diff --git a/CMakeLists.txt b/CMakeLists.txt
index 144bdcbc34..de2907e6ab 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -84,6 +84,7 @@ catkin_package(
 #  LIBRARIES px4
 #  CATKIN_DEPENDS roscpp rospy std_msgs
 #  DEPENDS system_lib
+  CATKIN_DEPENDS message_runtime
 )
 
 ###########
diff --git a/include/px4.h b/include/px4.h
index abc10276f1..4684cd256f 100644
--- a/include/px4.h
+++ b/include/px4.h
@@ -38,10 +38,16 @@
  */
 
 #if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
+/*
+ * Building for running within the ROS environment
+ */
 #include "ros/ros.h"
 #define px4_warnx ROS_WARN
 #define px4_infox ROS_INFO
 #else
+/*
+ * Building for NuttX
+ */
 #define px4_warnx warnx
 #define px4_infox warnx
 #endif
diff --git a/package.xml b/package.xml
index 3575119be7..bc23cdd18f 100644
--- a/package.xml
+++ b/package.xml
@@ -4,7 +4,7 @@
   <version>1.0.0</version>
   <description>The PX4 Flight Stack package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="lorenz@px4.io">Lorenz Meier</maintainer>
@@ -32,11 +32,11 @@
   <!-- Dependencies can be catkin packages or system dependencies -->
   <!-- Examples: -->
   <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
+  <build_depend>message_generation</build_depend>
   <!-- Use buildtool_depend for build tool packages: -->
   <!--   <buildtool_depend>catkin</buildtool_depend> -->
   <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
+  <run_depend>message_runtime</run_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
@@ -56,4 +56,4 @@
     <!-- Other tools can request additional information be placed here -->
 
   </export>
-</package>
\ No newline at end of file
+</package>
diff --git a/src/examples/publisher/publisher.cpp b/src/examples/publisher/publisher.cpp
index cc88cd543d..53fe2e9051 100644
--- a/src/examples/publisher/publisher.cpp
+++ b/src/examples/publisher/publisher.cpp
@@ -33,6 +33,7 @@
 // %EndTag(MSG_HEADER)%
 
 #include <sstream>
+#include <px4/rc_channels.h>
 
 /**
  * This tutorial demonstrates simple sending of messages over the ROS system.
@@ -80,7 +81,7 @@ int main(int argc, char **argv)
    * buffer up before throwing some away.
    */
 // %Tag(PUBLISHER)%
-  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
+  ros::Publisher rc_channels_pub = n.advertise<px4::rc_channels>("rc_channels", 1000);
 // %EndTag(PUBLISHER)%
 
 // %Tag(LOOP_RATE)%
@@ -100,15 +101,14 @@ int main(int argc, char **argv)
      * This is a message object. You stuff it with data, and then publish it.
      */
 // %Tag(FILL_MESSAGE)%
-    std_msgs::String msg;
+    px4::rc_channels msg;
 
-    std::stringstream ss;
-    ss << "hello world " << count;
-    msg.data = ss.str();
+    ros::Time time = ros::Time::now();
+    msg.timestamp_last_valid = time.sec * 1e6 + time.nsec;
 // %EndTag(FILL_MESSAGE)%
 
 // %Tag(ROSCONSOLE)%
-    px4_warnx("%s", msg.data.c_str());
+   px4_warnx("%lu", msg.timestamp_last_valid);
 // %EndTag(ROSCONSOLE)%
 
     /**
@@ -118,7 +118,7 @@ int main(int argc, char **argv)
      * in the constructor above.
      */
 // %Tag(PUBLISH)%
-    chatter_pub.publish(msg);
+    rc_channels_pub.publish(msg);
 // %EndTag(PUBLISH)%
 
 // %Tag(SPINONCE)%
@@ -134,4 +134,4 @@ int main(int argc, char **argv)
 
   return 0;
 }
-// %EndTag(FULLTEXT)%
\ No newline at end of file
+// %EndTag(FULLTEXT)%
diff --git a/src/examples/subscriber/subscriber.cpp b/src/examples/subscriber/subscriber.cpp
index e46055306c..da69e6e25e 100644
--- a/src/examples/subscriber/subscriber.cpp
+++ b/src/examples/subscriber/subscriber.cpp
@@ -28,14 +28,15 @@
 // %Tag(FULLTEXT)%
 #include "ros/ros.h"
 #include "std_msgs/String.h"
+#include "px4/rc_channels.h"
 
 /**
  * This tutorial demonstrates simple receipt of messages over the ROS system.
  */
 // %Tag(CALLBACK)%
-void chatterCallback(const std_msgs::String::ConstPtr& msg)
+void rc_channels_callback(const px4::rc_channels::ConstPtr& msg)
 {
-  ROS_INFO("I heard: [%s]", msg->data.c_str());
+  ROS_INFO("I heard: [%lu]", msg->timestamp_last_valid);
 }
 // %EndTag(CALLBACK)%
 
@@ -76,7 +77,7 @@ int main(int argc, char **argv)
    * away the oldest ones.
    */
 // %Tag(SUBSCRIBER)%
-  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
+  ros::Subscriber sub = n.subscribe("rc_channels", 1000, rc_channels_callback);
 // %EndTag(SUBSCRIBER)%
 
   /**
@@ -90,4 +91,4 @@ int main(int argc, char **argv)
 
   return 0;
 }
-// %EndTag(FULLTEXT)%
\ No newline at end of file
+// %EndTag(FULLTEXT)%