diff --git a/.gitmodules b/.gitmodules
index a51777e110..f229c222e9 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -35,7 +35,7 @@
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/GpsDrivers.git
 [submodule "src/lib/micro-CDR"]
-	path = src/lib/micro-CDR
+	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/eProsima/micro-CDR.git
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
diff --git a/CMakeLists.txt b/CMakeLists.txt
index dc21806a60..e0fb889ed5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -355,22 +355,6 @@ include_directories(${include_dirs})
 link_directories(${link_dirs})
 add_definitions(${definitions})
 
-#=============================================================================
-# RTPS and micro-cdr
-#
-
-find_program(FASTRTPSGEN fastrtpsgen PATHS $ENV{FASTRTPSGEN_DIR})
-if (FASTRTPSGEN AND (config_rtps_send_topics OR config_rtps_receive_topics))
-	option(GENERATE_RTPS_BRIDGE "enable RTPS and microCDR" ON)
-endif()
-
-if (GENERATE_RTPS_BRIDGE)
-	# add micro-CDR
-	message(STATUS "RTPS bridge enabled, send: ${config_rtps_send_topics} receive: ${config_rtps_receive_topics}")
-	px4_add_git_submodule(TARGET git_micro_cdr PATH src/lib/micro-CDR)
-	add_subdirectory(src/lib/micro-CDR EXCLUDE_FROM_ALL)
-endif()
-
 #=============================================================================
 # message, and airframe generation
 #
diff --git a/Makefile b/Makefile
index 7a1084416c..996c7d93dc 100644
--- a/Makefile
+++ b/Makefile
@@ -159,21 +159,25 @@ all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
 posix: posix_sitl_default
 broadcast: posix_sitl_broadcast
 
+# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
+.PHONY: all posix broadcast all_nuttx_targets
+
 # Multi- config targets.
 eagle_default: posix_eagle_default qurt_eagle_default
+eagle_rtps: posix_eagle_rtps qurt_eagle_default
 eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
 excelsior_default: posix_excelsior_default qurt_excelsior_default
+excelsior_rtps: posix_excelsior_rtps qurt_excelsior_default
 excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
 
-
-# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: all posix broadcast eagle_default eagle_legacy_default excelsior_legacy_default excelsior_default all_nuttx_targets
+.PHONY: eagle_default eagle_rtps eagle_legacy_default
+.PHONY: excelsior_default excelsior_rtps excelsior_legacy_default
 
 # Other targets
 # --------------------------------------------------------------------
 
 .PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware
-.PHONY: sizes check quick_check
+.PHONY: sizes check quick_check check_rtps
 
 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes
@@ -209,6 +213,14 @@ alt_firmware: \
 	check_s2740vc-v1_default \
 	sizes
 
+# builds with RTPS
+check_rtps: \
+	check_px4fmu-v3_rtps \
+	check_px4fmu-v4_rtps \
+	check_px4fmu-v4pro_rtps \
+	check_posix_sitl_rtps \
+	sizes
+
 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
 
diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh
index 4d03dfd0fa..1fc7daf032 100755
--- a/Tools/astyle/files_to_check_code_style.sh
+++ b/Tools/astyle/files_to_check_code_style.sh
@@ -14,9 +14,8 @@ exec find src \
     -path src/lib/DriverFramework -prune -o \
     -path src/lib/ecl -prune -o \
     -path src/lib/matrix -prune -o \
-    -path src/lib/micro-CDR -prune -o \
     -path src/modules/commander -prune -o \
-    -path src/modules/micrortps_bridge/micrortps_agent -prune -o \
+    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
     -path src/modules/sdlog2 -prune -o \
     -path src/modules/systemlib/uthash -prune -o \
     -path src/modules/uavcan/libuavcan -prune -o \
diff --git a/cmake/common/px4_git.cmake b/cmake/common/px4_git.cmake
index 5ffb3e65e0..b0877e2773 100644
--- a/cmake/common/px4_git.cmake
+++ b/cmake/common/px4_git.cmake
@@ -41,7 +41,6 @@ include(common/px4_base)
 # 	utility functions
 #
 #		* px4_add_git_submodule
-#		* px4_create_git_hash_header
 #
 
