diff --git a/msg/tools/generate_microRTPS_bridge.py b/msg/tools/generate_microRTPS_bridge.py
index 86d212ac9f..15455227ee 100644
--- a/msg/tools/generate_microRTPS_bridge.py
+++ b/msg/tools/generate_microRTPS_bridge.py
@@ -57,13 +57,21 @@ def get_absolute_path(arg_parse_dir):
 
 default_client_out = get_absolute_path("src/modules/micrortps_bridge/micrortps_client")
 default_agent_out = get_absolute_path("src/modules/micrortps_bridge/micrortps_agent")
+default_uorb_templates_dir = "/templates/uorb_microcdr"
+default_urtps_templates_dir = "/templates/urtps"
+default_package_name = px_generate_uorb_topic_files.PACKAGE
 
 parser = argparse.ArgumentParser()
+
 parser.add_argument("-s", "--send", dest='send', metavar='*.msg', type=str, nargs='+', help="Topics to be sended")
 parser.add_argument("-r", "--receive", dest='receive', metavar='*.msg', type=str, nargs='+', help="Topics to be received")
 parser.add_argument("-a", "--agent", dest='agent', action="store_true", help="Flag for generate the agent, by default is true if -c is not specified")
 parser.add_argument("-c", "--client", dest='client', action="store_true", help="Flag for generate the client, by default is true if -a is not specified")
+parser.add_argument("-i", "--no-idl", dest='idl', action="store_false", help="Flag for generate idl files for each msg, by default is true if -i is not specified")
 parser.add_argument("-t", "--topic-msg-dir", dest='msgdir', type=str, nargs=1, help="Topics message dir, by default msg/", default="msg")
+parser.add_argument("-b", "--uorb-templates-dir", dest='uorb_templates', type=str, nargs=1, help="uORB templates dir, by default msg_dir/templates/uorb_microcdr", default=default_uorb_templates_dir)
+parser.add_argument("-q", "--urtps-templates-dir", dest='urtps_templates', type=str, nargs=1, help="uRTPS templates dir, by default msg_dir/templates/urtps", default=default_urtps_templates_dir)
+parser.add_argument("-p", "--package", dest='package', type=str, nargs=1, help="Msg package naming, by default px4", default=default_package_name)
 parser.add_argument("-o", "--agent-outdir", dest='agentdir', type=str, nargs=1, help="Agent output dir, by default src/modules/micrortps_bridge/micrortps_agent", default=default_agent_out)
 parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str, nargs=1, help="Client output dir, by default src/modules/micrortps_bridge/micrortps_client", default=default_client_out)
 parser.add_argument("-f", "--fastrtpsgen-dir", dest='fastrtpsgen', type=str, nargs='?', help="fastrtpsgen installation dir, only needed if fastrtpsgen is not in PATH, by default empty", default="")
@@ -77,18 +85,26 @@ if len(sys.argv) <= 1:
 args = parser.parse_args()
 msg_folder = get_absolute_path(args.msgdir)
 msg_files_send = []
+msg_files_receive = []
 if args.send:
     msg_files_send = [get_absolute_path(msg) for msg in args.send]
-else:
-    msg_files_send = []
 if args.receive:
     msg_files_receive = [get_absolute_path(msg) for msg in args.receive]
+
+if args.package[0] != px_generate_uorb_topic_files.PACKAGE:
+    package = args.package[0]
 else:
-    msg_files_receive = []
+    package = px_generate_uorb_topic_files.PACKAGE
+
 agent = args.agent
 client = args.client
+# If not specified, auto generate the idl filename_send_msgs
+if args.idl is None or args.idl == "":
+    idl = True
+else:
+    idl = args.idl
 del_tree = args.del_tree
-px_generate_uorb_topic_files.append_to_include_path({msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT)
+px_generate_uorb_topic_files.append_to_include_path({msg_folder}, px_generate_uorb_topic_files.INCL_DEFAULT, package)
 agent_out_dir = get_absolute_path(args.agentdir)
 client_out_dir = get_absolute_path(args.clientdir)
 
@@ -126,8 +142,8 @@ if del_tree:
 if agent and os.path.isdir(agent_out_dir + "/idl"):
     shutil.rmtree(agent_out_dir + "/idl")
 
