diff --git a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
index fc06ddf3ff..da443bbc10 100644
--- a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
+++ b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
@@ -255,7 +255,7 @@ void micrortps_start_topics(const uint32_t &datarate, struct timespec &begin, ui
 
 	while (!_should_exit_task) {
 @[if recv_topics]@
-		if (0 < (read = transport_node->read(&topic_ID, data_buffer, BUFFER_SIZE))) {
+		while (0 < (read = transport_node->read(&topic_ID, data_buffer, BUFFER_SIZE))) {
 			total_rcvd += read;
 			rx_last_sec_read += read;