diff --git a/msg/tools/generate_microRTPS_bridge.py b/msg/tools/generate_microRTPS_bridge.py
index 542b2895d6..20fdda4d19 100644
--- a/msg/tools/generate_microRTPS_bridge.py
+++ b/msg/tools/generate_microRTPS_bridge.py
@@ -196,8 +196,7 @@ if agent and os.path.isdir(os.path.join(agent_out_dir, "idl")):
 uorb_templates_dir = os.path.join(msg_folder, args.uorb_templates)
 urtps_templates_dir = os.path.join(msg_folder, args.urtps_templates)
 # parse yaml file into a map of ids
-classifier = Classifier(px_generate_uorb_topic_helper.parse_yaml_msg_id_file(
-    os.path.join(msg_folder, args.yaml_file)), msg_folder)
+classifier = Classifier(os.path.join(msg_folder, args.yaml_file), msg_folder)
 # check if there are no ID's repeated
 check_rtps_id_uniqueness(classifier)
 
diff --git a/msg/tools/px_generate_uorb_topic_helper.py b/msg/tools/px_generate_uorb_topic_helper.py
index ca3949f745..3b08f423ba 100644
--- a/msg/tools/px_generate_uorb_topic_helper.py
+++ b/msg/tools/px_generate_uorb_topic_helper.py
@@ -41,7 +41,6 @@ precompiled and thus message generation will be much faster
 
 import os
 import errno
-import yaml
 
 import genmsg.msgs
 import gencpp
@@ -365,20 +364,6 @@ def get_absolute_path(arg_parse_dir):
     return dir
 
 
-def parse_yaml_msg_id_file(yaml_file):
-    """
-    Parses a yaml file into a dict
-    """
-    try:
-        with open(yaml_file, 'r') as f:
-            return yaml.load(f)
-    except OSError as e:
-        if e.errno == errno.ENOENT:
-            raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
-        else:
-            raise
-
-
 def check_available_ids(used_msg_ids_list):
     """
     Checks the available RTPS ID's
diff --git a/msg/tools/uorb_rtps_classifier.py b/msg/tools/uorb_rtps_classifier.py
index 44f6d197b2..c588c5ad22 100644
--- a/msg/tools/uorb_rtps_classifier.py
+++ b/msg/tools/uorb_rtps_classifier.py
@@ -36,7 +36,7 @@
 import sys
 import os
 import argparse
-import px_generate_uorb_topic_helper
+import yaml
 
 
 class Classifier():
@@ -44,8 +44,8 @@ class Classifier():
     Class to classify RTPS msgs as senders, receivers or to be ignored
     """
 
-    def __init__(self, msg_id_map, msg_folder):
-        self.msg_id_map = msg_id_map
+    def __init__(self, yaml_file, msg_folder):
+        self.msg_id_map = self.parse_yaml_msg_id_file(yaml_file)
         self.msg_folder = msg_folder
         self.msgs_to_send = {}
         self.msgs_to_receive = {}
@@ -109,17 +109,32 @@ class Classifier():
             self.msgs_to_ignore.update({dict['msg']: dict['id']})
 
     def set_msg_files_send(self):
-        self.msgs_files_send = [px_generate_uorb_topic_helper.get_absolute_path(os.path.join(self.msg_folder, msg + ".msg"))
+        self.msgs_files_send = [os.path.dirname(os.path.dirname(os.path.join(self.msg_folder, msg + ".msg")))
                                 for msg in self.msgs_to_send.keys()]
 
     def set_msg_files_receive(self):
-        self.msgs_files_receive = [px_generate_uorb_topic_helper.get_absolute_path(os.path.join(self.msg_folder, msg + ".msg"))
+        self.msgs_files_receive = [os.path.dirname(os.path.dirname(os.path.join(self.msg_folder, msg + ".msg")))
                                    for msg in self.msgs_to_receive.keys()]
 
     def set_msg_files_ignore(self):
-        self.msgs_files_ignore = [px_generate_uorb_topic_helper.get_absolute_path(os.path.join(self.msg_folder, msg + ".msg"))
+        self.msgs_files_ignore = [os.path.dirname(os.path.dirname(os.path.join(self.msg_folder, msg + ".msg")))
                                   for msg in self.msgs_to_ignore.keys()]
 
+    @staticmethod
+    def parse_yaml_msg_id_file(yaml_file):
+        """
+        Parses a yaml file into a dict
+        """
+        try:
+            with open(yaml_file, 'r') as f:
+                return yaml.load(f)
+        except OSError as e:
+            if e.errno == errno.ENOENT:
+                raise IOError(errno.ENOENT, os.strerror(
+                    errno.ENOENT), yaml_file)
+            else:
+                raise
+
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
@@ -142,8 +157,7 @@ if __name__ == "__main__":
     args = parser.parse_args()
 
     msg_folder = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-    classifier = Classifier(px_generate_uorb_topic_helper.parse_yaml_msg_id_file(
-        os.path.join(msg_folder, args.yaml_file)), msg_folder)
+    classifier = Classifier(os.path.join(msg_folder, args.yaml_file), msg_folder)
 
     if args.send:
         if args.path: