diff --git a/libuavcan/include/uavcan/node/generic_publisher.hpp b/libuavcan/include/uavcan/node/generic_publisher.hpp
index a2844e7932..60623ecbe3 100644
--- a/libuavcan/include/uavcan/node/generic_publisher.hpp
+++ b/libuavcan/include/uavcan/node/generic_publisher.hpp
@@ -126,6 +126,15 @@ public:
         return checkInit();
     }
 
+    /**
+     * This overload allows to set the priority; otherwise it's the same.
+     */
+    int init(TransferPriority priority)
+    {
+        setPriority(priority);
+        return checkInit();
+    }
+
     int publish(const DataStruct& message, TransferType transfer_type, NodeID dst_node_id,
                 MonotonicTime blocking_deadline = MonotonicTime())
     {
diff --git a/libuavcan/include/uavcan/node/service_client.hpp b/libuavcan/include/uavcan/node/service_client.hpp
index f2c388d3be..daea7ac7cf 100644
--- a/libuavcan/include/uavcan/node/service_client.hpp
+++ b/libuavcan/include/uavcan/node/service_client.hpp
@@ -324,6 +324,16 @@ public:
         return publisher_.init();
     }
 
+    /**
+     * Shall be called before first use.
+     * This overload allows to set the priority, otherwise it's the same.
+     * Returns negative error code.
+     */
+    int init(TransferPriority priority)
+    {
+        return publisher_.init(priority);
+    }
+
     /**
      * Performs non-blocking service call.
      * This method transmits the service request and returns immediately.