diff --git a/msg/tools/uorb_rtps_message_ids.yaml b/msg/tools/uorb_rtps_message_ids.yaml
index c3a08c44137f..8d1056f2ee09 100644
--- a/msg/tools/uorb_rtps_message_ids.yaml
+++ b/msg/tools/uorb_rtps_message_ids.yaml
@@ -368,5 +368,16 @@ rtps:
   - msg: estimator_innovation_test_ratios
     id: 171
     alias: estimator_innovations
-
+  - msg: orb_multitest
+    id: 172
+    alias: orb_test
+  - msg: orb_test_medium_multi
+    id: 173
+    alias: orb_test_medium
+  - msg: orb_test_medium_queue
+    id: 174
+    alias: orb_test_medium
+  - msg: orb_test_medium_queue_poll
+    id: 175
+    alias: orb_test_medium
   ########## multi topics: end ##########