-uorb_templates_dir = msg_folder + "/templates/uorb_microcdr"
-urtps_templates_dir = msg_folder + "/templates/urtps"
+uorb_templates_dir = msg_folder + get_absolute_path(args.uorb_templates)
+urtps_templates_dir = msg_folder + get_absolute_path(args.urtps_templates)
 
 uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.template'
 uRTPS_AGENT_TOPICS_H_TEMPL_FILE = 'RtpsTopics.h.template'
@@ -143,30 +159,32 @@ def generate_agent(out_dir):
 
     if msg_files_send:
         for msg_file in msg_files_send:
-            px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
-                px_generate_uorb_topic_files.INCL_DEFAULT)
+            if idl:
+                px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
+                    package, px_generate_uorb_topic_files.INCL_DEFAULT)
             px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
-                px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
+                package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
             px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
-                px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_H_TEMPL_FILE)
+                package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_PUBLISHER_H_TEMPL_FILE)
 
     if msg_files_receive:
         for msg_file in msg_files_receive:
-            px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
-                px_generate_uorb_topic_files.INCL_DEFAULT)
+            if idl:
+                px_generate_uorb_topic_files.generate_idl_file(msg_file, out_dir + "/idl", urtps_templates_dir,
+                    package, px_generate_uorb_topic_files.INCL_DEFAULT)
             px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
-                px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
+                package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
             px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
-                px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
+                package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
 
     px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
-                    px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TEMPL_FILE)
+                    package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TEMPL_FILE)
     px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
-                    px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
+                    package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
     px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
-                    px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
+                    package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
     px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, urtps_templates_dir,
-                    px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELIST_TEMPL_FILE)
+                    package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_AGENT_CMAKELIST_TEMPL_FILE)
 
     # Final steps to install agent
     mkdir_p(agent_out_dir + "/fastrtpsgen")
@@ -221,7 +239,7 @@ def generate_client(out_dir):
             os.rename(def_file, def_file.replace(".h", ".h_"))
 
     px_generate_uorb_topic_files.generate_uRTPS_general(msg_files_send, msg_files_receive, out_dir, uorb_templates_dir,
-                    px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
+                    package, px_generate_uorb_topic_files.INCL_DEFAULT, uRTPS_CLIENT_TEMPL_FILE)
 
     # Final steps to install client
     cp_wildcard(urtps_templates_dir + "/microRTPS_transport.*", out_dir)
diff --git a/msg/tools/px_generate_uorb_topic_files.py b/msg/tools/px_generate_uorb_topic_files.py
index 289dc3cb29..2081d84f6e 100755
--- a/msg/tools/px_generate_uorb_topic_files.py
+++ b/msg/tools/px_generate_uorb_topic_files.py
@@ -111,12 +111,12 @@ def get_msgs_list(msgdir):
     return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
 
 
-def generate_output_from_file(format_idx, filename, outputdir, templatedir, includepath):
+def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
         """
         Converts a single .msg file to an uorb header/source file
         """
         msg_context = genmsg.msg_loader.MsgContext.create_default()
-        full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename))
+        full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename))
         spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
         field_name_and_type = {}
         for field in spec.parsed_fields():
@@ -161,11 +161,11 @@ def generate_output_from_file(format_idx, filename, outputdir, templatedir, incl
 
         return generate_by_template(output_file, template_file, em_globals)
 
-def generate_idl_file(filename_msg, outputdir, templatedir, includepath):
+def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath):
         """
         Generates an .idl from .msg file
         """
-        em_globals = get_em_globals(filename_msg, includepath, MsgScope.NONE)
+        em_globals = get_em_globals(filename_msg, package, includepath, MsgScope.NONE)
         spec_short_name = em_globals["spec"].short_name
 
         # Make sure output directory exists:
@@ -178,16 +178,16 @@ def generate_idl_file(filename_msg, outputdir, templatedir, includepath):
         return generate_by_template(output_file, template_file, em_globals)
 
 def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
-                           outputdir, templatedir, includepath, template_name):
+                           outputdir, templatedir, package, includepath, template_name):
         """
         Generates source file by msg content
         """
         em_globals_list = []
         if filename_send_msgs:
-            em_globals_list.extend([get_em_globals(f, includepath, MsgScope.SEND) for f in filename_send_msgs])
+            em_globals_list.extend([get_em_globals(f, package, includepath, MsgScope.SEND) for f in filename_send_msgs])
 
         if filename_received_msgs:
-            em_globals_list.extend([get_em_globals(f, includepath, MsgScope.RECEIVE) for f in filename_received_msgs])
+            em_globals_list.extend([get_em_globals(f, package, includepath, MsgScope.RECEIVE) for f in filename_received_msgs])
 
         merged_em_globals = merge_em_globals_list(em_globals_list)
         # Make sure output directory exists:
@@ -199,11 +199,11 @@ def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
 
         return generate_by_template(output_file, template_file, merged_em_globals)
 
-def generate_topic_file(filename_msg, outputdir, templatedir, includepath, template_name):
+def generate_topic_file(filename_msg, outputdir, templatedir, package, includepath, template_name):
         """
         Generates an .idl from .msg file
         """
-        em_globals = get_em_globals(filename_msg, includepath, MsgScope.NONE)
+        em_globals = get_em_globals(filename_msg, package, includepath, MsgScope.NONE)
         spec_short_name = em_globals["spec"].short_name
 
