diff --git a/libuavcan/include/uavcan/internal/node/generic_publisher.hpp b/libuavcan/include/uavcan/internal/node/generic_publisher.hpp
index ad1d67dc11..3b970e05ab 100644
--- a/libuavcan/include/uavcan/internal/node/generic_publisher.hpp
+++ b/libuavcan/include/uavcan/internal/node/generic_publisher.hpp
@@ -93,7 +93,7 @@ class GenericPublisher
         }
     }
 
-protected:
+public:
     GenericPublisher(Scheduler& scheduler, IMarshalBufferProvider& buffer_provider,
                      MonotonicDuration max_transfer_interval = TransferSender::getDefaultMaxTransferInterval())
     : max_transfer_interval_(max_transfer_interval)
@@ -116,7 +116,6 @@ protected:
         return genericPublish(message, transfer_type, dst_node_id, &tid, blocking_deadline);
     }
 
-public:
     static MonotonicDuration getDefaultTxTimeout() { return MonotonicDuration::fromUSec(2500); }// 2500ms --> 400Hz max
     static MonotonicDuration getMinTxTimeout() { return MonotonicDuration::fromUSec(200); }
 
diff --git a/libuavcan/include/uavcan/internal/node/generic_subscriber.hpp b/libuavcan/include/uavcan/internal/node/generic_subscriber.hpp
index a640ce4137..1b04bad525 100644
--- a/libuavcan/include/uavcan/internal/node/generic_subscriber.hpp
+++ b/libuavcan/include/uavcan/internal/node/generic_subscriber.hpp
@@ -123,7 +123,7 @@ class GenericSubscriber : Noncopyable
 
         message_.setTransfer(&transfer);
 
-        const int decode_res = DataSpec::decode(message_, codec);
+        const int decode_res = DataStruct::decode(message_, codec);
         // We don't need the data anymore, the memory can be reused from the callback:
         transfer.release();
         if (decode_res <= 0)
diff --git a/libuavcan/include/uavcan/publisher.hpp b/libuavcan/include/uavcan/publisher.hpp
index 98a0e24139..435390349b 100644
--- a/libuavcan/include/uavcan/publisher.hpp
+++ b/libuavcan/include/uavcan/publisher.hpp
@@ -10,7 +10,7 @@ namespace uavcan
 {
 
 template <typename DataType_>
-class Publisher : public GenericPublisher<DataType_, DataType_>
+class Publisher : protected GenericPublisher<DataType_, DataType_>
 {
     typedef GenericPublisher<DataType_, DataType_> BaseType;
 
@@ -40,6 +40,12 @@ public:
         }
         return publish(message, TransferTypeMessageUnicast, dst_node_id);
     }
+
+    using BaseType::getDefaultTxTimeout;
+    using BaseType::getMinTxTimeout;
+    using BaseType::getTxTimeout;
+    using BaseType::setTxTimeout;
+    using BaseType::getScheduler;
 };
 
 }