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diff --git a/src/platforms/px4_publisher.h b/src/platforms/px4_publisher.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
+#if defined(__PX4_ROS)
+/* includes when building for ros */
+#include "ros/ros.h"
+#else
+/* includes when building for NuttX */
+#include <uORB/Publication.hpp>
+#include <containers/List.hpp>
+#endif
+
+#include <platforms/px4_message.h>
+
+namespace px4
+{
+
+/**
+ * Untemplated publisher base class
+ * */
+class __EXPORT PublisherBase
+{
+public:
+	PublisherBase() {};
+	~PublisherBase() {};
+};
+
+/**
+ * Publisher base class, templated with the message type
+ * */
+template <typename T>
+class __EXPORT Publisher
+{
+public:
+	Publisher() {};
+	~Publisher() {};
+
+	virtual int publish(const T &msg)  = 0;
+};
+
+#if defined(__PX4_ROS)
+template <typename T>
+class PublisherROS :
+	public Publisher<T>
+{
+public:
+	/**
+	 * Construct Publisher by providing a ros::Publisher
+	 * @param ros_pub the ros publisher which will be used to perform the publications
+	 */
+	PublisherROS(ros::NodeHandle *rnh) :
+		Publisher<T>(),
+		_ros_pub(rnh->advertise<typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &>(T::handle(), kQueueSizeDefault))
+	{}
+
+	~PublisherROS() {};
+
+	/** Publishes msg
+	 * @param msg	    the message which is published to the topic
+	 */
+	int publish(const T &msg)
+	{
+		_ros_pub.publish(msg.data());
+		return 0;
+	}
+protected:
+	static const uint32_t kQueueSizeDefault = 1;		/**< Size of queue for ROS */
+	ros::Publisher _ros_pub;	/**< Handle to the ros publisher */
+};
+#else
+/**
+ * Because we maintain a list of publishers we need a node class
+ */
+class __EXPORT PublisherNode :
+	public ListNode<PublisherNode *>
+{
+public:
+	PublisherNode() :
+		ListNode()
+	{}
+
+	virtual ~PublisherNode() {}
+
+	virtual void update() = 0;
+};
+
+template <typename T>
+class __EXPORT PublisherUORB :
+	public Publisher<T>,
+	public PublisherNode
+
+{
+public:
+	/**
+	 * Construct Publisher by providing orb meta data
+	 */
+	PublisherUORB() :
+		Publisher<T>(),
+		PublisherNode(),
+		_uorb_pub(new uORB::PublicationBase(T::handle()))
+	{}
+
+	~PublisherUORB() {
+		delete _uorb_pub;
+	};
+
+	/** Publishes msg
+	 * @param msg	    the message which is published to the topic
+	 */
+	int publish(const T &msg)
+	{
+		_uorb_pub->update((void *)&(msg.data()));
+		return 0;
+	}
+
+	/**
+	 * Empty callback for list traversal
+	 */
+	void update() {} ;
+private:
+	uORB::PublicationBase * _uorb_pub;	/**< Handle to the publisher */
+
+};
+#endif
+}