diff --git a/msg/templates/urtps/microRTPS_agent.cpp.template b/msg/templates/urtps/microRTPS_agent.cpp.template
index af3fd609f3..9c6e5162e9 100644
--- a/msg/templates/urtps/microRTPS_agent.cpp.template
+++ b/msg/templates/urtps/microRTPS_agent.cpp.template
@@ -58,6 +58,7 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
 #include <chrono>
 #include <ctime>
 #include <csignal>
+#include <termios.h>
 
 #include <fastcdr/Cdr.h>
 #include <fastcdr/FastCdr.h>
@@ -73,7 +74,8 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
 // Default values
 #define DEVICE "/dev/ttyACM0"
 #define SLEEP_US 1
-#define BAUDRATE 460800
+#define BAUDRATE B460800
+#define BAUDRATE_VAL 460800
 #define POLL_MS 0
 #define WAIT_CNST 2
 #define DEFAULT_RECV_PORT 2020
@@ -87,6 +89,22 @@ Transport_node *transport_node = nullptr;
 RtpsTopics topics;
 uint32_t total_sent = 0, sent = 0;
 
+struct baudtype {
+    speed_t code;
+    uint32_t val;
+};
+
+const baudtype baudlist[] = {
+    [0] = {.code = B0, .val = 0},
+    [1] = {.code = B9600, .val = 9600},
+    [2] = {.code = B19200, .val = 19200},
+    [3] = {.code = B38400, .val = 38400},
+    [4] = {.code = B57600, .val = 57600},
+    [5] = {.code = B115200, .val = 115200},
+    [6] = {.code = B230400, .val = 230400},
+    [7] = {.code = B460800, .val = 460800},
+};
+
 struct options {
     enum class eTransports
     {
@@ -96,7 +114,7 @@ struct options {
     eTransports transport = options::eTransports::UART;
     char device[64] = DEVICE;
     int sleep_us = SLEEP_US;
-    uint32_t baudrate = BAUDRATE;
+    baudtype baudrate = {.code=BAUDRATE,.val=BAUDRATE_VAL};
     int poll_ms = POLL_MS;
     uint16_t recv_port = DEFAULT_RECV_PORT;
     uint16_t send_port = DEFAULT_SEND_PORT;
@@ -115,6 +133,15 @@ static void usage(const char *name)
              name);
 }
 
+baudtype getbaudrate(char *valstr)
+{
+    uint32_t baudval = strtoul(valstr, nullptr, 10);
+    for (unsigned int i=1; i<sizeof(baudlist)/sizeof(baudtype); i++) {
+        if (baudlist[i].val==baudval) return baudlist[i];
+    }
+    return baudlist[0];
+}
+
 static int parse_options(int argc, char **argv)
 {
     int ch;
@@ -128,7 +155,7 @@ static int parse_options(int argc, char **argv)
                                                 :options::eTransports::UART;  break;
             case 'd': if (nullptr != optarg) strcpy(_options.device, optarg); break;
             case 'w': _options.sleep_us       = strtol(optarg, nullptr, 10);  break;
-            case 'b': _options.baudrate       = strtoul(optarg, nullptr, 10); break;
+            case 'b': _options.baudrate       = getbaudrate(optarg);  break;
             case 'p': _options.poll_ms        = strtol(optarg, nullptr, 10);  break;
             case 'r': _options.recv_port      = strtoul(optarg, nullptr, 10); break;
             case 's': _options.send_port      = strtoul(optarg, nullptr, 10); break;
@@ -199,9 +226,9 @@ int main(int argc, char** argv)
     {
         case options::eTransports::UART:
         {
-            transport_node = new UART_node(_options.device, _options.baudrate, _options.poll_ms);
+            transport_node = new UART_node(_options.device, _options.baudrate.code, _options.poll_ms);
             printf("\nUART transport: device: %s; baudrate: %d; sleep: %dus; poll: %dms\n\n",
-                   _options.device, _options.baudrate, _options.sleep_us, _options.poll_ms);
+                   _options.device, _options.baudrate.val, _options.sleep_us, _options.poll_ms);
         }
         break;
         case options::eTransports::UDP:
diff --git a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
index 1485975db6..221398e787 100644
--- a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+++ b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
@@ -52,7 +52,8 @@
 #define UPDATE_TIME_MS 0
 #define LOOPS -1
 #define SLEEP_MS 1
-#define BAUDRATE 460800
+#define BAUDRATE B460800
+#define BAUDRATE_VAL 460800
 #define DEVICE "/dev/ttyACM0"
 #define POLL_MS 1
 #define DEFAULT_RECV_PORT 2019
@@ -61,6 +62,11 @@
 void *send(void *data);
 void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &received, int &loop);
 