 #=============================================================================
@@ -71,13 +70,13 @@ function(px4_add_git_submodule)
 
 	string(REPLACE "/" "_" NAME ${PATH})
 
-	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
+	add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/git_init_${NAME}.stamp
 		COMMAND bash ${PX4_SOURCE_DIR}/Tools/check_submodules.sh ${PATH}
-		COMMAND cmake -E touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
+		COMMAND cmake -E touch ${CMAKE_CURRENT_BINARY_DIR}/git_init_${NAME}.stamp
 		DEPENDS ${PX4_SOURCE_DIR}/.gitmodules ${PATH}/.git
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		COMMENT "git submodule ${PATH}"
+		WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 		)
 
-	add_custom_target(${TARGET} DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp)
+	add_custom_target(${TARGET} DEPENDS git_init_${NAME}.stamp)
 endfunction()
diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index 446a5aaa77..c354da6d2f 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -134,9 +134,6 @@ set(config_module_list
 	modules/uORB
 	modules/dataman
 
-	# micro RTPS
-	modules/micrortps_bridge/micrortps_client
-
 	#
 	# Libraries
 	#
@@ -197,12 +194,4 @@ set(config_module_list
 
 	# EKF
 	#examples/ekf_att_pos_estimator
-)
-
-set(config_rtps_send_topics
-   sensor_combined
-   )
-
-set(config_rtps_receive_topics
-   sensor_baro
-   )
+)
\ No newline at end of file
diff --git a/cmake/configs/nuttx_nxphlite-v3_default.cmake b/cmake/configs/nuttx_nxphlite-v3_default.cmake
index e010c843ac..8ae578e3d3 100644
--- a/cmake/configs/nuttx_nxphlite-v3_default.cmake
+++ b/cmake/configs/nuttx_nxphlite-v3_default.cmake
@@ -143,10 +143,6 @@ set(config_module_list
 	modules/uORB
 	modules/dataman
 
-	# micro RTPS
-	modules/micrortps_bridge/micrortps_client
-
-
 	#
 	# Libraries
 	#
@@ -214,13 +210,4 @@ set(config_module_list
 
 	# EKF
 	examples/ekf_att_pos_estimator
-)
-
-
-set(config_rtps_send_topics
-   sensor_combined
-   )
-
-set(config_rtps_receive_topics
-   sensor_baro
-   )
+)
\ No newline at end of file
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
index a11d48bead..76dfee191b 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -138,9 +138,6 @@ set(config_module_list
 	modules/systemlib/mixer
 	modules/uORB
 
-	# micro RTPS
-	modules/micrortps_bridge/micrortps_client
-
 	#
 	# Libraries
 	#
@@ -207,12 +204,4 @@ set(config_module_list
 
 	# EKF
 	examples/ekf_att_pos_estimator
-)
-
-set(config_rtps_send_topics
-   sensor_combined
-   )
-
-set(config_rtps_receive_topics
-   sensor_baro
-   )
+)
\ No newline at end of file
diff --git a/cmake/configs/nuttx_px4fmu-v3_rtps.cmake b/cmake/configs/nuttx_px4fmu-v3_rtps.cmake
new file mode 100644
index 0000000000..cdbf9d449c
--- /dev/null
+++ b/cmake/configs/nuttx_px4fmu-v3_rtps.cmake
@@ -0,0 +1,5 @@
+include(configs/nuttx_px4fmu-v3_default)
+
+list(APPEND config_module_list
+	modules/micrortps_bridge
+)
\ No newline at end of file
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index 417d17a36e..28fa0efa57 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -139,9 +139,6 @@ set(config_module_list
 	modules/uORB
 	modules/dataman
 
-	# micro RTPS
-	modules/micrortps_bridge/micrortps_client
-
 	#
 	# Libraries
 	#
@@ -209,12 +206,4 @@ set(config_module_list
 
