="msg")
-parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=str,
-                    help="uORB templates, by default using relative path to msgdir 'templates/uorb_microcdr'", default=default_uorb_templates_dir)
-parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str,
-                    help="uRTPS templates, by default using relative path to msgdir 'templates/urtps'", default=default_urtps_templates_dir)
-parser.add_argument("-y", "--rtps-ids-file", dest='yaml_file', type=str,
-                    help="Setup uRTPS bridge topics file path, by default using relative path to msgdir 'tools/urtps_bridge_topics.yaml'", default=default_urtps_topics_file)
-parser.add_argument("-p", "--package", dest='package', type=str,
-                    help="Msg package naming, by default px4", default=default_package_name)
-parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str,
-                    help="Agent output dir, by default using relative path 'src/modules/micrortps_bridge/micrortps_agent'", default=default_agent_out)
-parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str,
-                    help="Client output dir, by default using relative path 'src/modules/micrortps_bridge/micrortps_client'", default=default_client_out)
-parser.add_argument("-f", "--fastrtpsgen-dir", dest='fastrtpsgen', type=str, nargs='?',
-                    help="fastrtpsgen installation dir, only needed if fastrtpsgen is not in PATH, by default empty", default="")
-parser.add_argument("-g", "--fastrtpsgen-include", dest='fastrtpsgen_include', type=str,
-                    help="directory(ies) to add to preprocessor include paths of fastrtpsgen, by default empty", default="")
-parser.add_argument("-r", "--ros2-distro", dest='ros2_distro', type=str, nargs='?',
-                    help="ROS2 distro, only required if generating the agent for usage with ROS2 nodes, by default empty", default="")
-parser.add_argument("--delete-tree", dest='del_tree',
-                    action="store_true", help="Delete dir tree output dir(s)")
-
-
-if len(sys.argv) <= 1:
-    parser.print_usage()
-    exit(-1)
-
-# Parse arguments
-args = parser.parse_args()
-agent = args.agent
-client = args.client
-cmakelists = args.cmakelists
-del_tree = args.del_tree
-gen_idl = args.gen_idl
-mkdir_build = args.mkdir_build
-package = args.package
-
-# Msg files path
-msg_dir = os.path.abspath(args.msgdir)
-px_generate_uorb_topic_files.append_to_include_path(
-    {msg_dir}, px_generate_uorb_topic_files.INCL_DEFAULT, package)
-
-# Agent files output path
-agent_out_dir = os.path.abspath(args.agentdir)
-
-# Client files output path
-client_out_dir = os.path.abspath(args.clientdir)
-
-# IDL files path
-idl_dir = args.idl_dir
-if idl_dir != '':
-    idl_dir = os.path.abspath(args.idl_dir)
-else:
-    idl_dir = os.path.join(agent_out_dir, "idl")
-
-if args.fastrtpsgen is None or args.fastrtpsgen == '':
-    # Assume fastrtpsgen is in PATH
-    fastrtpsgen_path = 'fastrtpsgen'
-    for dirname in os.environ['PATH'].split(':'):
-        candidate = os.path.join(dirname, 'fastrtpsgen')
-        if os.path.isfile(candidate):
-            fastrtpsgen_path = candidate
-else:
-    # Path to fastrtpsgen is explicitly specified
-    if os.path.isdir(args.fastrtpsgen):
-        fastrtpsgen_path = os.path.join(
-            os.path.abspath(args.fastrtpsgen), 'fastrtpsgen')
-    else:
-        fastrtpsgen_path = args.fastrtpsgen
-
-fastrtpsgen_include = args.fastrtpsgen_include
-if fastrtpsgen_include is not None and fastrtpsgen_include != '':
-    fastrtpsgen_include = "-I " + \
-        os.path.abspath(
-            args.fastrtpsgen_include) + " "
-
-# get FastRTPSGen version
-# .. note:: since Fast-RTPS 1.8.0 release, FastRTPSGen is a separated repository
-# and not included in the Fast-RTPS project.
-# The starting version since this separation is 1.0.0, which follows its own
-# versioning
-fastrtpsgen_version = version.Version("1.0.0")
-if(os.path.exists(fastrtpsgen_path)):
-    try:
-        fastrtpsgen_version_out = subprocess.check_output(
-            [fastrtpsgen_path, "-version"]).decode("utf-8").strip()[-5:]
-    except OSError:
-        raise
-
-    try:
-        fastrtpsgen_version = version.parse(fastrtpsgen_version_out)
-    except version.InvalidVersion:
-        raise Exception(
-            "'fastrtpsgen -version' returned None or an invalid version")
-else:
-    raise Exception(
-        "FastRTPSGen not found. Specify the location of fastrtpsgen with the -f flag")
-
-
-# get ROS 2 version, if exists
-ros2_distro = ''
-ros_version = os.environ.get('ROS_VERSION')
-if ros_version == '2':
-    if args.ros2_distro != '':
-        ros2_distro = args.ros2_distro
-    else:
-        ros2_distro = os.environ.get('ROS_DISTRO')
-
-# get FastRTPS version
-fastrtps_version = ''
-if not ros2_distro:
-    # grab the version installed system wise
-    fastrtps_version = subprocess.check_output(
-        "ldconfig -v 2>/dev/null | grep libfastrtps", shell=True).decode("utf-8").strip().split('so.')[-1]
-else:
-    try:
-        # grab the version of the ros-<ros_distro>-fastrtps package
-        fastrtps_version = re.search(r'Version:\s*([\dd.]+)', subprocess.check_output(
-            "dpkg -s ros-" + ros2_distro + "-fastrtps 2>/dev/null | grep -i version", shell=True).decode("utf-8").strip()).group(1)
-    except subprocess.CalledProcessError:
-        # if ROS2 was installed from sources the command above fails, get the system-wide version instead
-        try:
-            fastrtps_version = subprocess.check_output(
-                "ldconfig -v 2>/dev/null | grep libfastrtps", shell=True).decode("utf-8").strip().split('so.')[-1]
-        except subprocess.CalledProcessError:
-            # if no system-wide version is found, look for the one provided by the source-installed ROS2
-            fastrtps_path = re.search(r'(?!\:)[^\:]*fastrtps\/lib(?=\:)', os.environ.get('LD_LIBRARY_PATH')).group(0)
-            fastrtps_version = subprocess.check_output(
-                "ls " + fastrtps_path, shell=True).decode("utf-8").strip().split('so.')[-1]
-
-
-# If nothing specified it's generated both
-if agent == False and client == False:
-    agent = True
-    client = True
-
-if del_tree:
-    if agent:
-        _continue = str(input("\nFiles in " + agent_out_dir +
-                              " will be erased, continue?[Y/n]\n"))
-        if _continue == "N" or _continue == "n":
-            print("Aborting execution...")
-            exit(-1)
-        else:
-            if agent and os.path.isdir(agent_out_dir):
-                shutil.rmtree(agent_out_dir)
-
-    if client:
-        _continue = str(input(
-            "\nFiles in " + client_out_dir + " will be erased, continue?[Y/n]\n"))
-        if _continue.strip() in ("N", "n"):
-            print("Aborting execution...")
-            exit(-1)
-        else:
-            if client and os.path.isdir(client_out_dir):
-                shutil.rmtree(client_out_dir)
-
-if agent and os.path.isdir(os.path.join(agent_out_dir, "idl")):
-    shutil.rmtree(os.path.join(agent_out_dir, "idl"))
-
-# uORB templates path
-uorb_templates_dir = (args.uorb_templates if os.path.isabs(args.uorb_templates)
-                      else os.path.join(msg_dir, args.uorb_templates))
-
-# uRTPS templates path
-urtps_templates_dir = (args.urtps_templates if os.path.isabs(args.urtps_templates)
-                       else os.path.join(msg_dir, args.urtps_templates))
-
-# parse yaml file into a map of ids and messages to send and receive
-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))
-
-
-uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.em'
-uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.em'
-uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE = 'RtpsTopics.cpp.em'
-uRTPS_AGENT_TEMPL_FILE = 'microRTPS_agent.cpp.em'
-uRTPS_TIMESYNC_CPP_TEMPL_FILE = 'microRTPS_timesync.cpp.em'
-uRTPS_TIMESYNC_H_TEMPL_FILE = 'microRTPS_timesync.h.em'
-uRTPS_AGENT_CMAKELISTS_TEMPL_FILE = 'microRTPS_agent_CMakeLists.txt.em'
-uRTPS_PUBLISHER_SRC_TEMPL_FILE = 'Publisher.cpp.em'
-uRTPS_PUBLISHER_H_TEMPL_FILE = 'Publisher.h.em'
-uRTPS_SUBSCRIBER_SRC_TEMPL_FILE = 'Subscriber.cpp.em'
-uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.em'
-
-
-def generate_agent(out_dir):
-    global fastrtps_version
-
-    if classifier.msgs_to_send:
-        for msg_file in classifier.msgs_to_send:
-            if gen_idl:
-                if out_dir != agent_out_dir:
-                    px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list)
-                else:
-                    px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list)
-            px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
-            px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
-
-    if classifier.alias_msgs_to_send:
-        for msg_file in classifier.alias_msgs_to_send:
-            msg_alias = msg_file[0]
-            msg_name = msg_file[1]
-            if gen_idl:
-                if out_dir != agent_out_dir:
-                    px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list)
-                else:
-                    px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list)
-            px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
-            px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
-
-    if classifier.msgs_to_receive:
-        for msg_file in classifier.msgs_to_receive:
-            if gen_idl:
-                if out_dir != agent_out_dir:
-                    px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list)
-                else:
-                    px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list)
-            px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
-            px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
-
-    if classifier.alias_msgs_to_receive:
-        for msg_file in classifier.alias_msgs_to_receive:
-            msg_alias = msg_file[0]
-            msg_name = msg_file[1]
-            if gen_idl:
-                if out_dir != agent_out_dir:
-                    px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list)
-                else:
-                    px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_version, ros2_distro, classifier.msg_list)
-            px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
-            px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
-
-    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
-                                                        urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_AGENT_TEMPL_FILE)
-    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
-                                                        urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_CPP_TEMPL_FILE)
-    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
-                                                        urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_TIMESYNC_H_TEMPL_FILE)
-    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
-                                                        urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
-    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
-                                                        urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
-    if cmakelists:
-        px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, os.path.dirname(out_dir),
-                                                            urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
-
-    # Final steps to install agent
-    mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
-    prev_cwd_path = os.getcwd()
-    os.chdir(os.path.join(out_dir, "fastrtpsgen"))
-    if not glob.glob(os.path.join(idl_dir, "*.idl")):
-        raise Exception("No IDL files found in %s" % idl_dir)
-
-    # If it is generating the bridge code for interfacing with ROS2, then set
-    # the '-typeros2' option in fastrtpsgen.
-    # .. note:: This is only available in FastRTPSGen 1.0.4 and above
-    gen_ros2_typename = ""
-    if ros2_distro and ros2_distro in ['dashing', 'eloquent', 'foxy', 'galactic', 'humble', 'rolling'] and fastrtpsgen_version >= version.Version("1.0.4"):
-        gen_ros2_typename = "-typeros2 "
-
-    idl_files = []
-    for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
-        # Only run the generator for the topics that are actually marked to be
-        # used by the bridge
-        if os.path.splitext(os.path.basename(idl_file))[0] in classifier.msg_list:
-            idl_files.append(idl_file)
-
-    try:
-        ret = subprocess.check_call(fastrtpsgen_path + " -d " + out_dir +
-                                    "/fastrtpsgen -example x64Linux2.6gcc " + gen_ros2_typename + fastrtpsgen_include + " ".join(str(idl_file) for idl_file in idl_files), shell=True)
-    except OSError:
-        raise
-
-    rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*PubSubMain*"))
-    rm_wildcard(os.path.join(out_dir, "fastrtpsgen/makefile*"))
-    rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*Publisher*"))
-    rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*Subscriber*"))
-    for f in glob.glob(os.path.join(out_dir, "fastrtpsgen/*.cxx")):
-        os.rename(f, f.replace(".cxx", ".cpp"))
-    cp_wildcard(os.path.join(out_dir, "fastrtpsgen/*"), out_dir)
-    if os.path.isdir(os.path.join(out_dir, "fastrtpsgen")):
-        shutil.rmtree(os.path.join(out_dir, "fastrtpsgen"))
-    cp_wildcard(os.path.join(urtps_templates_dir,
-                             "microRTPS_transport.*"), agent_out_dir)
-    if cmakelists:
-        os.rename(os.path.join(os.path.dirname(out_dir), "microRTPS_agent_CMakeLists.txt"),
-                  os.path.join(os.path.dirname(out_dir), "CMakeLists.txt"))
-    if (mkdir_build):
-        mkdir_p(os.path.join(os.path.dirname(out_dir), "build"))
-    os.chdir(prev_cwd_path)
-    return 0
-
-
-def rm_wildcard(pattern):
-    for f in glob.glob(pattern):
-        os.remove(f)
-
-
-def cp_wildcard(pattern, destdir):
-    for f in glob.glob(pattern):
-        shutil.copy(f, destdir)
-
-
-def mkdir_p(dirpath):
-    try:
-        os.makedirs(dirpath)
-    except OSError as e:
-        if e.errno == errno.EEXIST and os.path.isdir(dirpath):
-            pass
-        else:
-            raise
-
-
-def generate_client(out_dir):
-    global fastrtps_version
-
-    # Rename work in the default path
-    if default_client_out != out_dir:
-        def_file = os.path.join(default_client_out, "microRTPS_client.cpp")
-        if os.path.isfile(def_file):
-            os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
-        def_file = os.path.join(default_client_out, "microRTPS_transport.cpp")
-        if os.path.isfile(def_file):
-            os.rename(def_file, def_file.replace(".cpp", ".cpp_"))
-        def_file = os.path.join(default_client_out, "microRTPS_transport.h")
-        if os.path.isfile(def_file):
-            os.rename(def_file, def_file.replace(".h", ".h_"))
-
-    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir,
-                                                        out_dir, uorb_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_list, fastrtps_version, ros2_distro, uRTPS_CLIENT_TEMPL_FILE)
-
-    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir,
-                                                        out_dir,
-                                                        uorb_templates_dir,
-                                                        package,
-                                                        px_generate_uorb_topic_files.INCL_DEFAULT,
-                                                        classifier.msg_list,
-                                                        fastrtps_version,
-                                                        ros2_distro,
-                                                        'dds_topics.h.em')
-
-    # Final steps to install client
-    cp_wildcard(os.path.join(urtps_templates_dir,
-                             "microRTPS_transport.*"), out_dir)
-
-    return 0
-
-
-if agent:
-    generate_agent(agent_out_dir)
-    print(("\nAgent created in: " + agent_out_dir))
-
-if client:
-    generate_client(client_out_dir)
-    print(("\nClient created in: " + client_out_dir))
diff --git a/msg/tools/px_generate_uorb_topic_files.py b/msg/tools/px_generate_uorb_topic_files.py
deleted file mode 100755
index 2a038f381c..0000000000
--- a/msg/tools/px_generate_uorb_topic_files.py
+++ /dev/null
@@ -1,561 +0,0 @@
-#!/usr/bin/env python3
-#############################################################################
-#
-#   Copyright (C) 2013-2018 PX4 Pro Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-#############################################################################
-
-"""
-px_generate_uorb_topic_files.py
-Generates c/cpp header/source files for uorb topics from .msg (ROS syntax)
-message files
-"""
-
-import os
-import shutil
-import filecmp
-import argparse
-import sys
-
-try:
-    import em
-except ImportError as e:
-    print("Failed to import em: " + str(e))
-    print("")
-    print("You may need to install it using:")
-    print("    pip3 install --user empy")
-    print("")
-    sys.exit(1)
-
-try:
-    import genmsg.template_tools
-except ImportError as e:
-    print("Failed to import genmsg: " + str(e))
-    print("")
-    print("You may need to install it using:")
-    print("    pip3 install --user pyros-genmsg")
-    print("")
-    sys.exit(1)
-
-try:
-    from packaging import version
-except ImportError as e:
-    print("Failed to import packaging: " + str(e))
-    print("")
-    print("You may need to install it using:")
-    print("    pip3 install --user packaging")
-    print("")
-    sys.exit(1)
-
-
-__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
-__copyright__ = "Copyright (C) 2013-2016 PX4 Development Team."
-__license__ = "BSD"
-__email__ = "thomasgubler@gmail.com"
-
-
-TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
-TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
-OUTPUT_FILE_EXT = ['.h', '.cpp']
-INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
-PACKAGE = 'px4'
-TOPICS_TOKEN = '# TOPICS '
-IDL_TEMPLATE_FILE = 'msg.idl.em'
-
-CONSTRAINED_FLASH = False
-
-
-class MsgScope:
-    NONE = 0
-    SEND = 1
-    RECEIVE = 2
-
-
-def get_topics(filename, msg_name):
-    """
-    Get TOPICS names from a "# TOPICS" line. If there are no multi topics defined,
-    set topic name same as the message name, since the user doesn't expect any new
-    custom topic names.
-    """
-    ofile = open(filename, 'r')
-    text = ofile.read()
-    result = []
-    for each_line in text.split('\n'):
-        if each_line.startswith(TOPICS_TOKEN):
-            topic_names_str = each_line.strip()
-            topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
-            result.extend(topic_names_str.split(" "))
-    ofile.close()
-
-    if len(result) == 0:
-        result.append(msg_name)
-
-    return result
-
-
-def get_msgs_list(msgdir):
-    """
-    Makes list of msg files in the given directory
-    """
-    return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
-
-
-def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
-    """
-    Converts a single .msg file to an uorb header/source file
-    """
-    msg_context = genmsg.msg_loader.MsgContext.create_default()
-    full_type_name = genmsg.gentools.compute_full_type_name(
-        package, os.path.basename(filename))
-    spec = genmsg.msg_loader.load_msg_from_file(
-        msg_context, filename, full_type_name)
-    field_name_and_type = {}
-    for field in spec.parsed_fields():
-        field_name_and_type.update({field.name: field.type})
-    # assert if the timestamp field exists
-    try:
-        assert 'timestamp' in field_name_and_type
-    except AssertionError:
-        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
-              spec.short_name + " msg definition!")
-        exit(1)
-    # assert if the timestamp field is of type uint64
-    try:
-        assert field_name_and_type.get('timestamp') == 'uint64'
-    except AssertionError:
-        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
-              " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
-        exit(1)
-
-    # Get topics used for the message
-    topics = get_topics(filename, spec.short_name)
-
-    if includepath:
-        search_path = genmsg.command_line.includepath_to_dict(includepath)
-    else:
-        search_path = {}
-    genmsg.msg_loader.load_depends(msg_context, spec, search_path)
-    md5sum = genmsg.gentools.compute_md5(msg_context, spec)
-    em_globals = {
-        "file_name_in": filename,
-        "md5sum": md5sum,
-        "search_path": search_path,
-        "msg_context": msg_context,
-        "spec": spec,
-        "topics": topics,
-        "constrained_flash": CONSTRAINED_FLASH
-    }
-
-    # Make sure output directory exists:
-    if not os.path.isdir(outputdir):
-        os.makedirs(outputdir)
-
-    template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
-    output_file = os.path.join(outputdir, spec.short_name +
-                               OUTPUT_FILE_EXT[format_idx])
-
-    return generate_by_template(output_file, template_file, em_globals)
-
-
-def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_version, ros2_distro, msgs):
-    """
-    Generates an .idl from .msg file
-    """
-    msg = os.path.join(msg_dir, filename_msg + ".msg")
-
-    if (alias != ""):
-        em_globals = get_em_globals(
-            msg, alias, package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE)
-        spec_short_name = alias
-    else:
-        em_globals = get_em_globals(
-            msg, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE)
-        spec_short_name = em_globals["spec"].short_name
-
-    # Make sure output directory exists:
-    if not os.path.isdir(outputdir):
-        os.makedirs(outputdir)
-
-    template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE)
-    if version.parse(fastrtps_version) <= version.parse('1.7.2'):
-        output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
-            "msg.idl.em", str(spec_short_name + "_.idl")))
-    else:
-        output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
-            "msg.idl.em", str(spec_short_name + ".idl")))
-
-    return generate_by_template(output_file, template_file, em_globals)
-
-
-def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filename_receive_msgs, filename_alias_receive_msgs,
-                           msg_dir, outputdir, templatedir, package, includepath, msgs, fastrtps_version, ros2_distro, template_name):
-    """
-    Generates source file by msg content
-    """
-    send_msgs = list(os.path.join(msg_dir, msg + ".msg")
-                     for msg in filename_send_msgs)
-    receive_msgs = list(os.path.join(msg_dir, msg + ".msg")
-                        for msg in filename_receive_msgs)
-
-    alias_send_msgs = list([os.path.join(
-        msg_dir, msg[1] + ".msg"), msg[0]] for msg in filename_alias_send_msgs)
-
-    alias_receive_msgs = list([os.path.join(
-        msg_dir, msg[1] + ".msg"), msg[0]] for msg in filename_alias_receive_msgs)
-
-    em_globals_list = []
-    if send_msgs:
-        em_globals_list.extend([get_em_globals(
-            f, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.SEND) for f in send_msgs])
-
-    if alias_send_msgs:
-        em_globals_list.extend([get_em_globals(
-            f[0], f[1], package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
-
-    if receive_msgs:
-        em_globals_list.extend([get_em_globals(
-            f, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
-
-    if alias_receive_msgs:
-        em_globals_list.extend([get_em_globals(
-            f[0], f[1], package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
-
-    merged_em_globals = merge_em_globals_list(em_globals_list)
-
-    # Make sure output directory exists:
-    if not os.path.isdir(outputdir):
-        os.makedirs(outputdir)
-
-    template_file = os.path.join(templatedir, template_name)
-    output_file = os.path.join(
-        outputdir, template_name.replace(".em", ""))
-
-    return generate_by_template(output_file, template_file, merged_em_globals)
-
-
-def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, msgs, fastrtps_version, ros2_distro, template_name):
-    """
-    Generates a sources and headers from .msg file
-    """
-    msg = os.path.join(msg_dir, filename_msg + ".msg")
-
-    if (alias):
-        em_globals = get_em_globals(
-            msg, alias, package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE)
-        spec_short_name = alias
-    else:
-        em_globals = get_em_globals(
-            msg, "", package, includepath, msgs, fastrtps_version, ros2_distro, MsgScope.NONE)
-        spec_short_name = em_globals["spec"].short_name
-
-    # Make sure output directory exists:
-    if not os.path.isdir(outputdir):
-        os.makedirs(outputdir)
-
-    template_file = os.path.join(templatedir, template_name)
-    output_file = os.path.join(
-        outputdir, spec_short_name + "_" + template_name.replace(".em", ""))
-
-    return generate_by_template(output_file, template_file, em_globals)
-
-
-def get_em_globals(filename_msg, alias, package, includepath, msgs, fastrtps_version, ros2_distro, scope):
-    """
-    Generates em globals dictionary
-    """
-    msg_context = genmsg.msg_loader.MsgContext.create_default()
-    full_type_name = genmsg.gentools.compute_full_type_name(
-        package, os.path.basename(filename_msg))
-    spec = genmsg.msg_loader.load_msg_from_file(
-        msg_context, filename_msg, full_type_name)
-
-    # Get topics used for the message
-    topics = get_topics(filename_msg, spec.short_name)
-
-    if includepath:
-        search_path = genmsg.command_line.includepath_to_dict(includepath)
-    else:
-        search_path = {}
-    genmsg.msg_loader.load_depends(msg_context, spec, search_path)
-    md5sum = genmsg.gentools.compute_md5(msg_context, spec)
-    em_globals = {
-        "file_name_in": filename_msg,
-        "md5sum": md5sum,
-        "search_path": search_path,
-        "msg_context": msg_context,
-        "spec": spec,
-        "topics": topics,
-        "msgs": msgs,
-        "scope": scope,
-        "package": package,
-        "alias": alias,
-        "fastrtps_version": fastrtps_version,
-        "ros2_distro": ros2_distro
-    }
-
-    return em_globals
-
-
-def merge_em_globals_list(em_globals_list):
-    """
-        Merges a list of em_globals to a single dictionary where each attribute is a list
-    """
-    if len(em_globals_list) < 1:
-        return {}
-
-    merged_em_globals = {}
-    for name in em_globals_list[0]:
-        merged_em_globals[name] = [em_globals[name]
-                                   for em_globals in em_globals_list]
-
-    return merged_em_globals
-
-
-def generate_by_template(output_file, template_file, em_globals):
-    """
-    Invokes empy intepreter to geneate output_file by the
-    given template_file and predefined em_globals dict
-    """
-    # check if folder exists:
-    folder_name = os.path.dirname(output_file)
-    if not os.path.exists(folder_name):
-        os.makedirs(folder_name)
-
-    ofile = open(output_file, 'w')
-    # todo, reuse interpreter
-    interpreter = em.Interpreter(output=ofile, globals=em_globals, options={
-                                 em.RAW_OPT: True, em.BUFFERED_OPT: True})
-    try:
-        interpreter.file(open(template_file))
-    except OSError as e:
-        ofile.close()
-        os.remove(output_file)
-        raise
-    interpreter.shutdown()
-    ofile.close()
-    return True
-
-
-def convert_dir(format_idx, inputdir, outputdir, package, templatedir):
-    """
-    Converts all .msg files in inputdir to uORB header/source files
-    """
-
-    # Find the most recent modification time in input dir
-    maxinputtime = 0
-    for f in os.listdir(inputdir):
-        fni = os.path.join(inputdir, f)
-        if os.path.isfile(fni):
-            it = os.path.getmtime(fni)
-            if it > maxinputtime:
-                maxinputtime = it
-
-    # Find the most recent modification time in output dir
-    maxouttime = 0
-    if os.path.isdir(outputdir):
-        for f in os.listdir(outputdir):
-            fni = os.path.join(outputdir, f)
-            if os.path.isfile(fni):
-                it = os.path.getmtime(fni)
-                if it > maxouttime:
-                    maxouttime = it
-
-    # Do not generate if nothing changed on the input
-    if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime):
-        return False
-
-    includepath = INCL_DEFAULT + [':'.join([package, inputdir])]
-    for f in os.listdir(inputdir):
-        # Ignore hidden files
-        if f.startswith("."):
-            continue
-
-        fn = os.path.join(inputdir, f)
-        # Only look at actual files
-        if not os.path.isfile(fn):
-            continue
-
-        if fn[-4:].lower() != '.msg':
-            continue
-
-        generate_output_from_file(
-            format_idx, fn, outputdir, package, templatedir, includepath)
-    return True
-
-
-def copy_changed(inputdir, outputdir, prefix='', quiet=False):
-    """
-    Copies files from inputdir to outputdir if they don't exist in
-    outputdir or if their content changed
-    """
-
-    # Make sure output directory exists:
