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diff --git a/src/examples/publisher/publisher.cpp b/src/examples/publisher/publisher.cpp
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+/*
+ * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *   * Redistributions of source code must retain the above copyright notice,
+ *     this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above copyright
+ *     notice, this list of conditions and the following disclaimer in the
+ *     documentation and/or other materials provided with the distribution.
+ *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived from
+ *     this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <px4.h>
+#include <px4/rc_channels.h>
+
+#include <sstream>
+
+/**
+ * This tutorial demonstrates simple sending of messages over the PX4 middleware system.
+ */
+int main(int argc, char **argv)
+{
+
+	px4::init(argc, argv, "px4_publisher");
+
+	ros::NodeHandle n;
+
+	/**
+	 * The advertise() function is how you tell ROS that you want to
+	 * publish on a given topic name. This invokes a call to the ROS
+	 * master node, which keeps a registry of who is publishing and who
+	 * is subscribing. After this advertise() call is made, the master
+	 * node will notify anyone who is trying to subscribe to this topic name,
+	 * and they will in turn negotiate a peer-to-peer connection with this
+	 * node.  advertise() returns a Publisher object which allows you to
+	 * publish messages on that topic through a call to publish().  Once
+	 * all copies of the returned Publisher object are destroyed, the topic
+	 * will be automatically unadvertised.
+	 *
+	 * The second parameter to advertise() is the size of the message queue
+	 * used for publishing messages.  If messages are published more quickly
+	 * than we can send them, the number here specifies how many messages to
+	 * buffer up before throwing some away.
+	 */
+	ros::Publisher rc_channels_pub = n.advertise<px4::rc_channels>("rc_channels", 1000);
+
+	px4::Rate loop_rate(10);
+
+	/**
+	 * A count of how many messages we have sent. This is used to create
+	 * a unique string for each message.
+	 */
+	int count = 0;
+
+	while (px4::ok()) {
+		/**
+		 * This is a message object. You stuff it with data, and then publish it.
+		 */
+		px4::rc_channels msg;
+
+		msg.timestamp_last_valid = px4::get_time_micros();
+		PX4_INFO("%lu", msg.timestamp_last_valid);
+
+		/**
+		 * The publish() function is how you send messages. The parameter
+		 * is the message object. The type of this object must agree with the type
+		 * given as a template parameter to the advertise<>() call, as was done
+		 * in the constructor above.
+		 */
+		rc_channels_pub.publish(msg);
+
+		px4::spin_once();
+
+		loop_rate.sleep();
+		++count;
+	}
+
+
+	return 0;
+}