 	# EKF
 	examples/ekf_att_pos_estimator
-)
-
-set(config_rtps_send_topics
-   sensor_combined
-   )
-
-set(config_rtps_receive_topics
-   sensor_baro
-   )
+)
\ No newline at end of file
diff --git a/cmake/configs/nuttx_px4fmu-v4_rtps.cmake b/cmake/configs/nuttx_px4fmu-v4_rtps.cmake
new file mode 100644
index 0000000000..53e7d10b19
--- /dev/null
+++ b/cmake/configs/nuttx_px4fmu-v4_rtps.cmake
@@ -0,0 +1,5 @@
+include(configs/nuttx_px4fmu-v4_default)
+
+list(APPEND config_module_list
+	modules/micrortps_bridge
+)
\ No newline at end of file
diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
index 20c54bf9ac..fc54b471c6 100644
--- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
@@ -139,9 +139,6 @@ set(config_module_list
 	modules/systemlib/mixer
 	modules/uORB
 
-	# micro RTPS
-	modules/micrortps_bridge/micrortps_client
-
 	#
 	# Libraries
 	#
@@ -208,12 +205,4 @@ set(config_module_list
 
 	# EKF
 	#examples/ekf_att_pos_estimator
-)
-
-set(config_rtps_send_topics
-   sensor_combined
-   )
-
-set(config_rtps_receive_topics
-   sensor_baro
-   )
+)
\ No newline at end of file
diff --git a/cmake/configs/nuttx_px4fmu-v4pro_rtps.cmake b/cmake/configs/nuttx_px4fmu-v4pro_rtps.cmake
new file mode 100644
index 0000000000..1b8c648b03
--- /dev/null
+++ b/cmake/configs/nuttx_px4fmu-v4pro_rtps.cmake
@@ -0,0 +1,5 @@
+include(configs/nuttx_px4fmu-v4pro_default)
+
+list(APPEND config_module_list
+	modules/micrortps_bridge
+)
\ No newline at end of file
diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake
index f26c3192a2..f6f70824f2 100644
--- a/cmake/configs/nuttx_px4fmu-v5_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake
@@ -139,9 +139,6 @@ set(config_module_list
 	modules/systemlib/mixer
 	modules/uORB
 
-	# micro RTPS
-	modules/micrortps_bridge/micrortps_client
-
 	#
 	# Libraries
 	#
@@ -209,12 +206,4 @@ set(config_module_list
 
 	# EKF
 	#examples/ekf_att_pos_estimator
-)
-
-set(config_rtps_send_topics
-   sensor_combined
-   )
-
-set(config_rtps_receive_topics
-   sensor_baro
-   )
+)
\ No newline at end of file
diff --git a/cmake/configs/nuttx_px4fmu-v5_rtps.cmake b/cmake/configs/nuttx_px4fmu-v5_rtps.cmake
new file mode 100644
index 0000000000..53e7d10b19
--- /dev/null
+++ b/cmake/configs/nuttx_px4fmu-v5_rtps.cmake
@@ -0,0 +1,5 @@
+include(configs/nuttx_px4fmu-v4_default)
+
+list(APPEND config_module_list
+	modules/micrortps_bridge
+)
\ No newline at end of file
diff --git a/cmake/configs/posix_sdflight_default.cmake b/cmake/configs/posix_sdflight_default.cmake
index edb9a72f61..3389938414 100644
--- a/cmake/configs/posix_sdflight_default.cmake
+++ b/cmake/configs/posix_sdflight_default.cmake
@@ -66,9 +66,6 @@ set(config_module_list
 	modules/commander
 	modules/navigator
 
-	# micro RTPS
-	modules/micrortps_bridge/micrortps_client
-
 	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter
@@ -86,12 +83,4 @@ set(config_module_list
 	platforms/common
 	platforms/posix/px4_layer
 	platforms/posix/work_queue
-	)
-
-set(config_rtps_send_topics
-        sensor_baro
-        )
-
-set(config_rtps_receive_topics
-        sensor_combined
-        )
+	)
\ No newline at end of file
diff --git a/cmake/configs/posix_sdflight_legacy.cmake b/cmake/configs/posix_sdflight_legacy.cmake
index 9770066464..f13018c5dc 100644
--- a/cmake/configs/posix_sdflight_legacy.cmake
+++ b/cmake/configs/posix_sdflight_legacy.cmake
@@ -58,9 +58,6 @@ set(config_module_list
 	modules/commander
 	modules/navigator
 