-    if not os.path.isdir(outputdir):
-        os.makedirs(outputdir)
-
-    for input_file in os.listdir(inputdir):
-        fni = os.path.join(inputdir, input_file)
-        if os.path.isfile(fni):
-            # Check if input_file exists in outpoutdir, copy the file if not
-            fno = os.path.join(outputdir, prefix + input_file)
-            if not os.path.isfile(fno):
-                shutil.copy(fni, fno)
-                if not quiet:
-                    print("{0}: new header file".format(fno))
-                continue
-
-            if os.path.getmtime(fni) > os.path.getmtime(fno):
-                # The file exists in inputdir and outputdir
-                # only copy if contents do not match
-                if not filecmp.cmp(fni, fno):
-                    shutil.copy(fni, fno)
-                    if not quiet:
-                        print("{0}: updated".format(input_file))
-                    continue
-
-            if not quiet:
-                print("{0}: unchanged".format(input_file))
-
-
-def convert_dir_save(format_idx, inputdir, outputdir, package, templatedir, temporarydir, prefix, quiet=False):
-    """
-    Converts all .msg files in inputdir to uORB header files
-    Unchanged existing files are not overwritten.
-    """
-    # Create new headers in temporary output directory
-    convert_dir(format_idx, inputdir, temporarydir, package, templatedir)
-    if generate_idx == 1:
-        generate_topics_list_file(inputdir, temporarydir, TOPICS_LIST_TEMPLATE_FILE[1], templatedir)
-    # Copy changed headers from temporary dir to output dir
-    copy_changed(temporarydir, outputdir, prefix, quiet)
-
-
-def generate_topics_list_file(msgdir, outputdir, template_filename, templatedir):
-    # generate cpp file with topics list
-    msgs = get_msgs_list(msgdir)
-    topics = []
-    for msg in msgs:
-        msg_filename = os.path.join(msgdir, msg)
-        topics.extend(get_topics(msg_filename, msg))
-    tl_globals = {"msgs": msgs, "topics": topics}
-    tl_template_file = os.path.join(templatedir, template_filename)
-    tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
-    generate_by_template(tl_out_file, tl_template_file, tl_globals)
-
-
-def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
-    # Get message file names ending with .msg only
-    msg_filenames = [p for p in files if os.path.basename(p).endswith(".msg")]
-
-    # Get topics used in messages
-    topics = []
-    for msg_filename in msg_filenames:
-        msg_name = os.path.basename(msg_filename).replace('.msg', '')
-        topics.extend(get_topics(msg_filename, msg_name))
-
-    # Get only the message file name for "msgs" component
-    msg_basenames = [os.path.basename(p) for p in msg_filenames]
-
-    # Set the Template dictionary settings
-    tl_globals = {"msgs": msg_basenames, "topics": topics}
-    tl_template_file = os.path.join(templatedir, template_filename)
-    tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
-    generate_by_template(tl_out_file, tl_template_file, tl_globals)
-
-
-def append_to_include_path(path_to_append, curr_include, package):
-    for p in path_to_append:
-        curr_include.append('%s:%s' % (package, p))
-
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser(
-        description='Convert msg files to uorb headers/sources')
-    parser.add_argument('--headers', help='Generate header files',
-                        action='store_true')
-    parser.add_argument('--sources', help='Generate source files',
-                        action='store_true')
-    parser.add_argument('-d', dest='dir', help='directory with msg files')
-    parser.add_argument('-f', dest='file',
-                        help="files to convert (use only without -d)",
-                        nargs="+")
-    parser.add_argument('-i', dest="include_paths",
-                        help='Additional Include Paths', nargs="*",
-                        default=None)
-    parser.add_argument('-e', dest='templatedir',
-                        help='directory with template files',)
-    parser.add_argument('-k', dest='package', default=PACKAGE,
-                        help='package name')
-    parser.add_argument('-o', dest='outputdir',
-                        help='output directory for header files')
-    parser.add_argument('-t', dest='temporarydir',
-                        help='temporary directory')
-    parser.add_argument('-p', dest='prefix', default='',
-                        help='string added as prefix to the output file '
-                        ' name when converting directories')
-    parser.add_argument('-q', dest='quiet', default=False, action='store_true',
-                        help='string added as prefix to the output file '
-                        ' name when converting directories')
-    parser.add_argument('--constrained-flash', dest='constrained_flash', default=False, action='store_true',
-                        help='set to save flash space')
-    args = parser.parse_args()
-
-    if args.include_paths:
-        append_to_include_path(args.include_paths, INCL_DEFAULT, args.package)
-
-    CONSTRAINED_FLASH = args.constrained_flash
-
-    if args.headers:
-        generate_idx = 0
-    elif args.sources:
-        generate_idx = 1
-    else:
-        print('Error: either --headers or --sources must be specified')
-        exit(-1)
-    if args.file is not None:
-        for f in args.file:
-            generate_output_from_file(
-                generate_idx, f, args.temporarydir, args.package, args.templatedir, INCL_DEFAULT)
-
-        # Generate topics list header and source file
-        if os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
-            generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)
-
-        copy_changed(args.temporarydir, args.outputdir, args.prefix, args.quiet)
-    elif args.dir is not None:
-        convert_dir_save(
-            generate_idx,
-            args.dir,
-            args.outputdir,
-            args.package,
-            args.templatedir,
-            args.temporarydir,
-            args.prefix,
-            args.quiet)
diff --git a/msg/tools/uorb_rtps_classifier.py b/msg/tools/uorb_rtps_classifier.py
deleted file mode 100644
index 13a79ffa32..0000000000
--- a/msg/tools/uorb_rtps_classifier.py
+++ /dev/null
@@ -1,186 +0,0 @@
-#!/usr/bin/env python3
-################################################################################
-#
-# Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice, this
-# list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# 3. Neither the name of the copyright holder nor the names of its contributors
-# may be used to endorse or promote products derived from this software without
-# specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-################################################################################
-
-import argparse
-import difflib
-import errno
-import os
-from typing import Dict, List, Tuple
-import yaml
-
-
-class Classifier():
-    """Class to classify RTPS msgs as to send, receive and set their IDs."""
-
-    def __init__(self, yaml_file, msg_folder) -> None:
-        self.msg_folder = msg_folder
-        self.msg_map = self.parse_yaml_msgs_file(yaml_file)
-
-        # Check if base types are defined correctly
-        self.check_base_type()
-
-        # Get messages to send and to receive
-        self.msgs_to_send: Dict[str, int] = dict()
-        self.msgs_to_receive: Dict[str, int] = dict()
-        self.alias_msgs_to_send: List[Tuple[str, str]] = []
-        self.alias_msgs_to_receive: List[Tuple[str, str]] = []
-        self.msg_list: List[str] = []
-
-        # Create message map
-        self.setup_msg_map()
-
-        self.msg_files_send = self.set_msg_files_send()
-        self.msg_files_receive = self.set_msg_files_receive()
-
-    def setup_msg_map(self) -> None:
-        """Setup dictionary with an ID map for the messages."""
-        for topic in self.msg_map['rtps']:
-            if 'send' in list(topic.keys()):
-                if 'base' in list(topic.keys()):
-                    self.alias_msgs_to_send.append(
-                        (topic['msg'], topic['base']))
-                else:
-                    self.msgs_to_send.update({topic['msg']: 0})
-            if 'receive' in list(topic.keys()):
-                if 'base' in list(topic.keys()):
-                    self.alias_msgs_to_receive.append(
-                        (topic['msg'], topic['base']))
-                else:
-                    self.msgs_to_receive.update({topic['msg']: 0})
-            self.msg_list.append(topic['msg'])
-
-    def set_msg_files_send(self) -> list:
-        """
-        Append the path to the files which messages are marked to
-        be sent.
-        """
-        return [os.path.join(self.msg_folder, msg + ".msg")
-                for msg in list(self.msgs_to_send.keys())]
-
-    def set_msg_files_receive(self) -> list:
-        """
-        Append the path to the files which messages are marked to
-        be received.
-        """
-        return [os.path.join(self.msg_folder, msg + ".msg")
-                for msg in list(self.msgs_to_receive.keys())]
-
-    def check_base_type(self) -> None:
-        """Check if alias message has correct base type."""
-        registered_alias_msgs = list(
-            topic['base'] for topic in self.msg_map['rtps'] if 'base' in list(topic.keys()))
-
-        base_types = []
-        for topic in self.msg_map['rtps']:
-            if 'base' not in list(topic.keys()):
-                base_types.append(topic['msg'])
-
-        incorrect_base_types = list(
-            set(registered_alias_msgs) - set(base_types))
-
-        base_types_suggestion = {}
-        for incorrect in incorrect_base_types:
-            base_types_suggestion.update({incorrect: difflib.get_close_matches(
-                incorrect, base_types, n=1, cutoff=0.6)})
-
-        if len(base_types_suggestion) > 0:
-            raise AssertionError(
-                ('\n' + '\n'.join('\t- The multi-topic message base type \'{}\' does not exist.{}'.format(k, (' Did you mean \'' + v[0] + '\'?' if v else '')) for k, v in list(base_types_suggestion.items()))))
-
-    @staticmethod
-    def parse_yaml_msgs_file(yaml_file) -> dict:
-        """Parses a yaml file into a dict."""
-        try:
-            with open(yaml_file, 'r') as file:
-                return yaml.safe_load(file)
-        except OSError as err:
-            if err.errno == errno.ENOENT:
-                raise IOError(errno.ENOENT, os.strerror(
-                    errno.ENOENT), yaml_file)
-            raise
-
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser()
-
-    parser.add_argument("-s", "--send", dest='send',
-                        action="store_true", help="Get topics to be sent")
-    parser.add_argument("-a", "--alias", dest='alias',
-                        action="store_true", help="Get alias topics")
-    parser.add_argument("-r", "--receive", dest='receive',
-                        action="store_true", help="Get topics to be received")
-    parser.add_argument("-i", "--ignore", dest='ignore',
-                        action="store_true", help="Get topics to be ignored")
-    parser.add_argument("-p", "--path", dest='path',
-                        action="store_true", help="Get msgs and its paths")
-    parser.add_argument("-m", "--topic-msg-dir", dest='msgdir', type=str,
-                        help="Topics message dir, by default msg/", default="msg")
-    parser.add_argument("-y", "--rtps-ids-file", dest='yaml_file', type=str,
-                        help="RTPS msg IDs definition file absolute path, by default use relative path to msg, tools/urtps_bridge_topics.yaml",
-                        default='tools/urtps_bridge_topics.yaml')
-
-    # Parse arguments
-    args = parser.parse_args()
-
-    msg_dir = args.msgdir
-    if args.msgdir == 'msg':
-        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))
-
-    if args.send:
-        if args.path:
-            print(('send files: ' + ', '.join(str(msg_file)
-                                              for msg_file in classifier.msg_files_send) + '\n'))
-        else:
-            if args.alias:
-                print((', '.join(str(msg)
-                                 for msg in sorted(classifier.msgs_to_send)) + (' alias ' + ', '.join(msg[0]
-                                                                                                      for msg in classifier.alias_msgs_to_send) if len(classifier.alias_msgs_to_send) > 0 else '') + '\n'))
-            else:
-                print((', '.join(str(msg)
-                                 for msg in sorted(classifier.msgs_to_send))))
-    if args.receive:
-        if args.path:
-            print(('receive files: ' + ', '.join(str(msg_file)
-                                                 for msg_file in classifier.msg_files_receive) + '\n'))
-        else:
-            if args.alias:
-                print((', '.join(str(msg)
-                                 for msg in sorted(classifier.msgs_to_receive)) + (' alias ' + ', '.join(msg[0]
-                                                                                                         for msg in classifier.alias_msgs_to_receive) if len(classifier.alias_msgs_to_receive) > 0 else '') + '\n'))
-            else:
-                print((', '.join(str(msg)
-                                 for msg in sorted(classifier.msgs_to_receive))))
diff --git a/msg/tools/uorb_to_ros_msgs.py b/msg/tools/uorb_to_ros_msgs.py
deleted file mode 100755
index a0d2aa9fb3..0000000000
--- a/msg/tools/uorb_to_ros_msgs.py
+++ /dev/null
@@ -1,127 +0,0 @@
-#!/usr/bin/env python3
-"""
-Script to parse uORB message format to ROS msg format
-Adapted from https://github.com/eProsima/px4_to_ros/blob/master/px4_to_ros2_PoC/px4_msgs/scripts/copy_and_rename.py
-"""
-
-import os
-import re
-import sys
-from shutil import copyfile
-
-__author__ = 'PX4 Development Team'
-__copyright__ = \
-    '''
-     '
-     '   Copyright (c) 2018 PX4 Development Team. All rights reserved.
-     '
-     ' Redistribution and use in source and binary forms, or without
-     ' modification, permitted provided that the following conditions
-     ' are met:
-     '
-     ' 1. Redistributions of source code must retain the above copyright
-     '    notice, list of conditions and the following disclaimer.
-     ' 2. Redistributions in binary form must reproduce the above copyright
-     '    notice, list of conditions and the following disclaimer in
-     '    the documentation and/or other materials provided with the
-     '    distribution.
-     ' 3. Neither the name PX4 nor the names of its contributors may be
-     '    used to endorse or promote products derived from self software
-     '    without specific prior written permission.
-     '
-     ' THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-     ' "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, NOT
-     ' LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-     ' FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-     ' COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-     ' INCIDENTAL, SPECIAL, EXEMPLARY, CONSEQUENTIAL DAMAGES (INCLUDING,
-     ' BUT NOT LIMITED TO, OF SUBSTITUTE GOODS OR SERVICES; LOSS
-     ' OF USE, DATA, PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-     ' AND ON ANY THEORY OF LIABILITY, IN CONTRACT, STRICT
-     ' LIABILITY, TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-     ' ANY WAY OUT OF THE USE OF THIS SOFTWARE, IF ADVISED OF THE
-     ' POSSIBILITY OF SUCH DAMAGE.
-     '
-    '''
-__credits__ = ['Nuno Marques <nuno.marques@dronesolution.io>']
-__license__ = 'BSD-3-Clause'
-__version__ = '0.1.0'
-__maintainer__ = 'Nuno Marques'
-__email__ = 'nuno.marques@dronesolution.io'
-__status__ = 'Development'
-
-input_dir = sys.argv[1]
-output_dir = sys.argv[2]
-
-
-def main():
-    print("-----------------------          \033[1mmicroRTPS bridge uORB to ROS messages\033[0m          -----------------------")
-    print("-------------------------------------------------------------------------------------------------------")
-
-    if not os.path.exists(os.path.abspath(output_dir)):
-        os.mkdir(os.path.abspath(output_dir))
-    else:
-        ros_msg_dir = os.path.abspath(output_dir)
-        msg_files = os.listdir(ros_msg_dir)
-        for msg in msg_files:
-            if msg.endswith(".msg"):
-                os.remove(os.path.join(ros_msg_dir, msg))
-
-    msg_list = list()
-
-    for filename in os.listdir(input_dir):
-        if '.msg' in filename:
-            msg_list.append(filename.rstrip('.msg'))
-            input_file = input_dir + filename
-
-            output_file = output_dir + \
-                filename.partition(".")[0].title().replace('_', '') + ".msg"
-            copyfile(input_file, output_file)
-
-    for filename in os.listdir(output_dir):
-        if '.msg' in filename:
-            input_file = output_dir + filename
-
-            fileUpdated = False
-
-            with open(input_file, 'r') as f:
-                lines = f.readlines()
-                newlines = []
-                alias_msgs = []
-                alias_msg_files = []
-
-                for line in lines:
-                    for msg_type in msg_list:
-                        if ('px4/' + msg_type + ' ') in line:
-                            fileUpdated = True
-                            line = line.replace(('px4/' + msg_type),
-                                                msg_type.partition(".")[0].title().replace('_', ''))
-
-                        if re.findall('^' + msg_type + '[\s\[]', line.partition('#')[0]):
-                            fileUpdated = True
-                            line = line.replace(msg_type,
-                                                msg_type.partition(".")[0].title().replace('_', ''))
-                        if '# TOPICS' in line:
-                            fileUpdated = True
-                            alias_msgs += line.split()
-                            alias_msgs.remove('#')
-                            alias_msgs.remove('TOPICS')
-                            line = line.replace(line, '')
-                    newlines.append(line)
-
-            for msg_file in alias_msgs:
-                with open(output_dir + msg_file.partition(".")[0].title().replace('_', '') + ".msg", 'w+') as f:
-                    for line in newlines:
-                        f.write(line)
-
-            if fileUpdated:
-                with open(input_file, 'w+') as f:
-                    for line in newlines:
-                        f.write(line)
-
-    print("--\t\t- Generated {} ROS message files in '{}'".format(len(os.listdir(output_dir)), os.path.abspath(output_dir)))
-    print("-------------------------------------------------------------------------------------------------------")
-
-
-if __name__ == '__main__':
-    main()
diff --git a/msg/tools/uorb_to_ros_urtps_topics.py b/msg/tools/uorb_to_ros_urtps_topics.py
deleted file mode 100755
index 8ff5f0e59d..0000000000
--- a/msg/tools/uorb_to_ros_urtps_topics.py
+++ /dev/null
@@ -1,160 +0,0 @@
-#!/usr/bin/env python3
-"""
-Script to read an yaml file containing the microRTPS topics and update the naming convention to PascalCase
-"""
-
-import argparse
-import errno
-from pathlib import Path
-import os
-import six
-import yaml
-
-__author__ = 'PX4 Development Team'
-__copyright__ = \
-    '''
-     '
-     '   Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
-     '
-     ' Redistribution and use in source and binary forms, or without
-     ' modification, permitted provided that the following conditions
-     ' are met:
-     '
-     ' 1. Redistributions of source code must retain the above copyright
-     '    notice, list of conditions and the following disclaimer.
-     ' 2. Redistributions in binary form must reproduce the above copyright
-     '    notice, list of conditions and the following disclaimer in
-     '    the documentation and/or other materials provided with the
-     '    distribution.
-     ' 3. Neither the name PX4 nor the names of its contributors may be
-     '    used to endorse or promote products derived from self software
-     '    without specific prior written permission.
-     '
-     ' THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-     ' "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, NOT
-     ' LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-     ' FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-     ' COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-     ' INCIDENTAL, SPECIAL, EXEMPLARY, CONSEQUENTIAL DAMAGES (INCLUDING,
-     ' BUT NOT LIMITED TO, OF SUBSTITUTE GOODS OR SERVICES; LOSS
-     ' OF USE, DATA, PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-     ' AND ON ANY THEORY OF LIABILITY, IN CONTRACT, STRICT
-     ' LIABILITY, TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-     ' ANY WAY OUT OF THE USE OF THIS SOFTWARE, IF ADVISED OF THE
-     ' POSSIBILITY OF SUCH DAMAGE.
-     '
-    '''
-__credits__ = ['Nuno Marques <nuno.marques@dronesolution.io>']
-__license__ = 'BSD-3-Clause'
-__version__ = '0.1.0'
-__maintainer__ = 'Nuno Marques'
-__email__ = 'nuno.marques@dronesolution.io'
-__status__ = 'Development'
-
-verbose = False
-
-
-class IndenterDumper(yaml.Dumper):
-    """ Custom dumper for yaml files that apply the correct indentation """
-
-    def increase_indent(self, flow=False, indentless=False):
-        return super(IndenterDumper, self).increase_indent(flow, False)
-
-
-def load_yaml_file(file):
-    """
-    Open yaml file and parse the data into a list of dict
-
-    :param file: the yaml file to load
-    :returns: the list of dictionaries that represent the topics to send and receive
-    :raises IOError: raises and error when the file is not found
-    """
-    try:
-        with open(file, 'r') as f:
-            if verbose:
-                print(("--\t\t- '%s' file loaded" % file))
-            return yaml.safe_load(f)
-    except OSError as e:
-        if e.errno == errno.ENOENT:
-            raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), file)
-        else:
-            raise
-
-
-def update_dict(list):
-    """
-    Update the message naming on the dictionary to fit the PascalCase convention
-
-    :param file: the list of dicts to be updated
-    """
-    if verbose:
-        num_of_msgs = 0
-    for i, dictionary in enumerate(list["rtps"]):
-        list["rtps"][i] = {k: v.title().replace('_', '') if isinstance(
-            v, six.string_types) else v for k, v in six.iteritems(dictionary)}
-        if verbose:
-            num_of_msgs += 1
-    if verbose:
-        print(("--\t\t- %d ROS message file names updated" % num_of_msgs))
-
-
-def update_yaml_file(list, in_file, out_file):
-    """
-    Open the yaml file to dump the new list of dict toself.
-
-    :param list: the list of updated dicts
-    :param file: the yaml file to load and write the new data
-    :raises IOError: raises and error when the file is not found
-    """
-    try:
-        with open(out_file, 'w') as f:
-            f.write("# AUTOGENERATED-FILE! DO NOT MODIFY IT DIRECTLY.\n#"
-                    " Edit instead the same file under PX4-Autopilot/msg/tools and"
-                    " use the \n# PX4-Autopilot/msg/tools/uorb_to_ros_urtps_topics.py"
-                    " to regenerate this file.\n")
-            yaml.dump(list, f, Dumper=IndenterDumper, default_flow_style=False)
-            if verbose:
-                if in_file == out_file:
-                    print(("--\t\t- '%s' updated" % in_file))
-                else:
-                    print(("--\t\t- '%s' created" % out_file))
-
-    except OSError as err:
-        if err.errno == errno.ENOENT:
-            raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), out_file)
-        raise
-
-
-def main():
-    parser = argparse.ArgumentParser(
-        description='Read an yaml file containing the microRTPS topics and update the naming convention to PascalCase')
-    optional = parser._action_groups.pop()
-    required = parser.add_argument_group('Required')
-    required.add_argument("-i", "--input-file", dest="input_file",
-                          help="Yaml file to read", metavar="INFILE")
-    optional.add_argument("-o", "--output-file", dest="output_file",
-                          help="Yaml file to dump. If not set, it is the same as the input",
-                          metavar="OUTFILE", default="")
-    optional.add_argument("-q", "--quiet", action="store_false", dest="verbose",
-                          default=True, help="Don't print status messages to stdout")
-
-    args = parser.parse_args()
-    global verbose
-    verbose = args.verbose
-    in_file = Path(args.input_file)
-    out_file = Path(args.output_file) if (
-        Path(args.output_file) != in_file and Path(args.output_file) != "") else in_file
-
-    if verbose:
-        print("----------------------          \033[1mmicroRTPS bridge yaml PX4 to ROS topics\033[0m          ----------------------")
-        print("-------------------------------------------------------------------------------------------------------")
-
-    list = load_yaml_file(in_file)
-    update_dict(list)
-    update_yaml_file(list, in_file, out_file)
-    if verbose:
-        print("-------------------------------------------------------------------------------------------------------")
-
-
-if __name__ == "__main__":
-    main()
diff --git a/msg/tools/urtps_bridge_topics.yaml b/msg/tools/urtps_bridge_topics.yaml
deleted file mode 100644
index 747a86c8e3..0000000000
--- a/msg/tools/urtps_bridge_topics.yaml
+++ /dev/null
@@ -1,94 +0,0 @@
-#####
-#
-# This file maps all the topics that are to be used on the microRTPS bridge.
-# When one wants to add a new topic to the bridge, it should add it to this file
-# and mark it to be sent or received from the link.
-# For alias/multi-topic messages (i.e. the ones found on the '#TOPICS' of the
-# uORB messages), these can be also added, requiring an extra entry ('base') to
-# define the base message.
-#
-# IMPORTANT NOTICE: The IDs of the messages sent on the bridge get generated
-# according to the order of the messages in this file. To keep consistency and
-# backwards compatibility, it is recommended that any new message that one wants
-# to be streamed in the bridge gets added to the end of the list. Any changes
-# in the middle of the list (additions, removals, replacements) will change also
-# the current message IDS, which might result with incompatibilities with
-# previous PX4 versions (where the list with this format got introduced or
-# subsisted).
-#
-# Any updates to this file should be mirrored in both sides of the bridge (i.e.,
-# PX4 and px4_ros_com), when using it with ROS2. That can be easily done using
-# the 'msg/tools/uorb_to_ros_urtps_topics.py' script to regenerate this same
-# file under 'px4_ros_com/templates/''. The same is not applicable/required if
-# using this bridge with "raw" RTPS/DDS applications, since the microRTPS agent
-# to be used and stored in 'build/<px4_target>/src/modules/micrortps_bridge/''
-# gets generated using this same list.
-#
-#####
-rtps:
-  # topic ID 1
-  - msg:     debug_array
-    receive: true
-  # topic ID 2
-  - msg:     debug_key_value
-    receive: true
-  # topic ID 3
-  - msg:     debug_value
-    receive: true
-  # ...
-  - msg:     debug_vect
-    receive: true
-  - msg:     offboard_control_mode
-    receive: true
-  - msg:     sensor_optical_flow
-    receive: true
-  - msg:     position_setpoint
-    receive: true
-  - msg:     position_setpoint_triplet
-    receive: true
-  - msg:     telemetry_status
-    receive: true
-  - msg:     timesync
-    receive: true
-    send:    true
-  - msg:     trajectory_waypoint
-    send:    true
-  - msg:     vehicle_command
-    receive: true
-  - msg:     vehicle_control_mode
-    send:    true
-  - msg:     vehicle_local_position_setpoint
-    receive: true
-  - msg:     vehicle_attitude_setpoint
-    receive: true
-  - msg:     vehicle_rates_setpoint
-    receive: true
-  - msg:     trajectory_setpoint
-    receive: true
-  - msg:     vehicle_odometry
-    send:    true
-  - msg:     vehicle_mocap_odometry # multi-topic / alias of vehicle_odometry
-    base:    vehicle_odometry
-    receive: true
-  - msg:     vehicle_visual_odometry # multi-topic / alias of vehicle_odometry
-    base:    vehicle_odometry
-    receive: true
-  - msg:     vehicle_status
-    send:    true
-  - msg:     vehicle_trajectory_waypoint
-    receive: true
-  - msg:     vehicle_trajectory_waypoint_desired # multi-topic / alias of vehicle_trajectory_waypoint
-    base:    vehicle_trajectory_waypoint
-    send:    true
-  - msg:     collision_constraints
-    send:    true
-  - msg:     onboard_computer_status
-    receive: true
-  - msg:     trajectory_bezier
-    receive: true
-  - msg:     vehicle_trajectory_bezier
-    receive: true
-  - msg:     timesync_status
-    send:    true
-  - msg:     sensor_combined
-    send:    true
diff --git a/platforms/common/uORB/Subscription.hpp b/platforms/common/uORB/Subscription.hpp
index 3b56d65e6d..71c8809ad2 100644
--- a/platforms/common/uORB/Subscription.hpp
+++ b/platforms/common/uORB/Subscription.hpp
@@ -181,6 +181,8 @@ public:
 	unsigned get_last_generation() const { return _last_generation; }
 	orb_id_t get_topic() const { return get_orb_meta(_orb_id); }
 
