diff --git a/src/modules/micrortps_bridge/CMakeLists.txt b/src/modules/micrortps_bridge/CMakeLists.txt
index eb739e9934..003898f247 100644
--- a/src/modules/micrortps_bridge/CMakeLists.txt
+++ b/src/modules/micrortps_bridge/CMakeLists.txt
@@ -48,6 +48,10 @@ else()
 	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(
@@ -142,6 +146,7 @@ if (GENERATE_RTPS_BRIDGE)
 			${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
 	)
@@ -161,10 +166,11 @@ if (GENERATE_RTPS_BRIDGE)
 			${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
 	)
-	px4_add_library(uorb_msgs_microcdr ${uorb_sources_microcdr})
+	px4_add_library(uorb_msgs_microcdr ${uorb_sources_microcdr} ${uorb_headers_microcdr})
 	add_dependencies(uorb_msgs_microcdr
 		uorb_headers_microcdr_gen
 		git_micro_cdr