-	# micro RTPS
-	modules/micrortps_bridge/micrortps_client
-
 	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter
@@ -78,4 +75,4 @@ set(config_module_list
 	platforms/common
 	platforms/posix/px4_layer
 	platforms/posix/work_queue
-	)
+	)
\ No newline at end of file
diff --git a/cmake/configs/posix_sdflight_rtps.cmake b/cmake/configs/posix_sdflight_rtps.cmake
new file mode 100644
index 0000000000..481cb02b39
--- /dev/null
+++ b/cmake/configs/posix_sdflight_rtps.cmake
@@ -0,0 +1,5 @@
+include(configs/posix_sdflight_default)
+
+list(APPEND config_module_list
+	modules/micrortps_bridge
+)
\ No newline at end of file
diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index 8eff874d92..c9836ab8e7 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -114,9 +114,6 @@ set(config_module_list
 	modules/systemlib/mixer
 	modules/uORB
 
-	# micro RTPS
-	modules/micrortps_bridge/micrortps_client
-
 	#
 	# Libraries
 	#
@@ -189,39 +186,18 @@ set(config_module_list
 
 	# EKF
 	examples/ekf_att_pos_estimator
-
-	# micro-RTPS
 )
 
-set(config_rtps_send_topics
-	sensor_baro
-	)
-
-set(config_rtps_receive_topics
-	sensor_combined
-	)
-
 # Default config_sitl_rcS_dir (posix_sitl_default), this is overwritten later
 # for the config posix_sitl_efk2 and set again, explicitly, for posix_sitl_lpe,
 # which are based on posix_sitl_default.
-set(config_sitl_rcS_dir
-	posix-configs/SITL/init/ekf2
-	CACHE INTERNAL "init script dir for sitl"
-	)
+set(config_sitl_rcS_dir posix-configs/SITL/init/ekf2 CACHE INTERNAL "init script dir for sitl")
 
-set(config_sitl_viewer
-	jmavsim
-	CACHE STRING "viewer for sitl"
-	)
-set_property(CACHE config_sitl_viewer
-	PROPERTY STRINGS "jmavsim;none")
+set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
+set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
 
-set(config_sitl_debugger
-	disable
-	CACHE STRING "debugger for sitl"
-	)
-set_property(CACHE config_sitl_debugger
-	PROPERTY STRINGS "disable;gdb;lldb")
+set(config_sitl_debugger disable CACHE STRING "debugger for sitl")
+set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")
 
 # If the environment variable 'replay' is defined, we are building with replay
 # support. In this case, we enable the orb publisher rules.
diff --git a/cmake/configs/posix_sitl_rtps.cmake b/cmake/configs/posix_sitl_rtps.cmake
new file mode 100644
index 0000000000..e5f793f794
--- /dev/null
+++ b/cmake/configs/posix_sitl_rtps.cmake
@@ -0,0 +1,5 @@
+include(configs/posix_sitl_default)
+
+list(APPEND config_module_list
+	modules/micrortps_bridge
+)
\ No newline at end of file
diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 9b0181d391..b9b44f06a0 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -177,76 +177,3 @@ add_custom_command(OUTPUT ${uorb_sources}
 
