diff --git a/msg/templates/urtps/Publisher.cpp.em b/msg/templates/urtps/Publisher.cpp.em
index 1733309e37..b1247d39e8 100644
--- a/msg/templates/urtps/Publisher.cpp.em
+++ b/msg/templates/urtps/Publisher.cpp.em
@@ -139,8 +139,7 @@ void @(topic)_Publisher::PubListener::onPublicationMatched(Publisher* pub, Match
 
     // If the matching happens for the same entity, do not make a match
     if (is_different_endpoint) {
-        if (info.status == MATCHED_MATCHING)
-        {
+        if (info.status == MATCHED_MATCHING) {
             n_matched++;
             std::cout << " - @(topic) publisher matched" << std::endl;
         } else {
diff --git a/msg/templates/urtps/RtpsTopics.cpp.em b/msg/templates/urtps/RtpsTopics.cpp.em
index 4b9dcc6484..554c40be08 100644
--- a/msg/templates/urtps/RtpsTopics.cpp.em
+++ b/msg/templates/urtps/RtpsTopics.cpp.em
@@ -82,7 +82,7 @@ bool RtpsTopics::init(std::condition_variable* t_send_queue_cv, std::mutex* t_se
 @[for topic in send_topics]@
     if (_@(topic)_pub.init()) {
         std::cout << "- @(topic) publisher started" << std::endl;
-@[    if topic == 'Timesync']@
+@[    if topic == 'Timesync' or topic == 'timesync']@
         _timesync->start(&_@(topic)_pub);
 @[    end if]@
     } else {
@@ -119,7 +119,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
             eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
             eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
             st.deserialize(cdr_des);
-@[    if topic == 'Timesync']@
+@[    if topic == 'Timesync' or topic == 'timesync']@
             _timesync->processTimesyncMsg(&st);
 @[    end if]@
             // apply timestamp offset
diff --git a/msg/templates/urtps/Subscriber.cpp.em b/msg/templates/urtps/Subscriber.cpp.em
index c67fa68cfa..90a23fb56d 100644
--- a/msg/templates/urtps/Subscriber.cpp.em
+++ b/msg/templates/urtps/Subscriber.cpp.em
@@ -127,6 +127,9 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send
 
 void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, MatchingInfo& info)
 {
+@# Since the time sync runs on the bridge itself, it is required that there is a
+@# match between two topics of the same entity
+@[if topic != 'Timesync' and topic != 'timesync']@
     // The first 6 values of the ID guidPrefix of an entity in a DDS-RTPS Domain
     // are the same for all its subcomponents (publishers, subscribers)
     bool is_different_endpoint = false;
@@ -139,8 +142,7 @@ void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, Ma
 
     // If the matching happens for the same entity, do not make a match
     if (is_different_endpoint) {
-        if (info.status == MATCHED_MATCHING)
-        {
+        if (info.status == MATCHED_MATCHING) {
             n_matched++;
             std::cout << " - @(topic) subscriber matched" << std::endl;
         } else {
@@ -148,6 +150,15 @@ void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, Ma
             std::cout << " - @(topic) subscriber unmatched" << std::endl;
         }
     }
+@[else]@
+    (void)sub;
+
+    if (info.status == MATCHED_MATCHING) {
+        n_matched++;
+    } else {
+        n_matched--;
+    }
+@[end if]@
 }
 
 void @(topic)_Subscriber::SubListener::onNewDataMessage(Subscriber* sub)