+	ORB_ID orb_id() const { return _orb_id; }
+
 protected:
 
 	friend class SubscriptionCallback;
diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h
index c0fa973251..bf701cbbd1 100644
--- a/src/drivers/drv_hrt.h
+++ b/src/drivers/drv_hrt.h
@@ -139,7 +139,7 @@ static inline hrt_abstime ts_to_abstime(const struct timespec *ts)
 	hrt_abstime	result;
 
 	result = (hrt_abstime)(ts->tv_sec) * 1000000;
-	result += ts->tv_nsec / 1000;
+	result += (hrt_abstime)(ts->tv_nsec / 1000);
 
 	return result;
 }
@@ -149,9 +149,9 @@ static inline hrt_abstime ts_to_abstime(const struct timespec *ts)
  */
 static inline void abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
 {
-	ts->tv_sec = abstime / 1000000;
-	abstime -= ts->tv_sec * 1000000;
-	ts->tv_nsec = abstime * 1000;
+	ts->tv_sec = (time_t)abstime / 1000000;
+	abstime -= (hrt_abstime)(ts->tv_sec * 1000000);
+	ts->tv_nsec = (typeof(ts->tv_nsec))(abstime * 1000);
 }
 
 /**
@@ -249,8 +249,8 @@ __EXPORT extern void px4_lockstep_wait_for_components(void);
 
 #else
 static inline int px4_lockstep_register_component(void) { return 0; }
-static inline void px4_lockstep_unregister_component(int component) { }
-static inline void px4_lockstep_progress(int component) { }
+static inline void px4_lockstep_unregister_component(int component) { (void)component; }
+static inline void px4_lockstep_progress(int component) {(void)component; }
 static inline void px4_lockstep_wait_for_components(void) { }
 #endif /* defined(ENABLE_LOCKSTEP_SCHEDULER) */
 
diff --git a/src/drivers/protocol_splitter/Kconfig b/src/drivers/protocol_splitter/Kconfig
deleted file mode 100644
index f251603986..0000000000
--- a/src/drivers/protocol_splitter/Kconfig
+++ /dev/null
@@ -1,5 +0,0 @@
-menuconfig DRIVERS_PROTOCOL_SPLITTER
-	bool "protocol_splitter"
-	default n
-	---help---
-		Enable support for protocol_splitter
\ No newline at end of file
diff --git a/src/drivers/protocol_splitter/protocol_splitter.cpp b/src/drivers/protocol_splitter/protocol_splitter.cpp
deleted file mode 100644
index dacf0bb4c5..0000000000
--- a/src/drivers/protocol_splitter/protocol_splitter.cpp
+++ /dev/null
@@ -1,845 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file protocol_splitter.cpp
- *
- * NuttX Driver to multiplex MAVLink and RTPS on a single serial port.
- * Makes sure the two protocols can be read & written simultaneously by two
- * processes.
- *
- * It will create two devices:
- *    /dev/mavlink
- *    /dev/rtps
- */
-
-#include <lib/cdev/CDev.hpp>
-#include <px4_platform_common/sem.hpp>
-#include <px4_platform_common/log.h>
-#include <lib/perf/perf_counter.h>
-#include <mathlib/mathlib.h>
-
-#include <sys/ioctl.h>
-#include <assert.h>
-#include <unistd.h>
-#include <termios.h>
-#include <errno.h>
-#include <cstdint>
-#include <cstring>
-
-
-class Mavlink2Dev;
-class RtpsDev;
-class ReadBuffer;
-
-extern "C" __EXPORT int protocol_splitter_main(int argc, char *argv[]);
-
-/*
- MessageType is in MSB of header[1]
-                |
-                v
-        Mavlink 0000 0000b
-        Rtps    1000 0000b
-*/
-enum class MessageType : uint8_t {Mavlink = 0x00, Rtps = 0x01};
-
-constexpr char  Sp2HeaderMagic = 'S';
-constexpr int   Sp2HeaderSize  = 4;
-
-/*
- Header Structure:
-
-      bits:   1 2 3 4 5 6 7 8
- header[0] - |     Magic     |
- header[1] - |T|   LenH      |
- header[2] - |     LenL      |
- header[3] - |   Checksum    |
-*/
-union __attribute__((packed)) Sp2Header {
-	uint8_t bytes[4];
-	struct {
-		char magic;                // 'S'
-		uint8_t len_h:	7,         // Length MSB
-			 type:	1;         // 0=MAVLINK, 1=RTPS
-		uint8_t len_l;             // Length LSB
-		uint8_t checksum;          // XOR of the three bytes above
-	} fields;
-};
-
-struct StaticData {
-	Mavlink2Dev *mavlink2;
-	RtpsDev *rtps;
-	sem_t r_lock;
-	sem_t w_lock;
-	char device_name[16];
-	ReadBuffer *read_buffer;
-};
-
-namespace
-{
-static StaticData *objects = nullptr;
-}
-
-// Perf counters
-perf_counter_t bytes_received_count;
-perf_counter_t header_bytes_received_count;
-perf_counter_t bytes_lost_count;
-perf_counter_t mavlink_messages_parsed_count;
-perf_counter_t mavlink_bytes_parsed_count;
-perf_counter_t rtps_messages_parsed_count;
-perf_counter_t rtps_bytes_parsed_count;
-perf_counter_t buffer_drops;
-
-class ReadBuffer
-{
-public:
-	int read(int fd);
-	void copy(void *dest, size_t pos, size_t n);
-	void remove(size_t pos, size_t n);
-
-	void print_stats();
-	void update_lost_stats();
-
-	uint8_t buffer[1024] = {};
-	size_t buf_size = 0;
-
-	static const size_t BUFFER_THRESHOLD = sizeof(buffer) * 0.8;
-
-	// We keep track of the first Mavlink and Rtps packet in the buffer.
-	// If start and end are equal there is no packet.
-	size_t start_mavlink = 0;
-	size_t end_mavlink = 0;
-	size_t start_rtps = 0;
-	size_t end_rtps = 0;
-	// Just for stats.
-	size_t mavlink_parsed = 0;
-	size_t rtps_parsed = 0;
-	size_t bytes_received = 0;
-	size_t bytes_lost = 0;
-	size_t header_bytes_received = 0;
-};
-
-int ReadBuffer::read(int fd)
-{
-	if (buf_size > BUFFER_THRESHOLD) {
-		// Drop the buffer if it's too full. This is not expected to happen, but it might, if one of the readers
-		// is too slow. In that case it's best to make space for new data, otherwise the faster reader might
-		// busy-loop w/o getting new data.
-		perf_count(buffer_drops);
-
-		PX4_DEBUG("Buffer full, dropping: %zu %zu %zu %zu", start_mavlink, end_mavlink, start_rtps, end_rtps);
-
-		// Drop only as much as we have to
-		size_t num_remove = math::max(start_mavlink, start_rtps);
-
-		if (num_remove == 0) {
-			num_remove = buf_size;
-		}
-
-		remove(0, num_remove);
-		start_mavlink -= math::min(num_remove, start_mavlink);
-		end_mavlink -= math::min(num_remove, end_mavlink);
-		start_rtps -= math::min(num_remove, start_rtps);
-		end_rtps -= math::min(num_remove, end_rtps);
-	}
-
-	int bytes_available = 0;
-	int err = ::ioctl(fd, FIONREAD, (unsigned long)&bytes_available);
-	ssize_t r = 0;
-
-	if (err != 0 || bytes_available > 0) {
-		r = ::read(fd, buffer + buf_size, sizeof(buffer) - buf_size);
-	}
-
-	if (r <= 0) {
-		return r;
-	}
-
-	buf_size += r;
-	bytes_received += r;
-
-	// Update the lost/unused bytes count
-	update_lost_stats();
-
-	perf_set_count(bytes_received_count, bytes_received);
-
-	return r;
-}
-
-void ReadBuffer::copy(void *dest, size_t pos, size_t n)
-{
-	ASSERT(pos < buf_size);
-	ASSERT(pos + n <= buf_size);
-
-	if (dest) {
-		memcpy(dest, buffer + pos, n);
-	}
-}
-
-void ReadBuffer::remove(size_t pos, size_t n)
-{
-	ASSERT(pos < buf_size);
-	ASSERT(pos + n <= buf_size);
-
-	memmove(buffer + pos, buffer + (pos + n), buf_size - pos - n);
-	buf_size -= n;
-}
-
-void ReadBuffer::update_lost_stats()
-{
-	bytes_lost = bytes_received - mavlink_parsed - rtps_parsed - header_bytes_received;
-
-	if (end_mavlink > start_mavlink) {
-		bytes_lost -= end_mavlink - start_mavlink;
-	}
-
-	if (end_rtps > start_rtps) {
-		bytes_lost -= end_rtps - start_rtps;
-	}
-
-	perf_set_count(bytes_lost_count, bytes_lost);
-}
-
-void ReadBuffer::print_stats()
-{
-	PX4_INFO_RAW("\tReceived:\n");
-	PX4_INFO_RAW("\tTotal:   %9zu bytes\n",
-		     bytes_received);
-	PX4_INFO_RAW("\tHeaders: %9zu bytes (%5.1f %%)\n",
-		     header_bytes_received,
-		     static_cast<double>(static_cast<float>(header_bytes_received)
-					 / static_cast<float>(bytes_received)
-					 * 100.f));
-	PX4_INFO_RAW("\tMAVLink: %9zu bytes (%5.1f %%)\n",
-		     mavlink_parsed,
-		     static_cast<double>(static_cast<float>(mavlink_parsed)
-					 / static_cast<float>(bytes_received - header_bytes_received)
-					 * 100.f));
-	PX4_INFO_RAW("\tRTPS:    %9zu bytes (%5.1f %%)\n",
-		     rtps_parsed,
-		     static_cast<double>(static_cast<float>(rtps_parsed)
-					 / static_cast<float>(bytes_received - header_bytes_received)
-					 * 100.f));
-
-	PX4_INFO_RAW("\tUnused:  %9zu bytes (%5.1f %%)\n", bytes_lost,
-		     static_cast<double>(static_cast<float>(bytes_lost)
-					 / static_cast<float>(bytes_received)
-					 * 100.f));
-}
-
-
-class DevCommon : public cdev::CDev
-{
-public:
-	DevCommon(const char *device_path, ReadBuffer *read_buffer);
-	virtual ~DevCommon();
-
-	virtual int	ioctl(struct file *filp, int cmd, unsigned long arg);
-
-	virtual int	open(file *filp);
-	virtual int	close(file *filp);
-
-	enum Operation {Read, Write};
-
-protected:
-
-	virtual pollevent_t poll_state(struct file *filp);
-
-	int try_to_copy_data(char *buffer, size_t buflen, MessageType message_type);
-	void scan_for_packets();
-	void cleanup();
-
-	void lock(enum Operation op)
-	{
-		sem_t *this_lock = op == Read ? &objects->r_lock : &objects->w_lock;
-
-		while (sem_wait(this_lock) != 0) {
-			/* The only case that an error should occur here is if
-			 * the wait was awakened by a signal.
-			 */
-			ASSERT(get_errno() == EINTR);
-		}
-	}
-
-	void unlock(enum Operation op)
-	{
-		sem_t *this_lock = op == Read ? &objects->r_lock : &objects->w_lock;
-		sem_post(this_lock);
-	}
-
-	int _fd = -1;
-
-	Sp2Header _header;
-
-	ReadBuffer *_read_buffer;
-};
-
-DevCommon::DevCommon(const char *device_path, ReadBuffer *read_buffer)
-	: CDev(device_path)
-	, _read_buffer(read_buffer)
-{
-}
-
-DevCommon::~DevCommon()
-{
-	if (_fd >= 0) {
-		// discard all pending data, as close() might block otherwise on NuttX with flow control enabled
-		tcflush(_fd, TCIOFLUSH);
-		::close(_fd);
-	}
-}
-
-int DevCommon::ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	if (cmd == FIONSPACE) {
-		int ret = ::ioctl(_fd, FIONSPACE, arg);
-
-		if (ret == 0) {
-			int *buf_free = (int *)arg;
-			*buf_free -= sizeof(_header);
-
-			if (*buf_free < 0) {
-				*buf_free = 0;
-			}
-		}
-
-		return ret;
-	}
-
-	return ::ioctl(_fd, cmd, arg);
-}
-
-int DevCommon::open(file *filp)
-{
-	_fd = ::open(objects->device_name, O_RDWR | O_NOCTTY);
-
-	if (_fd < 0) {
-		PX4_ERR("open failed: %s", strerror(errno));
-		return -1;
-	}
-
-	CDev::open(filp);
-
-
-	return 0;
-}
-
-int DevCommon::close(file *filp)
-{
-	//int ret = ::close(_fd); // FIXME: calling this results in a dead-lock, because DevCommon::close()
-	// is called from within another close(), and NuttX seems to hold a semaphore at this point
-	_fd = -1;
-	CDev::close(filp);
-	return 0;
-}
-
-pollevent_t DevCommon::poll_state(struct file *filp)
-{
-	pollfd fds[1];
-	fds[0].fd = _fd;
-	fds[0].events = POLLIN;
-
-	/* Here we should just check the poll state (which is called before an actual poll waiting).
-	 * Instead we poll on the fd with some timeout, and then pretend that there is data.
-	 * This will let the calling poll return immediately (there's still no busy loop since
-	 * we do actually poll here).
-	 * We do this because there is no simple way with the given interface to poll on
-	 * the _fd in here or by overriding some other method.
-	 */
-
-	::poll(fds, sizeof(fds) / sizeof(fds[0]), 10);
-
-	return POLLIN;
-}
-
-int DevCommon::try_to_copy_data(char *buffer, size_t buflen, MessageType message_type)
-{
-	if (buflen == 0) {
-		return 0;
-	}
-
-	switch (message_type) {
-	case MessageType::Mavlink:
-		if (_read_buffer->start_mavlink < _read_buffer->end_mavlink) {
-			// We have Mavlink data ready to send.
-			const size_t len_available = _read_buffer->end_mavlink - _read_buffer->start_mavlink;
-			// We can only send what fits in the callers buffer.
-			const size_t len_to_copy = math::min(len_available, buflen);
-
-			// Copy it to the callers buffer and remove it from our buffer.
-			_read_buffer->copy(buffer, _read_buffer->start_mavlink, len_to_copy);
-
-			// Shift the markers accordingly.
-			_read_buffer->start_mavlink += len_to_copy;
-
-			// Keep track for stats.
-			_read_buffer->mavlink_parsed += len_to_copy;
-
-			// Update the lost/unused bytes count
-			_read_buffer->update_lost_stats();
-
-			// Update the number of MAVLink bytes parsed
-			perf_set_count(mavlink_bytes_parsed_count, _read_buffer->mavlink_parsed);
-
-			// Update the number of MAVLink messages parsed
-			perf_count(mavlink_messages_parsed_count);
-
-			return len_to_copy;
-
-		} else {
-			return 0;
-		}
-
-	case MessageType::Rtps:
-		if (_read_buffer->start_rtps < _read_buffer->end_rtps) {
-			// We have Rtps data ready to send
-			const size_t len_available = _read_buffer->end_rtps - _read_buffer->start_rtps;
-			// We can only send what fits in the callers buffer.
-			const size_t len_to_copy = math::min(len_available, buflen);
-
-			// Copy it to the callers buffer and remove it from our buffer.
-			_read_buffer->copy(buffer, _read_buffer->start_rtps, len_to_copy);
-
-			// Shift the markers accordingly.
-			_read_buffer->start_rtps += len_to_copy;
-
-			// Keep track for stats.
-			_read_buffer->rtps_parsed += len_to_copy;
-
-			// Update the lost/unused bytes count
-			_read_buffer->update_lost_stats();
-
-			// Update the number of RTPS bytes parsed
-			perf_set_count(rtps_bytes_parsed_count, _read_buffer->rtps_parsed);
-
-			// Update the number of RTPS messages parsed
-			perf_count(rtps_messages_parsed_count);
-
-			return len_to_copy;
-
-		} else {
-			return 0;
-		}
-
-		break;
-
-
-	default:
-		return 0;
-	}
-}
-
-void DevCommon::scan_for_packets()
-{
-	if (_read_buffer->buf_size < Sp2HeaderSize) {
-		// We have not even one header in the buffer, no need to scan yet.
-		return;
-	}
-
-	bool mavlink_available = (_read_buffer->start_mavlink < _read_buffer->end_mavlink);
-	bool rtps_available = (_read_buffer->start_rtps < _read_buffer->end_rtps);
-
-	if (mavlink_available && rtps_available) {
-		// We still have data for both, no need to scan yet.
-		return;
-	}
-
-	const size_t begin = math::min(_read_buffer->end_mavlink, _read_buffer->end_rtps);
-
-	for (size_t i = begin; i < _read_buffer->buf_size - Sp2HeaderSize; /* ++i */) {
-
-		const Sp2Header *header = reinterpret_cast<Sp2Header *>(&_read_buffer->buffer[i]);
-
-		if (header->fields.magic != Sp2HeaderMagic) {
-			// Not the magic byte that we're looking for.
-			++i;
-			continue;
-		}
-
-		const uint8_t checksum = (_read_buffer->buffer[i] ^ _read_buffer->buffer[i + 1] ^ _read_buffer->buffer[i + 2]);
-
-		if (header->fields.checksum != checksum) {
-			// Checksum failed.
-			++i;
-			continue;
-		}
-
-		if (header->fields.type != static_cast<uint8_t>(MessageType::Mavlink) &&
-		    header->fields.type != static_cast<uint8_t>(MessageType::Rtps)) {
-			// Ignore unknown protocols
-			++i;
-			continue;
-		}
-
-		const size_t payload_len = ((uint16_t)header->fields.len_h << 8) | header->fields.len_l;
-
-		if (payload_len > sizeof(_read_buffer->buffer)) {
-			// This can happen if by accident data matches the header including checksum.
-			// Given we skip most data using the last payload_len, we should not see this too often,
-			// unless the link is very lossy and we often have to re-sync.
-			PX4_DEBUG("payload size %zu > buffer size %zu: %d, protocol: %s",
-				  payload_len, sizeof(_read_buffer->buffer),
-				  (header->fields.type == static_cast<uint8_t>(MessageType::Mavlink)) ? "Mavlink" : "Rtps");
-			++i;
-			continue;
-		}
-
-		if (i + Sp2HeaderSize + payload_len > _read_buffer->buf_size) {
-			// We don't have a enough data in the buffer yet, try again later.
-			break;
-		}
-
-		if (header->fields.type == static_cast<uint8_t>(MessageType::Mavlink) && !mavlink_available) {
-			_read_buffer->start_mavlink = i + Sp2HeaderSize;
-			_read_buffer->end_mavlink = _read_buffer->start_mavlink + payload_len;
-			mavlink_available = true;
-
-			// Overwrite header magic byte, so we don't parse them again.
-			_read_buffer->buffer[i] = 0;
-			_read_buffer->header_bytes_received += Sp2HeaderSize;
-
-		} else if (header->fields.type == static_cast<uint8_t>(MessageType::Rtps) && !rtps_available) {
-			_read_buffer->start_rtps = i + Sp2HeaderSize;
-			_read_buffer->end_rtps = _read_buffer->start_rtps + payload_len;
-			rtps_available = true;
-
-			// Overwrite header magic byte, so we don't parse them again.
-			_read_buffer->buffer[i] = 0;
-			_read_buffer->header_bytes_received += Sp2HeaderSize;
-		}
-
-		if (mavlink_available && rtps_available) {
-			// Both have at least one message ready, we can stop now.
-			break;
-		}
-
-		// Update the lost/unused bytes count
-		_read_buffer->update_lost_stats();
-
-		perf_set_count(header_bytes_received_count, _read_buffer->header_bytes_received);
-
-		i += Sp2HeaderSize + payload_len;
-
-	}
-}
-
-
-void DevCommon::cleanup()
-{
-	const bool mavlink_available = (_read_buffer->start_mavlink < _read_buffer->end_mavlink);
-	const bool rtps_available = (_read_buffer->start_rtps < _read_buffer->end_rtps);
-
-	// Clean up garbage bytes and accumulated headers
-
-	size_t garbage_end = 0;
-
-	if (!mavlink_available && !rtps_available) {
-		garbage_end = math::max(_read_buffer->start_mavlink, _read_buffer->start_rtps);
-
-	} else {
-		garbage_end = math::min(_read_buffer->start_mavlink, _read_buffer->start_rtps);
-	}
-
-	if (garbage_end > 0) {
-		_read_buffer->remove(0, garbage_end);
-
-		_read_buffer->start_mavlink -= math::min(garbage_end, _read_buffer->start_mavlink);
-		_read_buffer->end_mavlink -= math::min(garbage_end, _read_buffer->end_mavlink);
-		_read_buffer->start_rtps -= math::min(garbage_end, _read_buffer->start_rtps);
-		_read_buffer->end_rtps -= math::min(garbage_end, _read_buffer->end_rtps);
-	}
-}
-
-
-class Mavlink2Dev : public DevCommon
-{
-public:
-	Mavlink2Dev(ReadBuffer *read_buffer);
-	virtual ~Mavlink2Dev() {}
-
-	virtual ssize_t	read(struct file *filp, char *buffer, size_t buflen);
-	virtual ssize_t	write(struct file *filp, const char *buffer, size_t buflen);
-};
-
-Mavlink2Dev::Mavlink2Dev(ReadBuffer *read_buffer)
-	: DevCommon("/dev/mavlink", read_buffer)
-{
-	_header.fields.magic 		= Sp2HeaderMagic;
-	_header.fields.len_h 		= 0;
-	_header.fields.len_l 		= 0;
-	_header.fields.checksum		= 0;
-	_header.fields.type		= static_cast<uint8_t>(MessageType::Mavlink);
-}
-
-ssize_t Mavlink2Dev::read(struct file *filp, char *buffer, size_t buflen)
-{
-	lock(Read);
-
-	// The cleanup needs to be right after a scan, so we don't clean up
-	// something that we haven't found yet.
-	scan_for_packets();
-	cleanup();
-
-	// If we have already a packet ready in the current buffer, we don't have
-	// to read and can grab data straightaway.
-	int ret = try_to_copy_data(buffer, buflen, MessageType::Mavlink);
-
-	if (ret > 0) {
-		unlock(Read);
-		return ret;
-	}
-
-	// Otherwise, we have to do a read.
-	ret = _read_buffer->read(_fd);
-
-	if (ret <= 0) {
-		unlock(Read);
-		return ret;
-	}
-
-	// Now we need to check again if there is data available.
-	scan_for_packets();
-
-	// And try to copy it out.
-	ret = try_to_copy_data(buffer, buflen, MessageType::Mavlink);
-
-	unlock(Read);
-	return ret;
-}
-
-ssize_t Mavlink2Dev::write(struct file *filp, const char *buffer, size_t buflen)
-{
-	_header.fields.len_h = (buflen >> 8) & 0x7f;
-	_header.fields.len_l = buflen & 0xff;
-	_header.fields.checksum = _header.bytes[0] ^ _header.bytes[1] ^ _header.bytes[2];
-	lock(Write);
-	int buf_free = 0;
-	::ioctl(_fd, FIONSPACE, (unsigned long)&buf_free);
-	ssize_t ret = -1;
-
-	if ((size_t)buf_free >= sizeof(_header) + buflen) {
-		ret = ::write(_fd, _header.bytes, sizeof(_header));
-
-		if (ret == sizeof(_header)) {
-			ret = ::write(_fd, buffer, buflen);
-		}
-	}
-
-	unlock(Write);
-
-	return ret;
-}
-
-class RtpsDev : public DevCommon
-{
-public:
-	RtpsDev(ReadBuffer *read_buffer);
-	virtual ~RtpsDev() {}
-
-	virtual ssize_t	read(struct file *filp, char *buffer, size_t buflen);
-	virtual ssize_t	write(struct file *filp, const char *buffer, size_t buflen);
-
-protected:
-	static const uint8_t HEADER_SIZE = 10;
-};
-
-RtpsDev::RtpsDev(ReadBuffer *read_buffer)
-	: DevCommon("/dev/rtps", read_buffer)
-{
-	_header.fields.magic		= Sp2HeaderMagic;
-	_header.fields.len_h		= 0;
-	_header.fields.len_l		= 0;
-	_header.fields.checksum		= 0;
-	_header.fields.type		= static_cast<uint8_t>(MessageType::Rtps);
-}
-
-ssize_t RtpsDev::read(struct file *filp, char *buffer, size_t buflen)
-{
-	lock(Read);
-
-	scan_for_packets();
-	cleanup();
-
-	// If we have already a packet ready in the current buffer, we don't have to read.
-	int ret = try_to_copy_data(buffer, buflen, MessageType::Rtps);
-
-	if (ret > 0) {
-		unlock(Read);
-		return ret;
-	}
-
-	// Otherwise, we have to do a read.
-	ret = _read_buffer->read(_fd);
-
-	if (ret <= 0) {
-		unlock(Read);
-		return ret;
-	}
-
-	scan_for_packets();
-
-	// And check again.
-	ret = try_to_copy_data(buffer, buflen, MessageType::Rtps);
-
-	unlock(Read);
-	return ret;
-}
-
-ssize_t RtpsDev::write(struct file *filp, const char *buffer, size_t buflen)
-{
-	_header.fields.len_h = (buflen >> 8) & 0x7f;
-	_header.fields.len_l = buflen & 0xff;
-	_header.fields.checksum = _header.bytes[0] ^ _header.bytes[1] ^ _header.bytes[2];
-	lock(Write);
-	int buf_free = 0;
-	ssize_t ret = -1;
-	::ioctl(_fd, FIONSPACE, (unsigned long)&buf_free);
-
-	if ((size_t)buf_free >= sizeof(_header) + buflen) {
-		ret = ::write(_fd, _header.bytes, sizeof(_header));
-
-		if (ret == sizeof(_header)) {
-			ret = ::write(_fd, buffer, buflen);
-		}
-	}
-
-	unlock(Write);
-
-	return ret;
-}
-
-int protocol_splitter_main(int argc, char *argv[])
-{
-	if (argc < 2) {
-		goto out;
-	}
-
-	/*
-	 * Start/load the driver.
-	 */
-	if (!strcmp(argv[1], "start")) {
-		if (objects) {
-			PX4_WARN("already running");
-			return 1;
-		}
-
-		if (argc != 3) {
-			goto out;
-		}
-
-		objects = new StaticData();
-
-		if (!objects) {
-			PX4_ERR("alloc failed");
-			return -1;
-		}
-
-		bytes_received_count = perf_alloc(PC_COUNT, "protocol_splitter: bytes received");
-		bytes_lost_count = perf_alloc(PC_COUNT, "protocol_splitter: bytes unused/lost");
-		header_bytes_received_count = perf_alloc(PC_COUNT, "protocol_splitter: header bytes received");
-		mavlink_messages_parsed_count = perf_alloc(PC_COUNT, "protocol_splitter: MAVLink msgs parsed");
-		mavlink_bytes_parsed_count = perf_alloc(PC_COUNT, "protocol_splitter: MAVLink msgs bytes parsed");
-		rtps_messages_parsed_count = perf_alloc(PC_COUNT, "protocol_splitter: RTPS msgs parsed");
-		rtps_bytes_parsed_count = perf_alloc(PC_COUNT, "protocol_splitter: RTPS msgs bytes parsed");
-		buffer_drops = perf_alloc(PC_COUNT, "protocol_splitter: buffer drops");
-
-		strncpy(objects->device_name, argv[2], sizeof(objects->device_name));
-		sem_init(&objects->r_lock, 1, 1);
-		sem_init(&objects->w_lock, 1, 1);
-		objects->read_buffer = new ReadBuffer();
-		objects->mavlink2 = new Mavlink2Dev(objects->read_buffer);
-		objects->rtps = new RtpsDev(objects->read_buffer);
-
-		if (!objects->mavlink2 || !objects->rtps) {
-			delete objects->mavlink2;
-			delete objects->rtps;
-			delete objects->read_buffer;
-			sem_destroy(&objects->r_lock);
-			sem_destroy(&objects->w_lock);
-			delete objects;
-			objects = nullptr;
-			PX4_ERR("alloc failed");
-			return -1;
-
-		} else {
-			objects->mavlink2->init();
-			objects->rtps->init();
-		}
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		if (objects) {
-			delete objects->mavlink2;
-			delete objects->rtps;
-			delete objects->read_buffer;
-			sem_destroy(&objects->r_lock);
-			sem_destroy(&objects->w_lock);
-			delete objects;
-			objects = nullptr;
-
-			perf_free(bytes_received_count);
-			perf_free(header_bytes_received_count);
-			perf_free(bytes_lost_count);
-			perf_free(mavlink_messages_parsed_count);
-			perf_free(mavlink_bytes_parsed_count);
-			perf_free(rtps_messages_parsed_count);
-			perf_free(rtps_bytes_parsed_count);
-			perf_free(buffer_drops);
-		}
-	}
-
-	/*
-	 * Print driver status.
-	 */
-	if (!strcmp(argv[1], "status")) {
-		if (objects) {
-			PX4_INFO("running");
-
-			if (sem_wait(&objects->r_lock) != 0) {
-				return -1;
-			}
-
-			objects->read_buffer->print_stats();
-			sem_post(&objects->r_lock);
-
-		} else {
-			PX4_INFO("not running");
-		}
-	}
-
-	return 0;
-
-out:
-	PX4_ERR("unrecognized command, try 'start <device>', 'stop', 'status'");
-	return 1;
-}
diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt
index 1601c4d4e6..14b4dcf9f6 100644
--- a/src/lib/CMakeLists.txt
+++ b/src/lib/CMakeLists.txt
@@ -65,6 +65,7 @@ add_subdirectory(systemlib)
 add_subdirectory(system_identification)
 add_subdirectory(tecs)
 add_subdirectory(terrain_estimation)
+add_subdirectory(timesync)
 add_subdirectory(tunes)
 add_subdirectory(version)
 add_subdirectory(weather_vane)
diff --git a/src/drivers/protocol_splitter/CMakeLists.txt b/src/lib/timesync/CMakeLists.txt
similarity index 90%
rename from src/drivers/protocol_splitter/CMakeLists.txt
rename to src/lib/timesync/CMakeLists.txt
index 8e09f1b106..dc150e0e79 100644
--- a/src/drivers/protocol_splitter/CMakeLists.txt
+++ b/src/lib/timesync/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2022 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -30,10 +30,9 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-px4_add_module(
-	MODULE drivers__protocol_splitter
-	MAIN protocol_splitter
-	SRCS
-		protocol_splitter.cpp
-	DEPENDS
-	)
+
+px4_add_library(timesync
+	Timesync.cpp
+	Timesync.hpp
+)
+target_link_libraries(timesync)
diff --git a/src/lib/timesync/Timesync.cpp b/src/lib/timesync/Timesync.cpp
new file mode 100644
index 0000000000..84961b128a
--- /dev/null
+++ b/src/lib/timesync/Timesync.cpp
@@ -0,0 +1,168 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file timesync.cpp
+ * timesync implementation.
+ *
+ * @author Mohammed Kabir <mhkabir98@gmail.com>
+ */
+
+#include "Timesync.hpp"
+
+#include <stdlib.h>
+
+void Timesync::update(const uint64_t now_us, const int64_t remote_timestamp_ns, const int64_t originate_timestamp_ns)
+{
+	// Message originating from this system, compute time offset from it
+	if (remote_timestamp_ns > 0) {
+		// Calculate time offset between this system and the remote system, assuming RTT for
+		// the timesync packet is roughly equal both ways.
+		int64_t offset_us = (int64_t)((originate_timestamp_ns / 1000ULL) + now_us - (remote_timestamp_ns / 1000ULL) * 2) / 2 ;
+
+		// Calculate the round trip time (RTT) it took the timesync packet to bounce back to us from remote system
+		uint64_t rtt_us = now_us - (originate_timestamp_ns / 1000ULL);
+
+		// Calculate the difference of this sample from the current estimate
+		uint64_t deviation = llabs((int64_t)_time_offset - offset_us);
+
+		if (rtt_us < MAX_RTT_SAMPLE) {	// Only use samples with low RTT
+
+			if (sync_converged() && (deviation > MAX_DEVIATION_SAMPLE)) {
+
+				// Increment the counter if we have a good estimate and are getting samples far from the estimate
+				_high_deviation_count++;
+
+				// We reset the filter if we received 5 consecutive samples which violate our present estimate.
+				// This is most likely due to a time jump on the offboard system.
+				if (_high_deviation_count > MAX_CONSECUTIVE_HIGH_DEVIATION) {
+					PX4_ERR("Time jump detected. Resetting time synchroniser.");
+					// Reset the filter
+					reset_filter();
+				}
+
+			} else {
+
+				// Filter gain scheduling
+				if (!sync_converged()) {
+					// Interpolate with a sigmoid function
+					double progress = (double)_sequence / (double)CONVERGENCE_WINDOW;
+					double p = 1.0 - exp(0.5 * (1.0 - 1.0 / (1.0 - progress)));
+					_filter_alpha = p * ALPHA_GAIN_FINAL + (1.0 - p) * ALPHA_GAIN_INITIAL;
+					_filter_beta = p * BETA_GAIN_FINAL + (1.0 - p) * BETA_GAIN_INITIAL;
+
+				} else {
+					_filter_alpha = ALPHA_GAIN_FINAL;
+					_filter_beta = BETA_GAIN_FINAL;
+				}
+
+				// Perform filter update
+				add_sample(offset_us);
+
+				// Increment sequence counter after filter update
+				_sequence++;
+
+				// Reset high deviation count after filter update
+				_high_deviation_count = 0;
+
+				// Reset high RTT count after filter update
+				_high_rtt_count = 0;
+			}
+
+		} else {
+			// Increment counter if round trip time is too high for accurate timesync
+			_high_rtt_count++;
+
+			if (_high_rtt_count > MAX_CONSECUTIVE_HIGH_RTT) {
+				PX4_WARN("RTT too high for timesync: %llu ms", rtt_us / 1000ULL);
+				// Reset counter to rate-limit warnings
+				_high_rtt_count = 0;
+			}
+
+		}
+
+		// Publish status message
+		timesync_status_s tsync_status{};
+		tsync_status.source_protocol = _source;
+		tsync_status.remote_timestamp = remote_timestamp_ns / 1000ULL;
+		tsync_status.observed_offset = offset_us;
+		tsync_status.estimated_offset = (int64_t)_time_offset;
+		tsync_status.round_trip_time = rtt_us;
+		tsync_status.timestamp = hrt_absolute_time();
+
+		_timesync_status_pub.publish(tsync_status);
+	}
+}
+
+uint64_t Timesync::sync_stamp(uint64_t usec)
+{
+	// Only return synchronised stamp if we have converged to a good value
+	if (sync_converged()) {
+		return usec + (int64_t)_time_offset;
+
+	} else {
+		return hrt_absolute_time();
+	}
+}
+
+void Timesync::add_sample(int64_t offset_us)
+{
+	// Online exponential smoothing filter. The derivative of the estimate is also
+	// estimated in order to produce an estimate without steady state lag:
+	// https://en.wikipedia.org/wiki/Exponential_smoothing#Double_exponential_smoothing
+	double time_offset_prev = _time_offset;
+
+	if (_sequence == 0) {
+		// First offset sample
+		_time_offset = offset_us;
+
+	} else {
+		// Update the clock offset estimate
+		_time_offset = _filter_alpha * offset_us + (1.0 - _filter_alpha) * (_time_offset + _time_skew);
+
+		// Update the clock skew estimate
+		_time_skew = _filter_beta * (_time_offset - time_offset_prev) + (1.0 - _filter_beta) * _time_skew;
+	}
+}
+
+void Timesync::reset_filter()
+{
+	// Do a full reset of all statistics and parameters
+	_sequence = 0;
+	_time_offset = 0.0;
+	_time_skew = 0.0;
+	_filter_alpha = ALPHA_GAIN_INITIAL;
+	_filter_beta = BETA_GAIN_INITIAL;
+	_high_deviation_count = 0;
+	_high_rtt_count = 0;
+}
diff --git a/src/lib/timesync/Timesync.hpp b/src/lib/timesync/Timesync.hpp
new file mode 100644
index 0000000000..b17766b09a
--- /dev/null
+++ b/src/lib/timesync/Timesync.hpp
@@ -0,0 +1,144 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Timesync.hpp
+ * time synchroniser definition.
+ *
+ * @author Mohammed Kabir <mhkabir98@gmail.com>
+ */
+
+#pragma once
+
+#include <drivers/drv_hrt.h>
+
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/timesync_status.h>
+
+#include <math.h>
+#include <float.h>
+
+using namespace time_literals;
+
+static constexpr time_t PX4_EPOCH_SECS = 1234567890ULL;
+
+// Filter gains
+//
+// Alpha : Used to smooth the overall clock offset estimate. Smaller values will lead
+// to a smoother estimate, but track time drift more slowly, introducing a bias
+// in the estimate. Larger values will cause low-amplitude oscillations.
+//
+// Beta : Used to smooth the clock skew estimate. Smaller values will lead to a
+// tighter estimation of the skew (derivative), but will negatively affect how fast the
+// filter reacts to clock skewing (e.g cause by temperature changes to the oscillator).
+// Larger values will cause large-amplitude oscillations.
+static constexpr double ALPHA_GAIN_INITIAL = 0.05;
+static constexpr double BETA_GAIN_INITIAL = 0.05;
+static constexpr double ALPHA_GAIN_FINAL = 0.003;
+static constexpr double BETA_GAIN_FINAL = 0.003;
+
+// Filter gain scheduling
+//
+// The filter interpolates between the INITIAL and FINAL gains while the number of
+// exhanged timesync packets is less than CONVERGENCE_WINDOW. A lower value will
+// allow the timesync to converge faster, but with potentially less accurate initial
+// offset and skew estimates.
+static constexpr uint32_t CONVERGENCE_WINDOW = 500;
+
+// Outlier rejection and filter reset
+//
+// Samples with round-trip time higher than MAX_RTT_SAMPLE are not used to update the filter.
+// More than MAX_CONSECUTIVE_HIGH_RTT number of such events in a row will throw a warning
+// but not reset the filter.
+// Samples whose calculated clock offset is more than MAX_DEVIATION_SAMPLE off from the current
+// estimate are not used to update the filter. More than MAX_CONSECUTIVE_HIGH_DEVIATION number
+// of such events in a row will reset the filter. This usually happens only due to a time jump
+// on the remote system.
+// TODO : automatically determine these using ping statistics?
+static constexpr uint64_t MAX_RTT_SAMPLE = 10_ms;
+static constexpr uint64_t MAX_DEVIATION_SAMPLE = 100_ms;
+static constexpr uint32_t MAX_CONSECUTIVE_HIGH_RTT = 5;
+static constexpr uint32_t MAX_CONSECUTIVE_HIGH_DEVIATION = 5;
+
+class Timesync
+{
+public:
+	Timesync(uint8_t source = timesync_status_s::SOURCE_PROTOCOL_UNKNOWN) : _source(source) {};
+	~Timesync() = default;
+
+	void update(const uint64_t now_us, const int64_t remote_timestamp_ns, int64_t originate_timestamp_ns);
+
+	/**
+	 * Convert remote timestamp to local hrt time (usec)
+	 * Use synchronised time if available, monotonic boot time otherwise
+	 */
+	uint64_t sync_stamp(uint64_t usec);
+
+	int64_t offset() const { return (int64_t)_time_offset; }
+
+private:
+
+	/**
+	 * Online exponential filter to smooth time offset
+	 */
+	void add_sample(int64_t offset_us);
+
+	/**
+	 * Return true if the timesync algorithm converged to a good estimate,
+	 * return false otherwise
+	 */
+	bool sync_converged() const { return _sequence >= CONVERGENCE_WINDOW; }
+
+	/**
+	 * Reset the exponential filter and its states
+	 */
+	void reset_filter();
+
+	uORB::PublicationMulti<timesync_status_s>  _timesync_status_pub{ORB_ID(timesync_status)};
+
+	uint32_t _sequence{0};
+
+	// Timesync statistics
+	double _time_offset{0};
+	double _time_skew{0};
+
+	// Filter parameters
+	double _filter_alpha{ALPHA_GAIN_INITIAL};
+	double _filter_beta{BETA_GAIN_INITIAL};
+
+	// Outlier rejection and filter reset
+	uint32_t _high_deviation_count{0};
+	uint32_t _high_rtt_count{0};
+
+	uint8_t _source{};
+};
diff --git a/src/modules/airship_att_control/airship_att_control_main.cpp b/src/modules/airship_att_control/airship_att_control_main.cpp
index e1b7d9972f..e76cdf582c 100644
--- a/src/modules/airship_att_control/airship_att_control_main.cpp
+++ b/src/modules/airship_att_control/airship_att_control_main.cpp
@@ -190,7 +190,7 @@ int AirshipAttitudeControl::print_status()
 
