diff --git a/msg/templates/px4/ros/msg.h.template b/msg/templates/px4/ros/msg.h.template
index 76abab163d..d10825eec9 100644
--- a/msg/templates/px4/ros/msg.h.template
+++ b/msg/templates/px4/ros/msg.h.template
@@ -15,6 +15,7 @@
 @#  - file_name_in (String) Source file
 @#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
 @#  - md5sum (String) MD5Sum of the .msg specification
+@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
diff --git a/msg/templates/px4/uorb/msg.h.template b/msg/templates/px4/uorb/msg.h.template
index 1707dfc015..61959861dc 100644
--- a/msg/templates/px4/uorb/msg.h.template
+++ b/msg/templates/px4/uorb/msg.h.template
@@ -15,6 +15,7 @@
 @#  - file_name_in (String) Source file
 @#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
 @#  - md5sum (String) MD5Sum of the .msg specification
+@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
diff --git a/msg/templates/uorb/msg.cpp.template b/msg/templates/uorb/msg.cpp.template
index 47fade84d5..794da0da1d 100644
--- a/msg/templates/uorb/msg.cpp.template
+++ b/msg/templates/uorb/msg.cpp.template
@@ -15,6 +15,7 @@
 @#  - md5sum (String) MD5Sum of the .msg specification
 @#  - search_path (dict) search paths for genmsg
 @#  - topics (List of String) multi-topic names
+@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
diff --git a/msg/templates/uorb/msg.h.template b/msg/templates/uorb/msg.h.template
index a5d1e9c102..e10f570841 100644
--- a/msg/templates/uorb/msg.h.template
+++ b/msg/templates/uorb/msg.h.template
@@ -15,6 +15,7 @@
 @#  - md5sum (String) MD5Sum of the .msg specification
 @#  - search_path (dict) search paths for genmsg
 @#  - topics (List of String) multi-topic names
+@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
diff --git a/msg/templates/uorb/uORBTopics.cpp.template b/msg/templates/uorb/uORBTopics.cpp.template
index 0d884d48f0..5e0ca94417 100644
--- a/msg/templates/uorb/uORBTopics.cpp.template
+++ b/msg/templates/uorb/uORBTopics.cpp.template
@@ -9,6 +9,7 @@
 @# Context:
 @#  - msgs (List) list of all msg files
 @#  - multi_topics (List) list of all multi-topic names
+@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
diff --git a/msg/templates/uorb_microcdr/microRTPS_client.cpp.template b/msg/templates/uorb_microcdr/microRTPS_client.cpp.template
index 001acb031f..c386f36a8f 100644
--- a/msg/templates/uorb_microcdr/microRTPS_client.cpp.template
+++ b/msg/templates/uorb_microcdr/microRTPS_client.cpp.template
@@ -8,6 +8,7 @@
 @# Context:
 @#  - msgs (List) list of all msg files
 @#  - multi_topics (List) list of all multi-topic names
+@#  - ids (List) list of all RTPS msg ids
 @###############################################
 @{
 import os
diff --git a/msg/templates/uorb_microcdr/msg.cpp.template b/msg/templates/uorb_microcdr/msg.cpp.template
index 281a58311d..fa2b38c63e 100644
--- a/msg/templates/uorb_microcdr/msg.cpp.template
+++ b/msg/templates/uorb_microcdr/msg.cpp.template
@@ -15,6 +15,7 @@
 @#  - md5sum (String) MD5Sum of the .msg specification
 @#  - search_path (dict) search paths for genmsg
 @#  - topics (List of String) multi-topic names
+@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
diff --git a/msg/templates/uorb_microcdr/msg.h.template b/msg/templates/uorb_microcdr/msg.h.template
index 6f2235d237..ad402fb609 100644
--- a/msg/templates/uorb_microcdr/msg.h.template
+++ b/msg/templates/uorb_microcdr/msg.h.template
@@ -15,6 +15,7 @@
 @#  - md5sum (String) MD5Sum of the .msg specification
 @#  - search_path (dict) search paths for genmsg
 @#  - topics (List of String) multi-topic names
+@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
diff --git a/msg/templates/uorb_microcdr/uORBTopics.cpp.template b/msg/templates/uorb_microcdr/uORBTopics.cpp.template
index 8f4c671f97..a4ee51ece9 100644
--- a/msg/templates/uorb_microcdr/uORBTopics.cpp.template
+++ b/msg/templates/uorb_microcdr/uORBTopics.cpp.template
@@ -9,6 +9,7 @@
