diff --git a/msg/templates/px4/ros/msg.h.em b/msg/templates/px4/ros/msg.h.em
index 3264bbaede..e102a087d4 100644
--- a/msg/templates/px4/ros/msg.h.em
+++ b/msg/templates/px4/ros/msg.h.em
@@ -14,8 +14,6 @@
 @# Context:
 @#  - file_name_in (String) Source file
 @#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@#  - md5sum (String) MD5Sum of the .msg specification
-@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
diff --git a/msg/templates/px4/uorb/msg.h.em b/msg/templates/px4/uorb/msg.h.em
index 4b848ce361..deed11912d 100644
--- a/msg/templates/px4/uorb/msg.h.em
+++ b/msg/templates/px4/uorb/msg.h.em
@@ -14,8 +14,6 @@
 @# Context:
 @#  - file_name_in (String) Source file
 @#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@#  - md5sum (String) MD5Sum of the .msg specification
-@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
diff --git a/msg/templates/uorb/msg.cpp.em b/msg/templates/uorb/msg.cpp.em
index a462f063fd..f7451740f8 100644
--- a/msg/templates/uorb/msg.cpp.em
+++ b/msg/templates/uorb/msg.cpp.em
@@ -12,15 +12,13 @@
 @# Context:
 @#  - file_name_in (String) Source file
 @#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@#  - md5sum (String) MD5Sum of the .msg specification
 @#  - search_path (dict) search paths for genmsg
 @#  - topics (List of String) multi-topic names
 @#  - constrained_flash set to true if flash is constrained
-@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
- *   Copyright (C) 2013-2016 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/msg/templates/uorb/msg.h.em b/msg/templates/uorb/msg.h.em
index 0180ebcf0d..adc4b585fa 100644
--- a/msg/templates/uorb/msg.h.em
+++ b/msg/templates/uorb/msg.h.em
@@ -12,14 +12,12 @@
 @# Context:
 @#  - file_name_in (String) Source file
 @#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@#  - md5sum (String) MD5Sum of the .msg specification
 @#  - search_path (dict) search paths for genmsg
 @#  - topics (List of String) multi-topic names
-@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
- *   Copyright (C) 2013-2016 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/msg/templates/uorb/uORBTopics.cpp.em b/msg/templates/uorb/uORBTopics.cpp.em
index bce579b1a4..b08950bb19 100644
--- a/msg/templates/uorb/uORBTopics.cpp.em
+++ b/msg/templates/uorb/uORBTopics.cpp.em
@@ -9,11 +9,10 @@
 @# Context:
 @#  - msgs (List) list of all msg files
 @#  - multi_topics (List) list of all multi-topic names
-@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
- *   Copyright (C) 2013-2020 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/msg/templates/uorb/uORBTopics.hpp.em b/msg/templates/uorb/uORBTopics.hpp.em
index d1d33f4816..d278f06398 100644
--- a/msg/templates/uorb/uORBTopics.hpp.em
+++ b/msg/templates/uorb/uORBTopics.hpp.em
@@ -9,11 +9,10 @@
 @# Context:
 @#  - msgs (List) list of all msg files
 @#  - multi_topics (List) list of all multi-topic names
-@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
index 0bc015a297..c679997a60 100644
--- a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
+++ b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em
@@ -6,9 +6,9 @@
 @# Start of Template
 @#
 @# Context:
-@#  - msgs (List) list of all msg files
+@#  - msgs (List) list of all RTPS messages
 @#  - multi_topics (List) list of all multi-topic names
-@#  - ids (List) list of all RTPS msg ids
+@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
 @###############################################
 @{
 import os
@@ -152,7 +152,7 @@ void *send(void *args)
 					// copy raw data into local buffer. Payload is shifted by header length to make room for header
 					serialize_@(send_base_types[idx])(&writer, &@(topic)_data, &data_buffer[header_length], &length);
 