 	perf_print_counter(_loop_perf);
 
-	print_message(ORB_ID(actuator_controls), _actuator_controls);
+	print_message(ORB_ID(actuator_controls_0), _actuator_controls);
 
 	return 0;
 }
diff --git a/src/modules/commander/failsafe/CMakeLists.txt b/src/modules/commander/failsafe/CMakeLists.txt
index 23363265b1..0d7b3bd366 100644
--- a/src/modules/commander/failsafe/CMakeLists.txt
+++ b/src/modules/commander/failsafe/CMakeLists.txt
@@ -32,7 +32,7 @@
 ############################################################################
 
 # Extract information from failsafe msg file
-set(failsafe_flags_msg_file ${PX4_SOURCE_DIR}/msg/failsafe_flags.msg)
+set(failsafe_flags_msg_file ${PX4_SOURCE_DIR}/msg/FailsafeFlags.msg)
 set(generated_uorb_struct_field_mapping_header ${PX4_BINARY_DIR}/generated_uorb_struct_field_mapping.h)
 set(html_template_file ${CMAKE_CURRENT_SOURCE_DIR}/emscripten_template.html)
 set(html_output_file ${PX4_BINARY_DIR}/failsafe_html_template.html)
diff --git a/src/modules/commander/failsafe/parse_flags_from_msg.py b/src/modules/commander/failsafe/parse_flags_from_msg.py
index c7cace101e..6b1ddf24b9 100755
--- a/src/modules/commander/failsafe/parse_flags_from_msg.py
+++ b/src/modules/commander/failsafe/parse_flags_from_msg.py
@@ -12,7 +12,7 @@ import re
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser(description='Extract fields from .msg files')
-    parser.add_argument('msg_file', help='failsafe_flags.msg file')
+    parser.add_argument('msg_file', help='FailsafeFlags.msg file')
     parser.add_argument('header_file', help='generated_uorb_struct_field_mapping.h')
     parser.add_argument('html_template', help='HTML template input file')
     parser.add_argument('html_output', help='HTML output file')
@@ -81,7 +81,7 @@ if __name__ == "__main__":
     macro_lines = ''
     for group in groups:
         for field_type, field_name, comment in group.fields:
-            macro_lines += '   .property("{0}", &{1}_s::{0}) \\\n'.format(field_name, msg_name)
+            macro_lines += '   .property("{0}", &px4::msg::{1}::{0}) \\\n'.format(field_name, msg_name)
 
     cpp_emscription_macro = '#define UORB_STRUCT_FIELD_MAPPING \\\n{}\n'.format(macro_lines)
 
diff --git a/src/modules/ekf2/EKF/airspeed_fusion.cpp b/src/modules/ekf2/EKF/airspeed_fusion.cpp
index 0e89a350ae..261ee9a338 100644
--- a/src/modules/ekf2/EKF/airspeed_fusion.cpp
+++ b/src/modules/ekf2/EKF/airspeed_fusion.cpp
@@ -49,7 +49,7 @@
 
 #include <mathlib/mathlib.h>
 
-void Ekf::updateAirspeed(const airspeedSample &airspeed_sample, estimator_aid_source_1d_s &airspeed) const
+void Ekf::updateAirspeed(const airspeedSample &airspeed_sample, estimator_aid_source1d_s &airspeed) const
 {
 	// reset flags
 	resetEstimatorAidStatus(airspeed);
@@ -75,7 +75,7 @@ void Ekf::updateAirspeed(const airspeedSample &airspeed_sample, estimator_aid_so
 	setEstimatorAidStatusTestRatio(airspeed, innov_gate);
 }
 
-void Ekf::fuseAirspeed(estimator_aid_source_1d_s &airspeed)
+void Ekf::fuseAirspeed(estimator_aid_source1d_s &airspeed)
 {
 	if (airspeed.innovation_rejected) {
 		return;
diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index 14ab85e479..93a8bec694 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -49,9 +49,9 @@
 #include "bias_estimator.hpp"
 #include "height_bias_estimator.hpp"
 
-#include <uORB/topics/estimator_aid_source_1d.h>
-#include <uORB/topics/estimator_aid_source_2d.h>
-#include <uORB/topics/estimator_aid_source_3d.h>
+#include <uORB/topics/estimator_aid_source1d.h>
+#include <uORB/topics/estimator_aid_source2d.h>
+#include <uORB/topics/estimator_aid_source3d.h>
 
 enum class Likelihood { LOW, MEDIUM, HIGH };
 
@@ -551,30 +551,30 @@ private:
 	uint64_t _time_good_motion_us{0};	///< last system time that on-ground motion was within limits (uSec)
 	Vector2f _flow_compensated_XY_rad{};	///< measured delta angle of the image about the X and Y body axes after removal of body rotation (rad), RH rotation is positive
 
-	estimator_aid_source_1d_s _aid_src_baro_hgt{};
-	estimator_aid_source_1d_s _aid_src_rng_hgt{};
-	estimator_aid_source_1d_s _aid_src_airspeed{};
-	estimator_aid_source_1d_s _aid_src_sideslip{};
+	estimator_aid_source1d_s _aid_src_baro_hgt{};
+	estimator_aid_source1d_s _aid_src_rng_hgt{};
+	estimator_aid_source1d_s _aid_src_airspeed{};
+	estimator_aid_source1d_s _aid_src_sideslip{};
 
-	estimator_aid_source_2d_s _aid_src_fake_pos{};
-	estimator_aid_source_1d_s _aid_src_fake_hgt{};
+	estimator_aid_source2d_s _aid_src_fake_pos{};
+	estimator_aid_source1d_s _aid_src_fake_hgt{};
 
-	estimator_aid_source_1d_s _aid_src_ev_hgt{};
-	estimator_aid_source_2d_s _aid_src_ev_pos{};
-	estimator_aid_source_3d_s _aid_src_ev_vel{};
-	estimator_aid_source_1d_s _aid_src_ev_yaw{};
+	estimator_aid_source1d_s _aid_src_ev_hgt{};
+	estimator_aid_source2d_s _aid_src_ev_pos{};
+	estimator_aid_source3d_s _aid_src_ev_vel{};
+	estimator_aid_source1d_s _aid_src_ev_yaw{};
 
-	estimator_aid_source_1d_s _aid_src_gnss_hgt{};
-	estimator_aid_source_2d_s _aid_src_gnss_pos{};
-	estimator_aid_source_3d_s _aid_src_gnss_vel{};
-	estimator_aid_source_1d_s _aid_src_gnss_yaw{};
+	estimator_aid_source1d_s _aid_src_gnss_hgt{};
+	estimator_aid_source2d_s _aid_src_gnss_pos{};
+	estimator_aid_source3d_s _aid_src_gnss_vel{};
+	estimator_aid_source1d_s _aid_src_gnss_yaw{};
 
-	estimator_aid_source_1d_s _aid_src_mag_heading{};
-	estimator_aid_source_3d_s _aid_src_mag{};
+	estimator_aid_source1d_s _aid_src_mag_heading{};
+	estimator_aid_source3d_s _aid_src_mag{};
 
-	estimator_aid_source_2d_s _aid_src_aux_vel{};
+	estimator_aid_source2d_s _aid_src_aux_vel{};
 
-	estimator_aid_source_2d_s _aid_src_optical_flow{};
+	estimator_aid_source2d_s _aid_src_optical_flow{};
 
 	// output predictor states
 	Vector3f _delta_angle_corr{};	///< delta angle correction vector (rad)
@@ -662,12 +662,12 @@ private:
 	void predictCovariance();
 
 	// ekf sequential fusion of magnetometer measurements
-	bool fuseMag(const Vector3f &mag, estimator_aid_source_3d_s &aid_src_mag, bool update_all_states = true);
+	bool fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bool update_all_states = true);
 
 	// update quaternion states and covariances using an innovation, observation variance and Jacobian vector
 	// innovation : prediction - measurement
 	// variance : observaton variance
-	bool fuseYaw(const float innovation, const float variance, estimator_aid_source_1d_s &aid_src_status);
+	bool fuseYaw(const float innovation, const float variance, estimator_aid_source1d_s &aid_src_status);
 
 	// fuse the yaw angle obtained from a dual antenna GPS unit
 	void fuseGpsYaw(const gpsSample &gps_sample);
@@ -683,12 +683,12 @@ private:
 	// apply sensible limits to the declination and length of the NE mag field states estimates
 	void limitDeclination();
 
-	void updateAirspeed(const airspeedSample &airspeed_sample, estimator_aid_source_1d_s &airspeed) const;
-	void fuseAirspeed(estimator_aid_source_1d_s &airspeed);
+	void updateAirspeed(const airspeedSample &airspeed_sample, estimator_aid_source1d_s &airspeed) const;
+	void fuseAirspeed(estimator_aid_source1d_s &airspeed);
 
 	// fuse synthetic zero sideslip measurement
-	void updateSideslip(estimator_aid_source_1d_s &_aid_src_sideslip) const;
-	void fuseSideslip(estimator_aid_source_1d_s &_aid_src_sideslip);
+	void updateSideslip(estimator_aid_source1d_s &_aid_src_sideslip) const;
+	void fuseSideslip(estimator_aid_source1d_s &_aid_src_sideslip);
 
 	// fuse body frame drag specific forces for multi-rotor wind estimation
 	void fuseDrag(const dragSample &drag_sample);
@@ -718,24 +718,24 @@ private:
 	void resetVerticalVelocityToZero();
 
 	// fuse optical flow line of sight rate measurements
-	void updateOptFlow(estimator_aid_source_2d_s &aid_src);
+	void updateOptFlow(estimator_aid_source2d_s &aid_src);
 	void fuseOptFlow();
 
 	// horizontal and vertical position aid source
-	void updateHorizontalPositionAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, const float innov_gate, estimator_aid_source_2d_s &aid_src) const;
-	void updateVerticalPositionAidSrcStatus(const uint64_t &time_us, const float obs, const float obs_var, const float innov_gate, estimator_aid_source_1d_s &aid_src) const;
+	void updateHorizontalPositionAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, const float innov_gate, estimator_aid_source2d_s &aid_src) const;
+	void updateVerticalPositionAidSrcStatus(const uint64_t &time_us, const float obs, const float obs_var, const float innov_gate, estimator_aid_source1d_s &aid_src) const;
 
 	// 2d & 3d velocity aid source
-	void updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, const float innov_gate, estimator_aid_source_2d_s &aid_src) const;
-	void updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector3f &obs, const Vector3f &obs_var, const float innov_gate, estimator_aid_source_3d_s &aid_src) const;
+	void updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, const float innov_gate, estimator_aid_source2d_s &aid_src) const;
+	void updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector3f &obs, const Vector3f &obs_var, const float innov_gate, estimator_aid_source3d_s &aid_src) const;
 
 	// horizontal and vertical position fusion
-	void fuseHorizontalPosition(estimator_aid_source_2d_s &pos_aid_src);
-	void fuseVerticalPosition(estimator_aid_source_1d_s &hgt_aid_src);
+	void fuseHorizontalPosition(estimator_aid_source2d_s &pos_aid_src);
+	void fuseVerticalPosition(estimator_aid_source1d_s &hgt_aid_src);
 
 	// 2d & 3d velocity fusion
-	void fuseVelocity(estimator_aid_source_2d_s &vel_aid_src);
-	void fuseVelocity(estimator_aid_source_3d_s &vel_aid_src);
+	void fuseVelocity(estimator_aid_source2d_s &vel_aid_src);
+	void fuseVelocity(estimator_aid_source3d_s &vel_aid_src);
 
 	void updateGpsYaw(const gpsSample &gps_sample);
 
@@ -1085,7 +1085,7 @@ private:
 
 	void resetGpsDriftCheckFilters();
 
-	void resetEstimatorAidStatus(estimator_aid_source_1d_s &status) const
+	void resetEstimatorAidStatus(estimator_aid_source1d_s &status) const
 	{
 		// only bother resetting if timestamp_sample is set
 		if (status.timestamp_sample != 0) {
@@ -1130,7 +1130,7 @@ private:
 		}
 	}
 
-	void setEstimatorAidStatusTestRatio(estimator_aid_source_1d_s &status, float innovation_gate) const
+	void setEstimatorAidStatusTestRatio(estimator_aid_source1d_s &status, float innovation_gate) const
 	{
 		if (PX4_ISFINITE(status.innovation) && PX4_ISFINITE(status.innovation_variance) && (status.innovation_variance > 0.f)) {
 			status.test_ratio = sq(status.innovation) / (sq(innovation_gate) * status.innovation_variance);
diff --git a/src/modules/ekf2/EKF/mag_fusion.cpp b/src/modules/ekf2/EKF/mag_fusion.cpp
index dbc7440466..7bf93699f8 100644
--- a/src/modules/ekf2/EKF/mag_fusion.cpp
+++ b/src/modules/ekf2/EKF/mag_fusion.cpp
@@ -50,7 +50,7 @@
 