 px4_add_library(uorb_msgs ${uorb_sources})
 add_dependencies(uorb_msgs uorb_headers)
-
-###############################################################################
-# micro-cdr serialization
-###############################################################################
-# if RTPS is enabled generate serialization code for each uORB message
-if (GENERATE_RTPS_BRIDGE)
-
-	set(msg_out_path_microcdr ${PX4_BINARY_DIR}/uORB_microcdr/topics)
-	set(msg_source_out_path_microcdr ${CMAKE_CURRENT_BINARY_DIR}/topics_microcdr_sources)
-
-	set(uorb_headers_microcdr)
-	set(uorb_sources_microcdr)
-
-	# send topic files
-	set(send_topic_files)
-	foreach(topic ${config_rtps_send_topics})
-		list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
-		list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h)
-		list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp)
-	endforeach()
-
-	# receive topic files
-	set(receive_topic_files)
-	foreach(topic ${config_rtps_receive_topics})
-		list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
-		list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h)
-		list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp)
-	endforeach()
-
-	list(REMOVE_DUPLICATES uorb_headers_microcdr)
-	list(REMOVE_DUPLICATES uorb_sources_microcdr)
-
-	# Generate uORB serialization headers
-	add_custom_command(OUTPUT ${uorb_headers_microcdr}
-		COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
-			--headers
-			-f ${send_topic_files} ${receive_topic_files}
-			-i ${CMAKE_CURRENT_SOURCE_DIR}
-			-o ${msg_out_path_microcdr}
-			-e templates/uorb_microcdr
-			-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers_microcdr
-			-q
-		DEPENDS ${msg_files}
-		COMMENT "Generating uORB microcdr topic headers"
-		WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-		VERBATIM
-		)
-	add_custom_target(uorb_headers_microcdr DEPENDS ${uorb_headers_microcdr})
-
-	# Generate uORB serialization sources
-	add_custom_command(OUTPUT ${uorb_sources_microcdr}
-		COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
-			--sources
-			-f ${send_topic_files} ${receive_topic_files}
-			-i ${CMAKE_CURRENT_SOURCE_DIR}
-			-o ${msg_source_out_path_microcdr}
-			-e templates/uorb_microcdr
-			-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources_microcdr
-			-q
-		DEPENDS ${msg_files}
-		COMMENT "Generating uORB microcdr topic sources"
-		WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-		VERBATIM
-		)
-	px4_add_library(uorb_msgs_microcdr ${uorb_sources_microcdr})
-	add_dependencies(uorb_msgs_microcdr uorb_headers_microcdr uorb_headers)
-
-	# microCDR
-	target_include_directories(uorb_msgs_microcdr
-		PRIVATE ${PX4_SOURCE_DIR}/src/lib/micro-CDR/include
-		PRIVATE ${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr
-	)
-endif()
diff --git a/src/modules/micrortps_bridge/CMakeLists.txt b/src/modules/micrortps_bridge/CMakeLists.txt
new file mode 100644
index 0000000000..9966ffe518
--- /dev/null
+++ b/src/modules/micrortps_bridge/CMakeLists.txt
@@ -0,0 +1,134 @@
+############################################################################
+#
+# Copyright (c) 2017 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#=============================================================================
+# RTPS and micro-cdr
+#
+
+find_program(FASTRTPSGEN fastrtpsgen PATHS $ENV{FASTRTPSGEN_DIR})
+if(NOT FASTRTPSGEN)
+	message(FATAL_ERROR "Unable to find fastrtpsgen")
+endif()
+
+set(config_rtps_send_topics
+   sensor_combined
+   )
+
+set(config_rtps_receive_topics
+   sensor_baro
+   )
+
+if (FASTRTPSGEN AND (config_rtps_send_topics OR config_rtps_receive_topics))
+	option(GENERATE_RTPS_BRIDGE "enable RTPS and microCDR" ON)
+endif()
+
+if (GENERATE_RTPS_BRIDGE)
+
+	add_subdirectory(micrortps_client)
+
+	###############################################################################
+	# micro-cdr serialization
+	###############################################################################
+	include(common/px4_git)
+	px4_add_git_submodule(TARGET git_micro_cdr PATH micro-CDR)
+	add_subdirectory(micro-CDR)
+
+	set(msg_out_path_microcdr ${PX4_BINARY_DIR}/uORB_microcdr/topics)
+	set(msg_source_out_path_microcdr ${CMAKE_CURRENT_BINARY_DIR}/topics_microcdr_sources)
+
+	set(uorb_headers_microcdr)
+	set(uorb_sources_microcdr)
+
+	# send topic files
+	set(send_topic_files)
+	foreach(topic ${config_rtps_send_topics})
+		list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
+		list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h)
+		list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp)
+	endforeach()
+
+	# receive topic files
+	set(receive_topic_files)
+	foreach(topic ${config_rtps_receive_topics})
+		list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
+		list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h)
+		list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp)
+	endforeach()
+
+	list(REMOVE_DUPLICATES uorb_headers_microcdr)
+	list(REMOVE_DUPLICATES uorb_sources_microcdr)
+
+	# Generate uORB serialization headers
+	add_custom_command(OUTPUT ${uorb_headers_microcdr}
+		COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+			--headers
+			-f ${send_topic_files} ${receive_topic_files}
+			-i .
+			-o ${msg_out_path_microcdr}
+			-e templates/uorb_microcdr
+			-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers_microcdr
+			-q
+		DEPENDS ${msg_files}
+		COMMENT "Generating uORB microcdr topic headers"
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}/msg/
+		VERBATIM
+		)
+	add_custom_target(uorb_headers_microcdr DEPENDS ${uorb_headers_microcdr})
+
+	# Generate uORB serialization sources
+	add_custom_command(OUTPUT ${uorb_sources_microcdr}
+		COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+			--sources
+			-f ${send_topic_files} ${receive_topic_files}
+			-i .
+			-o ${msg_source_out_path_microcdr}
+			-e templates/uorb_microcdr
+			-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources_microcdr
+			-q
+		DEPENDS ${msg_files}
+		COMMENT "Generating uORB microcdr topic sources"
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}/msg/
+		VERBATIM
+		)
+	px4_add_library(uorb_msgs_microcdr ${uorb_sources_microcdr})
+	add_dependencies(uorb_msgs_microcdr uorb_headers_microcdr uorb_headers git_micro_cdr lib__micro-CDR)
+
+	target_link_libraries(uorb_msgs_microcdr PRIVATE lib__micro-CDR)
+
+	# microCDR
+	target_include_directories(uorb_msgs_microcdr
+		PUBLIC
+			${CMAKE_CURRENT_SOURCE_DIR}/micro-CDR/include
+			${CMAKE_CURRENT_BINARY_DIR}/micro-CDR/include/microcdr
+	)
+endif()
diff --git a/src/lib/micro-CDR b/src/modules/micrortps_bridge/micro-CDR
similarity index 100%
rename from src/lib/micro-CDR
rename to src/modules/micrortps_bridge/micro-CDR
diff --git a/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt b/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
index 1aaaaa4ac1..49400bff26 100644
--- a/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
+++ b/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
@@ -31,86 +31,75 @@
 #
 ############################################################################
 
