diff --git a/msg/tools/uorb_rtps_message_ids.yaml b/msg/tools/uorb_rtps_message_ids.yaml
index f972acf7eb..944a925ca1 100644
--- a/msg/tools/uorb_rtps_message_ids.yaml
+++ b/msg/tools/uorb_rtps_message_ids.yaml
@@ -252,6 +252,8 @@ rtps:
     id: 109
   - msg: landing_gear
     id: 110
+  - msg: wheel_encoders
+    id: 111
   # multi topics
   - msg: actuator_controls_0
     id: 120