 #include <mathlib/mathlib.h>
 
-bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source_3d_s &aid_src_mag, bool update_all_states)
+bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bool update_all_states)
 {
 	// XYZ Measurement uncertainty. Need to consider timing errors for fast rotations
 	const float R_MAG = sq(fmaxf(_params.mag_noise, 0.0f));
@@ -223,7 +223,7 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source_3d_s &aid_src_mag, b
 }
 
 // update quaternion states and covariances using the yaw innovation and yaw observation variance
-bool Ekf::fuseYaw(const float innovation, const float variance, estimator_aid_source_1d_s& aid_src_status)
+bool Ekf::fuseYaw(const float innovation, const float variance, estimator_aid_source1d_s& aid_src_status)
 {
 	aid_src_status.innovation = innovation;
 
diff --git a/src/modules/ekf2/EKF/optflow_fusion.cpp b/src/modules/ekf2/EKF/optflow_fusion.cpp
index fc3b210175..26a199c18f 100644
--- a/src/modules/ekf2/EKF/optflow_fusion.cpp
+++ b/src/modules/ekf2/EKF/optflow_fusion.cpp
@@ -47,7 +47,7 @@
 #include <float.h>
 #include "utils.hpp"
 
-void Ekf::updateOptFlow(estimator_aid_source_2d_s &aid_src)
+void Ekf::updateOptFlow(estimator_aid_source2d_s &aid_src)
 {
 	resetEstimatorAidStatus(aid_src);
 	aid_src.timestamp_sample = _flow_sample_delayed.time_us;
diff --git a/src/modules/ekf2/EKF/sideslip_fusion.cpp b/src/modules/ekf2/EKF/sideslip_fusion.cpp
index 8a6b281a77..fae55e0c4a 100644
--- a/src/modules/ekf2/EKF/sideslip_fusion.cpp
+++ b/src/modules/ekf2/EKF/sideslip_fusion.cpp
@@ -47,7 +47,7 @@
 
 #include <mathlib/mathlib.h>
 
-void Ekf::updateSideslip(estimator_aid_source_1d_s &sideslip) const
+void Ekf::updateSideslip(estimator_aid_source1d_s &sideslip) const
 {
 	// reset flags
 	resetEstimatorAidStatus(sideslip);
@@ -71,7 +71,7 @@ void Ekf::updateSideslip(estimator_aid_source_1d_s &sideslip) const
 	setEstimatorAidStatusTestRatio(sideslip, innov_gate);
 }
 
-void Ekf::fuseSideslip(estimator_aid_source_1d_s &sideslip)
+void Ekf::fuseSideslip(estimator_aid_source1d_s &sideslip)
 {
 	if (sideslip.innovation_rejected) {
 		return;
diff --git a/src/modules/ekf2/EKF/vel_pos_fusion.cpp b/src/modules/ekf2/EKF/vel_pos_fusion.cpp
index e3959326f9..e7cf2db341 100644
--- a/src/modules/ekf2/EKF/vel_pos_fusion.cpp
+++ b/src/modules/ekf2/EKF/vel_pos_fusion.cpp
@@ -44,7 +44,7 @@
 #include "ekf.h"
 
 void Ekf::updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var,
-				     const float innov_gate, estimator_aid_source_2d_s &aid_src) const
+				     const float innov_gate, estimator_aid_source2d_s &aid_src) const
 {
 	resetEstimatorAidStatus(aid_src);
 
@@ -62,7 +62,7 @@ void Ekf::updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector2f &ob
 }
 
 void Ekf::updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector3f &obs, const Vector3f &obs_var,
-				     const float innov_gate, estimator_aid_source_3d_s &aid_src) const
+				     const float innov_gate, estimator_aid_source3d_s &aid_src) const
 {
 	resetEstimatorAidStatus(aid_src);
 
@@ -88,7 +88,7 @@ void Ekf::updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector3f &ob
 }
 
 void Ekf::updateVerticalPositionAidSrcStatus(const uint64_t &time_us, const float obs, const float obs_var,
-		const float innov_gate, estimator_aid_source_1d_s &aid_src) const
+		const float innov_gate, estimator_aid_source1d_s &aid_src) const
 {
 	resetEstimatorAidStatus(aid_src);
 
@@ -112,7 +112,7 @@ void Ekf::updateVerticalPositionAidSrcStatus(const uint64_t &time_us, const floa
 }
 
 void Ekf::updateHorizontalPositionAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var,
-		const float innov_gate, estimator_aid_source_2d_s &aid_src) const
+		const float innov_gate, estimator_aid_source2d_s &aid_src) const
 {
 	resetEstimatorAidStatus(aid_src);
 
@@ -129,7 +129,7 @@ void Ekf::updateHorizontalPositionAidSrcStatus(const uint64_t &time_us, const Ve
 	aid_src.timestamp_sample = time_us;
 }
 
-void Ekf::fuseVelocity(estimator_aid_source_2d_s &aid_src)
+void Ekf::fuseVelocity(estimator_aid_source2d_s &aid_src)
 {
 	if (aid_src.fusion_enabled && !aid_src.innovation_rejected) {
 		// vx, vy
@@ -145,7 +145,7 @@ void Ekf::fuseVelocity(estimator_aid_source_2d_s &aid_src)
 	}
 }
 
-void Ekf::fuseVelocity(estimator_aid_source_3d_s &aid_src)
+void Ekf::fuseVelocity(estimator_aid_source3d_s &aid_src)
 {
 	if (aid_src.fusion_enabled && !aid_src.innovation_rejected) {
 		// vx, vy, vz
@@ -162,7 +162,7 @@ void Ekf::fuseVelocity(estimator_aid_source_3d_s &aid_src)
 	}
 }
 
-void Ekf::fuseHorizontalPosition(estimator_aid_source_2d_s &aid_src)
+void Ekf::fuseHorizontalPosition(estimator_aid_source2d_s &aid_src)
 {
 	// x & y
 	if (aid_src.fusion_enabled && !aid_src.innovation_rejected) {
@@ -178,7 +178,7 @@ void Ekf::fuseHorizontalPosition(estimator_aid_source_2d_s &aid_src)
 	}
 }
 
-void Ekf::fuseVerticalPosition(estimator_aid_source_1d_s &aid_src)
+void Ekf::fuseVerticalPosition(estimator_aid_source1d_s &aid_src)
 {
 	// z
 	if (aid_src.fusion_enabled && !aid_src.innovation_rejected) {
diff --git a/src/modules/ekf2/EKF/zero_innovation_heading_update.cpp b/src/modules/ekf2/EKF/zero_innovation_heading_update.cpp
index 140875b9d6..2beea63e9f 100644
--- a/src/modules/ekf2/EKF/zero_innovation_heading_update.cpp
+++ b/src/modules/ekf2/EKF/zero_innovation_heading_update.cpp
@@ -47,7 +47,7 @@ void Ekf::controlZeroInnovationHeadingUpdate()
 		// fuse zero heading innovation during the leveling fine alignment step to keep the yaw variance low
 		float innovation = 0.f;
 		float obs_var = _control_status.flags.vehicle_at_rest ? 0.001f : 0.1f;
-		estimator_aid_source_1d_s unused;
+		estimator_aid_source1d_s unused;
 		fuseYaw(innovation, obs_var, unused);
 
 		_last_static_yaw = NAN;
@@ -62,7 +62,7 @@ void Ekf::controlZeroInnovationHeadingUpdate()
 			if (!yaw_aiding && isTimedOut(_time_last_heading_fuse, (uint64_t)200'000)) {
 				float innovation = wrap_pi(euler_yaw - _last_static_yaw);
 				float obs_var = 0.01f;
-				estimator_aid_source_1d_s unused;
+				estimator_aid_source1d_s unused;
 				fuseYaw(innovation, obs_var, unused);
 			}
 
@@ -78,7 +78,7 @@ void Ekf::controlZeroInnovationHeadingUpdate()
 		if (!yaw_aiding && isTimedOut(_time_last_heading_fuse, (uint64_t)200'000)) {
 			float innovation = 0.f;
 			float obs_var = 0.01f;
-			estimator_aid_source_1d_s unused;
+			estimator_aid_source1d_s unused;
 			fuseYaw(innovation, obs_var, unused);
 		}
 
diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp
index f582d7fb2f..652e3f6b6f 100644
--- a/src/modules/ekf2/EKF2.hpp
+++ b/src/modules/ekf2/EKF2.hpp
@@ -353,30 +353,30 @@ private:
 	uORB::PublicationMulti<vehicle_optical_flow_vel_s> _estimator_optical_flow_vel_pub{ORB_ID(estimator_optical_flow_vel)};
 	uORB::PublicationMulti<yaw_estimator_status_s>       _yaw_est_pub{ORB_ID(yaw_estimator_status)};
 
-	uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_airspeed_pub{ORB_ID(estimator_aid_src_airspeed)};
-	uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_baro_hgt_pub{ORB_ID(estimator_aid_src_baro_hgt)};
-	uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_rng_hgt_pub{ORB_ID(estimator_aid_src_rng_hgt)};
-	uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_sideslip_pub{ORB_ID(estimator_aid_src_sideslip)};
+	uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_airspeed_pub{ORB_ID(estimator_aid_src_airspeed)};
+	uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_baro_hgt_pub{ORB_ID(estimator_aid_src_baro_hgt)};
+	uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_rng_hgt_pub{ORB_ID(estimator_aid_src_rng_hgt)};
+	uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_sideslip_pub{ORB_ID(estimator_aid_src_sideslip)};
 
-	uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_fake_hgt_pub{ORB_ID(estimator_aid_src_fake_hgt)};
-	uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};
+	uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_fake_hgt_pub{ORB_ID(estimator_aid_src_fake_hgt)};
+	uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};
 
-	uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_ev_hgt_pub{ORB_ID(estimator_aid_src_ev_hgt)};
-	uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_ev_pos_pub{ORB_ID(estimator_aid_src_ev_pos)};
-	uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_ev_vel_pub{ORB_ID(estimator_aid_src_ev_vel)};
-	uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_ev_yaw_pub{ORB_ID(estimator_aid_src_ev_yaw)};
+	uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_ev_hgt_pub{ORB_ID(estimator_aid_src_ev_hgt)};
+	uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_ev_pos_pub{ORB_ID(estimator_aid_src_ev_pos)};
+	uORB::PublicationMulti<estimator_aid_source3d_s> _estimator_aid_src_ev_vel_pub{ORB_ID(estimator_aid_src_ev_vel)};
+	uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_ev_yaw_pub{ORB_ID(estimator_aid_src_ev_yaw)};
 
-	uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_gnss_hgt_pub{ORB_ID(estimator_aid_src_gnss_hgt)};
-	uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_gnss_pos_pub{ORB_ID(estimator_aid_src_gnss_pos)};
-	uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_gnss_vel_pub{ORB_ID(estimator_aid_src_gnss_vel)};
-	uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_gnss_yaw_pub{ORB_ID(estimator_aid_src_gnss_yaw)};
+	uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_gnss_hgt_pub{ORB_ID(estimator_aid_src_gnss_hgt)};
+	uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_gnss_pos_pub{ORB_ID(estimator_aid_src_gnss_pos)};
+	uORB::PublicationMulti<estimator_aid_source3d_s> _estimator_aid_src_gnss_vel_pub{ORB_ID(estimator_aid_src_gnss_vel)};
+	uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_gnss_yaw_pub{ORB_ID(estimator_aid_src_gnss_yaw)};
 
-	uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_mag_heading_pub{ORB_ID(estimator_aid_src_mag_heading)};
-	uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_mag_pub{ORB_ID(estimator_aid_src_mag)};
+	uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_mag_heading_pub{ORB_ID(estimator_aid_src_mag_heading)};
+	uORB::PublicationMulti<estimator_aid_source3d_s> _estimator_aid_src_mag_pub{ORB_ID(estimator_aid_src_mag)};
 
-	uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_aux_vel_pub{ORB_ID(estimator_aid_src_aux_vel)};
+	uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_aux_vel_pub{ORB_ID(estimator_aid_src_aux_vel)};
 
-	uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_optical_flow_pub{ORB_ID(estimator_aid_src_optical_flow)};
+	uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_optical_flow_pub{ORB_ID(estimator_aid_src_optical_flow)};
 
 	// publications with topic dependent on multi-mode
 	uORB::PublicationMulti<vehicle_attitude_s>           _attitude_pub;
diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt
index b6163ee203..5d02efce66 100644
--- a/src/modules/mavlink/CMakeLists.txt
+++ b/src/modules/mavlink/CMakeLists.txt
@@ -100,6 +100,7 @@ px4_add_module(
 		sensor_calibration
 		geo
 		mavlink_c
+		timesync
 		tunes
 		version
 	UNITY_BUILD
diff --git a/src/modules/mavlink/mavlink_timesync.cpp b/src/modules/mavlink/mavlink_timesync.cpp
index ee0d2e3272..7bbe8f8dfa 100644
--- a/src/modules/mavlink/mavlink_timesync.cpp
+++ b/src/modules/mavlink/mavlink_timesync.cpp
@@ -72,82 +72,7 @@ MavlinkTimesync::handle_message(const mavlink_message_t *msg)
 
 			} else if (tsync.tc1 > 0) {		// Message originating from this system, compute time offset from it
 
-				// Calculate time offset between this system and the remote system, assuming RTT for
-				// the timesync packet is roughly equal both ways.
-				int64_t offset_us = (int64_t)((tsync.ts1 / 1000ULL) + now - (tsync.tc1 / 1000ULL) * 2) / 2 ;
-
-				// Calculate the round trip time (RTT) it took the timesync packet to bounce back to us from remote system
-				uint64_t rtt_us = now - (tsync.ts1 / 1000ULL);
-
-				// Calculate the difference of this sample from the current estimate
-				uint64_t deviation = llabs((int64_t)_time_offset - offset_us);
-
-				if (rtt_us < MAX_RTT_SAMPLE) {	// Only use samples with low RTT
-
-					if (sync_converged() && (deviation > MAX_DEVIATION_SAMPLE)) {
-
-						// Increment the counter if we have a good estimate and are getting samples far from the estimate
-						_high_deviation_count++;
-
-						// We reset the filter if we received 5 consecutive samples which violate our present estimate.
-						// This is most likely due to a time jump on the offboard system.
-						if (_high_deviation_count > MAX_CONSECUTIVE_HIGH_DEVIATION) {
-							PX4_ERR("[timesync] Time jump detected. Resetting time synchroniser.");
-							// Reset the filter
-							reset_filter();
-						}
-
-					} else {
-
-						// Filter gain scheduling
-						if (!sync_converged()) {
-							// Interpolate with a sigmoid function
-							double progress = (double)_sequence / (double)CONVERGENCE_WINDOW;
-							double p = 1.0 - exp(0.5 * (1.0 - 1.0 / (1.0 - progress)));
-							_filter_alpha = p * ALPHA_GAIN_FINAL + (1.0 - p) * ALPHA_GAIN_INITIAL;
-							_filter_beta = p * BETA_GAIN_FINAL + (1.0 - p) * BETA_GAIN_INITIAL;
-
-						} else {
-							_filter_alpha = ALPHA_GAIN_FINAL;
-							_filter_beta = BETA_GAIN_FINAL;
-						}
-
-						// Perform filter update
-						add_sample(offset_us);
-
-						// Increment sequence counter after filter update
-						_sequence++;
-
-						// Reset high deviation count after filter update
-						_high_deviation_count = 0;
-
-						// Reset high RTT count after filter update
-						_high_rtt_count = 0;
-					}
-
-				} else {
-					// Increment counter if round trip time is too high for accurate timesync
-					_high_rtt_count++;
-
-					if (_high_rtt_count > MAX_CONSECUTIVE_HIGH_RTT) {
-						PX4_WARN("[timesync] RTT too high for timesync: %llu ms (sender: %i)", rtt_us / 1000ULL, msg->compid);
-						// Reset counter to rate-limit warnings
-						_high_rtt_count = 0;
-					}
-
-				}
-
-				// Publish status message
-				timesync_status_s tsync_status{};
-
-				tsync_status.timestamp = hrt_absolute_time();
-				tsync_status.source_protocol = timesync_status_s::SOURCE_PROTOCOL_MAVLINK;
-				tsync_status.remote_timestamp = tsync.tc1 / 1000ULL;
-				tsync_status.observed_offset = offset_us;
-				tsync_status.estimated_offset = (int64_t)_time_offset;
-				tsync_status.round_trip_time = rtt_us;
-
-				_timesync_status_pub.publish(tsync_status);
+				_timesync.update(now, tsync.tc1, tsync.ts1);
 			}
 
 			break;
@@ -181,58 +106,3 @@ MavlinkTimesync::handle_message(const mavlink_message_t *msg)
 		break;
 	}
 }
-
-uint64_t
-MavlinkTimesync::sync_stamp(uint64_t usec)
-{
-	// Only return synchronised stamp if we have converged to a good value
-	if (sync_converged()) {
-		return usec + (int64_t)_time_offset;
-
-	} else {
-		return hrt_absolute_time();
-	}
-}
-
-bool
-MavlinkTimesync::sync_converged()
-{
-	return _sequence >= CONVERGENCE_WINDOW;
-}
-
-void
-MavlinkTimesync::add_sample(int64_t offset_us)
-{
-	/* Online exponential smoothing filter. The derivative of the estimate is also
-	 * estimated in order to produce an estimate without steady state lag:
-	 * https://en.wikipedia.org/wiki/Exponential_smoothing#Double_exponential_smoothing
-	 */
-
-	double time_offset_prev = _time_offset;
-
-	if (_sequence == 0) {			// First offset sample
-		_time_offset = offset_us;
-
-	} else {
-		// Update the clock offset estimate
-		_time_offset = _filter_alpha * offset_us + (1.0 - _filter_alpha) * (_time_offset + _time_skew);
-
-		// Update the clock skew estimate
-		_time_skew = _filter_beta * (_time_offset - time_offset_prev) + (1.0 - _filter_beta) * _time_skew;
-	}
-
-}
-
-void
-MavlinkTimesync::reset_filter()
-{
-	// Do a full reset of all statistics and parameters
-	_sequence = 0;
-	_time_offset = 0.0;
-	_time_skew = 0.0;
-	_filter_alpha = ALPHA_GAIN_INITIAL;
-	_filter_beta = BETA_GAIN_INITIAL;
-	_high_deviation_count = 0;
-	_high_rtt_count = 0;
-
-}
diff --git a/src/modules/mavlink/mavlink_timesync.h b/src/modules/mavlink/mavlink_timesync.h
index 3204696f42..a3e8295ae0 100644
--- a/src/modules/mavlink/mavlink_timesync.h
+++ b/src/modules/mavlink/mavlink_timesync.h
@@ -42,55 +42,7 @@
 
 #include "mavlink_bridge_header.h"
 
-#include <uORB/PublicationMulti.hpp>
-#include <uORB/topics/timesync_status.h>
-
-#include <drivers/drv_hrt.h>
-
-#include <math.h>
-#include <float.h>
-
-using namespace time_literals;
-
-static constexpr time_t PX4_EPOCH_SECS = 1234567890ULL;
-
-// Filter gains
-//
-// Alpha : Used to smooth the overall clock offset estimate. Smaller values will lead
-// to a smoother estimate, but track time drift more slowly, introducing a bias
-// in the estimate. Larger values will cause low-amplitude oscillations.
-//
-// Beta : Used to smooth the clock skew estimate. Smaller values will lead to a
-// tighter estimation of the skew (derivative), but will negatively affect how fast the
-// filter reacts to clock skewing (e.g cause by temperature changes to the oscillator).
-// Larger values will cause large-amplitude oscillations.
-static constexpr double ALPHA_GAIN_INITIAL = 0.05;
-static constexpr double BETA_GAIN_INITIAL = 0.05;
-static constexpr double ALPHA_GAIN_FINAL = 0.003;
-static constexpr double BETA_GAIN_FINAL = 0.003;
-
-// Filter gain scheduling
-//
-// The filter interpolates between the INITIAL and FINAL gains while the number of
-// exhanged timesync packets is less than CONVERGENCE_WINDOW. A lower value will
-// allow the timesync to converge faster, but with potentially less accurate initial
-// offset and skew estimates.
-static constexpr uint32_t CONVERGENCE_WINDOW = 500;
-
-// Outlier rejection and filter reset
-//
-// Samples with round-trip time higher than MAX_RTT_SAMPLE are not used to update the filter.
-// More than MAX_CONSECUTIVE_HIGH_RTT number of such events in a row will throw a warning
-// but not reset the filter.
-// Samples whose calculated clock offset is more than MAX_DEVIATION_SAMPLE off from the current
-// estimate are not used to update the filter. More than MAX_CONSECUTIVE_HIGH_DEVIATION number
-// of such events in a row will reset the filter. This usually happens only due to a time jump
-// on the remote system.
-// TODO : automatically determine these using ping statistics?
-static constexpr uint64_t MAX_RTT_SAMPLE = 10_ms;
-static constexpr uint64_t MAX_DEVIATION_SAMPLE = 100_ms;
-static constexpr uint32_t MAX_CONSECUTIVE_HIGH_RTT = 5;
-static constexpr uint32_t MAX_CONSECUTIVE_HIGH_DEVIATION = 5;
+#include <lib/timesync/Timesync.hpp>
 
 class Mavlink;
 
@@ -106,47 +58,9 @@ public:
 	 * Convert remote timestamp to local hrt time (usec)
 	 * Use synchronised time if available, monotonic boot time otherwise
 	 */
-	uint64_t sync_stamp(uint64_t usec);
+	uint64_t sync_stamp(uint64_t usec) { return _timesync.sync_stamp(usec); }
 
 private:
-
-	/* do not allow top copying this class */
-	MavlinkTimesync(MavlinkTimesync &);
-	MavlinkTimesync &operator = (const MavlinkTimesync &);
-
-protected:
-
-	/**
-	 * Online exponential filter to smooth time offset
-	 */
-	void add_sample(int64_t offset_us);
-
-	/**
-	 * Return true if the timesync algorithm converged to a good estimate,
-	 * return false otherwise
-	 */
-	bool sync_converged();
-
-	/**
-	 * Reset the exponential filter and its states
-	 */
-	void reset_filter();
-
-	uORB::PublicationMulti<timesync_status_s>  _timesync_status_pub{ORB_ID(timesync_status)};
-
-	uint32_t _sequence{0};
-
-	// Timesync statistics
-	double _time_offset{0};
-	double _time_skew{0};
-
-	// Filter parameters
-	double _filter_alpha{ALPHA_GAIN_INITIAL};
-	double _filter_beta{BETA_GAIN_INITIAL};
-
-	// Outlier rejection and filter reset
-	uint32_t _high_deviation_count{0};
-	uint32_t _high_rtt_count{0};
-
 	Mavlink *const _mavlink;
+	Timesync _timesync{};
 };
diff --git a/src/modules/microdds_client/CMakeLists.txt b/src/modules/microdds_client/CMakeLists.txt
index a3bad1a701..8860267f79 100644
--- a/src/modules/microdds_client/CMakeLists.txt
+++ b/src/modules/microdds_client/CMakeLists.txt
@@ -31,89 +31,125 @@
 #
 ############################################################################
 
-px4_add_git_submodule(TARGET git_micro_xrce_dds_client PATH "${CMAKE_CURRENT_LIST_DIR}/Micro-XRCE-DDS-Client")
+if(${CMAKE_VERSION} VERSION_LESS "3.11")
+    message(WARNING "skipping microdds_client, Micro-XRCE-DDS-Client needs to be fixed to work with CMAKE_VERSION ${CMAKE_VERSION}")
 
-# If a toolchain file is given, explicitly define its path when building the Micro-XRCE-DDS-CLient
-if(CMAKE_TOOLCHAIN_FILE MATCHES "cmake$")
-	set(microxrceddsclient_toolchain ${CMAKE_TOOLCHAIN_FILE})
-elseif(CMAKE_TOOLCHAIN_FILE)
-	set(microxrceddsclient_toolchain ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/${CMAKE_TOOLCHAIN_FILE}.cmake)
-endif()
+else()
+	px4_add_git_submodule(TARGET git_micro_xrce_dds_client PATH "${CMAKE_CURRENT_LIST_DIR}/Micro-XRCE-DDS-Client")
 
-# Include NuttX headers
-get_property(include_dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
-set(c_flags_with_includes "${CMAKE_C_FLAGS}")
-set(cxx_flags_with_includes "${CMAKE_CXX_FLAGS}")
-foreach(dir ${include_dirs})
-	set(c_flags_with_includes "${c_flags_with_includes} -I${dir}")
-	set(cxx_flags_with_includes "${cxx_flags_with_includes} -I${dir}")
-endforeach()
+	# If a toolchain file is given, explicitly define its path when building the Micro-XRCE-DDS-CLient
+	if(CMAKE_TOOLCHAIN_FILE MATCHES "cmake$")
+		set(microxrceddsclient_toolchain ${CMAKE_TOOLCHAIN_FILE})
+	elseif(CMAKE_TOOLCHAIN_FILE)
+		set(microxrceddsclient_toolchain ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/${CMAKE_TOOLCHAIN_FILE}.cmake)
+	endif()
 
-set(lib_dir ${CMAKE_INSTALL_LIBDIR})
-if("${lib_dir}" STREQUAL "")
-	set(lib_dir "lib")
-endif()
+	# Include NuttX headers
+	get_property(include_dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
+	set(c_flags_with_includes "${CMAKE_C_FLAGS}")
+	set(cxx_flags_with_includes "${CMAKE_CXX_FLAGS}")
+	foreach(dir ${include_dirs})
+		set(c_flags_with_includes "${c_flags_with_includes} -I${dir}")
+		set(cxx_flags_with_includes "${cxx_flags_with_includes} -I${dir}")
+	endforeach()
 
-set(microxrceddsclient_src_dir   ${CMAKE_CURRENT_SOURCE_DIR}/Micro-XRCE-DDS-Client)
-set(microxrceddsclient_build_dir ${CMAKE_CURRENT_BINARY_DIR})
+	set(lib_dir ${CMAKE_INSTALL_LIBDIR})
+	if("${lib_dir}" STREQUAL "")
+		set(lib_dir "lib")
+	endif()
 
-include(ExternalProject)
+	set(microxrceddsclient_src_dir   ${CMAKE_CURRENT_SOURCE_DIR}/Micro-XRCE-DDS-Client)
+	set(microxrceddsclient_build_dir ${CMAKE_CURRENT_BINARY_DIR})
 
