diff --git a/msg/tools/urtps_bridge_topics.yaml b/msg/tools/urtps_bridge_topics.yaml
index 529811ce5b..747a86c8e3 100644
--- a/msg/tools/urtps_bridge_topics.yaml
+++ b/msg/tools/urtps_bridge_topics.yaml
@@ -59,6 +59,10 @@ rtps:
     send:    true
   - msg:     vehicle_local_position_setpoint
     receive: true
+  - msg:     vehicle_attitude_setpoint
+    receive: true
+  - msg:     vehicle_rates_setpoint
+    receive: true
   - msg:     trajectory_setpoint
     receive: true
   - msg:     vehicle_odometry