diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
index 21cc7859da..1dad4e9dcf 100644
--- a/src/modules/simulator/simulator.h
+++ b/src/modules/simulator/simulator.h
@@ -336,6 +336,7 @@ private:
 	void handle_message_hil_sensor(const mavlink_message_t *msg);
 	void handle_message_hil_state_quaternion(const mavlink_message_t *msg);
 	void handle_message_landing_target(const mavlink_message_t *msg);
+	void handle_message_odometry(const mavlink_message_t *msg);
 	void handle_message_optical_flow(const mavlink_message_t *msg);
 	void handle_message_rc_channels(const mavlink_message_t *msg);
 	void handle_message_vision_position_estimate(const mavlink_message_t *msg);
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 11ff5d5efb..6f6212141d 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -301,6 +301,9 @@ void Simulator::handle_message(mavlink_message_t *msg)
 		break;
 
 	case MAVLINK_MSG_ID_ODOMETRY:
+		handle_message_odometry(msg);
+		break;
+
 	case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
 		handle_message_vision_position_estimate(msg);
 		break;
@@ -522,6 +525,11 @@ void Simulator::handle_message_landing_target(const mavlink_message_t *msg)
 	orb_publish_auto(ORB_ID(irlock_report), &_irlock_report_pub, &report, &irlock_multi, ORB_PRIO_HIGH);
 }
 
+void Simulator::handle_message_odometry(const mavlink_message_t *msg)
+{
+	publish_odometry_topic(msg);
+}
+
 void Simulator::handle_message_optical_flow(const mavlink_message_t *msg)
 {
 	mavlink_hil_optical_flow_t flow;