diff --git a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
index 1ab5e56e0c..ba49bfbcb8 100644
--- a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
+++ b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
@@ -253,10 +253,14 @@ void micrortps_start_topics(const uint32_t &datarate, struct timespec &begin, ui
 
 	while (!_should_exit_task) {
 @[if recv_topics]@
-		while (0 < (read = transport_node->read(&topic_ID, data_buffer, BUFFER_SIZE))) {
+
+		read = transport_node->read();
+		if (read > 0) {
 			total_rcvd += read;
 			rx_last_sec_read += read;
+		}
 
+		while (transport_node->parse(&topic_ID, data_buffer, BUFFER_SIZE)) {
 			uint64_t read_time = hrt_absolute_time();
 
 			switch (topic_ID) {
diff --git a/msg/templates/urtps/microRTPS_agent.cpp.em b/msg/templates/urtps/microRTPS_agent.cpp.em
index 07510f9174..224bf3dcd7 100644
--- a/msg/templates/urtps/microRTPS_agent.cpp.em
+++ b/msg/templates/urtps/microRTPS_agent.cpp.em
@@ -364,10 +364,14 @@ int main(int argc, char **argv)
 		if (!receiving) { start = std::chrono::steady_clock::now(); }
 
 		// Publish messages received from UART
-		if (0 < (length = transport_node->read(&topic_ID, data_buffer, BUFFER_SIZE))) {
+		length = transport_node->read();
+		if (length > 0) {
+			total_read += length;
+		}
+
+		while (transport_node->parse(&topic_ID, data_buffer, BUFFER_SIZE)) {
 			topics->publish(topic_ID, data_buffer, sizeof(data_buffer));
 			++received;
-			total_read += length;
 			receiving = true;
 			end = std::chrono::steady_clock::now();
 		}
diff --git a/msg/templates/urtps/microRTPS_transport.cpp b/msg/templates/urtps/microRTPS_transport.cpp
index 9252d26eb9..51bddadbac 100644
--- a/msg/templates/urtps/microRTPS_transport.cpp
+++ b/msg/templates/urtps/microRTPS_transport.cpp
@@ -113,14 +113,8 @@ uint16_t Transport_node::crc16(uint8_t const *buffer, size_t len)
 	return crc;
 }
 
-ssize_t Transport_node::read(uint8_t *topic_id, char out_buffer[], size_t buffer_len)
+ssize_t Transport_node::read()
 {
-	if (nullptr == out_buffer || nullptr == topic_id || !fds_OK()) {
-		return -1;
-	}
-
-	*topic_id = 255;
-
 	ssize_t len = node_read((void *)(_rx_buffer + _rx_buff_pos), sizeof(_rx_buffer) - _rx_buff_pos);
 
 	if (len < 0) {
@@ -143,85 +137,141 @@ ssize_t Transport_node::read(uint8_t *topic_id, char out_buffer[], size_t buffer
 
 	_rx_buff_pos += len;
 
-	// We read some
-	size_t header_size = sizeof(struct Header);
+	return len;
+}
 
-	// but not enough
-	if (_rx_buff_pos < header_size) {
-		return 0;
+#ifndef PX4_DEBUG
+
+void Transport_node::print_buffer_debug()
+{
+	for (uint32_t i = 0; i < BUFFER_SIZE; ++i) {
+		if (i >= _rx_buff_pos) {
+			printf(".");
+			continue;
+		}
+
+		printf("%" PRIi8, _rx_buffer[i]);
+
+		if (_rx_buffer[i] == '>') {
+			printf("(X)");
+		}
+
+		printf(" ");
 	}
 
-	uint32_t msg_start_pos = 0;
+	printf("\n_rx_buff_pos: %" PRIu32 "\n", _rx_buff_pos);
+}
 
-	for (msg_start_pos = 0; msg_start_pos <= _rx_buff_pos - header_size; ++msg_start_pos) {
-		if ('>' == _rx_buffer[msg_start_pos] && memcmp(_rx_buffer + msg_start_pos, ">>>", 3) == 0) {
+#endif /* PX4_DEBUG */
+
+bool Transport_node::parse(
+	uint8_t *topic_id, char out_buffer[], size_t buffer_len)
+{
+	if (nullptr == out_buffer || nullptr == topic_id || !fds_OK()) {
+		return false;
+	}
+
+	*topic_id = 255;
+
+	static constexpr size_t header_size = sizeof(struct Header);
+
+	// No need to look for a message if not even a header fits into the buffer.
+	if (_rx_buff_pos < header_size) {
+		return false;
+	}
+
+	// Try to find the start of a message using the magic start sequence of '>>>'.
+	int32_t msg_start_pos = -1;
+
+	for (uint32_t i = 0; i <= _rx_buff_pos; ++i) {
+		if ('>' == _rx_buffer[i] && memcmp(_rx_buffer + i, ">>>", 3) == 0) {
+			msg_start_pos = i;
 			break;
 		}
 	}
 