-ExternalProject_Add(
-	libmicroxrceddsclient_project
-	PREFIX      ${microxrceddsclient_build_dir}
-	SOURCE_DIR  ${microxrceddsclient_src_dir}
-	INSTALL_DIR ${CMAKE_CURRENT_BINARY_DIR}
-	CMAKE_CACHE_ARGS
-		-DCMAKE_CXX_COMPILER:FILEPATH=${CMAKE_CXX_COMPILER}
-		-DCMAKE_C_COMPILER:FILEPATH=${CMAKE_C_COMPILER}
-		-DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
-		-DCMAKE_C_FLAGS:STRING=${c_flags_with_includes}
-		-DCMAKE_CXX_FLAGS:STRING=${cxx_flags_with_includes}
-		-DCMAKE_EXE_LINKER_FLAGS:STRING=${CMAKE_EXE_LINKER_FLAGS}
-		-DUCLIENT_PIC:BOOL=OFF
-		-DUCLIENT_PROFILE_TCP:BOOL=OFF
-		-DUCLIENT_PROFILE_UDP:BOOL=ON
-		-DUCLIENT_PROFILE_SERIAL:BOOL=ON
-		-DUCLIENT_PROFILE_DISCOVERY:BOOL=OFF
-		-DUCLIENT_PROFILE_CUSTOM_TRANSPORT:BOOL=ON
-		-DUCLIENT_PLATFORM_POSIX:BOOL=ON
-		-DUCLIENT_BUILD_MICROCDR:BOOL=ON
-		-DCMAKE_INSTALL_PREFIX:PATH=${CMAKE_CURRENT_BINARY_DIR}
-		-DCMAKE_PREFIX_PATH:PATH=${CMAKE_CURRENT_BINARY_DIR}
-		-DCMAKE_TOOLCHAIN_FILE:STRING=${microxrceddsclient_toolchain}
-	BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/${lib_dir}/libmicroxrcedds_client.a
-	BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/${lib_dir}/libmicrocdr.a
-	DEPENDS prebuild_targets git_micro_xrce_dds_client
-    )
+	include(ExternalProject)
 
-add_library(libmicroxrceddsclient STATIC IMPORTED GLOBAL)
-set_target_properties(libmicroxrceddsclient
-	PROPERTIES IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/${lib_dir}/libmicroxrcedds_client.a
-)
-
-add_library(libmicrocdr STATIC IMPORTED GLOBAL)
-set_target_properties(libmicrocdr
-	PROPERTIES IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/${lib_dir}/libmicrocdr.a
-)
-
-add_library(microxrceddsclient INTERFACE)
-add_dependencies(microxrceddsclient libmicroxrceddsclient)
-add_dependencies(microxrceddsclient libmicrocdr)
-add_dependencies(microxrceddsclient libmicroxrceddsclient_project)
-target_include_directories(microxrceddsclient INTERFACE ${microxrceddsclient_build_dir}/include)
-
-px4_add_module(
-	MODULE modules__microdds_client
-	MAIN microdds_client
-	STACK_MAIN 8000
-	SRCS
-		microdds_client.cpp
-	DEPENDS
-		microxrceddsclient
-		libmicroxrceddsclient
-		libmicrocdr
-		uorb_ucdr_headers
+	ExternalProject_Add(
+		libmicroxrceddsclient_project
+		PREFIX      ${microxrceddsclient_build_dir}
+		SOURCE_DIR  ${microxrceddsclient_src_dir}
+		INSTALL_DIR ${CMAKE_CURRENT_BINARY_DIR}
+		CMAKE_CACHE_ARGS
+			-DCMAKE_CXX_COMPILER:FILEPATH=${CMAKE_CXX_COMPILER}
+			-DCMAKE_C_COMPILER:FILEPATH=${CMAKE_C_COMPILER}
+			-DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
+			-DCMAKE_C_FLAGS:STRING=${c_flags_with_includes}
+			-DCMAKE_CXX_FLAGS:STRING=${cxx_flags_with_includes}
+			-DCMAKE_EXE_LINKER_FLAGS:STRING=${CMAKE_EXE_LINKER_FLAGS}
+			-DUCLIENT_PIC:BOOL=OFF
+			-DUCLIENT_PROFILE_TCP:BOOL=OFF
+			-DUCLIENT_PROFILE_UDP:BOOL=ON
+			-DUCLIENT_PROFILE_SERIAL:BOOL=ON
+			-DUCLIENT_PROFILE_DISCOVERY:BOOL=OFF
+			-DUCLIENT_PROFILE_CUSTOM_TRANSPORT:BOOL=OFF
+			-DUCLIENT_PROFILE_MULTITHREAD:BOOL=OFF
+			-DUCLIENT_PROFILE_SHARED_MEMORY:BOOL=OFF
+			-DUCLIENT_PLATFORM_POSIX:BOOL=ON
+			-DUCLIENT_BUILD_MICROCDR:BOOL=ON
+			-DCMAKE_INSTALL_PREFIX:PATH=${CMAKE_CURRENT_BINARY_DIR}
+			-DCMAKE_PREFIX_PATH:PATH=${CMAKE_CURRENT_BINARY_DIR}
+			-DCMAKE_TOOLCHAIN_FILE:STRING=${microxrceddsclient_toolchain}
+		BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/${lib_dir}/libmicroxrcedds_client.a
+		BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/${lib_dir}/libmicrocdr.a
+		DEPENDS prebuild_targets git_micro_xrce_dds_client
+		LOG_CONFIGURE true
+		LOG_BUILD true
+		LOG_INSTALL true
+		LOG_OUTPUT_ON_FAILURE true
 	)
 
-add_dependencies(modules__microdds_client topic_bridge_files)
+	add_library(libmicroxrceddsclient STATIC IMPORTED GLOBAL)
+	set_target_properties(libmicroxrceddsclient
+		PROPERTIES IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/${lib_dir}/libmicroxrcedds_client.a
+	)
+
+	add_library(libmicrocdr STATIC IMPORTED GLOBAL)
+	set_target_properties(libmicrocdr
+		PROPERTIES IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/${lib_dir}/libmicrocdr.a
+	)
+
+	add_library(microxrceddsclient INTERFACE)
+	add_dependencies(microxrceddsclient libmicroxrceddsclient)
+	add_dependencies(microxrceddsclient libmicrocdr)
+	add_dependencies(microxrceddsclient libmicroxrceddsclient_project)
+	target_include_directories(microxrceddsclient INTERFACE ${microxrceddsclient_build_dir}/include)
+
+
+
+	add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_dds_topics.py
+			--topic-msg-dir ${PX4_SOURCE_DIR}/msg
+			--client-outdir ${CMAKE_CURRENT_BINARY_DIR}
+			--dds-topics-file ${CMAKE_CURRENT_SOURCE_DIR}/dds_topics.yaml
+			--template_file ${CMAKE_CURRENT_SOURCE_DIR}/dds_topics.h.em
+		DEPENDS
+			${CMAKE_CURRENT_SOURCE_DIR}/generate_dds_topics.py
+			${CMAKE_CURRENT_SOURCE_DIR}/dds_topics.yaml
+			${CMAKE_CURRENT_SOURCE_DIR}/dds_topics.h.em
+		COMMENT "Generating XRCE-DDS topic bridge"
+	)
+	add_custom_target(topic_bridge_files DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h)
+
+	px4_add_module(
+		MODULE modules__microdds_client
+		MAIN microdds_client
+		STACK_MAIN 9000
+		INCLUDES
+			${CMAKE_CURRENT_SOURCE_DIR}
+		COMPILE_FLAGS
+			#-O0
+			${MAX_CUSTOM_OPT_LEVEL}
+		SRCS
+			${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h
+			microdds_client.cpp
+			microdds_client.h
+		DEPENDS
+			microxrceddsclient
+			libmicroxrceddsclient
+			libmicrocdr
+			timesync
+			topic_bridge_files
+			uorb_ucdr_headers
+		MODULE_CONFIG
+			module.yaml
+		)
+endif()
diff --git a/src/modules/microdds_client/Micro-XRCE-DDS-Client b/src/modules/microdds_client/Micro-XRCE-DDS-Client
index b5187a9f39..4248559f3b 160000
--- a/src/modules/microdds_client/Micro-XRCE-DDS-Client
+++ b/src/modules/microdds_client/Micro-XRCE-DDS-Client
@@ -1 +1 @@
-Subproject commit b5187a9f399e34cda7d2cdce8823295f83d9f3cc
+Subproject commit 4248559f3b111155c783e524e461ccc83e768103
diff --git a/src/modules/microdds_client/dds_topics.h.em b/src/modules/microdds_client/dds_topics.h.em
new file mode 100644
index 0000000000..bde8b8d8cb
--- /dev/null
+++ b/src/modules/microdds_client/dds_topics.h.em
@@ -0,0 +1,127 @@
+@###############################################
+@#
+@# EmPy template
+@#
+@###############################################
+@# Generates publications and subscriptions for XRCE
+@#
+@# Context:
+@#  - msgs (List) list of all RTPS messages
+@#  - topics (List) list of all topic names
+@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
+@###############################################
+@{
+import os
+
+
+}@
+
+#include <utilities.hpp>
+
+#include <uxr/client/client.h>
+#include <ucdr/microcdr.h>
+
+#include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
+@[for include in type_includes]@
+#include <uORB/ucdr/@(include).h>
+@[end for]@
+
+// Subscribers for messages to send
+struct SendTopicsSubs {
+@[    for pub in publications]@
+	uORB::Subscription @(pub['topic_simple'])_sub{ORB_ID(@(pub['topic_simple']))};
+	uxrObjectId @(pub['topic_simple'])_data_writer{};
+@[    end for]@
+
+	uint32_t num_payload_sent{};
+
+	void update(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId best_effort_stream_id, uxrObjectId participant_id, const char *client_namespace);
+};
+
+void SendTopicsSubs::update(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId best_effort_stream_id, uxrObjectId participant_id, const char *client_namespace)
+{
+	int64_t time_offset_us = session->time_offset / 1000; // ns -> us
+@[    for idx, pub in enumerate(publications)]@
+
+	{
+		@(pub['simple_base_type'])_s data;
+
+		if (@(pub['topic_simple'])_sub.update(&data)) {
+
+			if (@(pub['topic_simple'])_data_writer.id == UXR_INVALID_ID) {
+				// data writer not created yet
+				create_data_writer(session, reliable_out_stream_id, participant_id, ORB_ID::@(pub['topic_simple']), client_namespace, "@(pub['topic_simple'])", "@(pub['dds_type'])", @(pub['topic_simple'])_data_writer);
+			}
+
+			if (@(pub['topic_simple'])_data_writer.id != UXR_INVALID_ID) {
+
+				ucdrBuffer ub;
+				uint32_t topic_size = ucdr_topic_size_@(pub['simple_base_type'])();
+				if (uxr_prepare_output_stream(session, best_effort_stream_id, @(pub['topic_simple'])_data_writer, &ub, topic_size) != UXR_INVALID_REQUEST_ID) {
+					ucdr_serialize_@(pub['simple_base_type'])(data, ub, time_offset_us);
+					// TODO: fill up the MTU and then flush, which reduces the packet overhead
+					uxr_flash_output_streams(session);
+					num_payload_sent += topic_size;
+
+				} else {
+					//PX4_ERR("Error uxr_prepare_output_stream UXR_INVALID_REQUEST_ID @(pub['topic_simple'])");
+				}
+
+			} else {
+				//PX4_ERR("Error UXR_INVALID_ID @(pub['topic_simple'])");
+			}
+
+		}
+	}
+@[    end for]@
+}
+
+// Publishers for received messages
+struct RcvTopicsPubs {
+@[    for sub in subscriptions]@
+	uORB::Publication<@(sub['simple_base_type'])_s> @(sub['topic_simple'])_pub{ORB_ID(@(sub['topic_simple']))};
+@[    end for]@
+
+	uint32_t num_payload_received{};
+
+	bool init(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId reliable_in_stream_id, uxrStreamId best_effort_in_stream_id, uxrObjectId participant_id, const char *client_namespace);
+};
+
+static void on_topic_update(uxrSession *session, uxrObjectId object_id, uint16_t request_id, uxrStreamId stream_id,
+		     struct ucdrBuffer *ub, uint16_t length, void *args)
+{
+	RcvTopicsPubs *pubs = (RcvTopicsPubs *)args;
+	const int64_t time_offset_us = session->time_offset / 1000; // ns -> us
+	pubs->num_payload_received += length;
+
+	switch (object_id.id) {
+@[    for idx, sub in enumerate(subscriptions)]@
+	case @(idx)+1000: {
+			@(sub['simple_base_type'])_s data;
+
+			if (ucdr_deserialize_@(sub['simple_base_type'])(*ub, data, time_offset_us)) {
+				//print_message(ORB_ID(@(sub['simple_base_type'])), data);
+				pubs->@(sub['topic_simple'])_pub.publish(data);
+			}
+		}
+		break;
+
+@[    end for]@
+
+	default:
+		PX4_ERR("unknown object id: %i", object_id.id);
+		break;
+	}
+}
+
+bool RcvTopicsPubs::init(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId reliable_in_stream_id, uxrStreamId best_effort_in_stream_id, uxrObjectId participant_id, const char *client_namespace)
+{
+@[    for idx, sub in enumerate(subscriptions)]@
+	create_data_reader(session, reliable_out_stream_id, best_effort_in_stream_id, participant_id, @(idx), client_namespace, "@(sub['topic_simple'])", "@(sub['dds_type'])");
+@[    end for]@
+
+	uxr_set_topic_callback(session, on_topic_update, this);
+
+	return true;
+}
diff --git a/src/modules/microdds_client/dds_topics.yaml b/src/modules/microdds_client/dds_topics.yaml
new file mode 100644
index 0000000000..3a871848bb
--- /dev/null
+++ b/src/modules/microdds_client/dds_topics.yaml
@@ -0,0 +1,86 @@
+#####
+#
+# This file maps all the topics that are to be used on the micro DDS client.
+#
+#####
+publications:
+
+  - topic: /fmu/out/collision_constraints
+    type: px4_msgs::msg::CollisionConstraints
+
+  - topic: /fmu/out/failsafe_flags
+    type: px4_msgs::msg::FailsafeFlags
+
+  - topic: /fmu/out/sensor_combined
+    type: px4_msgs::msg::SensorCombined
+
+  - topic: /fmu/out/timesync_status
+    type: px4_msgs::msg::TimesyncStatus
+
+  # - topic: /fmu/out/vehicle_angular_velocity
+  #   type: px4_msgs::msg::VehicleAngularVelocity
+
+  - topic: /fmu/out/vehicle_attitude
+    type: px4_msgs::msg::VehicleAttitude
+
+  - topic: /fmu/out/vehicle_control_mode
+    type: px4_msgs::msg::VehicleControlMode
+
+  - topic: /fmu/out/vehicle_global_position
+    type: px4_msgs::msg::VehicleGlobalPosition
+
+  - topic: /fmu/out/vehicle_gps_position
+    type: px4_msgs::msg::SensorGps
+
+  - topic: /fmu/out/vehicle_local_position
+    type: px4_msgs::msg::VehicleLocalPosition
+
+  - topic: /fmu/out/vehicle_odometry
+    type: px4_msgs::msg::VehicleOdometry
+
+  - topic: /fmu/out/vehicle_status
+    type: px4_msgs::msg::VehicleStatus
+
+  - topic: /fmu/out/vehicle_trajectory_waypoint_desired
+    type: px4_msgs::msg::VehicleTrajectoryWaypoint
+
+subscriptions:
+
+  - topic: /fmu/in/offboard_control_mode
+    type: px4_msgs::msg::OffboardControlMode
+
+  - topic: /fmu/in/onboard_computer_status
+    type: px4_msgs::msg::OnboardComputerStatus
+
+  - topic: /fmu/in/obstacle_distance
+    type: px4_msgs::msg::ObstacleDistance
+
+  - topic: /fmu/in/sensor_optical_flow
+    type: px4_msgs::msg::SensorOpticalFlow
+
+  - topic: /fmu/in/telemetry_status
+    type: px4_msgs::msg::TelemetryStatus
+
+  - topic: /fmu/in/trajectory_setpoint
+    type: px4_msgs::msg::TrajectorySetpoint
+
+  - topic: /fmu/in/vehicle_attitude_setpoint
+    type: px4_msgs::msg::VehicleAttitudeSetpoint
+
+  - topic: /fmu/in/vehicle_mocap_odometry
+    type: px4_msgs::msg::VehicleOdometry
+
+  - topic: /fmu/in/vehicle_rates_setpoint
+    type: px4_msgs::msg::VehicleRatesSetpoint
+
+  - topic: /fmu/in/vehicle_visual_odometry
+    type: px4_msgs::msg::VehicleOdometry
+
+  - topic: /fmu/in/vehicle_command
+    type: px4_msgs::msg::VehicleCommand
+
+  - topic: /fmu/in/vehicle_trajectory_bezier
+    type: px4_msgs::msg::VehicleTrajectoryBezier
+
+  - topic: /fmu/in/vehicle_trajectory_waypoint
+    type: px4_msgs::msg::VehicleTrajectoryWaypoint
diff --git a/src/modules/microdds_client/generate_dds_topics.py b/src/modules/microdds_client/generate_dds_topics.py
new file mode 100644
index 0000000000..8018fe22d0
--- /dev/null
+++ b/src/modules/microdds_client/generate_dds_topics.py
@@ -0,0 +1,143 @@
+#!/usr/bin/env python3
+################################################################################
+#
+# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+# Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this
+# list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its contributors
+# may be used to endorse or promote products derived from this software without
+# specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+################################################################################
+
+# This script can generate the client code based on a set of topics
+# to sent and set to receive.
+
+import sys
+import os
+import argparse
+import re
+import em
+import yaml
+
+parser = argparse.ArgumentParser()
+parser.add_argument("-m", "--topic-msg-dir", dest='msgdir', type=str,
+                    help="Topics message, by default using relative path 'msg/'", default="msg")
+
+parser.add_argument("-y", "--dds-topics-file", dest='yaml_file', type=str,
+                    help="Setup topics file path, by default using 'dds_topics.yaml'")
+
+parser.add_argument("-t", "--template_file", dest='template_file', type=str,
+                    help="DDS topics template file")
+
+parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str,
+                    help="Client output dir, by default using relative path 'src/modules/microdds_client'", default=None)
+
+if len(sys.argv) <= 1:
+    parser.print_usage()
+    exit(-1)
+
+# Parse arguments
+args = parser.parse_args()
+
+# Client files output path
+client_out_dir = os.path.abspath(args.clientdir)
+template_file = os.path.join(args.template_file)
+
+# Make sure output directory exists:
+if not os.path.isdir(client_out_dir):
+    os.makedirs(client_out_dir)
+
+output_file = os.path.join(client_out_dir, os.path.basename(template_file).replace(".em", ""))
+folder_name = os.path.dirname(output_file)
+
+if not os.path.exists(folder_name):
+    os.makedirs(folder_name)
+
+
+
+# open yaml file to load dictionary of publications and subscriptions
+with open(args.yaml_file, 'r') as file:
+    msg_map = yaml.safe_load(file)
+
+merged_em_globals = {}
+all_type_includes = []
+
+for p in msg_map['publications']:
+    # eg TrajectoryWaypoint from px4_msgs::msg::TrajectoryWaypoint
+    simple_base_type = p['type'].split('::')[-1]
+
+    # eg TrajectoryWaypoint -> trajectory_waypoint
+    base_type_name_snake_case = re.sub(r'(?<!^)(?=[A-Z])', '_', simple_base_type).lower()
+    all_type_includes.append(base_type_name_snake_case)
+
+    # simple_base_type: eg vehicle_status
+    p['simple_base_type'] = base_type_name_snake_case
+
+    # dds_type: eg px4_msgs::msg::dds_::VehicleStatus_
+    p['dds_type'] = p['type'].replace("::msg::", "::msg::dds_::") + "_"
+
+    # topic_simple: eg vehicle_status
+    p['topic_simple'] = p['topic'].split('/')[-1]
+
+
+merged_em_globals['publications'] = msg_map['publications']
+
+for s in msg_map['subscriptions']:
+    # eg TrajectoryWaypoint from px4_msgs::msg::TrajectoryWaypoint
+    simple_base_type = s['type'].split('::')[-1]
+
+    # eg TrajectoryWaypoint -> trajectory_waypoint
+    base_type_name_snake_case = re.sub(r'(?<!^)(?=[A-Z])', '_', simple_base_type).lower()
+    all_type_includes.append(base_type_name_snake_case)
+
+    # simple_base_type: eg vehicle_status
+    s['simple_base_type'] = base_type_name_snake_case
+
+    # dds_type: eg px4_msgs::msg::dds_::VehicleStatus_
+    s['dds_type'] = s['type'].replace("::msg::", "::msg::dds_::") + "_"
+
+    # topic_simple: eg vehicle_status
+    s['topic_simple'] = s['topic'].split('/')[-1]
+
+
+merged_em_globals['subscriptions'] = msg_map['subscriptions']
+
+merged_em_globals['type_includes'] = sorted(set(all_type_includes))
+
+
+# run interpreter
+ofile = open(output_file, 'w')
+interpreter = em.Interpreter(output=ofile, globals=merged_em_globals, options={em.RAW_OPT: True, em.BUFFERED_OPT: True})
+
+try:
+    interpreter.file(open(template_file))
+except OSError as e:
+    ofile.close()
+    os.remove(output_file)
+    raise
+
+interpreter.shutdown()
+ofile.close()
diff --git a/src/modules/microdds_client/microdds_client.cpp b/src/modules/microdds_client/microdds_client.cpp
index 8802517d2d..22f3b9f484 100644
--- a/src/modules/microdds_client/microdds_client.cpp
+++ b/src/modules/microdds_client/microdds_client.cpp
@@ -33,7 +33,6 @@
 
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/cli.h>
-#include <uORB/topics/vehicle_imu.h>
 
 #include "microdds_client.h"
 
@@ -46,27 +45,68 @@
 #include <stdlib.h>
 #include <unistd.h>
 
+#if defined(CONFIG_NET) || defined(__PX4_POSIX)
+# define MICRODDS_CLIENT_UDP 1
+#endif
+
 #define STREAM_HISTORY  4
 #define BUFFER_SIZE (UXR_CONFIG_SERIAL_TRANSPORT_MTU * STREAM_HISTORY) // MTU==512 by default
 
 using namespace time_literals;
 
+void on_time(uxrSession *session, int64_t current_time, int64_t received_timestamp, int64_t transmit_timestamp,
+	     int64_t originate_timestamp, void *args)
+{
+	// latest round trip time (RTT)
+	int64_t rtt = current_time - originate_timestamp;
+
+	// HRT to AGENT
+	int64_t offset_1 = (received_timestamp - originate_timestamp) - (rtt / 2);
+	int64_t offset_2 = (transmit_timestamp - current_time) - (rtt / 2);
+
+	session->time_offset = (offset_1 + offset_2) / 2;
+
+	if (args) {
+		Timesync *timesync = static_cast<Timesync *>(args);
+		timesync->update(current_time / 1000, transmit_timestamp, originate_timestamp);
+
+		//fprintf(stderr, "time_offset: %ld, timesync: %ld, diff: %ld\n", session->time_offset/1000, timesync->offset(), session->time_offset/1000 + timesync->offset());
+
+		session->time_offset = -timesync->offset() * 1000; // us -> ns
+	}
+}
+
 MicroddsClient::MicroddsClient(Transport transport, const char *device, int baudrate, const char *host,
-			       const char *port, bool localhost_only)
-	: _localhost_only(localhost_only)
+			       const char *port, bool localhost_only, const char *client_namespace) :
+	ModuleParams(nullptr),
+	_localhost_only(localhost_only),
+	_client_namespace(client_namespace)
 {
 	if (transport == Transport::Serial) {
 
-		int fd = open(device, O_RDWR | O_NOCTTY | O_NONBLOCK);
+		int fd = -1;
 
-		if (fd < 0) {
-			PX4_ERR("open %s failed (%i)", device, errno);
+		for (int attempt = 0; attempt < 3; attempt++) {
+			fd = open(device, O_RDWR | O_NOCTTY | O_NONBLOCK);
+
+			if (fd < 0) {
+				PX4_ERR("open %s failed (%i)", device, errno);
+				// sleep before trying again
+				usleep(1'000'000);
+
+			} else {
+				break;
+			}
 		}
 
 		_transport_serial = new uxrSerialTransport();
 
 		if (fd >= 0 && setBaudrate(fd, baudrate) == 0 && _transport_serial) {
-			if (uxr_init_serial_transport(_transport_serial, fd, 0, 1)) {
+			// TODO:
+			uint8_t remote_addr = 0; // Identifier of the Agent in the connection
+			uint8_t local_addr = 1; // Identifier of the Client in the serial connection
+
+			if (uxr_init_serial_transport(_transport_serial, fd, remote_addr, local_addr)) {
 				_comm = &_transport_serial->comm;
 				_fd = fd;
 
@@ -77,7 +117,7 @@ MicroddsClient::MicroddsClient(Transport transport, const char *device, int baud
 
 	} else if (transport == Transport::Udp) {
 
-#if defined(CONFIG_NET) || defined(__PX4_POSIX)
+#if defined(MICRODDS_CLIENT_UDP)
 		_transport_udp = new uxrUDPTransport();
 
 		if (_transport_udp) {
@@ -127,8 +167,6 @@ void MicroddsClient::run()
 		return;
 	}
 
-	int polling_topic_sub = orb_subscribe(ORB_ID(vehicle_imu));
-
 	while (!should_exit()) {
 		bool got_response = false;
 
@@ -142,29 +180,48 @@ void MicroddsClient::run()
 		}
 
 		// Session
+		// The key identifier of the Client. All Clients connected to an Agent must have a different key.
+		const uint32_t key = 0xAAAABBBB;
 		uxrSession session;
-		uxr_init_session(&session, _comm, 0xAAAABBBB);
+		uxr_init_session(&session, _comm, key);
 
+		// void uxr_create_session_retries(uxrSession* session, size_t retries);
 		if (!uxr_create_session(&session)) {
 			PX4_ERR("uxr_create_session failed");
 			return;
 		}
 
