diff --git a/image_transport/include/image_transport/camera_publisher.hpp b/image_transport/include/image_transport/camera_publisher.hpp
index 6c6bcbe4..e5e43599 100644
--- a/image_transport/include/image_transport/camera_publisher.hpp
+++ b/image_transport/include/image_transport/camera_publisher.hpp
@@ -76,6 +76,26 @@ class CameraPublisher
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
 
+  IMAGE_TRANSPORT_PUBLIC
+  CameraPublisher(
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+    rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
+    const std::string & base_topic,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
+
+  template<class NodeT>
+  CameraPublisher(
+    NodeT && node,
+    const std::string & base_topic,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
+  : CameraPublisher(
+      node->get_node_base_interface(),
+      node->get_node_topics_interface(),
+      node->get_node_logging_interface(),
+      base_topic, custom_qos)
+  {}
+
   //TODO(ros2) Restore support for SubscriberStatusCallbacks when available.
 
   /*!
diff --git a/image_transport/include/image_transport/camera_subscriber.hpp b/image_transport/include/image_transport/camera_subscriber.hpp
index 6e6a6c60..abae29aa 100644
--- a/image_transport/include/image_transport/camera_subscriber.hpp
+++ b/image_transport/include/image_transport/camera_subscriber.hpp
@@ -79,6 +79,25 @@ class CameraSubscriber
                    const std::string& transport,
                    rmw_qos_profile_t = rmw_qos_profile_default);
 
+  IMAGE_TRANSPORT_PUBLIC
+  CameraSubscriber(
+                   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+                   rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+                   rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
+                   const std::string& base_topic,
+                   const Callback& callback,
+                   const std::string& transport,
+                   rmw_qos_profile_t = rmw_qos_profile_default);
+
+  template<class NodeT>
+  CameraSubscriber(NodeT && node,
+                  const std::string& base_topic,
+                  const Callback& callback,
+                  const std::string& transport,
+                  rmw_qos_profile_t = rmw_qos_profile_default)
+  : CameraSubscriber(node->get_node_base_interface(), node->get_node_topics_interface(), node->get_node_logging_interface(), base_topic, callback, transport)
+  {}
+
   /**
    * \brief Get the base topic (on which the raw image is published).
    */
diff --git a/image_transport/include/image_transport/image_transport.hpp b/image_transport/include/image_transport/image_transport.hpp
index b9f9b7bc..405922d6 100644
--- a/image_transport/include/image_transport/image_transport.hpp
+++ b/image_transport/include/image_transport/image_transport.hpp
@@ -61,6 +61,14 @@ Publisher create_publisher(
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
 
+IMAGE_TRANSPORT_PUBLIC
+Publisher create_publisher(
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
+  const std::string & base_topic,
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
+
 /**
  * \brief Subscribe to an image topic, free function version.
  */
@@ -72,6 +80,16 @@ Subscriber create_subscription(
   const std::string & transport,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
 
+IMAGE_TRANSPORT_PUBLIC
+Subscriber create_subscription(
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
+  const std::string & base_topic,
+  const Subscriber::Callback & callback,
+  const std::string & transport,
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
+
 /*!
  * \brief Advertise a camera, free function version.
  */
@@ -81,6 +99,14 @@ CameraPublisher create_camera_publisher(
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
 
+IMAGE_TRANSPORT_PUBLIC
+CameraPublisher create_camera_publisher(
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
+  const std::string & base_topic,
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
+
 /*!
  * \brief Subscribe to a camera, free function version.
  */
@@ -92,6 +118,16 @@ CameraSubscriber create_camera_subscription(
   const std::string & transport,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
 
+IMAGE_TRANSPORT_PUBLIC
+CameraSubscriber create_camera_subscription(
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
+  const std::string & base_topic,
+  const CameraSubscriber::Callback & callback,
+  const std::string & transport,
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
+
 IMAGE_TRANSPORT_PUBLIC
 std::vector<std::string> getDeclaredTransports();
 
@@ -115,6 +151,17 @@ class  ImageTransport
   IMAGE_TRANSPORT_PUBLIC
   explicit ImageTransport(rclcpp::Node::SharedPtr node);
 
+  IMAGE_TRANSPORT_PUBLIC
+  ImageTransport(
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+    rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface);
+
+  template<class NodeT>
+  explicit ImageTransport(NodeT && node)
+  : ImageTransport(node->get_node_base_interface(), node->get_node_topics_interface(), node->get_node_logging_interface())
+  {}
+
   IMAGE_TRANSPORT_PUBLIC
   ~ImageTransport();
 
diff --git a/image_transport/include/image_transport/publisher.hpp b/image_transport/include/image_transport/publisher.hpp
index 32f9fc4d..938e104e 100644
--- a/image_transport/include/image_transport/publisher.hpp
+++ b/image_transport/include/image_transport/publisher.hpp
@@ -75,11 +75,32 @@ class Publisher
 
   IMAGE_TRANSPORT_PUBLIC
   Publisher(
-    rclcpp::Node * nh,
+    rclcpp::Node * node,
     const std::string & base_topic,
     PubLoaderPtr loader,
     rmw_qos_profile_t custom_qos);
 
