diff --git a/src/modules/uORB/ORBMap.hpp b/src/modules/uORB/ORBMap.hpp
new file mode 100644
index 0000000000..4b6c7e5a12
--- /dev/null
+++ b/src/modules/uORB/ORBMap.hpp
@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <string.h>
+#include <stdlib.h>
+
+
+namespace uORB
+{
+   class DeviceNode;
+   class ORBMap;
+}
+
+class uORB::ORBMap
+{
+public:
+	struct Node {
+		struct Node *next;
+		const char * node_name;
+		uORB::DeviceNode *node;
+	};
+
+	ORBMap() : 
+		_top(nullptr),
+		_end(nullptr)
+	{ }
+	~ORBMap() {
+		while (_top != nullptr) {
+			unlinkNext(_top);
+			if (_top->next == nullptr) {
+				free((void *)_top->node_name);
+				free(_top);
+				_top = nullptr;
+				_end = nullptr;
+			}
+		}				
+	}
+	void insert(const char *node_name, uORB::DeviceNode*node)
+	{
+		Node **p;
+		if (_top == nullptr)
+			p = &_top;
+		else 
+			p = &_end->next;
+
+		*p = (Node *)malloc(sizeof(Node));
+		if (_end)
+			_end = _end->next;
+		else {
+			_end = _top;
+		}
+		_end->next = nullptr;
+		_end->node_name = strdup(node_name);
+		_end->node = node;
+	}
+
+	bool find(const char *node_name)
+	{
+		Node *p = _top;
+		while (p) {
+			if (strcmp(p->node_name, node_name) == 0) {
+				return true;
+			}
+			p = p->next;
+		}
+		return false;
+	}
+
+	uORB::DeviceNode* get(const char *node_name)
+	{
+		Node *p = _top;
+		while (p) {
+			if (strcmp(p->node_name, node_name) == 0) {
+				return p->node;
+			}
+		}
+		return nullptr;
+	}
+
+	void unlinkNext(Node *a)
+	{
+		Node *b = a->next;
+		if (b != nullptr) {
+			if (_end == b) {
+				_end = a;
+			}
+			a->next = b->next;
+			free((void *)b->node_name);
+			free(b);
+		}
+	}
+
+private:
+	Node *_top;
+	Node *_end;
+};
+