diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps b/ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps
deleted file mode 100644
index bc39d78a9f..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (RTPS)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps.post
deleted file mode 100644
index d3cfa4f817..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1016_iris_rtps.post
+++ /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/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index 6cef7670ce..660e68704c 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -46,8 +46,6 @@ px4_add_romfs_files(
 	1014_solo
 	1015_iris_obs_avoid
 	1015_iris_obs_avoid.post
-	1016_iris_rtps
-	1016_iris_rtps.post
 	1017_iris_opt_flow_mockup
 	1018_iris_vision_velocity
 	1019_iris_dual_gps
diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index ff5b7abee5..62d316f754 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -225,6 +225,12 @@ sensors start
 commander start
 navigator start
 
+# Try to start the micrortps_client with UDP transport if module exists
+if px4-micrortps_client status > /dev/null 2>&1
+then
+	# shellcheck disable=SC2154
+	micrortps_client start -t UDP $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
+fi
 
 if param greater -s MNT_MODE_IN -1
 then
diff --git a/Tools/gazebo_sitl_multiple_run.sh b/Tools/gazebo_sitl_multiple_run.sh
index dd051f28a4..1b708fa174 100755
--- a/Tools/gazebo_sitl_multiple_run.sh
+++ b/Tools/gazebo_sitl_multiple_run.sh
@@ -20,7 +20,7 @@ function spawn_model() {
 	X=${X:=0.0}
 	Y=${Y:=$((3*${N}))}
 
-	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
+	SUPPORTED_MODELS=("iris" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
 	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
 	then
 		echo "ERROR: Currently only vehicle model $MODEL is not supported!"
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index 0257cbd344..f1ef214642 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -114,13 +114,13 @@ set(models
 	iris_opt_flow
 	iris_opt_flow_mockup
 	iris_rplidar
-	iris_rtps px4vision
 	iris_vision
 	nxp_cupcar
 	plane
 	plane_cam
 	plane_catapult
 	plane_lidar
+	px4vision
 	r1_rover
 	rover
 	shell