diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h
index c85b8118b3..fd1647051a 100644
--- a/src/platforms/px4_nodehandle.h
+++ b/src/platforms/px4_nodehandle.h
@@ -243,13 +243,8 @@ public:
 	template<typename T>
 	Publisher<T> *advertise()
 	{
-		//XXX
-		// uORB::PublicationBase * uorb_pub = new uORB::PublicationBase((new T())->handle());
-		uORB::PublicationBase * uorb_pub = new uORB::PublicationBase(T::handle());
-		PublisherUORB<T> *pub = new PublisherUORB<T>(uorb_pub);
-
+		PublisherUORB<T> *pub = new PublisherUORB<T>();
 		_pubs.add(pub);
-
 		return (Publisher<T>*)pub;
 	}
 
diff --git a/src/platforms/px4_publisher.h b/src/platforms/px4_publisher.h
index ea675e67be..a9e40e8d67 100644
--- a/src/platforms/px4_publisher.h
+++ b/src/platforms/px4_publisher.h
@@ -130,10 +130,10 @@ public:
 	/**
 	 * Construct Publisher by providing orb meta data
 	 */
-	PublisherUORB(uORB::PublicationBase * uorb_pub) :
+	PublisherUORB() :
 		Publisher<T>(),
 		PublisherNode(),
-		_uorb_pub(uorb_pub)
+		_uorb_pub(new uORB::PublicationBase(T::handle()))
 	{}
 
 	~PublisherUORB() {};
diff --git a/src/platforms/px4_subscriber.h b/src/platforms/px4_subscriber.h
index e086cd4c26..17a95f12d8 100644
--- a/src/platforms/px4_subscriber.h
+++ b/src/platforms/px4_subscriber.h
@@ -107,21 +107,22 @@ public:
 	SubscriberROS(ros::NodeHandle *rnh) :
 		px4::Subscriber<T>(),
 		_cbf(NULL),
-		_ros_sub(rnh->subscribe(T::handle(), 1, &SubscriberROS<T>::callback, this))
+		_ros_sub(rnh->subscribe(T::handle(), kQueueSizeDefault, &SubscriberROS<T>::callback, this))
 	{}
 
 	/**
 	 * Construct Subscriber by providing a callback function
 	 */
-	//XXX queue default
 	SubscriberROS(ros::NodeHandle *rnh, std::function<void(const T &)> cbf) :
 		_cbf(cbf),
-		_ros_sub(rnh->subscribe(T::handle(), 1, &SubscriberROS<T>::callback, this))
+		_ros_sub(rnh->subscribe(T::handle(), kQueueSizeDefault, &SubscriberROS<T>::callback, this))
 	{}
 
 	virtual ~SubscriberROS() {};
 
 protected:
+	static const uint32_t kQueueSizeDefault = 1;		/**< Size of queue for ROS */
+
 	/**
 	 * Called on topic update, saves the current message and then calls the provided callback function
 	 * needs to use the native type as it is called by ROS