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diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h
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+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. 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.
+ * 3. Neither the name PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_nodehandle.h
+ *
+ * PX4 Middleware Wrapper Node Handle
+ */
+#pragma once
+
+/* includes for all platforms */
+#include "px4_subscriber.h"
+#include "px4_publisher.h"
+#include "px4_middleware.h"
+
+#if defined(__PX4_ROS)
+/* includes when building for ros */
+#include "ros/ros.h"
+#include <list>
+#include <inttypes.h>
+#include <type_traits>
+#else
+/* includes when building for NuttX */
+#include <poll.h>
+#endif
+#include <functional>
+
+namespace px4
+{
+#if defined(__PX4_ROS)
+class NodeHandle :
+	private ros::NodeHandle
+{
+public:
+	NodeHandle() :
+		ros::NodeHandle(),
+		_subs(),
+		_pubs()
+	{}
+
+	~NodeHandle()
+	{
+		_subs.clear();
+		_pubs.clear();
+	};
+
+	/**
+	 * Subscribe with callback to function
+	 * @param topic		Name of the topic
+	 * @param fb		Callback, executed on receiving a new message
+	 */
+	template<typename T>
+	Subscriber<T> *subscribe(void(*fp)(const T &), unsigned interval)
+	{
+		SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this, std::bind(fp, std::placeholders::_1));
+		_subs.push_back(sub);
+		return (Subscriber<T> *)sub;
+	}
+
+	/**
+	 * Subscribe with callback to class method
+	 * @param fb		Callback, executed on receiving a new message
+	 * @param obj	        pointer class instance
+	 */
+	template<typename T, typename C>
+	Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval)
+	{
+		SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this, std::bind(fp, obj, std::placeholders::_1));
+		_subs.push_back(sub);
+		return (Subscriber<T> *)sub;
+	}
+
+	/**
+	 * Subscribe with no callback, just the latest value is stored on updates
+	 */
+	template<typename T>
+	Subscriber<T> *subscribe(unsigned interval)
+	{
+		SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this);
+		_subs.push_back(sub);
+		return (Subscriber<T> *)sub;
+	}
+
+	/**
+	 * Advertise topic
+	 */
+	template<typename T>
+	Publisher<T>* advertise()
+	{
+		PublisherROS<T> *pub =  new PublisherROS<T>((ros::NodeHandle*)this);
+		_pubs.push_back((PublisherBase*)pub);
+		return (Publisher<T>*)pub;
+	}
+
+	/**
+	 * Calls all callback waiting to be called
+	 */
+	void spinOnce() { ros::spinOnce(); }
+
+	/**
+	 * Keeps calling callbacks for incomming messages, returns when module is terminated
+	 */
+	void spin() { ros::spin(); }
+
+
+protected:
+	std::list<SubscriberBase *> _subs;				/**< Subcriptions of node */
+	std::list<PublisherBase *> _pubs;				/**< Publications of node */
+};
+#else //Building for NuttX
+class __EXPORT NodeHandle
+{
+public:
+	NodeHandle() :
+		_subs(),
+		_pubs(),
+		_sub_min_interval(nullptr)
+	{}
+
+	~NodeHandle()
+	{
+		/* Empty subscriptions list */
+		SubscriberNode *sub = _subs.getHead();
+		int count = 0;
+
+		while (sub != nullptr) {
+			if (count++ > kMaxSubscriptions) {
+				PX4_WARN("exceeded max subscriptions");
+				break;
+			}
+
+			SubscriberNode *sib = sub->getSibling();
+			delete sub;
+			sub = sib;
+		}
+
+		/* Empty publications list */
+		PublisherNode *pub = _pubs.getHead();
+		count = 0;
+
+		while (pub != nullptr) {
+			if (count++ > kMaxPublications) {