-					if (0 < (read = transport_node->write(static_cast<char>(@(ids[0].index(topic) + 1)), data_buffer, length))) {
+					if (0 < (read = transport_node->write(static_cast<char>(@(msgs[0].index(topic) + 1)), data_buffer, length))) {
 						data->total_sent += read;
 						tx_last_sec_read += read;
 						++data->sent;
@@ -261,7 +261,7 @@ void micrortps_start_topics(const uint32_t &datarate, struct timespec &begin, ui
 
 			switch (topic_ID) {
 @[    for idx, topic in enumerate(recv_topics)]@
-			case @(ids[0].index(topic) + 1): {
+			case @(msgs[0].index(topic) + 1): {
 				@(receive_base_types[idx])_s @(topic)_data;
 				deserialize_@(receive_base_types[idx])(&reader, &@(topic)_data, data_buffer);
 
diff --git a/msg/templates/uorb_microcdr/msg.cpp.em b/msg/templates/uorb_microcdr/msg.cpp.em
index ea7251c47b..458f455f49 100644
--- a/msg/templates/uorb_microcdr/msg.cpp.em
+++ b/msg/templates/uorb_microcdr/msg.cpp.em
@@ -12,14 +12,11 @@
 @# Context:
 @#  - file_name_in (String) Source file
 @#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@#  - md5sum (String) MD5Sum of the .msg specification
 @#  - search_path (dict) search paths for genmsg
-@#  - topics (List of String) multi-topic names
-@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
- *   Copyright (C) 2013-2018 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/msg/templates/uorb_microcdr/msg.h.em b/msg/templates/uorb_microcdr/msg.h.em
index ce49dd1356..76b793ab70 100644
--- a/msg/templates/uorb_microcdr/msg.h.em
+++ b/msg/templates/uorb_microcdr/msg.h.em
@@ -12,14 +12,10 @@
 @# Context:
 @#  - file_name_in (String) Source file
 @#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
-@#  - md5sum (String) MD5Sum of the .msg specification
-@#  - search_path (dict) search paths for genmsg
-@#  - topics (List of String) multi-topic names
-@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
- *   Copyright (C) 2013-2018 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/msg/templates/uorb_microcdr/uORBTopics.cpp.em b/msg/templates/uorb_microcdr/uORBTopics.cpp.em
index bd7a6683ba..88dc5255d8 100644
--- a/msg/templates/uorb_microcdr/uORBTopics.cpp.em
+++ b/msg/templates/uorb_microcdr/uORBTopics.cpp.em
@@ -5,11 +5,6 @@
 @#
 @###############################################
 @# Start of Template
-@#
-@# Context:
-@#  - msgs (List) list of all msg files
-@#  - multi_topics (List) list of all multi-topic names
-@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
diff --git a/msg/templates/uorb_microcdr/uORBTopics.hpp.em b/msg/templates/uorb_microcdr/uORBTopics.hpp.em
index 66090030e9..6eebd31544 100644
--- a/msg/templates/uorb_microcdr/uORBTopics.hpp.em
+++ b/msg/templates/uorb_microcdr/uORBTopics.hpp.em
@@ -5,11 +5,6 @@
 @#
 @###############################################
 @# Start of Template
-@#
-@# Context:
-@#  - msgs (List) list of all msg files
-@#  - multi_topics (List) list of all multi-topic names
-@#  - ids (List) list of all RTPS msg ids
 @###############################################
 /****************************************************************************
  *
diff --git a/msg/templates/urtps/Publisher.cpp.em b/msg/templates/urtps/Publisher.cpp.em
index 1f0e93af8c..86687f06a1 100644
--- a/msg/templates/urtps/Publisher.cpp.em
+++ b/msg/templates/urtps/Publisher.cpp.em
@@ -6,9 +6,9 @@
 @# Start of Template
 @#
 @# Context:
-@#  - msgs (List) list of all msg files
-@#  - multi_topics (List) list of all multi-topic names
-@#  - ids (List) list of all RTPS msg ids
+@#  - fastrtps_version (str) FastRTPS version installed on the system
+@#  - ros2_distro (str) ROS2 distro name
+@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
 @###############################################
 @{
 import genmsg.msgs
@@ -70,7 +70,7 @@ if ros2_distro:
  * @@file @(topic)_Publisher.cpp
  * This file contains the implementation of the publisher functions.
  *
- * This file was adapted from the fastcdrgen tool.
+ * This file was adapted from the fastrtpsgen tool.
  */
 