+		// TODO: uxr_set_status_callback
+
 		// Streams
 		// Reliable for setup, afterwards best-effort to send the data (important: need to create all 4 streams)
 		uint8_t output_reliable_stream_buffer[BUFFER_SIZE] {};
-		uxrStreamId reliable_out = uxr_create_output_reliable_stream(&session, output_reliable_stream_buffer, BUFFER_SIZE,
-					   STREAM_HISTORY);
-		uint8_t output_data_stream_buffer[1024] {};
-		uxrStreamId data_out = uxr_create_output_best_effort_stream(&session, output_data_stream_buffer,
-				       sizeof(output_data_stream_buffer));
+		uxrStreamId reliable_out = uxr_create_output_reliable_stream(&session, output_reliable_stream_buffer,
+					   sizeof(output_reliable_stream_buffer), STREAM_HISTORY);
+
+		uint8_t output_data_stream_buffer[2048] {};
+		uxrStreamId best_effort_out = uxr_create_output_best_effort_stream(&session, output_data_stream_buffer,
+					      sizeof(output_data_stream_buffer));
 
 		uint8_t input_reliable_stream_buffer[BUFFER_SIZE] {};
-		uxr_create_input_reliable_stream(&session, input_reliable_stream_buffer, BUFFER_SIZE, STREAM_HISTORY);
-		uxrStreamId input_stream = uxr_create_input_best_effort_stream(&session);
+		uxrStreamId reliable_in = uxr_create_input_reliable_stream(&session, input_reliable_stream_buffer,
+					  sizeof(input_reliable_stream_buffer),
+					  STREAM_HISTORY);
+		(void)reliable_in;
+
+		uxrStreamId best_effort_in = uxr_create_input_best_effort_stream(&session);
+		(void)best_effort_in;
 
 		// Create entities
 		uxrObjectId participant_id = uxr_object_id(0x01, UXR_PARTICIPANT_ID);
+
+		uint16_t domain_id = _param_xrce_dds_dom_id.get();
+
+		// const char *participant_name = "px4_micro_xrce_dds";
+		// uint16_t participant_req = uxr_buffer_create_participant_bin(&session, reliable_out, participant_id, domain_id,
+		// 			   participant_name, UXR_REPLACE);
+
+		// TODO: configurable participant name with client namespace?
 		const char *participant_xml = _localhost_only ?
 					      "<dds>"
 					      "<profiles>"
@@ -178,7 +235,7 @@ void MicroddsClient::run()
 					      "</profiles>"
 					      "<participant>"
 					      "<rtps>"
-					      "<name>default_xrce_participant</name>"
+					      "<name>px4_micro_xrce_dds</name>"
 					      "<useBuiltinTransports>false</useBuiltinTransports>"
 					      "<userTransports><transport_id>udp_localhost</transport_id></userTransports>"
 					      "</rtps>"
@@ -188,11 +245,11 @@ void MicroddsClient::run()
 					      "<dds>"
 					      "<participant>"
 					      "<rtps>"
-					      "<name>default_xrce_participant</name>"
+					      "<name>px4_micro_xrce_dds</name>"
 					      "</rtps>"
 					      "</participant>"
 					      "</dds>" ;
-		uint16_t participant_req = uxr_buffer_create_participant_xml(&session, reliable_out, participant_id, 0,
+		uint16_t participant_req = uxr_buffer_create_participant_xml(&session, reliable_out, participant_id, domain_id,
 					   participant_xml, UXR_REPLACE);
 
 		uint8_t request_status;
@@ -202,69 +259,60 @@ void MicroddsClient::run()
 			return;
 		}
 
-		if (!_subs->init(&session, reliable_out, participant_id)) {
-			PX4_ERR("subs init failed");
-			return;
-		}
-
-		if (!_pubs->init(&session, reliable_out, input_stream, participant_id)) {
+		if (!_pubs->init(&session, reliable_out, reliable_in, best_effort_in, participant_id, _client_namespace)) {
 			PX4_ERR("pubs init failed");
 			return;
 		}
 
 		_connected = true;
 
+		// Set time-callback.
+		uxr_set_time_callback(&session, on_time, &_timesync);
+
+		// Synchronize with the Agent
+		bool synchronized = false;
+
+		while (!synchronized) {
+			synchronized = uxr_sync_session(&session, 1000);
+
+			if (synchronized) {
+				PX4_INFO("synchronized with time offset %-5" PRId64 "us", session.time_offset / 1000);
+				//sleep(1);
+
+			} else {
+				usleep(10000);
+			}
+		}
+
+		hrt_abstime last_sync_session = 0;
 		hrt_abstime last_status_update = hrt_absolute_time();
 		hrt_abstime last_ping = hrt_absolute_time();
 		int num_pings_missed = 0;
 		bool had_ping_reply = false;
 		uint32_t last_num_payload_sent{};
 		uint32_t last_num_payload_received{};
-		bool error_printed = false;
-		hrt_abstime last_read = hrt_absolute_time();
 
 		while (!should_exit() && _connected) {
-			px4_pollfd_struct_t fds[1];
-			fds[0].fd = polling_topic_sub;
-			fds[0].events = POLLIN;
-			// we could poll on the uart/udp fd as well (on nuttx)
-			int pret = px4_poll(fds, 1, 20);
 
-			if (pret < 0) {
-				if (!error_printed) {
-					PX4_ERR("poll failed (%i)", pret);
-					error_printed = true;
-				}
+			_subs->update(&session, reliable_out, best_effort_out, participant_id, _client_namespace);
 
-			} else if (pret != 0) {
-				if (fds[0].revents & POLLIN) {
-					vehicle_imu_s data;
-					orb_copy(ORB_ID(vehicle_imu), polling_topic_sub, &data);
+			uxr_run_session_timeout(&session, 0);
+
+			// time sync session
+			if (hrt_elapsed_time(&last_sync_session) > 1_s) {
+				if (uxr_sync_session(&session, 100)) {
+					//PX4_INFO("synchronized with time offset %-5" PRId64 "ns", session.time_offset);
+					last_sync_session = hrt_absolute_time();
 				}
 			}
 
-			_subs->update(data_out);
-
-			hrt_abstime read_start = hrt_absolute_time();
-
-			if (read_start - last_read > 5_ms) {
-				last_read = read_start;
-
-				// Read as long as there's data or until a timeout
-				pollfd fd_read;
-				fd_read.fd = _fd;
-				fd_read.events = POLLIN;
-
-				do {
-					uxr_run_session_timeout(&session, 0);
-
-					if (session.on_pong_flag == 1 /* PONG_IN_SESSION_STATUS */) { // Check for a ping response
-						had_ping_reply = true;
-					}
-				} while (poll(&fd_read, 1, 0) > 0 && hrt_absolute_time() - read_start < 2_ms);
+			// Check for a ping response
+			/* PONG_IN_SESSION_STATUS */
+			if (session.on_pong_flag == 1) {
+				had_ping_reply = true;
 			}
 
-			hrt_abstime now = hrt_absolute_time();
+			const hrt_abstime now = hrt_absolute_time();
 
 			if (now - last_status_update > 1_s) {
 				float dt = (now - last_status_update) / 1e6f;
@@ -287,6 +335,7 @@ void MicroddsClient::run()
 				}
 
 				uxr_ping_agent_session(&session, 0, 1);
+
 				had_ping_reply = false;
 			}
 
@@ -294,14 +343,14 @@ void MicroddsClient::run()
 				PX4_INFO("No ping response, disconnecting");
 				_connected = false;
 			}
+
+			px4_usleep(1000);
 		}
 
 		uxr_delete_session_retries(&session, _connected ? 1 : 0);
 		_last_payload_tx_rate = 0;
 		_last_payload_tx_rate = 0;
 	}
-
-	orb_unsubscribe(polling_topic_sub);
 }
 
 int MicroddsClient::setBaudrate(int fd, unsigned baud)
@@ -333,6 +382,48 @@ int MicroddsClient::setBaudrate(int fd, unsigned baud)
 
 	case 921600: speed = B921600; break;
 
+#ifndef B1000000
+#define B1000000 1000000
+#endif
+
+	case 1000000: speed = B1000000; break;
+
+#ifndef B1500000
+#define B1500000 1500000
+#endif
+
+	case 1500000: speed = B1500000; break;
+
+#ifndef B2000000
+#define B2000000 2000000
+#endif
+
+	case 2000000: speed = B2000000; break;
+
+#ifndef B2500000
+#define B2500000 2500000
+#endif
+
+	case 2500000: speed = B2500000; break;
+
+#ifndef B3000000
+#define B3000000 3000000
+#endif
+
+	case 3000000: speed = B3000000; break;
+
+#ifndef B3500000
+#define B3500000 3500000
+#endif
+
+	case 3500000: speed = B3500000; break;
+
+#ifndef B4000000
+#define B4000000 4000000
+#endif
+
+	case 4000000: speed = B4000000; break;
+
 	default:
 		PX4_ERR("ERR: unknown baudrate: %d", baud);
 		return -EINVAL;
@@ -399,12 +490,6 @@ int MicroddsClient::setBaudrate(int fd, unsigned baud)
 	return 0;
 }
 
-
-int microdds_client_main(int argc, char *argv[])
-{
-	return MicroddsClient::main(argc, argv);
-}
-
 int MicroddsClient::custom_command(int argc, char *argv[])
 {
 	return print_usage("unknown command");
@@ -414,8 +499,8 @@ int MicroddsClient::task_spawn(int argc, char *argv[])
 {
 	_task_id = px4_task_spawn_cmd("microdds_client",
 				      SCHED_DEFAULT,
-				      SCHED_PRIORITY_DEFAULT - 4,
-				      PX4_STACK_ADJUSTED(8000),
+				      SCHED_PRIORITY_DEFAULT,
+				      PX4_STACK_ADJUSTED(10000),
 				      (px4_main_t)&run_trampoline,
 				      (char *const *)argv);
 
@@ -442,14 +527,22 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
 	int ch;
 	const char *myoptarg = nullptr;
 
+#if defined(MICRODDS_CLIENT_UDP)
 	Transport transport = Transport::Udp;
-	const char *device = nullptr;
-	const char *ip = "127.0.0.1";
-	int baudrate = 921600;
-	const char *port = "15555";
-	bool localhost_only = false;
 
-	while ((ch = px4_getopt(argc, argv, "t:d:b:h:p:l", &myoptind, &myoptarg)) != EOF) {
+#else
+	Transport transport = Transport::Serial;
+#endif
+	const char *device = nullptr;
+	int baudrate = 921600;
+
+	const char *port = "8888";
+	bool localhost_only = false;
+	const char *ip = "127.0.0.1";
+
+	const char *client_namespace = nullptr;//"px4";
+
+	while ((ch = px4_getopt(argc, argv, "t:d:b:h:p:l:n:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 't':
 			if (!strcmp(myoptarg, "serial")) {
@@ -477,6 +570,8 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
 
 			break;
 
+#if defined(MICRODDS_CLIENT_UDP)
+
 		case 'h':
 			ip = myoptarg;
 			break;
@@ -488,6 +583,11 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
 		case 'l':
 			localhost_only = true;
 			break;
+#endif // MICRODDS_CLIENT_UDP
+
+		case 'n':
+			client_namespace = myoptarg;
+			break;
 
 		case '?':
 			error_flag = true;
@@ -511,7 +611,7 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
 		}
 	}
 
-	return new MicroddsClient(transport, device, baudrate, ip, port, localhost_only);
+	return new MicroddsClient(transport, device, baudrate, ip, port, localhost_only, client_namespace);
 }
 
 int MicroddsClient::print_usage(const char *reason)
@@ -536,9 +636,15 @@ $ microdds_client start -t udp -h 127.0.0.1 -p 15555
 	PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "serial device", true);
 	PRINT_MODULE_USAGE_PARAM_INT('b', 0, 0, 3000000, "Baudrate (can also be p:<param_name>)", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('h', "127.0.0.1", "<IP>", "Host IP", true);
-	PRINT_MODULE_USAGE_PARAM_INT('p', 15555, 0, 3000000, "Remote Port", true);
+	PRINT_MODULE_USAGE_PARAM_INT('p', 8888, 0, 65535, "Remote Port", true);
 	PRINT_MODULE_USAGE_PARAM_FLAG('l', "Restrict to localhost (use in combination with ROS_LOCALHOST_ONLY=1)", true);
+	PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, nullptr, "Client DDS namespace", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 
 	return 0;
 }
+
+extern "C" __EXPORT int microdds_client_main(int argc, char *argv[])
+{
+	return MicroddsClient::main(argc, argv);
+}
diff --git a/src/modules/microdds_client/microdds_client.h b/src/modules/microdds_client/microdds_client.h
index 5a770c37ee..7801ddb9d7 100644
--- a/src/modules/microdds_client/microdds_client.h
+++ b/src/modules/microdds_client/microdds_client.h
@@ -34,13 +34,13 @@
 #pragma once
 
 #include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
 
-#include <src/modules/micrortps_bridge/micrortps_client/dds_topics.h>
+#include <src/modules/microdds_client/dds_topics.h>
 
-extern "C" __EXPORT int microdds_client_main(int argc, char *argv[]);
+#include <lib/timesync/Timesync.hpp>
 
-
-class MicroddsClient : public ModuleBase<MicroddsClient>
+class MicroddsClient : public ModuleBase<MicroddsClient>, public ModuleParams
 {
 public:
 	enum class Transport {
@@ -49,7 +49,7 @@ public:
 	};
 
 	MicroddsClient(Transport transport, const char *device, int baudrate, const char *host, const char *port,
-		       bool localhost_only);
+		       bool localhost_only, const char *client_namespace);
 
 	~MicroddsClient();
 
@@ -75,6 +75,7 @@ private:
 	int setBaudrate(int fd, unsigned baud);
 
 	const bool _localhost_only;
+	const char *_client_namespace;
 
 	SendTopicsSubs *_subs{nullptr};
 	RcvTopicsPubs *_pubs{nullptr};
@@ -87,5 +88,11 @@ private:
 	int _last_payload_tx_rate{}; ///< in B/s
 	int _last_payload_rx_rate{}; ///< in B/s
 	bool _connected{false};
+
+	Timesync _timesync{};
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::XRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id
+	)
 };
 
