diff --git a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
index 696927e2da..b8905f0296 100644
--- a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
+++ b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
@@ -85,7 +85,7 @@ void* send(void* /*unused*/)
     uint64_t sent = 0, total_sent = 0;
     int loop = 0, read = 0;
     uint32_t length = 0;
-    uint16_t header_length = 0;
+    size_t header_length = 0;
 
     /* subscribe to topics */
 @[for idx, topic in enumerate(send_topics)]@
diff --git a/msg/templates/urtps/microRTPS_agent.cpp.em b/msg/templates/urtps/microRTPS_agent.cpp.em
index 5b325fd18f..600175d17e 100644
--- a/msg/templates/urtps/microRTPS_agent.cpp.em
+++ b/msg/templates/urtps/microRTPS_agent.cpp.em
@@ -170,7 +170,7 @@ std::queue<uint8_t> t_send_queue;
 void t_send(void *data)
 {
     char data_buffer[BUFFER_SIZE] = {};
-    int length = 0;
+    uint32_t length = 0;
 
     while (running && !exit_sender_thread.load())
     {
@@ -183,7 +183,7 @@ void t_send(void *data)
         t_send_queue.pop();
         lk.unlock();
 
-        uint16_t header_length = transport_node->get_header_length();
+        size_t header_length = transport_node->get_header_length();
         /* make room for the header to fill in later */
         eprosima::fastcdr::FastBuffer cdrbuffer(&data_buffer[header_length], sizeof(data_buffer)-header_length);
         eprosima::fastcdr::Cdr scdr(cdrbuffer);
diff --git a/msg/templates/urtps/microRTPS_transport.cpp b/msg/templates/urtps/microRTPS_transport.cpp
index 3a80f2b1e8..fd0fab4544 100644
--- a/msg/templates/urtps/microRTPS_transport.cpp
+++ b/msg/templates/urtps/microRTPS_transport.cpp
@@ -213,7 +213,7 @@ ssize_t Transport_node::read(uint8_t *topic_ID, char out_buffer[], size_t buffer
 	return len;
 }
 
-ssize_t Transport_node::get_header_length()
+size_t Transport_node::get_header_length()
 {
     return sizeof(struct Header);
 }
diff --git a/msg/templates/urtps/microRTPS_transport.h b/msg/templates/urtps/microRTPS_transport.h
index c46e55c849..a616886665 100644
--- a/msg/templates/urtps/microRTPS_transport.h
+++ b/msg/templates/urtps/microRTPS_transport.h
@@ -63,7 +63,7 @@ public:
 	ssize_t write(const uint8_t topic_ID, char buffer[], size_t length);
 
 	/** Get the Length of struct Header to make headroom for the size of struct Header along with payload */
-	ssize_t get_header_length();
+	size_t get_header_length();
 
 protected:
 	virtual ssize_t node_read(void *buffer, size_t len) = 0;
diff --git a/src/modules/micrortps_bridge/CMakeLists.txt b/src/modules/micrortps_bridge/CMakeLists.txt
index a3bf5fdf13..b0ca2154c6 100644
--- a/src/modules/micrortps_bridge/CMakeLists.txt
+++ b/src/modules/micrortps_bridge/CMakeLists.txt
@@ -87,10 +87,6 @@ if (FASTRTPSGEN AND (config_rtps_send_topics OR config_rtps_receive_topics))
 endif()
 
 if (GENERATE_RTPS_BRIDGE)
-
-	# temporarily set to OFF
-	option(CHECK_ENDIANNESS OFF)
-
 	add_subdirectory(micrortps_client)
 
 	###############################################################################
@@ -98,6 +94,8 @@ if (GENERATE_RTPS_BRIDGE)
 	###############################################################################
 	include(px4_git)
 	px4_add_git_submodule(TARGET git_micro_cdr PATH micro-CDR)
+
+	set(UCDR_SUPERBUILD CACHE BOOL "Disable micro-CDR superbuild compilation.")
 	add_subdirectory(micro-CDR)
 
 	set(msg_out_path_microcdr ${PX4_BINARY_DIR}/uORB_microcdr/topics)
diff --git a/src/modules/micrortps_bridge/micro-CDR b/src/modules/micrortps_bridge/micro-CDR
index 62d95c870e..a492762911 160000
--- a/src/modules/micrortps_bridge/micro-CDR
+++ b/src/modules/micrortps_bridge/micro-CDR
@@ -1 +1 @@
-Subproject commit 62d95c870eafb0cccc7bf70bb8a0cbb86f125a0e
+Subproject commit a4927629115de47b5545632b91ad17df55f2d20d