diff --git a/src/modules/zenoh/publishers/zenoh_publisher.hpp b/src/modules/zenoh/publishers/zenoh_publisher.hpp
index 230048db32..b45308a8f3 100644
--- a/src/modules/zenoh/publishers/zenoh_publisher.hpp
+++ b/src/modules/zenoh/publishers/zenoh_publisher.hpp
@@ -41,6 +41,8 @@
 
 #pragma once
 
+#include "../rmw_attachment.h"
+
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/log.h>
 
@@ -48,16 +50,6 @@
 #include <containers/List.hpp>
 #include <zenoh-pico.h>
 
-#define RMW_GID_STORAGE_SIZE 16u
-#define RMW_ATTACHEMENT_SIZE (8u + 8u + 1u + RMW_GID_STORAGE_SIZE)
-
-typedef struct __attribute__((__packed__)) RmwAttachment {
-	int64_t sequence_number;
-	int64_t time;
-	uint8_t rmw_gid_size;
-	uint8_t rmw_gid[RMW_GID_STORAGE_SIZE];
-} RmwAttachment;
-
 class Zenoh_Publisher : public ListNode<Zenoh_Publisher *>
 {
 public:
diff --git a/src/modules/zenoh/rmw_attachment.h b/src/modules/zenoh/rmw_attachment.h
new file mode 100644
index 0000000000..9442820356
--- /dev/null
+++ b/src/modules/zenoh/rmw_attachment.h
@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file rmw_attachment.h
+ *
+ * ROS2 RMW Attachment helper
+ *
+ * @author Peter van der Perk <peter.vanderperk@nxp.com>
+ */
+
+#include <zenoh-pico.h>
+
+#pragma once
+
+#define RMW_GID_STORAGE_SIZE 16u
+#define RMW_ATTACHEMENT_SIZE (8u + 8u + 1u + RMW_GID_STORAGE_SIZE)
+
+typedef struct __attribute__((__packed__)) RmwAttachment {
+	int64_t sequence_number;
+	int64_t time;
+	uint8_t rmw_gid_size;
+	uint8_t rmw_gid[RMW_GID_STORAGE_SIZE];
+} RmwAttachment;