+struct baudtype {
+	speed_t code;
+	uint32_t val;
+};
+
 struct options {
 	enum class eTransports {
 		UART,
@@ -71,7 +77,7 @@ struct options {
 	int update_time_ms = UPDATE_TIME_MS;
 	int loops = LOOPS;
 	int sleep_ms = SLEEP_MS;
-	uint32_t baudrate = BAUDRATE;
+	struct baudtype baudrate = {.code = BAUDRATE, .val = BAUDRATE_VAL};
 	int poll_ms = POLL_MS;
 	uint16_t recv_port = DEFAULT_RECV_PORT;
 	uint16_t send_port = DEFAULT_SEND_PORT;
diff --git a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
index f760576abd..086a9f008a 100644
--- a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+++ b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
@@ -53,6 +53,19 @@ bool _should_exit_task = false;
 Transport_node *transport_node = nullptr;
 struct options _options;
 
+const baudtype baudlist[] = {
+	[0] = {.code = B0, .val = 0},
+	[1] = {.code = B9600, .val = 9600},
+	[2] = {.code = B19200, .val = 19200},
+	[3] = {.code = B38400, .val = 38400},
+	[4] = {.code = B57600, .val = 57600},
+	[5] = {.code = B115200, .val = 115200},
+	[6] = {.code = B230400, .val = 230400},
+	[7] = {.code = B460800, .val = 460800}
+};
+
+baudtype getbaudrate(const char *valstr);
+
 static void usage(const char *name)
 {
 	PRINT_MODULE_USAGE_NAME("micrortps_client", "communication");
@@ -74,6 +87,17 @@ static void usage(const char *name)
 	PRINT_MODULE_USAGE_COMMAND("status");
 }
 
+baudtype getbaudrate(const char *valstr)
+{
+	uint32_t baudval = strtoul(valstr, nullptr, 10);
+
+	for (unsigned int i = 1; i < sizeof(baudlist) / sizeof(baudtype); i++) {
+		if (baudlist[i].val == baudval) { return baudlist[i]; }
+	}
+
+	return baudlist[0];
+}
+
 static int parse_options(int argc, char *argv[])
 {
 	int ch;
@@ -94,7 +118,7 @@ static int parse_options(int argc, char *argv[])
 
 		case 'w': _options.sleep_ms       = strtol(myoptarg, nullptr, 10);    break;
 
-		case 'b': _options.baudrate       = strtoul(myoptarg, nullptr, 10);     break;
+		case 'b': _options.baudrate       = getbaudrate(myoptarg); break;
 
 		case 'p': _options.poll_ms        = strtol(myoptarg, nullptr, 10);      break;
 
@@ -131,9 +155,9 @@ static int micrortps_start(int argc, char *argv[])
 
 	switch (_options.transport) {
 	case options::eTransports::UART: {
-			transport_node = new UART_node(_options.device, _options.baudrate, _options.poll_ms);
+			transport_node = new UART_node(_options.device, _options.baudrate.code, _options.poll_ms);
 			printf("\nUART transport: device: %s; baudrate: %d; sleep: %dms; poll: %dms\n\n",
-			       _options.device, _options.baudrate, _options.sleep_ms, _options.poll_ms);
+			       _options.device, _options.baudrate.val, _options.sleep_ms, _options.poll_ms);
 		}
 		break;