diff --git a/msg/tools/uorb_rtps_message_ids.yaml b/msg/tools/uorb_rtps_message_ids.yaml
index f84cc0dcba6a..47066f93ef51 100644
--- a/msg/tools/uorb_rtps_message_ids.yaml
+++ b/msg/tools/uorb_rtps_message_ids.yaml
@@ -322,4 +322,7 @@ rtps:
   - msg: vehicle_angular_velocity_groundtruth
     id: 168
     alias: vehicle_angular_velocity
+    msg: vehicle_visual_odometry_aligned
+    id: 169
+    alias: vehicle_odometry
   ########## multi topics: end ##########