 #include "@(topic)_Publisher.h"
diff --git a/msg/templates/urtps/Publisher.h.em b/msg/templates/urtps/Publisher.h.em
index 8efab01719..6851497d2a 100644
--- a/msg/templates/urtps/Publisher.h.em
+++ b/msg/templates/urtps/Publisher.h.em
@@ -6,9 +6,8 @@
 @# Start of Template
 @#
 @# Context:
-@#  - msgs (List) list of all msg files
-@#  - multi_topics (List) list of all multi-topic names
-@#  - ids (List) list of all RTPS msg ids
+@#  - ros2_distro (str) ROS2 distro name
+@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
 @###############################################
 @{
 import genmsg.msgs
@@ -58,7 +57,7 @@ except AttributeError:
  * @@file @(topic)_Publisher.h
  * This header file contains the declaration of the publisher functions.
  *
- * This file was adapted from the fastcdrgen tool.
+ * This file was adapted from the fastrtpsgen tool.
  */
 
 
diff --git a/msg/templates/urtps/RtpsTopics.cpp.em b/msg/templates/urtps/RtpsTopics.cpp.em
index 3bf123bdf3..be1d8d2045 100644
--- a/msg/templates/urtps/RtpsTopics.cpp.em
+++ b/msg/templates/urtps/RtpsTopics.cpp.em
@@ -6,8 +6,7 @@
 @# Start of Template
 @#
 @# Context:
-@#  - msgs (List) list of all msg files
-@#  - ids (List) list of all RTPS msg ids
+@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
 @###############################################
 @{
 import genmsg.msgs
@@ -16,7 +15,6 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
 
 send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
 recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
-package = package[0]
 }@
 /****************************************************************************
  *
@@ -61,7 +59,7 @@ bool RtpsTopics::init(std::condition_variable *t_send_queue_cv, std::mutex *t_se
 	std::cout << "\033[0;36m---   Subscribers   ---\033[0m" << std::endl;
 @[for topic in recv_topics]@
 
-	if (_@(topic)_sub.init(@(ids[0].index(topic) + 1), t_send_queue_cv, t_send_queue_mutex, t_send_queue, ns)) {
+	if (_@(topic)_sub.init(@(msgs[0].index(topic) + 1), t_send_queue_cv, t_send_queue_mutex, t_send_queue, ns)) {
 		std::cout << "- @(topic) subscriber started" << std::endl;
 
 	} else {
@@ -120,7 +118,7 @@ void RtpsTopics::publish(const uint8_t topic_ID, char data_buffer[], size_t len)
 	switch (topic_ID) {
 @[for topic in send_topics]@
 
-	case @(ids[0].index(topic) + 1): { // @(topic) publisher
+	case @(msgs[0].index(topic) + 1): { // @(topic) publisher
 		@(topic)_msg_t st;
 		eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
 		eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
@@ -162,7 +160,7 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
 	switch (topic_ID) {
 @[for topic in recv_topics]@
 
-	case @(ids[0].index(topic) + 1): // @(topic) subscriber
+	case @(msgs[0].index(topic) + 1): // @(topic) subscriber
 		if (_@(topic)_sub.hasMsg()) {
 			@(topic)_msg_t msg = _@(topic)_sub.getMsg();
 
diff --git a/msg/templates/urtps/RtpsTopics.h.em b/msg/templates/urtps/RtpsTopics.h.em
index 597ff99b4b..b82c7b20c8 100644
--- a/msg/templates/urtps/RtpsTopics.h.em
+++ b/msg/templates/urtps/RtpsTopics.h.em
@@ -6,8 +6,10 @@
 @# Start of Template
 @#
 @# Context:
-@#  - msgs (List) list of all msg files
-@#  - ids (List) list of all RTPS msg ids
+@#  - fastrtps_version (List[str]) FastRTPS version installed on the system
+@#  - package (List[str]) messages package name. Defaulted to 'px4'
+@#  - ros2_distro (List[str]) ROS2 distro name
+@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
 @###############################################
 @{
 import genmsg.msgs
diff --git a/msg/templates/urtps/Subscriber.cpp.em b/msg/templates/urtps/Subscriber.cpp.em
index 7fc2a8c31c..ab0c5f2d82 100644
--- a/msg/templates/urtps/Subscriber.cpp.em
+++ b/msg/templates/urtps/Subscriber.cpp.em
@@ -6,9 +6,9 @@
 @# Start of Template
 @#
 @# Context:
-@#  - msgs (List) list of all msg files
-@#  - multi_topics (List) list of all multi-topic names
-@#  - ids (List) list of all RTPS msg ids
+@#  - fastrtps_version (str) FastRTPS version installed on the system
+@#  - ros2_distro (str) ROS2 distro name
+@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
 @###############################################
 @{
 import genmsg.msgs
@@ -69,7 +69,7 @@ if ros2_distro:
  * @@file @(topic)_Subscriber.cpp
  * This file contains the implementation of the subscriber functions.
  *
- * This file was adapted from the fastcdrgen tool.
+ * This file was adapted from the fastrtpsgen tool.
  */
 
