diff --git a/src/drivers/roboclaw/RoboClaw.cpp b/src/drivers/roboclaw/RoboClaw.cpp
index 94a9828334..b2bcd1906b 100644
--- a/src/drivers/roboclaw/RoboClaw.cpp
+++ b/src/drivers/roboclaw/RoboClaw.cpp
@@ -228,14 +228,7 @@ void RoboClaw::taskMain()
 					_wheelEncoderMsg[i].encoder_position = _encoderCounts[i];
 					_wheelEncoderMsg[i].speed = _motorSpeeds[i];
 
-					if (_wheelEncodersAdv[i] == nullptr) {
-						int instance;
-						_wheelEncodersAdv[i] = orb_advertise_multi(ORB_ID(wheel_encoders), &_wheelEncoderMsg[i],
-								       &instance, ORB_PRIO_DEFAULT);
-
-					} else {
-						orb_publish(ORB_ID(wheel_encoders), _wheelEncodersAdv[i], &_wheelEncoderMsg[i]);
-					}
+					_wheelEncodersAdv[i].publish(_wheelEncoderMsg[i]);
 				}
 
 			} else {
diff --git a/src/drivers/roboclaw/RoboClaw.hpp b/src/drivers/roboclaw/RoboClaw.hpp
index b5d75069bb..0a92d07f39 100644
--- a/src/drivers/roboclaw/RoboClaw.hpp
+++ b/src/drivers/roboclaw/RoboClaw.hpp
@@ -47,6 +47,7 @@
 #include <stdio.h>
 #include <termios.h>
 #include <lib/parameters/param.h>
+#include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/wheel_encoders.h>
 #include <uORB/topics/actuator_armed.h>
@@ -204,7 +205,7 @@ private:
 	int _paramSub{-1};
 	parameter_update_s _paramUpdate;
 
-	orb_advert_t _wheelEncodersAdv[2] {nullptr, nullptr};
+	uORB::PublicationMulti<wheel_encoders_s> _wheelEncodersAdv[2] { ORB_ID(wheel_encoders), ORB_ID(wheel_encoders)};
 	wheel_encoders_s _wheelEncoderMsg[2];
 
 	uint32_t _lastEncoderCount[2] {0, 0};