diff --git a/Jenkinsfile b/Jenkinsfile
index 6581522690..d323582572 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -505,17 +505,23 @@ pipeline {
             sh('export')
             sh('make distclean')
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git -b ${BRANCH_NAME}")
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
+              // 'master' branch
               sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
               sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin ${BRANCH_NAME} || true')
+              sh('cd px4_msgs; git push origin master || true')
+              // 'ros1' branch
+              sh('cd px4_msgs; git checkout feature/deploy_ros1_msgs')
+              sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin feature/deploy_ros1_msgs || true')
               sh('rm -rf px4_msgs')
             }
           }
           when {
             anyOf {
               branch 'master'
-              branch 'pr-jenkins' // for testing
+              branch 'feature/deploy_ros1_msgs' // for testing
             }
           }
         }