diff --git a/src/modules/uxrce_dds_client/dds_topics.h.em b/src/modules/uxrce_dds_client/dds_topics.h.em
index 4380b1049e..bc8382e2a5 100644
--- a/src/modules/uxrce_dds_client/dds_topics.h.em
+++ b/src/modules/uxrce_dds_client/dds_topics.h.em
@@ -198,7 +198,7 @@ static void on_topic_update(uxrSession *session, uxrObjectId object_id, uint16_t
 	case @(idx)+ (65535U / 32U) + 1: {
 			@(sub['simple_base_type'])_s data;
 
-@[        if sub['topic_simple'] == 'vehicle_command']@
+@[        if sub['topic_simple'] in whitelist_topics]@
 			if (ucdr_deserialize_@(sub['simple_base_type'])(*ub, data, time_offset_us)) {
 				//print_message(ORB_ID(@(sub['simple_base_type'])), data);
 				pubs->@(sub['topic_simple'])_pub.publish(data);
@@ -218,7 +218,7 @@ static void on_topic_update(uxrSession *session, uxrObjectId object_id, uint16_t
 			@(sub['simple_base_type'])_s data;
 
 @[        if sub.get('route_field')]@
-@[            if sub['topic_simple'] == 'vehicle_command']@
+@[            if sub['topic_simple'] in whitelist_topics]@
 			if (ucdr_deserialize_@(sub['simple_base_type'])(*ub, data, time_offset_us)) {
 				//print_message(ORB_ID(@(sub['simple_base_type'])), data);
 				int instance = -1;
@@ -262,7 +262,7 @@ static void on_topic_update(uxrSession *session, uxrObjectId object_id, uint16_t
 			}
 @[            end if]@
 @[        else]@
-@[            if sub['topic_simple'] == 'vehicle_command']@
+@[            if sub['topic_simple'] in whitelist_topics]@
 			if (ucdr_deserialize_@(sub['simple_base_type'])(*ub, data, time_offset_us)) {
 				//print_message(ORB_ID(@(sub['simple_base_type'])), data);
 				pubs->@(sub['topic_simple'])_pub.publish(data);