diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0fc6edc..2aeb390 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,11 +18,11 @@ find_package(rosidl_default_generators REQUIRED)
 
 # get all msg files
 set(MSGS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/msg")
-file(GLOB PX4_MSGS RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" "${MSGS_DIR}/*.msg")
+file(GLOB PX4_MSGS RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" "${MSGS_DIR}/*.msg" "${MSGS_DIR}/versioned/*.msg")
 
 # get all srv files
 set(SRVS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/srv")
-file(GLOB PX4_SRVS RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" "${SRVS_DIR}/*.srv")
+file(GLOB PX4_SRVS RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" "${SRVS_DIR}/*.srv" "${SRVS_DIR}/versioned/*.msg")
 
 # Generate introspection typesupport for C and C++ and IDL files
 rosidl_generate_interfaces(${PROJECT_NAME}