diff --git a/msg/templates/urtps/microRTPS_agent.cpp.em b/msg/templates/urtps/microRTPS_agent.cpp.em
index be819d0a73..8ced730e96 100644
--- a/msg/templates/urtps/microRTPS_agent.cpp.em
+++ b/msg/templates/urtps/microRTPS_agent.cpp.em
@@ -253,7 +253,9 @@ int main(int argc, char** argv)
     std::chrono::time_point<std::chrono::steady_clock> start, end;
 @[end if]@
 
+@[if recv_topics]@
     topics.init(&t_send_queue_cv, &t_send_queue_mutex, &t_send_queue);
+@[end if]@
 
     running = true;
 @[if recv_topics]@