diff --git a/msg/tools/generate_microRTPS_bridge.py b/msg/tools/generate_microRTPS_bridge.py
index be04a8e366..fe16649e7a 100644
--- a/msg/tools/generate_microRTPS_bridge.py
+++ b/msg/tools/generate_microRTPS_bridge.py
@@ -47,6 +47,11 @@ import px_generate_uorb_topic_helper
 import subprocess
 import glob
 import errno
+try:
+    import yaml
+except ImportError:
+    raise ImportError(
+        "Failed to import yaml. You may need to install it with 'sudo pip install pyyaml'")
 
 
 def get_absolute_path(arg_parse_dir):
@@ -63,6 +68,20 @@ def get_absolute_path(arg_parse_dir):
     return dir
 
 
+def parse_yaml_msg_id_file(yaml_file):
+    """
+    Parses a yaml file into a dict
+    """
+    try:
+        with open(yaml_file, 'r') as f:
+            return yaml.load(f)
+    except OSError as e:
+        if e.errno == errno.ENOENT:
+            raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
+        else:
+            raise
+
+
 default_client_out = get_absolute_path(
     "src/modules/micrortps_bridge/micrortps_client")
 default_agent_out = get_absolute_path(
@@ -186,8 +205,7 @@ if agent and os.path.isdir(os.path.join(agent_out_dir, "idl")):
 uorb_templates_dir = os.path.join(msg_folder, args.uorb_templates)
 urtps_templates_dir = os.path.join(msg_folder, args.urtps_templates)
 # parse yaml file into a map of ids
-rtps_ids = px_generate_uorb_topic_helper.parse_yaml_msg_id_file(
-    os.path.join(msg_folder, args.yaml_file))
+rtps_ids = parse_yaml_msg_id_file(os.path.join(msg_folder, args.yaml_file))
 
 
 uRTPS_CLIENT_TEMPL_FILE = 'microRTPS_client.cpp.template'
diff --git a/msg/tools/px_generate_uorb_topic_helper.py b/msg/tools/px_generate_uorb_topic_helper.py
index c6b07e21b2..9ad5817b73 100644
--- a/msg/tools/px_generate_uorb_topic_helper.py
+++ b/msg/tools/px_generate_uorb_topic_helper.py
@@ -41,11 +41,6 @@ precompiled and thus message generation will be much faster
 
 import os
 import errno
-try:
-    import yaml
-except ImportError:
-    raise ImportError(
-        "Failed to import yaml. You may need to install it with 'sudo pip install pyyaml")
 
 import genmsg.msgs
 import gencpp
@@ -351,21 +346,6 @@ def print_field_def(field):
     print('\t%s%s%s %s%s;%s' % (type_prefix, type_px4, type_appendix, field.name,
                                 array_size, comment))
 
-
-def parse_yaml_msg_id_file(yaml_file):
-    """
-    Parses a yaml file into a dict
-    """
-    try:
-        with open(yaml_file, 'r') as f:
-            return yaml.load(f)
-    except OSError as e:
-        if e.errno == errno.ENOENT:
-            raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), yaml_file)
-        else:
-            raise
-
-
 def rtps_message_id(msg_id_map, message):
     """
     Get RTPS ID of uORB message