         # Make sure output directory exists:
@@ -215,12 +215,12 @@ def generate_topic_file(filename_msg, outputdir, templatedir, includepath, templ
 
         return generate_by_template(output_file, template_file, em_globals)
 
-def get_em_globals(filename_msg, includepath, scope):
+def get_em_globals(filename_msg, package, includepath, scope):
         """
         Generates em globals dictionary
         """
         msg_context = genmsg.msg_loader.MsgContext.create_default()
-        full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename_msg))
+        full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename_msg))
         spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename_msg, full_type_name)
         topics = get_multi_topics(filename_msg)
         if includepath:
@@ -281,7 +281,7 @@ def generate_by_template(output_file, template_file, em_globals):
         return True
 
 
-def convert_dir(format_idx, inputdir, outputdir, templatedir):
+def convert_dir(format_idx, inputdir, outputdir, package, templatedir):
         """
         Converts all .msg files in inputdir to uORB header/source files
         """
@@ -309,7 +309,7 @@ def convert_dir(format_idx, inputdir, outputdir, templatedir):
         if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime):
             return False
 
-        includepath = INCL_DEFAULT + [':'.join([PACKAGE, inputdir])]
+        includepath = INCL_DEFAULT + [':'.join([package, inputdir])]
         for f in os.listdir(inputdir):
                 # Ignore hidden files
                 if f.startswith("."):
@@ -323,7 +323,7 @@ def convert_dir(format_idx, inputdir, outputdir, templatedir):
                 if fn[-4:].lower() != '.msg':
                         continue
 
-                generate_output_from_file(format_idx, fn, outputdir, templatedir, includepath)
+                generate_output_from_file(format_idx, fn, outputdir, package, templatedir, includepath)
         return True
 
 
@@ -361,13 +361,13 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
                             print("{0}: unchanged".format(input_file))
 
 
-def convert_dir_save(format_idx, inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
+def convert_dir_save(format_idx, inputdir, outputdir, package, templatedir, temporarydir, prefix, quiet=False):
         """
         Converts all .msg files in inputdir to uORB header files
         Unchanged existing files are not overwritten.
         """
         # Create new headers in temporary output directory
-        convert_dir(format_idx, inputdir, temporarydir, templatedir)
+        convert_dir(format_idx, inputdir, temporarydir, package, templatedir)
         if generate_idx == 1:
             generate_topics_list_file(inputdir, temporarydir, templatedir)
         # Copy changed headers from temporary dir to output dir
@@ -396,9 +396,9 @@ def generate_topics_list_file_from_files(files, outputdir, templatedir):
         tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
         generate_by_template(tl_out_file, tl_template_file, tl_globals)
 
-def append_to_include_path(path_to_append, curr_include):
+def append_to_include_path(path_to_append, curr_include, package):
     for p in path_to_append:
-        curr_include.append("%s:%s" % (PACKAGE, p))
+        curr_include.append('%s:%s' % (package, p))
 
 if __name__ == "__main__":
         parser = argparse.ArgumentParser(
@@ -416,6 +416,8 @@ if __name__ == "__main__":
                             default=None)
         parser.add_argument('-e', dest='templatedir',
                             help='directory with template files',)
+        parser.add_argument('-k', dest='package', default=PACKAGE,
+                            help='package name')
         parser.add_argument('-o', dest='outputdir',
                             help='output directory for header files')
         parser.add_argument('-t', dest='temporarydir',
@@ -429,7 +431,7 @@ if __name__ == "__main__":
         args = parser.parse_args()
 
         if args.include_paths:
-            append_to_include_path(args.include_paths, INCL_DEFAULT)
+            append_to_include_path(args.include_paths, INCL_DEFAULT, args.package)
 
         if args.headers:
             generate_idx = 0
@@ -440,7 +442,7 @@ if __name__ == "__main__":
             exit(-1)
         if args.file is not None:
             for f in args.file:
-                generate_output_from_file(generate_idx, f, args.temporarydir, args.templatedir, INCL_DEFAULT)
+                generate_output_from_file(generate_idx, f, args.temporarydir, args.package, args.templatedir, INCL_DEFAULT)
             if generate_idx == 1:
                 generate_topics_list_file_from_files(args.file, args.outputdir, args.templatedir)
             copy_changed(args.temporarydir, args.outputdir, args.prefix, args.quiet)
@@ -449,6 +451,7 @@ if __name__ == "__main__":
                     generate_idx,
                     args.dir,
                     args.outputdir,
+                    args.package,
                     args.templatedir,
                     args.temporarydir,
                     args.prefix,