diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile
index 4b012ee3e7..f7be5504c6 100644
--- a/.ci/Jenkinsfile-compile
+++ b/.ci/Jenkinsfile-compile
@@ -66,8 +66,11 @@ pipeline {
                      "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
                      "mro_ctrl-zero-h7_default",
+                     "mro_ctrl-zero-h7_rtps",
                      "mro_ctrl-zero-h7-oem_default",
+                     "mro_ctrl-zero-h7-oem_rtps",
                      "mro_pixracerpro_default",
+                     "mro_pixracerpro_rtps",
                      "mro_x21-777_default",
                      "mro_x21_default",
                      "nxp_fmuk66-e_default",
diff --git a/boards/mro/ctrl-zero-h7-oem/rtps.px4board b/boards/mro/ctrl-zero-h7-oem/rtps.px4board
new file mode 100644
index 0000000000..81e62c7825
--- /dev/null
+++ b/boards/mro/ctrl-zero-h7-oem/rtps.px4board
@@ -0,0 +1 @@
+CONFIG_MODULES_MICRORTPS_BRIDGE=y
diff --git a/boards/mro/ctrl-zero-h7/rtps.px4board b/boards/mro/ctrl-zero-h7/rtps.px4board
new file mode 100644
index 0000000000..81e62c7825
--- /dev/null
+++ b/boards/mro/ctrl-zero-h7/rtps.px4board
@@ -0,0 +1 @@
+CONFIG_MODULES_MICRORTPS_BRIDGE=y
diff --git a/boards/mro/pixracerpro/rtps.px4board b/boards/mro/pixracerpro/rtps.px4board
new file mode 100644
index 0000000000..81e62c7825
--- /dev/null
+++ b/boards/mro/pixracerpro/rtps.px4board
@@ -0,0 +1 @@
+CONFIG_MODULES_MICRORTPS_BRIDGE=y