diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h
index f2d09c15cb..c85b8118b3 100644
--- a/src/platforms/px4_nodehandle.h
+++ b/src/platforms/px4_nodehandle.h
@@ -116,8 +116,7 @@ public:
 	template<typename T>
 	Publisher<T>* advertise()
 	{
-		ros::Publisher ros_pub = ros::NodeHandle::advertise<typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &>(T::handle(), kQueueSizeDefault);
-		PublisherROS<T> *pub =  new PublisherROS<T>(ros_pub);
+		PublisherROS<T> *pub =  new PublisherROS<T>((ros::NodeHandle*)this);
 		_pubs.push_back((PublisherBase*)pub);
 		return (Publisher<T>*)pub;
 	}
@@ -134,7 +133,6 @@ public:
 
 
 private:
-	static const uint32_t kQueueSizeDefault = 1;		/**< Size of queue for ROS */
 	std::list<SubscriberBase *> _subs;				/**< Subcriptions of node */
 	std::list<PublisherBase *> _pubs;				/**< Publications of node */
 };
diff --git a/src/platforms/px4_publisher.h b/src/platforms/px4_publisher.h
index afedbbee77..ea675e67be 100644
--- a/src/platforms/px4_publisher.h
+++ b/src/platforms/px4_publisher.h
@@ -84,9 +84,9 @@ public:
 	 * Construct Publisher by providing a ros::Publisher
 	 * @param ros_pub the ros publisher which will be used to perform the publications
 	 */
-	PublisherROS(ros::Publisher ros_pub) :
+	PublisherROS(ros::NodeHandle *rnh) :
 		Publisher<T>(),
-		_ros_pub(ros_pub)
+		_ros_pub(rnh->advertise<typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &>(T::handle(), kQueueSizeDefault))
 	{}
 
 	~PublisherROS() {};
@@ -99,7 +99,8 @@ public:
 		_ros_pub.publish(msg.data());
 		return 0;
 	}
-private:
+protected:
+	static const uint32_t kQueueSizeDefault = 1;		/**< Size of queue for ROS */
 	ros::Publisher _ros_pub;	/**< Handle to the ros publisher */
 };
 #else