diff --git a/src/modules/uxrce_dds_client/dds_topics.h.em b/src/modules/uxrce_dds_client/dds_topics.h.em
index 69c8fc58cc..81eadef1bb 100644
--- a/src/modules/uxrce_dds_client/dds_topics.h.em
+++ b/src/modules/uxrce_dds_client/dds_topics.h.em
@@ -39,11 +39,31 @@ static constexpr int max_topic_size = 512;
 static_assert(sizeof(@(pub['simple_base_type'])_s) <= max_topic_size, "topic too large, increase max_topic_size");
 @[    end for]@
 
+
+
+// SFINAE to use R::MESSAGE_VERSION if it exists, and 0 otherwise
+template <typename R>
+class MessageVersionHelper
+{
+	template <typename C>
+	static constexpr uint32_t get(decltype(&C::MESSAGE_VERSION)) { return C::MESSAGE_VERSION; }
+	template <typename C>
+	static constexpr uint32_t get(...) { return 0; }
+public:
+	static constexpr uint32_t m = get<R>(0);
+};
+
+template <typename T>
+static constexpr uint32_t get_message_version() {
+	return MessageVersionHelper<T>::m;
+}
+
 struct SendSubscription {
 	const struct orb_metadata *orb_meta;
 	uxrObjectId data_writer;
 	const char* dds_type_name;
 	const char* topic;
+	uint32_t message_version;
 	uint32_t topic_size;
 	UcdrSerializeMethod ucdr_serialize_method;
 };
@@ -56,6 +76,7 @@ struct SendTopicsSubs {
 			  uxr_object_id(0, UXR_INVALID_ID),
 			  "@(pub['dds_type'])",
 			  "@(pub['topic'])",
+			  get_message_version<@(pub['simple_base_type'])_s>(),
 			  ucdr_topic_size_@(pub['simple_base_type'])(),
 			  &ucdr_serialize_@(pub['simple_base_type']),
 			},
@@ -101,6 +122,7 @@ void SendTopicsSubs::update(uxrSession *session, uxrStreamId reliable_out_stream
 			if (send_subscriptions[idx].data_writer.id == UXR_INVALID_ID) {
 				// data writer not created yet
 				create_data_writer(session, reliable_out_stream_id, participant_id, static_cast<ORB_ID>(send_subscriptions[idx].orb_meta->o_id), client_namespace, send_subscriptions[idx].topic,
+								   send_subscriptions[idx].message_version,
 								   send_subscriptions[idx].dds_type_name, send_subscriptions[idx].data_writer);
 			}
 
@@ -173,7 +195,8 @@ bool RcvTopicsPubs::init(uxrSession *session, uxrStreamId reliable_out_stream_id
 @[    for idx, sub in enumerate(subscriptions + subscriptions_multi)]@
 	{
 			uint16_t queue_depth = orb_get_queue_size(ORB_ID(@(sub['simple_base_type']))) * 2; // use a bit larger queue size than internal
-			create_data_reader(session, reliable_out_stream_id, best_effort_in_stream_id, participant_id, @(idx), client_namespace, "@(sub['topic'])", "@(sub['dds_type'])", queue_depth);
+			uint32_t message_version = get_message_version<@(sub['simple_base_type'])_s>();
+			create_data_reader(session, reliable_out_stream_id, best_effort_in_stream_id, participant_id, @(idx), client_namespace, "@(sub['topic'])", message_version, "@(sub['dds_type'])", queue_depth);
 	}
 @[    end for]@
 
diff --git a/src/modules/uxrce_dds_client/utilities.hpp b/src/modules/uxrce_dds_client/utilities.hpp
index 70886ec795..c2d038b3ed 100644
--- a/src/modules/uxrce_dds_client/utilities.hpp
+++ b/src/modules/uxrce_dds_client/utilities.hpp
@@ -23,29 +23,40 @@ uxrObjectId topic_id_from_orb(ORB_ID orb_id, uint8_t instance = 0)
 	return uxrObjectId{};
 }
 
-static bool generate_topic_name(char *topic_name, const char *client_namespace, const char *topic)
+static bool generate_topic_name(char *topic_name, const char *client_namespace, const char *topic,
+				uint32_t message_version = 0)
 {
 	if (topic[0] == '/') {
 		topic++;
 	}
 
+	char version[16];
+
+	if (message_version != 0) {
+		snprintf(version, sizeof(version), "_v%u", (unsigned)message_version);
+		version[sizeof(version) - 1] = '\0';
+
+	} else {
+		version[0] = '\0';
+	}
+
 	if (client_namespace != nullptr) {
-		int ret = snprintf(topic_name, TOPIC_NAME_SIZE, "rt/%s/%s", client_namespace, topic);
+		int ret = snprintf(topic_name, TOPIC_NAME_SIZE, "rt/%s/%s%s", client_namespace, topic, version);
 		return (ret > 0 && ret < TOPIC_NAME_SIZE);
 	}
 
-	int ret = snprintf(topic_name, TOPIC_NAME_SIZE, "rt/%s", topic);
+	int ret = snprintf(topic_name, TOPIC_NAME_SIZE, "rt/%s%s", topic, version);
 	return (ret > 0 && ret < TOPIC_NAME_SIZE);
 }
 
 static bool create_data_writer(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrObjectId participant_id,
-			       ORB_ID orb_id, const char *client_namespace, const char *topic, const char *type_name,
+			       ORB_ID orb_id, const char *client_namespace, const char *topic, uint32_t message_version, const char *type_name,
 			       uxrObjectId &datawriter_id)
 {
 	// topic
 	char topic_name[TOPIC_NAME_SIZE];
 
-	if (!generate_topic_name(topic_name, client_namespace, topic)) {
+	if (!generate_topic_name(topic_name, client_namespace, topic, message_version)) {
 		PX4_ERR("topic path too long");
 		return false;
 	}
@@ -92,12 +103,13 @@ static bool create_data_writer(uxrSession *session, uxrStreamId reliable_out_str
 
 static bool create_data_reader(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId input_stream_id,
 			       uxrObjectId participant_id, uint16_t index, const char *client_namespace, const char *topic,
+			       uint32_t message_version,
 			       const char *type_name, uint16_t queue_depth)
 {
 	// topic
 	char topic_name[TOPIC_NAME_SIZE];
 
-	if (!generate_topic_name(topic_name, client_namespace, topic)) {
+	if (!generate_topic_name(topic_name, client_namespace, topic, message_version)) {
 		PX4_ERR("topic path too long");
 		return false;
 	}