diff --git a/src/examples/subscriber/subscriber.cpp b/src/examples/subscriber/subscriber.cpp
index b872318809..093697d8e7 100644
--- a/src/examples/subscriber/subscriber.cpp
+++ b/src/examples/subscriber/subscriber.cpp
@@ -32,9 +32,9 @@ using namespace px4;
 /**
  * This tutorial demonstrates simple receipt of messages over the PX4 middleware system.
  */
-void rc_channels_callback(const PX4_TOPIC_T(rc_channels) *msg)
+void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg)
 {
-	PX4_INFO("I heard: [%lu]", msg->timestamp_last_valid);
+	PX4_INFO("I heard: [%lu]", msg.timestamp_last_valid);
 }
 namespace px4
 {
diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h
index 34a6056476..972792d536 100644
--- a/src/platforms/px4_nodehandle.h
+++ b/src/platforms/px4_nodehandle.h
@@ -69,24 +69,24 @@ public:
 	};
 
 	template<typename M>
-	Subscriber subscribe(const char *topic, void(*fp)(M)) {
+	Subscriber * subscribe(const char *topic, void(*fp)(M)) {
 		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, fp);
-		Subscriber sub(ros_sub);
+		Subscriber * sub = new Subscriber(ros_sub);
 		_subs.push_back(sub);
 		return sub;
 	}
 
 	template<typename M>
-	Publisher advertise(const char *topic) {
+	Publisher * advertise(const char *topic) {
 		ros::Publisher ros_pub = ros::NodeHandle::advertise<M>(topic, kQueueSizeDefault);
-		Publisher pub(ros_pub);
+		Publisher *pub =  new Publisher(ros_pub);
 		_pubs.push_back(pub);
 		return pub;
 	}
 private:
 	static const uint32_t kQueueSizeDefault = 1000;
-	std::list<Subscriber> _subs;
-	std::list<Publisher> _pubs;
+	std::list<Subscriber*> _subs;
+	std::list<Publisher*> _pubs;
 };
 #else
 class __EXPORT NodeHandle