+				PX4_WARN("exceeded max publications");
+				break;
+			}
+
+			PublisherNode *sib = pub->getSibling();
+			delete pub;
+			pub = sib;
+		}
+	};
+
+	/**
+	 * Subscribe with callback to function
+	 * @param fp		Callback, executed on receiving a new message
+	 * @param interval	Minimal interval between calls to callback
+	 */
+
+	template<typename T>
+	Subscriber<T> *subscribe(void(*fp)(const T &),  unsigned interval)
+	{
+		(void)interval;
+		SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(interval, std::bind(fp, std::placeholders::_1));
+		update_sub_min_interval(interval, sub_px4);
+		_subs.add((SubscriberNode *)sub_px4);
+		return (Subscriber<T> *)sub_px4;
+	}
+
+	/**
+	 * Subscribe with callback to class method
+	 * @param fb		Callback, executed on receiving a new message
+	 * @param obj	        pointer class instance
+	 */
+	template<typename T, typename C>
+	Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval)
+	{
+		(void)interval;
+		SubscriberUORBCallback<T> *sub_px4 = new SubscriberUORBCallback<T>(interval, std::bind(fp, obj, std::placeholders::_1));
+		update_sub_min_interval(interval, sub_px4);
+		_subs.add((SubscriberNode *)sub_px4);
+		return (Subscriber<T> *)sub_px4;
+	}
+
+	/**
+	 * Subscribe without callback to function
+	 * @param interval	Minimal interval between data fetches from orb
+	 */
+
+	template<typename T>
+	Subscriber<T> *subscribe(unsigned interval)
+	{
+		(void)interval;
+		SubscriberUORB<T> *sub_px4 = new SubscriberUORB<T>(interval);
+		update_sub_min_interval(interval, sub_px4);
+		_subs.add((SubscriberNode *)sub_px4);
+		return (Subscriber<T> *)sub_px4;
+	}
+
+	/**
+	 * Advertise topic
+	 */
+	template<typename T>
+	Publisher<T> *advertise()
+	{
+		PublisherUORB<T> *pub = new PublisherUORB<T>();
+		_pubs.add(pub);
+		return (Publisher<T>*)pub;
+	}
+
+	/**
+	 * Calls all callback waiting to be called
+	 */
+	void spinOnce()
+	{
+		/* Loop through subscriptions, call callback for updated subscriptions */
+		SubscriberNode *sub = _subs.getHead();
+		int count = 0;
+
+		while (sub != nullptr) {
+			if (count++ > kMaxSubscriptions) {
+				PX4_WARN("exceeded max subscriptions");
+				break;
+			}
+
+			sub->update();
+			sub = sub->getSibling();
+		}
+	}
+
+	/**
+	 * Keeps calling callbacks for incomming messages, returns when module is terminated
+	 */
+	void spin()
+	{
+		while (ok()) {
+			const int timeout_ms = 100;
+
+			/* Only continue in the loop if the nodehandle has subscriptions */
+			if (_sub_min_interval == nullptr) {
+				usleep(timeout_ms * 1000);
+				continue;
+			}
+
+			/* Poll fd with smallest interval */
+			struct pollfd pfd;
+			pfd.fd = _sub_min_interval->getUORBHandle();
+			pfd.events = POLLIN;
+			poll(&pfd, 1, timeout_ms);
+			spinOnce();
+		}
+	}
+protected:
+	static const uint16_t kMaxSubscriptions = 100;
+	static const uint16_t kMaxPublications = 100;
+	List<SubscriberNode *> _subs;		/**< Subcriptions of node */
+	List<PublisherNode *> _pubs;		/**< Publications of node */
+	SubscriberNode *_sub_min_interval;	/**< Points to the sub wtih the smallest interval
+							  of all Subscriptions in _subs*/
+
+	/**
+	 * Check if this is the smallest interval so far and update _sub_min_interval
+	 */
+	template<typename T>
+	void update_sub_min_interval(unsigned interval, SubscriberUORB<T> *sub)
+	{
+		if (_sub_min_interval == nullptr || _sub_min_interval->get_interval() > interval) {
+			_sub_min_interval = sub;
+		}
+	}
+};
+#endif
+}