 #include "@(topic)_Subscriber.h"
diff --git a/msg/templates/urtps/Subscriber.h.em b/msg/templates/urtps/Subscriber.h.em
index afd40ae964..703112bef3 100644
--- a/msg/templates/urtps/Subscriber.h.em
+++ b/msg/templates/urtps/Subscriber.h.em
@@ -6,9 +6,8 @@
 @# Start of Template
 @#
 @# Context:
-@#  - msgs (List) list of all msg files
-@#  - multi_topics (List) list of all multi-topic names
-@#  - ids (List) list of all RTPS msg ids
+@#  - ros2_distro (str) ROS2 distro name
+@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
 @###############################################
 @{
 import genmsg.msgs
@@ -58,7 +57,7 @@ except AttributeError:
  * @@file @(topic)_Subscriber.h
  * This header file contains the declaration of the subscriber functions.
  *
- * This file was adapted from the fastcdrgen tool.
+ * This file was adapted from the fastrtpsgen tool.
  */
 
 
diff --git a/msg/templates/urtps/microRTPS_agent.cpp.em b/msg/templates/urtps/microRTPS_agent.cpp.em
index b04f3fc0b2..acbb01e302 100644
--- a/msg/templates/urtps/microRTPS_agent.cpp.em
+++ b/msg/templates/urtps/microRTPS_agent.cpp.em
@@ -6,9 +6,8 @@
 @# Start of Template
 @#
 @# Context:
-@#  - msgs (List) list of all msg files
-@#  - multi_topics (List) list of all multi-topic names
-@#  - ids (List) list of all RTPS msg ids
+@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
+@#  - ros2_distro (List[str]) ROS2 distro name
 @###############################################
 @{
 import genmsg.msgs
diff --git a/msg/templates/urtps/microRTPS_timesync.cpp.em b/msg/templates/urtps/microRTPS_timesync.cpp.em
index 26c8336b51..a441339fb1 100644
--- a/msg/templates/urtps/microRTPS_timesync.cpp.em
+++ b/msg/templates/urtps/microRTPS_timesync.cpp.em
@@ -6,9 +6,8 @@
 @# Start of Template
 @#
 @# Context:
-@#  - msgs (List) list of all msg files
-@#  - multi_topics (List) list of all multi-topic names
-@#  - ids (List) list of all RTPS msg ids
+@#  - package (List[str]) messages package name. Defaulted to 'px4'
+@#  - ros2_distro (List[str]) ROS2 distro name
 @###############################################
 @{
 import genmsg.msgs
diff --git a/msg/templates/urtps/microRTPS_timesync.h.em b/msg/templates/urtps/microRTPS_timesync.h.em
index 6cb25ae5c5..ffe4541f18 100644
--- a/msg/templates/urtps/microRTPS_timesync.h.em
+++ b/msg/templates/urtps/microRTPS_timesync.h.em
@@ -6,9 +6,8 @@
 @# Start of Template
 @#
 @# Context:
-@#  - msgs (List) list of all msg files
-@#  - multi_topics (List) list of all multi-topic names
-@#  - ids (List) list of all RTPS msg ids
+@#  - package (List[str]) messages package name. Defaulted to 'px4'
+@#  - ros2_distro (List[str]) ROS2 distro name
 @###############################################
 @{
 import genmsg.msgs
diff --git a/msg/templates/urtps/msg.idl.em b/msg/templates/urtps/msg.idl.em
index 1f9c71032e..1fa20e3fe6 100644
--- a/msg/templates/urtps/msg.idl.em
+++ b/msg/templates/urtps/msg.idl.em
@@ -4,10 +4,15 @@
 @#
 @# EmPy template for generating <msg>.idl files
 @#
+@###############################################
+@# Start of Template
+@#
+@# Context:
+@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
 @################################################################################
 @#
 @# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-@# Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
+@# Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
 @#
 @# Redistribution and use in source and binary forms, with or without
 @# modification, are permitted provided that the following conditions are met: