diff --git a/msg/tools/uorb_rtps_message_ids.yaml b/msg/tools/uorb_rtps_message_ids.yaml
index 4aba00b4d4..36c29752da 100644
--- a/msg/tools/uorb_rtps_message_ids.yaml
+++ b/msg/tools/uorb_rtps_message_ids.yaml
@@ -343,6 +343,8 @@ rtps:
     id: 159
   - msg: event
     id: 160
+  - msg: baro_bias_estimate
+    id: 161
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 180