diff --git a/msg/templates/urtps/microRTPS_agent.cpp.template b/msg/templates/urtps/microRTPS_agent.cpp.template
index a1936882ae13..54f7316c8570 100644
--- a/msg/templates/urtps/microRTPS_agent.cpp.template
+++ b/msg/templates/urtps/microRTPS_agent.cpp.template
@@ -103,6 +103,7 @@ const baudtype baudlist[] = {
     [5] = {.code = B115200, .val = 115200},
     [6] = {.code = B230400, .val = 230400},
     [7] = {.code = B460800, .val = 460800},
+    [8] = {.code = B921600, .val = 921600},
 };
 
 struct options {
diff --git a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
index a08a02e51c50..8663ce9794c6 100644
--- a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+++ b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
@@ -61,7 +61,8 @@ const baudtype baudlist[] = {
 	[4] = {.code = B57600, .val = 57600},
 	[5] = {.code = B115200, .val = 115200},
 	[6] = {.code = B230400, .val = 230400},
-	[7] = {.code = B460800, .val = 460800}
+	[7] = {.code = B460800, .val = 460800},
+	[8] = {.code = B921600, .val = 921600}
 };
 
 baudtype getbaudrate(const char *valstr);