Index: lib/MsgUtils/cmake/MsgUtils.cmake
===================================================================
diff -u -r402926738e7394ee2d3dc7add2e6d755f06a289d -r8165b9eb5d23253e5d38b6ffde9d1a21cb1cbc52
--- lib/MsgUtils/cmake/MsgUtils.cmake	(.../MsgUtils.cmake)	(revision 402926738e7394ee2d3dc7add2e6d755f06a289d)
+++ lib/MsgUtils/cmake/MsgUtils.cmake	(.../MsgUtils.cmake)	(revision 8165b9eb5d23253e5d38b6ffde9d1a21cb1cbc52)
@@ -57,6 +57,34 @@
     )
 endfunction()
 
+#   \brief  This function custom command to generate/update a message handling INI.
+#   \param[in]  _input_confs    list of message conf files to use to generate the INI
+#   \param[in]  _output_ini     path to the INI file to create or update
+#   \param[in]  _target_name    name of the custom target to add
+function(generate_message_ini _input_confs _output_ini _target_name)
+    find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
+
+    # cmake >= 3.20: cmake_path(ABSOLUTE_PATH _output_ini)
+    get_filename_component(_output_ini ${_output_ini} ABSOLUTE) # cmake < 3.20
+
+    # generate a pretty string containing a list of the absolute paths of all conf files
+    foreach(_path ${${_input_confs}})
+        # cmake >= 3.20: cmake_path(ABSOLUTE_PATH _path)
+        get_filename_component(_path ${_path} ABSOLUTE)
+        list(APPEND _files ${_path})
+    endforeach()
+    list(JOIN _files ", " _file_list)
+
+    add_custom_target(${_target_name}
+        COMMAND
+            ${PROJECT_PYTHON} ${MSGUTILS_SCRIPTS_DIR}/GenerateMsgIni.py
+                ${${_input_confs}}
+                ${_output_ini}
+        COMMENT "Generating/updating LeahiRt message INI ${_output_ini} from input ${_file_list}"
+        VERBATIM
+    )
+endfunction()
+
 #   \brief  This function adds a custom command to generate a Protobuf file from inputted message conf files
 #   \param[in]  _input_confs         list of message conf files to use to generate the header
 #   \param[in]  _protobuf_filename  name of the generated protobuf file