diff --git a/src/modules/microdds_client/module.yaml b/src/modules/microdds_client/module.yaml
new file mode 100644
index 0000000000..1c5bf77856
--- /dev/null
+++ b/src/modules/microdds_client/module.yaml
@@ -0,0 +1,56 @@
+
+
+# parameters to auto start
+#  mode (normal, minimal)
+#  UDP port
+#  max rate
+#  DDS DOMAIN ID
+#
+
+
+# multiple instances?
+
+
+module_name: Micro XRCE-DDS
+serial_config:
+    - command: |
+        if [ $SERIAL_DEV != ethernet ]; then
+            set XRCE_DDS_ARGS "-t serial -d ${SERIAL_DEV} -b p:${BAUD_PARAM}"
+        else
+            set XRCE_DDS_ARGS "-t udp"
+        fi
+        microdds_client start ${XRCE_DDS_ARGS}
+
+      port_config_param:
+        name: XRCE_DDS_${i}_CFG
+        group: Micro XRCE-DDS
+        # MAVLink instances:
+        # 0: Telem1 Port (Telemetry Link)
+        # 1: Telem2 Port (Companion Link). Disabled by default to reduce RAM usage
+        # 2: Board-specific / no fixed function or port
+        #default: [TEL1, "", ""]
+      supports_networking: true
+
+parameters:
+    - group: Micro XRCE-DDS
+      definitions:
+
+        XRCE_DDS_DOM_ID:
+            description:
+                short: XRCE DDS domain ID
+                long: XRCE DDS domain ID
+            category: System
+            type: int32
+            reboot_required: true
+            default: 0
+
+        XRCE_DDS_UDP_PRT:
+            description:
+                short: Micro DDS UDP Port
+                long: |
+                    If ethernet enabled and selected as configuration for micro DDS,
+                    selected udp port will be set and used.
+            type: int32
+            reboot_required: true
+            default: 8888
+            requires_ethernet: true
diff --git a/src/modules/microdds_client/utilities.hpp b/src/modules/microdds_client/utilities.hpp
new file mode 100644
index 0000000000..6244eb1adf
--- /dev/null
+++ b/src/modules/microdds_client/utilities.hpp
@@ -0,0 +1,138 @@
+
+#pragma once
+
+#include <uxr/client/client.h>
+#include <ucdr/microcdr.h>
+
+#include <uORB/topics/uORBTopics.hpp>
+
+#define TOPIC_NAME_SIZE 128
+
+uxrObjectId topic_id_from_orb(ORB_ID orb_id, uint8_t instance = 0)
+{
+	if (orb_id != ORB_ID::INVALID) {
+		uint16_t id = static_cast<uint8_t>(orb_id) + (instance * UINT8_MAX);
+		uxrObjectId topic_id = uxr_object_id(id, UXR_TOPIC_ID);
+		return topic_id;
+	}
+
+	return uxrObjectId{};
+}
+
+static bool generate_topic_name(char *topic, const char *client_namespace, const char *direction, const char *name)
+{
+	if (client_namespace != nullptr) {
+		int ret = snprintf(topic, TOPIC_NAME_SIZE, "rt/%s/fmu/%s/%s", client_namespace, direction, name);
+		return (ret > 0 && ret < TOPIC_NAME_SIZE);
+	}
+
+	int ret = snprintf(topic, TOPIC_NAME_SIZE, "rt/fmu/%s/%s", direction, name);
+	return (ret > 0 && ret < TOPIC_NAME_SIZE);
+}
+
+static bool create_data_writer(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrObjectId participant_id,
+			       ORB_ID orb_id, const char *client_namespace, const char *topic_name_simple, const char *type_name,
+			       uxrObjectId &datawriter_id)
+{
+	// topic
+	char topic_name[TOPIC_NAME_SIZE];
+
+	if (!generate_topic_name(topic_name, client_namespace, "out", topic_name_simple)) {
+		PX4_ERR("topic path too long");
+		return false;
+	}
+
+	uxrObjectId topic_id = topic_id_from_orb(orb_id);
+	uint16_t topic_req = uxr_buffer_create_topic_bin(session, reliable_out_stream_id, topic_id, participant_id, topic_name,
+			     type_name, UXR_REPLACE);
+
+
+	// publisher
+	uxrObjectId publisher_id = uxr_object_id(topic_id.id, UXR_PUBLISHER_ID);
+	uint16_t publisher_req = uxr_buffer_create_publisher_bin(session, reliable_out_stream_id, publisher_id, participant_id,
+				 UXR_REPLACE);
+
+
+	// data writer
+	datawriter_id = uxr_object_id(topic_id.id, UXR_DATAWRITER_ID);
+
+	uxrQoS_t qos = {
+		.durability = UXR_DURABILITY_TRANSIENT_LOCAL,
+		.reliability = UXR_RELIABILITY_BEST_EFFORT,
+		.history = UXR_HISTORY_KEEP_LAST,
+		.depth = 0,
+	};
+
+	uint16_t datawriter_req = uxr_buffer_create_datawriter_bin(session, reliable_out_stream_id, datawriter_id, publisher_id,
+				  topic_id, qos, UXR_REPLACE);
+
+	// Send create entities message and wait its status
+	uint16_t requests[3] {topic_req, publisher_req, datawriter_req};
+	uint8_t status[3];
+
+	if (!uxr_run_session_until_all_status(session, 1000, requests, status, 3)) {
+		PX4_ERR("create entities failed: %s, topic: %i publisher: %i datawriter: %i",
+			topic_name, status[0], status[1], status[2]);
+		return false;
+
+	} else {
+		PX4_INFO("successfully created %s data writer, topic id: %d", topic_name, topic_id.id);
+	}
+
+	return true;
+}
+
+static bool create_data_reader(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId input_stream_id,
+			       uxrObjectId participant_id, uint16_t index, const char *client_namespace, const char *topic_name_simple,
+			       const char *type_name)
+{
+	// topic
+	char topic_name[TOPIC_NAME_SIZE];
+
+	if (!generate_topic_name(topic_name, client_namespace, "in", topic_name_simple)) {
+		PX4_ERR("topic path too long");
+		return false;
+	}
+
+	uint16_t id = index + 1000;
+
+
+	uxrObjectId topic_id = uxr_object_id(id, UXR_TOPIC_ID);
+	uint16_t topic_req = uxr_buffer_create_topic_bin(session, reliable_out_stream_id, topic_id, participant_id, topic_name,
+			     type_name, UXR_REPLACE);
+
+
+	// subscriber
+	uxrObjectId subscriber_id = uxr_object_id(id, UXR_SUBSCRIBER_ID);
+	uint16_t subscriber_req = uxr_buffer_create_subscriber_bin(session, reliable_out_stream_id, subscriber_id,
+				  participant_id, UXR_REPLACE);
+
+
+	// data reader
+	uxrObjectId datareader_id = uxr_object_id(id, UXR_DATAREADER_ID);
+
+	uxrQoS_t qos = {
+		.durability = UXR_DURABILITY_TRANSIENT_LOCAL,
+		.reliability = UXR_RELIABILITY_BEST_EFFORT,
+		.history = UXR_HISTORY_KEEP_LAST,
+		.depth = 0,
+	};
+
+	uint16_t datareader_req = uxr_buffer_create_datareader_bin(session, reliable_out_stream_id, datareader_id,
+				  subscriber_id, topic_id, qos, UXR_REPLACE);
+
+	uint16_t requests[3] {topic_req, subscriber_req, datareader_req};
+	uint8_t status[3];
+
+	if (!uxr_run_session_until_all_status(session, 1000, requests, status, 3)) {
+		PX4_ERR("create entities failed: %s %i %i %i", topic_name,
+			status[0], status[1], status[2]);
+		return false;
+	}
+
+	uxrDeliveryControl delivery_control{};
+	delivery_control.max_samples = UXR_MAX_SAMPLES_UNLIMITED;
+	uxr_buffer_request_data(session, reliable_out_stream_id, datareader_id, input_stream_id, &delivery_control);
+
+	return true;
+}
diff --git a/src/modules/micrortps_bridge/CMakeLists.txt b/src/modules/micrortps_bridge/CMakeLists.txt
deleted file mode 100644
index 8af919eb9f..0000000000
--- a/src/modules/micrortps_bridge/CMakeLists.txt
+++ /dev/null
@@ -1,193 +0,0 @@
-############################################################################
-#
-# Copyright (c) 2017 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#=============================================================================
-# RTPS and micro-cdr
-#
-
-find_program(FASTRTPSGEN fastrtpsgen PATHS $ENV{FASTRTPSGEN_DIR})
-if(NOT FASTRTPSGEN)
-	message(FATAL_ERROR "Unable to find fastrtpsgen")
-else()
-	execute_process(
-		COMMAND $ENV{FASTRTPSGEN_DIR}fastrtpsgen -version
-		OUTPUT_VARIABLE FASTRTPSGEN_VERSION
-		OUTPUT_STRIP_TRAILING_WHITESPACE
-		ERROR_QUIET
-	)
-	message(STATUS "${FASTRTPSGEN_VERSION}")
-endif()
-
-set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS
-	${PX4_SOURCE_DIR}/msg/tools/urtps_bridge_topics.yaml
-)
-
-if (EXISTS "${PX4_SOURCE_DIR}/msg/tools/urtps_bridge_topics.yaml")
-	set(config_rtps_send_topics)
-	execute_process(
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_classifier.py -sa
-		OUTPUT_VARIABLE config_rtps_send_topics
-	)
-	set(config_rtps_send_alias_topics "")
-	string(FIND ${config_rtps_send_topics} "alias" found_send_alias)
-	if (NOT ${found_send_alias} EQUAL "-1")
-		STRING(REGEX REPLACE ".*alias " "" config_rtps_send_alias_topics "${config_rtps_send_topics}")
-		STRING(REPLACE ", " ";" config_rtps_send_alias_topics "${config_rtps_send_alias_topics}")
-		STRING(REPLACE "\n" "" config_rtps_send_alias_topics "${config_rtps_send_alias_topics}")
-		STRING(REGEX REPLACE " alias.*" "" config_rtps_send_topics "${config_rtps_send_topics}")
-	endif()
-	STRING(REGEX REPLACE ", " ";" config_rtps_send_topics "${config_rtps_send_topics}")
-	STRING(REGEX REPLACE "\n" "" config_rtps_send_topics "${config_rtps_send_topics}")
-
-	set(config_rtps_receive_topics)
-	execute_process(
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_classifier.py -ra
-		OUTPUT_VARIABLE config_rtps_receive_topics
-	)
-	set(config_rtps_receive_alias_topics "")
-	string(FIND ${config_rtps_receive_topics} "alias" found_receive_alias)
-	if (NOT ${found_receive_alias} EQUAL "-1")
-		STRING(REGEX REPLACE ".*alias " "" config_rtps_receive_alias_topics "${config_rtps_receive_topics}")
-		STRING(REPLACE ", " ";" config_rtps_receive_alias_topics "${config_rtps_receive_alias_topics}")
-		STRING(REPLACE "\n" "" config_rtps_receive_alias_topics "${config_rtps_receive_alias_topics}")
-		STRING(REGEX REPLACE " alias.*" "" config_rtps_receive_topics "${config_rtps_receive_topics}")
-	endif()
-	STRING(REPLACE ", " ";" config_rtps_receive_topics "${config_rtps_receive_topics}")
-	STRING(REPLACE "\n" "" config_rtps_receive_topics "${config_rtps_receive_topics}")
-endif()
-
-if (FASTRTPSGEN AND (config_rtps_send_topics OR config_rtps_receive_topics))
-	option(GENERATE_RTPS_BRIDGE "enable RTPS and microCDR" ON)
-endif()
-
-if (GENERATE_RTPS_BRIDGE)
-	add_subdirectory(micrortps_client)
-
-	###############################################################################
-	# micro-cdr serialization
-	###############################################################################
-	include(px4_git)
-	px4_add_git_submodule(TARGET git_micro_cdr PATH micro-CDR)
-
-	set(UCDR_SUPERBUILD CACHE BOOL "Disable micro-CDR superbuild compilation.")
-	add_subdirectory(micro-CDR)
-
-	set(msg_out_path_microcdr ${PX4_BINARY_DIR}/uORB_microcdr/topics)
-	set(msg_source_out_path_microcdr ${CMAKE_CURRENT_BINARY_DIR}/topics_microcdr_sources)
-
-	set(uorb_headers_microcdr)
-	set(uorb_sources_microcdr)
-
-	# send topic files
-	STRING(REGEX REPLACE ";" ", " send_list "${config_rtps_send_topics};${config_rtps_send_alias_topics}")
-	message(STATUS "microRTPS bridge:")
-	message(STATUS "  Publish to the bridge from: ${send_list}")
-	set(send_topic_files)
-	foreach(topic ${config_rtps_send_topics})
-		list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
-		list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h)
-		list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp)
-	endforeach()
-
-	# receive topic files
-	STRING(REGEX REPLACE ";" ", " rcv_list "${config_rtps_receive_topics};${config_rtps_receive_alias_topics}")
-	message(STATUS "  Subscribe from the bridge to: ${rcv_list}")
-	set(receive_topic_files)
-	foreach(topic ${config_rtps_receive_topics})
-		list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
-		list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h)
-		list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp)
-	endforeach()
-
-	list(REMOVE_DUPLICATES uorb_headers_microcdr)
-	list(REMOVE_DUPLICATES uorb_sources_microcdr)
-
-	# Generate uORB serialization headers
-	add_custom_command(OUTPUT ${uorb_headers_microcdr}
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/px_generate_uorb_topic_files.py
-			--headers
-			-f ${send_topic_files} ${receive_topic_files}
-			-i ${PX4_SOURCE_DIR}/msg/
-			-o ${msg_out_path_microcdr}
-			-e ${PX4_SOURCE_DIR}/msg/templates/uorb_microcdr
-			-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers_microcdr
-			-q
-		DEPENDS
-			${receive_topic_files}
-			${send_topic_files}
-			${PX4_SOURCE_DIR}/msg/tools/px_generate_uorb_topic_files.py
-			${PX4_SOURCE_DIR}/msg/tools/urtps_bridge_topics.yaml
-		COMMENT "Generating uORB microcdr topic headers"
-		VERBATIM
-	)
-	add_custom_target(uorb_headers_microcdr_gen DEPENDS ${uorb_headers_microcdr})
-
-	# Generate uORB serialization sources
-	add_custom_command(OUTPUT ${uorb_sources_microcdr}
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/px_generate_uorb_topic_files.py
-			--sources
-			-f ${send_topic_files} ${receive_topic_files}
-			-i ${PX4_SOURCE_DIR}/msg/
-			-o ${msg_source_out_path_microcdr}
-			-e ${PX4_SOURCE_DIR}/msg/templates/uorb_microcdr
-			-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources_microcdr
-			-q
-		DEPENDS
-			${receive_topic_files}
-			${send_topic_files}
-			${PX4_SOURCE_DIR}/msg/tools/px_generate_uorb_topic_files.py
-			${PX4_SOURCE_DIR}/msg/tools/urtps_bridge_topics.yaml
-		COMMENT "Generating uORB microcdr topic sources"
-		VERBATIM
-	)
-	add_custom_target(uorb_sources_microcdr_gen DEPENDS ${uorb_sources_microcdr})
-
-	px4_add_library(uorb_msgs_microcdr ${uorb_sources_microcdr} ${uorb_headers_microcdr})
-	add_dependencies(uorb_msgs_microcdr
-		uorb_headers_microcdr_gen
-		uorb_sources_microcdr_gen
-		git_micro_cdr
-		microcdr
-	)
-	add_dependencies(microcdr prebuild_targets)
-
-	# microCDR
-	target_include_directories(uorb_msgs_microcdr
-		PUBLIC
-			${CMAKE_CURRENT_SOURCE_DIR}/micro-CDR/include
-			${CMAKE_CURRENT_BINARY_DIR}/micro-CDR/include
-			${CMAKE_CURRENT_BINARY_DIR}/micro-CDR/include/microcdr
-	)
-
-	target_link_libraries(uorb_msgs_microcdr PRIVATE microcdr)
-endif()
diff --git a/src/modules/micrortps_bridge/Kconfig b/src/modules/micrortps_bridge/Kconfig
deleted file mode 100644
index 2262e81f33..0000000000
--- a/src/modules/micrortps_bridge/Kconfig
+++ /dev/null
@@ -1,12 +0,0 @@
-menuconfig MODULES_MICRORTPS_BRIDGE
-	bool "micrortps_bridge"
-	default n
-	---help---
-		Enable support for micrortps_bridge
-
-menuconfig USER_MICRORTPS_BRIDGE
-	bool "micrortps_bridge running as userspace module"
-	default y
-	depends on BOARD_PROTECTED && MODULES_MICRORTPS_BRIDGE
-	---help---
-		Put micrortps_bridge in userspace memory
diff --git a/src/modules/micrortps_bridge/README.md b/src/modules/micrortps_bridge/README.md
deleted file mode 100644
index 27750f054c..0000000000
--- a/src/modules/micrortps_bridge/README.md
+++ /dev/null
@@ -1 +0,0 @@
-For see a complete documentation, please follow this [link](https://docs.px4.io/main/en/middleware/micrortps.html)
diff --git a/src/modules/micrortps_bridge/micro-CDR b/src/modules/micrortps_bridge/micro-CDR
deleted file mode 160000
index 21d3cfe3ae..0000000000
--- a/src/modules/micrortps_bridge/micro-CDR
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 21d3cfe3ae570d1674da0105ab23b80958e0449a
diff --git a/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt b/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
deleted file mode 100644
index 17e2608d91..0000000000
--- a/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
+++ /dev/null
@@ -1,120 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
-get_filename_component(micrortps_bridge_path ${msg_out_path} PATH)
-
-option(BUILD_MICRORTPS_AGENT "enable building the micrortps_agent after its generation" OFF)
-
-if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
-	set(send_topic_files)
-	foreach(topic ${config_rtps_send_topics})
-		list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
-	endforeach()
-
-	set(receive_topic_files)
-	foreach(topic ${config_rtps_receive_topics})
-		list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
-	endforeach()
-
-	if (NOT "${config_rtps_send_alias_topics}" STREQUAL "")
-		set(config_rtps_send_topics "${config_rtps_send_topics};${config_rtps_send_alias_topics}")
-	endif()
-
-	if (NOT "${config_rtps_receive_alias_topics}" STREQUAL "")
-		set(config_rtps_receive_topics "${config_rtps_receive_topics};${config_rtps_receive_alias_topics}")
-	endif()
-
-	foreach(topic ${config_rtps_send_topics})
-		list(APPEND topic_bridge_files_out ${micrortps_bridge_path}/micrortps_agent/src/${topic}_Publisher.cpp)
-		list(APPEND topic_bridge_files_out ${micrortps_bridge_path}/micrortps_agent/src/${topic}_Publisher.h)
-	endforeach()
-
-	foreach(topic ${config_rtps_receive_topics})
-		list(APPEND topic_bridge_files_out ${micrortps_bridge_path}/micrortps_agent/src/${topic}_Subscriber.cpp)
-		list(APPEND topic_bridge_files_out ${micrortps_bridge_path}/micrortps_agent/src/${topic}_Subscriber.h)
-	endforeach()
-
-	list(APPEND topic_bridge_files_out
-		${micrortps_bridge_path}/micrortps_client/microRTPS_client.cpp
-		${micrortps_bridge_path}/micrortps_client/microRTPS_transport.cpp
-		${micrortps_bridge_path}/micrortps_client/microRTPS_transport.h
-		${micrortps_bridge_path}/micrortps_client/dds_topics.h
-		)
-
-	add_custom_command(OUTPUT ${topic_bridge_files_out}
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/generate_microRTPS_bridge.py
-			--fastrtpsgen-dir $ENV{FASTRTPSGEN_DIR}
-			--generate-idl
-			--mkdir-build
-			--generate-cmakelists
-			--topic-msg-dir ${PX4_SOURCE_DIR}/msg
-			--uorb-templates-dir templates/uorb_microcdr
-			--urtps-templates-dir templates/urtps
-			--agent-outdir ${micrortps_bridge_path}/micrortps_agent/src
-			--client-outdir ${micrortps_bridge_path}/micrortps_client
-			--idl-dir ${micrortps_bridge_path}/micrortps_agent/idl
-			>micrortps_bridge.log 2>&1 || cat micrortps_bridge.log
-		DEPENDS ${send_topic_files} ${receive_topic_files} ${PX4_SOURCE_DIR}/msg/tools/urtps_bridge_topics.yaml
-			${PX4_SOURCE_DIR}/msg/templates/uorb_microcdr/dds_topics.h.em
-		COMMENT "Generating RTPS topic bridge"
-	)
-	add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})
-
-	px4_add_module(
-		MODULE modules__micrortps_bridge__micrortps_client
-		MAIN micrortps_client
-		STACK_MAIN 4096
-		INCLUDES
-			${CMAKE_CURRENT_SOURCE_DIR}
-			${micrortps_bridge_path}/micrortps_client
-		SRCS
-			microRTPS_client_main.cpp
-			${micrortps_bridge_path}/micrortps_client/microRTPS_client.cpp
-			${micrortps_bridge_path}/micrortps_client/microRTPS_transport.cpp
-		MODULE_CONFIG
-			module.yaml
-		DEPENDS
-			topic_bridge_files
-	)
-	target_link_libraries(modules__micrortps_bridge__micrortps_client PRIVATE uorb_msgs_microcdr)
-
-	if (BUILD_MICRORTPS_AGENT)
-		add_custom_command(TARGET modules__micrortps_bridge__micrortps_client POST_BUILD
-			COMMAND ${PX4_SOURCE_DIR}/Tools/build_micrortps_agent.sh
-			WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-			COMMENT "Building micrortps_agent..."
-		)
-		# add_subdirectory(${micrortps_bridge_path}/micrortps_agent)
-	endif()
-endif()
diff --git a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
deleted file mode 100644
index 029bb2331d..0000000000
--- a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/****************************************************************************
- *
- * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice, this
- * list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its contributors
- * may be used to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <microRTPS_transport.h>
-
-#include <inttypes.h>
-#include <cstdio>
-#include <ctime>
-#include <pthread.h>
-#include <termios.h>
-
-#include <ucdr/microcdr.h>
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/getopt.h>
-#include <px4_platform_common/posix.h>
-#include <px4_platform_common/tasks.h>
-#include <px4_platform_common/time.h>
-#include <uORB/uORB.h>
-
-#define LOOPS			-1
-#define SLEEP_US		1000
-#define MAX_SLEEP_US		1000000
-#define BAUDRATE		460800
-#define MAX_DATA_RATE		10000000
-#define DEVICE		"/dev/ttyACM0"
-#define POLL_MS		1
-#define MAX_POLL_MS		1000
-#define DEFAULT_IP		"127.0.0.1"
-#define DEFAULT_RECV_PORT	2019
-#define DEFAULT_SEND_PORT	2020
-#define MIN_TX_INTERVAL_US	1000.f
-#define MAX_TX_INTERVAL_US	1000000.f
-
-
-void *send(void *args);
-void micrortps_start_topics(const uint32_t &datarate, struct timespec &begin, uint64_t &total_rcvd,
-			    uint64_t &total_sent, uint64_t &sent_last_sec,
-			    uint64_t &rcvd_last_sec, uint64_t &received, uint64_t &sent, int &rcvd_loop, int &sent_loop);
-
-struct baudtype {
-	speed_t code;
-	uint32_t val;
-};
-
-struct options {
-	enum class eTransports {
-		UART,
-		UDP
-	};
-	eTransports transport = options::eTransports::UART;
-	char device[64] = DEVICE;
-	char ip[16] = DEFAULT_IP;
-	uint16_t recv_port = DEFAULT_RECV_PORT;
-	uint16_t send_port = DEFAULT_SEND_PORT;
-	uint32_t sleep_us = SLEEP_US;
-	uint32_t baudrate = BAUDRATE;
-	uint32_t datarate = 0;
-	uint32_t poll_ms = POLL_MS;
-	int loops = LOOPS;
-	bool sw_flow_control = false;
-	bool hw_flow_control = false;
-	bool verbose_debug = false;
-};
-
-extern struct options _options;
-extern bool _should_exit_task;
-extern Transport_node *transport_node;
diff --git a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
deleted file mode 100644
index 1ff41c4682..0000000000
--- a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+++ /dev/null
@@ -1,330 +0,0 @@
-/****************************************************************************
- *
- * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- * Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice, this
- * list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * 3. Neither the name of the copyright holder nor the names of its contributors
- * may be used to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <microRTPS_transport.h>
-#include <microRTPS_client.h>
-
-#include <inttypes.h>
-#include <cstdio>
-#include <cstdlib>
-#include <ctime>
-#include <termios.h>
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/getopt.h>
-#include <px4_platform_common/cli.h>
-#include <px4_platform_common/module.h>
-#include <px4_platform_common/posix.h>
-#include <px4_platform_common/tasks.h>
-#include <px4_platform_common/time.h>
-
-extern "C" __EXPORT int micrortps_client_main(int argc, char *argv[]);
-
-static int _rtps_task = -1;
-bool _should_exit_task = false;
-Transport_node *transport_node = nullptr;
-struct options _options;
-
-struct timespec begin;
-struct timespec end;
-
-uint64_t total_rcvd{0};
-uint64_t total_sent{0};
-uint64_t rcvd_last_sec{0};
-uint64_t sent_last_sec{0};
-uint64_t received{0};
-uint64_t sent{0};
-int rcv_loop{0};
-int send_loop{0};
-
-static void usage(const char *name)
-{
-	PRINT_MODULE_USAGE_NAME("micrortps_client", "communication");
-	PRINT_MODULE_USAGE_COMMAND("start");
-
-	PRINT_MODULE_USAGE_PARAM_STRING('t', "UART", "UART|UDP", "Transport protocol", true);
-	PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyACM0", "<file:dev>", "Select Serial Device", true);
-	PRINT_MODULE_USAGE_PARAM_INT('b', 460800, 9600, 3000000, "Baudrate (can also be p:<param_name>)", true);
-	PRINT_MODULE_USAGE_PARAM_INT('m', 0, 0, MAX_DATA_RATE, "Maximum sending data rate in B/s (0=not limited)", true);
-	PRINT_MODULE_USAGE_PARAM_INT('p', 1, 1, MAX_POLL_MS, "Poll timeout for UART in milliseconds", true);
-	PRINT_MODULE_USAGE_PARAM_INT('l', -1, -1, INT32_MAX, "Limit number of iterations until the program exits (-1=infinite)",
-				     true);
-	PRINT_MODULE_USAGE_PARAM_INT('w', 1000, 0, MAX_SLEEP_US,
-				     "Iteration time for data publishing to the uORB side, in microseconds", true);
-	PRINT_MODULE_USAGE_PARAM_INT('r', 2019, 0, 65536, "Select UDP Network Port for receiving (local)", true);
-	PRINT_MODULE_USAGE_PARAM_INT('s', 2020, 0, 65536, "Select UDP Network Port for sending (remote)", true);
-	PRINT_MODULE_USAGE_PARAM_STRING('i', "127.0.0.1", "<x.x.x.x>", "Select IP address (remote)", true);
-	PRINT_MODULE_USAGE_PARAM_FLAG('f', "Activate UART link SW flow control", true);
-	PRINT_MODULE_USAGE_PARAM_FLAG('h', "Activate UART link HW flow control", true);
-	PRINT_MODULE_USAGE_PARAM_FLAG('v', "Add more verbosity", true);
-
-	PRINT_MODULE_USAGE_COMMAND("stop");
-	PRINT_MODULE_USAGE_COMMAND("status");
-}
-
-static int parse_options(int argc, char *argv[])
-{
-	int ch;
-	int myoptind = 1;
-	const char *myoptarg = nullptr;
-
-	while ((ch = px4_getopt(argc, argv, "t:d:l:w:b:m:p:r:s:i:fhv", &myoptind, &myoptarg)) != EOF) {
-		switch (ch) {
-		case 't': _options.transport      = strcmp(myoptarg, "UDP") == 0 ?
-							    options::eTransports::UDP
-							    : options::eTransports::UART;   break;
-
-		case 'd': if (nullptr != myoptarg) strcpy(_options.device, myoptarg);   break;
-
-		case 'l': _options.loops           =  strtol(myoptarg, nullptr, 10);    break;
-
-		case 'w': _options.sleep_us        = strtoul(myoptarg, nullptr, 10);    break;
-
-		case 'b': {
-				int baudrate = 0;
-
-				if (px4_get_parameter_value(myoptarg, baudrate) != 0) {
-					PX4_ERR("baudrate parsing failed");
-				}
-
-				_options.baudrate = baudrate;
-
-				break;
-			}
-
-		case 'm': {
-				int datarate = 0;
-
-				if (px4_get_parameter_value(myoptarg, datarate) != 0) {
-					PX4_ERR("datarate parsing failed");
-				}
-
-				_options.datarate = datarate;
-
-				break;
-			}
-
-		case 'p': _options.poll_ms         = strtoul(myoptarg, nullptr, 10);    break;
-
-		case 'r': _options.recv_port       = strtoul(myoptarg, nullptr, 10);    break;
-
-		case 's': _options.send_port       = strtoul(myoptarg, nullptr, 10);    break;
-
-		case 'i': if (nullptr != myoptarg) strcpy(_options.ip, myoptarg);       break;
-
-		case 'f': _options.sw_flow_control = true;     				break;
-
-		case 'h': _options.hw_flow_control = true;     				break;
-
-		case 'v': _options.verbose_debug   = true;     				break;
-
-		default:
-			usage(argv[1]);
-			return -1;
-		}
-	}
-
-	if (_options.datarate > MAX_DATA_RATE) {
-		_options.datarate = MAX_DATA_RATE;
-		PX4_WARN("Data rate too high. Using max datarate of %d B/s instead", MAX_DATA_RATE);
-	}
-
-	if (_options.poll_ms < POLL_MS) {
-		_options.poll_ms = POLL_MS;
-		PX4_WARN("Poll timeout too low. Using %d ms instead", POLL_MS);
-
-	} else if (_options.poll_ms > MAX_POLL_MS) {
-		_options.poll_ms = MAX_POLL_MS;
-		PX4_WARN("Poll timeout too high. Using %d ms instead", MAX_POLL_MS);
-	}
-
-	if (_options.sleep_us > MAX_SLEEP_US) {
-		_options.sleep_us = MAX_SLEEP_US;
-		PX4_WARN("Publishing iteration cycle too slow. Using %d us instead", MAX_SLEEP_US);
-	}
-
-	if (_options.hw_flow_control && _options.sw_flow_control) {
-		PX4_ERR("HW and SW flow control set. Please set only one or another");
-		return -1;
-	}
-
-	return 0;
-}
-
-static int micrortps_start(int argc, char *argv[])
-{
-	if (0 > parse_options(argc, argv)) {
-		PX4_INFO("EXITING...");
-		_rtps_task = -1;
-		return -1;
-	}
-
-	// Set the system ID to FMU, in order to identify the client side
-	const uint8_t sys_id = static_cast<uint8_t>(MicroRtps::System::FMU);
-
-	switch (_options.transport) {
-	case options::eTransports::UART: {
-			transport_node = new UART_node(_options.device, _options.baudrate, _options.poll_ms,
-						       _options.sw_flow_control, _options.hw_flow_control, sys_id,
-						       _options.verbose_debug);
-			PX4_INFO("UART transport: device: %s; baudrate: %" PRIu32 "; poll: %" PRIu32 "ms; flow_control: %s",
-				 _options.device, _options.baudrate, _options.poll_ms,
-				 _options.sw_flow_control ? "SW enabled" : (_options.hw_flow_control ? "HW enabled" : "No"));
-		}
-		break;
-
-	case options::eTransports::UDP: {
-			transport_node = new UDP_node(_options.ip, _options.recv_port, _options.send_port,
-						      sys_id, _options.verbose_debug);
-			PX4_INFO("UDP transport: ip address: %s; recv port: %" PRIu16 "; send port: %" PRIu16,
-				 _options.ip, _options.recv_port, _options.send_port);
-
-		}
-		break;
-
-	default:
-		_rtps_task = -1;
-		PX4_INFO("EXITING...");
-		return -1;
-	}
-
-	if (0 > transport_node->init()) {
-		PX4_INFO("EXITING...");
-		_rtps_task = -1;
-		return -1;
-	}
-
-	micrortps_start_topics(_options.datarate, begin, total_rcvd, total_sent, sent_last_sec, rcvd_last_sec, received, sent,
-			       rcv_loop,
-			       send_loop);
-
-	px4_clock_gettime(CLOCK_REALTIME, &end);
-
-	const double elapsed_secs = static_cast<double>(end.tv_sec - begin.tv_sec + (end.tv_nsec - begin.tv_nsec) / 1e9);
-
-	PX4_INFO("RECEIVED: %" PRIu64 " messages in %d LOOPS, %" PRIu64 " bytes in %.03f seconds - avg %.02fKB/s",
-		 received, rcv_loop, total_rcvd, elapsed_secs, static_cast<double>(total_rcvd / (1e3 * elapsed_secs)));
-	PX4_INFO("SENT: %" PRIu64 " messages in %d LOOPS, %" PRIu64 " bytes in %.03f seconds - avg %.02fKB/s",
-		 sent, send_loop, total_sent, elapsed_secs, total_sent / (1e3 * elapsed_secs));
-
-	delete transport_node;
-
-	transport_node = nullptr;
-
-	PX4_INFO("Stopped!");
-
-	fflush(stdout);
-
-	_rtps_task = -1;
-
-	return 0;
-}
-
-int micrortps_client_main(int argc, char *argv[])
-{
-	if (argc < 2) {
-		usage(argv[0]);
-		return -1;
-	}
-
-	if (!strcmp(argv[1], "start")) {
-		if (_rtps_task != -1) {
-			PX4_INFO("Already running");
-			return -1;
-		}
-
-		_rtps_task = px4_task_spawn_cmd("micrortps_client",
-						SCHED_DEFAULT,
-						SCHED_PRIORITY_DEFAULT,
-						PX4_STACK_ADJUSTED(2900),
-						(px4_main_t) micrortps_start,
-						(char *const *)argv);
-
-		if (_rtps_task < 0) {
-			PX4_WARN("Could not start task");
-			_rtps_task = -1;
-			return -1;
-		}
-
-		return 0;
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (_rtps_task == -1) {
-			PX4_INFO("Not running");
-
-		} else {
-			px4_clock_gettime(CLOCK_REALTIME, &end);
-
-			const double elapsed_secs = static_cast<double>(end.tv_sec - begin.tv_sec + (end.tv_nsec - begin.tv_nsec) / 1e9);
-
-			printf("\tup and running for %.03f seconds\n", elapsed_secs);
-			printf("\tnr. of messages received: %" PRIu64 "\n", received);
-			printf("\tnr. of messages sent: %" PRIu64 "\n", sent);
-			printf("\ttotal data read: %" PRIu64 " bytes\n", total_rcvd);
-			printf("\ttotal data sent: %" PRIu64 " bytes\n", total_sent);
-			printf("\trates:\n");
-			printf("\t  rx: %.3f kB/s\n", rcvd_last_sec / 1e3);
-			printf("\t  tx: %.3f kB/s\n", sent_last_sec / 1e3);
-			printf("\t  avg rx: %.3f kB/s\n", total_rcvd / (1e3 * elapsed_secs));
-			printf("\t  avg tx: %.3f kB/s\n", total_sent / (1e3 * elapsed_secs));
-			printf("\t  tx rate max:");
-
-			if (_options.datarate != 0) {
-				printf(" %.1f kB/s\n", _options.datarate / 1e3);
-
-			} else {
-				printf(" Unlimited\n");
-			}
-		}
-
-		return 0;
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		if (_rtps_task == -1) {
-			PX4_INFO("Not running");
-			return -1;
-		}
-
-		_should_exit_task = true;
-
-		if (nullptr != transport_node) { transport_node->close(); }
-
-		_rtps_task = -1;
-		return 0;
-	}
-
-	usage(argv[0]);
-	return -1;
-}
diff --git a/src/modules/micrortps_bridge/micrortps_client/module.yaml b/src/modules/micrortps_bridge/micrortps_client/module.yaml
deleted file mode 100644
index 10049eac32..0000000000
--- a/src/modules/micrortps_bridge/micrortps_client/module.yaml
+++ /dev/null
@@ -1,38 +0,0 @@
-module_name: RTPS
-serial_config:
-    - command: |
-        protocol_splitter start ${SERIAL_DEV}
-        mavlink start -d /dev/mavlink -b p:${BAUD_PARAM} -m onboard -r 5000 -x
-        micrortps_client start -d /dev/rtps -b p:${BAUD_PARAM} -m p:RTPS_RATE -l -1
-      port_config_param:
-        name: RTPS_MAV_CONFIG
-        group: RTPS
-      label: MAVLink + FastRTPS
-    - command: |
-        micrortps_client start -d ${SERIAL_DEV} -b p:${BAUD_PARAM} -m p:RTPS_RATE -l -1
-      port_config_param:
-        name: RTPS_CONFIG
-        group: RTPS
-      label: FastRTPS
-
-parameters:
-    - group: RTPS
-      definitions:
-        RTPS_RATE: 
-            description:
-                short: Maximum RTPS data rate
-                long: |
-                    Configure the maximum sending rate for the RTPS streams in Bytes/sec.
-                    If the configured streams exceed the maximum rate, the sending rate of
-                    each stream is automatically decreased.
-
-                    0 is unlimited. Note this can cause reliability issues
-                    if enough RTPS topics are selected that exceed the
-                    serial bus limit.
-
-            type: int32
-            min: 0
-            unit: B/s
-            reboot_required: true
-            default: 0
-
diff --git a/src/modules/micrortps_bridge/res/basic_example_flow.png b/src/modules/micrortps_bridge/res/basic_example_flow.png
deleted file mode 100644
index a48972b7addbc2894d75590df54080d53277ea68..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake
index 56d34b1d5b..37acf693f0 100644
--- a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake
+++ b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake
@@ -29,8 +29,8 @@ if(parallel_jobs LESS 1)
 	set(parallel_jobs 1)
 endif()
 
-message(DEBUG "${NUMBER_OF_LOGICAL_CORES} logical cores detected and ${AVAILABLE_PHYSICAL_MEMORY} megabytes of memory available.
-		Limiting sitl_gazebo concurrent jobs to ${parallel_jobs}")
+# message(DEBUG "${NUMBER_OF_LOGICAL_CORES} logical cores detected and ${AVAILABLE_PHYSICAL_MEMORY} megabytes of memory available.
+# 		Limiting sitl_gazebo concurrent jobs to ${parallel_jobs}")
 
 # project to build sitl_gazebo if necessary
 px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo")
diff --git a/test/mavsdk_tests/mavsdk_test_runner.py b/test/mavsdk_tests/mavsdk_test_runner.py
index 0054bd702c..fad0874f1e 100755
--- a/test/mavsdk_tests/mavsdk_test_runner.py
+++ b/test/mavsdk_tests/mavsdk_test_runner.py
@@ -110,7 +110,7 @@ def is_everything_ready(config: Dict[str, str], build_dir: str) -> bool:
             print("PX4 SITL is not built\n"
                   "run `DONT_RUN=1 "
                   "make px4_sitl gazebo mavsdk_tests` or "
-                  "`DONT_RUN=1 make px4_sitl_rtps gazebo mavsdk_tests`")
+                  "`DONT_RUN=1 make px4_sitl_default gazebo mavsdk_tests`")
             result = False
         if config['simulator'] == 'gazebo':
             if is_running('gzserver'):
@@ -127,7 +127,7 @@ def is_everything_ready(config: Dict[str, str], build_dir: str) -> bool:
         print("Test runner is not built\n"
               "run `DONT_RUN=1 "
               "make px4_sitl gazebo mavsdk_tests` or "
-              "`DONT_RUN=1 make px4_sitl_rtps gazebo mavsdk_tests`")
+              "`DONT_RUN=1 make px4_sitl_default gazebo mavsdk_tests`")
         result = False
 
     return result