-	// Start not found
-	if (msg_start_pos > (_rx_buff_pos - header_size)) {
+	auto DropDataBeforeIndex = [&](uint32_t index) {
+		if (index == 0) {
+			return;
+		}
+
+		if (index > _rx_buff_pos) {
+			index = _rx_buff_pos;
+
 #ifndef PX4_DEBUG
 
-		if (_debug) { printf("\033[1;33m[ micrortps_transport ]\t                                (↓↓ %" PRIu32 ")\033[0m\n", msg_start_pos); }
+			if (_debug) { printf("\033[0;31m[ micrortps_transport ]\t clamped index from %" PRIu32 " to %" PRIu32 "\033[0m\n", index, _rx_buff_pos); }
 
 #else
 
-		if (_debug) { PX4_DEBUG("                               (↓↓ %" PRIu32 ")", msg_start_pos); }
+			if (_debug) { PX4_ERR("ERROR: clamped index from %" PRIu32 " to %" PRIu32 "\n", index, _rx_buff_pos); }
 
 #endif /* PX4_DEBUG */
+		}
 
-		// All we've checked so far is garbage, drop it - but save unchecked bytes
-		memmove(_rx_buffer, _rx_buffer + msg_start_pos, _rx_buff_pos - msg_start_pos);
-		_rx_buff_pos -= msg_start_pos;
-		return -1;
+		memmove(_rx_buffer, _rx_buffer + index, _rx_buff_pos - index);
+		_rx_buff_pos -= index;
+	};
+
+	// No start sequence has been found in the buffer. We can drop all data up to
+	// 2 characters before the end (to account for a non-complete start sequence).
+	if (msg_start_pos == -1) {
+		// Note, _rx_buff_pos should always be larger than 2 as we enforce a min.
+		// buffer content corresponding to a header length some lines above.
+		int32_t drop_before_idx = _rx_buff_pos - 2;
+		DropDataBeforeIndex(drop_before_idx);
+		return false;
 	}
 
-	// [>,>,>,topic_id,sys_id,seq,payload_length_H,payload_length_L,CRCHigh,CRCLow,payloadStart, ... ,payloadEnd]
-	struct Header *header = (struct Header *)&_rx_buffer[msg_start_pos];
-	uint32_t payload_len = ((uint32_t)header->payload_len_h << 8) | header->payload_len_l;
+	// A start sequence has been found. We can drop everything before this index
+	// in the buffer. This could happen at the startup when syncing to the
+	// stream or with noise on the data stream.
+	DropDataBeforeIndex(msg_start_pos);
+
+	// We have found a start sequence. Let's check if the header is in the buffer.
+	// [>,>,>,topic_id,sys_id,seq,payload_length_H,payload_length_L,CRCHigh,CRCLow,payloadStart,
+	// ... ,payloadEnd]
+	if (header_size > _rx_buff_pos) {
+		// Header not yet in the buffer.
+		return false;
+	}
+
+	struct Header *header = (struct Header *)&_rx_buffer[0];
+
+	uint32_t payload_len =
+		((uint32_t)header->payload_len_h << 8) | header->payload_len_l;
+
+	// The message won't fit the output or processing buffer. This could happen
+	// with a corrupted header or by an actual message that is too large for our
+	// buffers. Let's drop it.
+	uint32_t message_length = header_size + payload_len;
+
+	if (message_length > buffer_len || (message_length + 3) > BUFFER_SIZE) {
+		DropDataBeforeIndex(3 + header_size);
+		return false;
+	}
+
+	// Let's check if all payload data according to the message length in the
+	// header is already in the buffer.
+	if ((header_size + payload_len) > _rx_buff_pos) {
+		// The buffer does not yet contain the full message. We need to wait for
+		// more data.
+		return false;
+	}
 