-if(GENERATE_RTPS_BRIDGE)
+set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
 
-	find_program(FASTRTPSGEN fastrtpsgen PATHS $ENV{FASTRTPSGEN_DIR})
-	if(NOT FASTRTPSGEN)
-		message(STATUS "WARNING: Unable to find fastrtpsgen. Building PX4 without RTPS bridge support")
+if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
 
-		return()
+	set(send_topic_files)
+	foreach(topic ${config_rtps_send_topics})
+		list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
+	endforeach()
+
+	set(receive_topic_files)
+	foreach(topic ${config_rtps_receive_topics})
+		list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
+	endforeach()
+
+	foreach(topic ${config_rtps_send_topics})
+		list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Publisher.cpp)
+		list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Publisher.h)
+	endforeach()
+
+	foreach(topic ${config_rtps_receive_topics})
+		list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Subscriber.cpp)
+		list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Subscriber.h)
+	endforeach()
+
+	set(send_topic_files_opt)
+	if (NOT "${send_topic_files}" STREQUAL "")
+		set(send_topic_opt "--send")
 	endif()
 
-	# Do not delete everything in the current dir
-	set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
+	set(receive_topic_files_opt)
+	if (NOT "${receive_topic_files}" STREQUAL "")
+		set(receive_topic_opt "--receive")
+	endif()
 
