diff --git a/msg/tools/uorb_rtps_message_ids.yaml b/msg/tools/uorb_rtps_message_ids.yaml
index 0d5c5797d4..7fdbc25eb5 100644
--- a/msg/tools/uorb_rtps_message_ids.yaml
+++ b/msg/tools/uorb_rtps_message_ids.yaml
@@ -370,4 +370,7 @@ rtps:
   - msg: orb_test_medium_queue_poll
     id: 175
     alias: orb_test_medium
+  - msg: orb_test_medium_wrap_around
+    id: 176
+    alias: orb_test_medium
   ########## multi topics: end ##########