diff --git a/cmake/posix/configs/config-posix-sitl.cmake b/cmake/posix/configs/config-posix-sitl.cmake
index 1b5672aef1..99895b2ad4 100644
--- a/cmake/posix/configs/config-posix-sitl.cmake
+++ b/cmake/posix/configs/config-posix-sitl.cmake
@@ -18,6 +18,7 @@ function(px4_set_config_modules out_module_list)
 		systemcmds/ver
 		systemcmds/esc_calib
 		systemcmds/reboot
+		systemcmds/topic_listener
 		modules/uORB
 		modules/systemlib
 		modules/systemlib/mixer
diff --git a/src/systemcmds/CMakeLists.txt b/src/systemcmds/CMakeLists.txt
index 52cabc06c5..6ee6b33a1f 100644
--- a/src/systemcmds/CMakeLists.txt
+++ b/src/systemcmds/CMakeLists.txt
@@ -16,7 +16,7 @@ set(directories
 	./motor_test
 	./esc_calib
 	./perf
-#	./topic_listener
+	./topic_listener
 	./dumpfile
 	./pwm
 	)
diff --git a/src/systemcmds/topic_listener/CMakeLists.txt b/src/systemcmds/topic_listener/CMakeLists.txt
index 1503bac8b1..2f720757ac 100644
--- a/src/systemcmds/topic_listener/CMakeLists.txt
+++ b/src/systemcmds/topic_listener/CMakeLists.txt
@@ -30,6 +30,14 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+add_custom_command(OUTPUT topic_listener.cpp
+                COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/generate_listener.py ${CMAKE_SOURCE_DIR} > topic_listener.cpp
+                )
+
+add_custom_target(generate_topic_listener
+	DEPENDS topic_listener.cpp)
+
 px4_add_module(
 	MODULE systemcmds__topic_listener
 	MAIN listener
@@ -40,5 +48,6 @@ px4_add_module(
 		topic_listener.cpp
 	DEPENDS
 		platforms__common
+		generate_topic_listener
 	)
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :