diff --git a/.github/workflows/checks.yml b/.github/workflows/checks.yml
index a3994aa843..2388713e34 100644
--- a/.github/workflows/checks.yml
+++ b/.github/workflows/checks.yml
@@ -23,6 +23,7 @@ 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/Makefile b/Makefile
index 9abecb8933..569223b43d 100644
--- a/Makefile
+++ b/Makefile
@@ -165,6 +165,11 @@ ifdef PYTHON_EXECUTABLE
 	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif
 
+# Check if the microRTPS agent is to be built
+ifdef BUILD_MICRORTPS_AGENT
+  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
+endif
+
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
diff --git a/Tools/build_micrortps_agent.sh b/Tools/build_micrortps_agent.sh
new file mode 100755
index 0000000000..6d45eaeb41
--- /dev/null
+++ b/Tools/build_micrortps_agent.sh
@@ -0,0 +1,15 @@
+#!/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/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt b/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
index 8890b08a7a..29c442a57f 100644
--- a/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
+++ b/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
@@ -34,8 +34,9 @@
 set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
 get_filename_component(micrortps_bridge_path ${msg_out_path} PATH)
 
-if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
+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)
@@ -105,4 +106,13 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
 			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()