diff --git a/msg/tools/uorb_rtps_classifier.py b/msg/tools/uorb_rtps_classifier.py
index 6480243c886f..e1d8b57418bb 100644
--- a/msg/tools/uorb_rtps_classifier.py
+++ b/msg/tools/uorb_rtps_classifier.py
@@ -94,7 +94,7 @@ def parse_yaml_msg_id_file(yaml_file):
         """
         try:
             with open(yaml_file, 'r') as f:
-                return yaml.load(f, Loader=yaml.FullLoader)
+                return yaml.safe_load(f)
         except OSError as e:
             if e.errno == errno.ENOENT:
                 raise IOError(errno.ENOENT, os.strerror(
diff --git a/msg/tools/uorb_to_ros_rtps_ids.py b/msg/tools/uorb_to_ros_rtps_ids.py
index ff5b2a0c642a..b739da79e5dd 100644
--- a/msg/tools/uorb_to_ros_rtps_ids.py
+++ b/msg/tools/uorb_to_ros_rtps_ids.py
@@ -74,7 +74,7 @@ def load_yaml_file(file):
         with open(file, 'r') as f:
             if verbose:
                 print("--\t[Step 1] %s yaml file loaded!" % file)
-            return yaml.load(f, Loader=yaml.FullLoader)
+            return yaml.safe_load(f)
     except OSError as e:
         if e.errno == errno.ENOENT:
             raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), file)