-	if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
+	list(APPEND topic_bridge_files_out
+		${msg_out_path}/micrortps_client/microRTPS_client.cpp
+		${msg_out_path}/micrortps_client/microRTPS_transport.cpp
+		${msg_out_path}/micrortps_client/microRTPS_transport.h
+		)
 
-		set(send_topic_files)
-		foreach(topic ${config_rtps_send_topics})
-			list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
-		endforeach()
+	add_custom_command(OUTPUT ${topic_bridge_files_out}
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/generate_microRTPS_bridge.py
+			--fastrtpsgen-dir $ENV{FASTRTPSGEN_DIR}
+			${send_topic_opt} ${send_topic_files}
+			${receive_topic_opt} ${receive_topic_files}
+			--topic-msg-dir ${PX4_SOURCE_DIR}/msg
+			--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
+			--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
+			>micrortps_bridge.log 2>&1 || cat micrortps_bridge.log # quiet successful build output
+		DEPENDS ${send_topic_files} ${receive_topic_files}
+		COMMENT "Generating RTPS topic bridge"
+	)
+	add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})
 
-		set(receive_topic_files)
-		foreach(topic ${config_rtps_receive_topics})
-			list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
-		endforeach()
+	include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+	include_directories(${CMAKE_CURRENT_BINARY_DIR}/micrortps_client)
 
-		foreach(topic ${config_rtps_send_topics})
-			list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Publisher.cpp)
-			list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Publisher.h)
-		endforeach()
-
-		foreach(topic ${config_rtps_receive_topics})
-			list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Subscriber.cpp)
-			list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Subscriber.h)
-		endforeach()
-
-		set(send_topic_files_opt)
-		if (NOT "${send_topic_files}" STREQUAL "")
-			set(send_topic_opt "--send")
-		endif()
-
-		set(receive_topic_files_opt)
-		if (NOT "${receive_topic_files}" STREQUAL "")
-			set(receive_topic_opt "--receive")
-		endif()
-
-		list(APPEND topic_bridge_files_out
+	px4_add_module(
+		MODULE modules__micrortps_bridge__micrortps_client
+		MAIN micrortps_client
+		STACK_MAIN 4096
+		SRCS
+			microRTPS_client_main.cpp
 			${msg_out_path}/micrortps_client/microRTPS_client.cpp
 			${msg_out_path}/micrortps_client/microRTPS_transport.cpp
-			${msg_out_path}/micrortps_client/microRTPS_transport.h
-			)
-
-		add_custom_command(OUTPUT ${topic_bridge_files_out}
-			COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/generate_microRTPS_bridge.py
-				--fastrtpsgen-dir $ENV{FASTRTPSGEN_DIR}
-				${send_topic_opt} ${send_topic_files}
-				${receive_topic_opt} ${receive_topic_files}
-				--topic-msg-dir ${PX4_SOURCE_DIR}/msg
-				--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
-				--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
-				>micrortps_bridge.log 2>&1 || cat micrortps_bridge.log # quiet successful build output
-			DEPENDS ${send_topic_files} ${receive_topic_files}
-			COMMENT "Generating RTPS topic bridge"
-		)
-		add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})
-
-		include_directories(${CMAKE_CURRENT_SOURCE_DIR})
-		include_directories(${CMAKE_CURRENT_BINARY_DIR}/micrortps_client)
-
-		px4_add_module(
-			MODULE modules__micrortps_bridge__micrortps_client
-			MAIN micrortps_client
-			STACK_MAIN 4096
-			SRCS
-				microRTPS_client_main.cpp
-				${msg_out_path}/micrortps_client/microRTPS_client.cpp
-				${msg_out_path}/micrortps_client/microRTPS_transport.cpp
-			DEPENDS
-				platforms__common
-				topic_bridge_files
-				uorb_headers_microcdr
-		)
-		target_link_libraries(modules__micrortps_bridge__micrortps_client PRIVATE lib__micro-CDR)
-	endif()
+		DEPENDS
+			platforms__common
+			topic_bridge_files
+			uorb_headers_microcdr
+	)
+	target_link_libraries(modules__micrortps_bridge__micrortps_client PRIVATE uorb_msgs_microcdr)
 endif()
\ No newline at end of file