 	// The received message comes from this system. Discard it.
 	// This might happen when:
 	//   1. The same UDP port is being used to send a rcv packets or
-	//   2. The same topic on the agent is being used for outgoing and incoming data
+	//   2. The same topic on the agent is being used for outgoing and incoming
+	//   data
 	if (header->sys_id == _sys_id) {
-		// Drop the message and continue with the read buffer
-		memmove(_rx_buffer, _rx_buffer + msg_start_pos + 1, _rx_buff_pos - (msg_start_pos + 1));
-		_rx_buff_pos -= (msg_start_pos + 1);
-		return -1;
-	}
-
-	// The message won't fit the buffer.
-	if (buffer_len < header_size + payload_len) {
-		// Drop the message and continue with the read buffer
-		memmove(_rx_buffer, _rx_buffer + msg_start_pos + 1, _rx_buff_pos - (msg_start_pos + 1));
-		_rx_buff_pos -= (msg_start_pos + 1);
-		return -EMSGSIZE;
-	}
-
-	// We do not have a complete message yet
-	if (msg_start_pos + header_size + payload_len > _rx_buff_pos) {
-		// If there's garbage at the beginning, drop it
-		if (msg_start_pos > 0) {
-#ifndef PX4_DEBUG
-
-			if (_debug) { printf("\033[1;33m[ micrortps_transport ]\t                                (↓ %" PRIu32 ")\033[0m\n", msg_start_pos); }
-
-#else
-
-			if (_debug) { PX4_DEBUG("                             (↓ %" PRIu32 ")", msg_start_pos); }
-
-#endif /* PX4_DEBUG */
-			memmove(_rx_buffer, _rx_buffer + msg_start_pos, _rx_buff_pos - msg_start_pos);
-			_rx_buff_pos -= msg_start_pos;
-		}
-
-		return 0;
+		DropDataBeforeIndex(3);
+		return false;
 	}
 
+	// Check the CRC of the message.
 	uint16_t read_crc = ((uint16_t)header->crc_h << 8) | header->crc_l;
-	uint16_t calc_crc = crc16((uint8_t *)_rx_buffer + msg_start_pos + header_size, payload_len);
+	uint16_t calc_crc = crc16((uint8_t *)_rx_buffer + header_size, payload_len);
 
 	if (read_crc != calc_crc) {
 #ifndef PX4_DEBUG
@@ -234,26 +284,16 @@ ssize_t Transport_node::read(uint8_t *topic_id, char out_buffer[], size_t buffer
 
 #endif /* PX4_DEBUG */
 
-		// Drop garbage up just beyond the start of the message
-		memmove(_rx_buffer, _rx_buffer + (msg_start_pos + 1), _rx_buff_pos);
-
-		// If there is a CRC error, the payload len cannot be trusted
-		_rx_buff_pos -= (msg_start_pos + 1);
-
-		len = -1;
-
-	} else {
-		// copy message to outbuffer and set other return values
-		memmove(out_buffer, _rx_buffer + msg_start_pos + header_size, payload_len);
-		*topic_id = header->topic_id;
-		len = payload_len + header_size;
-
-		// discard message from _rx_buffer
-		_rx_buff_pos -= msg_start_pos + header_size + payload_len;
-		memmove(_rx_buffer, _rx_buffer + msg_start_pos + header_size + payload_len, _rx_buff_pos);
+		DropDataBeforeIndex(3);
+		return false;
 	}
 
-	return len;
+	// Copy message to output buffer and drop it from the buffer.
+	memmove(out_buffer, _rx_buffer + header_size, payload_len);
+	*topic_id = header->topic_id;
+
+	DropDataBeforeIndex(header_size + payload_len);
+	return true;
 }
 
 size_t Transport_node::get_header_length()
diff --git a/msg/templates/urtps/microRTPS_transport.h b/msg/templates/urtps/microRTPS_transport.h
index 3605b63f8c..a9c3567e6d 100644
--- a/msg/templates/urtps/microRTPS_transport.h
+++ b/msg/templates/urtps/microRTPS_transport.h
@@ -56,7 +56,9 @@ public:
 
 	virtual int init() {return 0;}
 	virtual uint8_t close() {return 0;}
-	ssize_t read(uint8_t *topic_id, char out_buffer[], size_t buffer_len);
+
+	ssize_t read();
+	bool parse(uint8_t *topic_id, char out_buffer[], size_t buffer_len);
 
 	/**
 	 * write a buffer
@@ -76,6 +78,10 @@ public:
 	size_t get_header_length();
 
 private:
+#ifndef PX4_DEBUG
+	void print_buffer_debug();
+#endif /* PX4_DEBUG */
+
 	struct __attribute__((packed)) Header {
 		char marker[3];
 		uint8_t topic_id;