 @# Context:
 @#  - msgs (List) list of all msg files
 @#  - multi_topics (List) list of all multi-topic names
+@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
diff --git a/msg/templates/urtps/Publisher.cpp.template b/msg/templates/urtps/Publisher.cpp.template
index 4b9dec4100..14ea35fac4 100644
--- a/msg/templates/urtps/Publisher.cpp.template
+++ b/msg/templates/urtps/Publisher.cpp.template
@@ -8,6 +8,7 @@
 @# Context:
 @#  - msgs (List) list of all msg files
 @#  - multi_topics (List) list of all multi-topic names
+@#  - ids (List) list of all RTPS msg ids
 @###############################################
 @{
 import genmsg.msgs
diff --git a/msg/templates/urtps/Publisher.h.template b/msg/templates/urtps/Publisher.h.template
index 368b397d6a..f8ef820c34 100644
--- a/msg/templates/urtps/Publisher.h.template
+++ b/msg/templates/urtps/Publisher.h.template
@@ -8,6 +8,7 @@
 @# Context:
 @#  - msgs (List) list of all msg files
 @#  - multi_topics (List) list of all multi-topic names
+@#  - ids (List) list of all RTPS msg ids
 @###############################################
 @{
 import genmsg.msgs
diff --git a/msg/templates/urtps/RtpsTopics.cpp.template b/msg/templates/urtps/RtpsTopics.cpp.template
index da6ca26996..74856aa8fd 100644
--- a/msg/templates/urtps/RtpsTopics.cpp.template
+++ b/msg/templates/urtps/RtpsTopics.cpp.template
@@ -7,6 +7,7 @@
 @#
 @# Context:
 @#  - msgs (List) list of all msg files
+@#  - ids (List) list of all RTPS msg ids
 @###############################################
 @{
 import os
diff --git a/msg/templates/urtps/RtpsTopics.h.template b/msg/templates/urtps/RtpsTopics.h.template
index ad7e5347fe..5c29632607 100644
--- a/msg/templates/urtps/RtpsTopics.h.template
+++ b/msg/templates/urtps/RtpsTopics.h.template
@@ -7,6 +7,7 @@
 @#
 @# Context:
 @#  - msgs (List) list of all msg files
+@#  - ids (List) list of all RTPS msg ids
 @###############################################
 @{
 import os
diff --git a/msg/templates/urtps/Subscriber.cpp.template b/msg/templates/urtps/Subscriber.cpp.template
index 9bdeb52c08..ef930d56ba 100644
--- a/msg/templates/urtps/Subscriber.cpp.template
+++ b/msg/templates/urtps/Subscriber.cpp.template
@@ -8,6 +8,7 @@
 @# Context:
 @#  - msgs (List) list of all msg files
 @#  - multi_topics (List) list of all multi-topic names
+@#  - ids (List) list of all RTPS msg ids
 @###############################################
 @{
 import genmsg.msgs
diff --git a/msg/templates/urtps/Subscriber.h.template b/msg/templates/urtps/Subscriber.h.template
index d0099418b0..7efe2a5366 100644
--- a/msg/templates/urtps/Subscriber.h.template
+++ b/msg/templates/urtps/Subscriber.h.template
@@ -8,6 +8,7 @@
 @# Context:
 @#  - msgs (List) list of all msg files
 @#  - multi_topics (List) list of all multi-topic names
+@#  - ids (List) list of all RTPS msg ids
 @###############################################
 @{
 import genmsg.msgs
diff --git a/msg/templates/urtps/microRTPS_agent.cpp.template b/msg/templates/urtps/microRTPS_agent.cpp.template
index 641c53a359..d2db7d8f6f 100644
--- a/msg/templates/urtps/microRTPS_agent.cpp.template
+++ b/msg/templates/urtps/microRTPS_agent.cpp.template
@@ -8,6 +8,7 @@
 @# Context:
 @#  - msgs (List) list of all msg files
 @#  - multi_topics (List) list of all multi-topic names
+@#  - ids (List) list of all RTPS msg ids
 @###############################################
 @{
 import genmsg.msgs
diff --git a/msg/tools/px_generate_uorb_topic_files.py b/msg/tools/px_generate_uorb_topic_files.py
index a75d985b8a..906a1dd196 100755
--- a/msg/tools/px_generate_uorb_topic_files.py
+++ b/msg/tools/px_generate_uorb_topic_files.py
@@ -260,7 +260,8 @@ def get_em_globals(filename_msg, package, includepath, ids, scope):
         "spec": spec,
         "topics": topics,
         "ids": ids,
-        "scope": scope
+        "scope": scope,
+        "package": package
     }
 
     return em_globals