diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp
index 12619be48d..30bd5c368d 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp
@@ -239,12 +239,11 @@ public:
 
     int init(const TransferPriority priority)
     {
-        int res = allocation_pub_.init();
+        int res = allocation_pub_.init(priority);
         if (res < 0)
         {
             return res;
         }
-        allocation_pub_.setPriority(priority);
         allocation_pub_.setTxTimeout(MonotonicDuration::fromMSec(1000 /* TODO FIXME ALLOCATION RANDOMIZATION */));
 
         res = allocation_sub_.start(AllocationCallback(this, &AllocationRequestManager::handleAllocation));
diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp
index db3ee1ff33..a56cd417aa 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp
@@ -258,12 +258,11 @@ public:
         /*
          * Initializing pub/sub and timer
          */
-        int res = discovery_pub_.init();
+        int res = discovery_pub_.init(priority);
         if (res < 0)
         {
             return res;
         }
-        discovery_pub_.setPriority(priority);
 
         res = discovery_sub_.start(DiscoveryCallback(this, &ClusterManager::handleDiscovery));
         if (res < 0)
diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp
index 0900895abb..7e8a0eafa7 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp
@@ -766,7 +766,7 @@ public:
             return res;
         }
 
-        res = append_entries_client_.init();
+        res = append_entries_client_.init(priority);
         if (res < 0)
         {
             return res;
@@ -774,7 +774,7 @@ public:
         append_entries_client_.setCallback(AppendEntriesResponseCallback(this,
                                                                          &RaftCore::handleAppendEntriesResponse));
 
-        res = request_vote_client_.init();
+        res = request_vote_client_.init(priority);
         if (res < 0)
         {
             return res;
diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
index 75d4b9f512..2e4a015c63 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
@@ -311,9 +311,7 @@ public:
 
     int init(const TransferPriority priority)
     {
-        // TODO FIXME set priority
-        (void)priority;
-        int res = get_node_info_client_.init();
+        int res = get_node_info_client_.init(priority);
         if (res < 0)
         {
             return res;