+  template<class NodeT>
+  Publisher(
+    NodeT && node,
+    const std::string & base_topic,
+    PubLoaderPtr loader,
+    rmw_qos_profile_t custom_qos)
+  : Publisher(
+      node->get_node_base_interface(),
+      node->get_node_topics_interface(),
+      node->get_node_logging_interface(),
+      base_topic, loader, custom_qos)
+  {}
+
+  IMAGE_TRANSPORT_PUBLIC
+  Publisher(
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+    rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
+    const std::string & base_topic,
+    PubLoaderPtr loader, rmw_qos_profile_t custom_qos);
+
   /*!
    * \brief Returns the number of subscribers that are currently connected to
    * this Publisher.
diff --git a/image_transport/include/image_transport/subscriber.hpp b/image_transport/include/image_transport/subscriber.hpp
index 2c480188..7868257e 100644
--- a/image_transport/include/image_transport/subscriber.hpp
+++ b/image_transport/include/image_transport/subscriber.hpp
@@ -81,6 +81,26 @@ class Subscriber
     const std::string & transport,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
 
+  IMAGE_TRANSPORT_PUBLIC
+  Subscriber(
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+    rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
+    const std::string & base_topic,
+    const Callback & callback,
+    SubLoaderPtr loader,
+    const std::string & transport,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
+
+  template<class NodeT>
+  Subscriber(NodeT && node,
+                  const std::string& base_topic,
+                  const Callback& callback,
+                  const std::string& transport,
+                  rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
+  : Subscriber(node->get_node_base_interface(), node->get_node_topics_interface(), node->get_node_logging_interface(), base_topic, callback, transport, custom_qos)
+  {}
+
   /**
    * \brief Returns the base image topic.
    *
diff --git a/image_transport/src/camera_publisher.cpp b/image_transport/src/camera_publisher.cpp
index 8a6514a7..de70f619 100644
--- a/image_transport/src/camera_publisher.cpp
+++ b/image_transport/src/camera_publisher.cpp
@@ -46,8 +46,8 @@ namespace image_transport
 
 struct CameraPublisher::Impl
 {
-  Impl(rclcpp::Node * node)
-  : logger_(node->get_logger()),
+  Impl(rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface)
+  : logger_(logger_interface->get_logger()),
     unadvertised_(false)
   {
   }
@@ -83,17 +83,26 @@ CameraPublisher::CameraPublisher(
   rclcpp::Node * node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos)
-: impl_(std::make_shared<Impl>(node))
+: CameraPublisher(node->get_node_base_interface(), node->get_node_topics_interface(), node->get_node_logging_interface(), base_topic, custom_qos)
+{}
+
+CameraPublisher::CameraPublisher(
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
+  const std::string & base_topic,
+  rmw_qos_profile_t custom_qos)
+: impl_(std::make_shared<Impl>(node_logging_interface))
 {
   // Explicitly resolve name here so we compute the correct CameraInfo topic when the
   // image topic is remapped (#4539).
   std::string image_topic = rclcpp::expand_topic_or_service_name(base_topic,
-      node->get_name(), node->get_namespace());
+      node_base_interface->get_name(), node_base_interface->get_namespace());
   std::string info_topic = getCameraInfoTopic(image_topic);
 
   auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
-  impl_->image_pub_ = image_transport::create_publisher(node, image_topic, custom_qos);
-  impl_->info_pub_ = node->create_publisher<sensor_msgs::msg::CameraInfo>(info_topic, qos);
+  impl_->image_pub_ = image_transport::create_publisher(node_base_interface, node_topics_interface, node_logging_interface, image_topic, custom_qos);
+  impl_->info_pub_ = rclcpp::create_publisher<sensor_msgs::msg::CameraInfo>(node_topics_interface, info_topic, qos);
 }
 
 size_t CameraPublisher::getNumSubscribers() const
diff --git a/image_transport/src/image_transport.cpp b/image_transport/src/image_transport.cpp
index 188ffed7..565f0adc 100644
--- a/image_transport/src/image_transport.cpp
+++ b/image_transport/src/image_transport.cpp
@@ -60,6 +60,16 @@ struct Impl
 
 static Impl * kImpl = new Impl();
 
+Publisher create_publisher(
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
+  const std::string & base_topic,
+  rmw_qos_profile_t custom_qos)
+{
+  return Publisher(node_base_interface, node_topics_interface, node_logging_interface, base_topic, kImpl->pub_loader_, custom_qos);
+}
+
 Publisher create_publisher(
   rclcpp::Node * node,
   const std::string & base_topic,
@@ -68,6 +78,18 @@ Publisher create_publisher(
   return Publisher(node, base_topic, kImpl->pub_loader_, custom_qos);
 }
 
+Subscriber create_subscription(
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
+  const std::string & base_topic,
+  const Subscriber::Callback & callback,
+  const std::string & transport,
+  rmw_qos_profile_t custom_qos)
+{
+  return Subscriber(node_base_interface, node_topics_interface, node_logging_interface, base_topic, callback, kImpl->sub_loader_, transport, custom_qos);
+}
+
 Subscriber create_subscription(
   rclcpp::Node * node,
   const std::string & base_topic,
@@ -78,6 +100,16 @@ Subscriber create_subscription(
   return Subscriber(node, base_topic, callback, kImpl->sub_loader_, transport, custom_qos);
 }
 
+CameraPublisher create_camera_publisher(
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
+  const std::string & base_topic,
+  rmw_qos_profile_t custom_qos)
+{
+  return CameraPublisher(node_base_interface, node_topics_interface, node_logging_interface, base_topic, custom_qos);
+}
+
 CameraPublisher create_camera_publisher(
   rclcpp::Node * node,
   const std::string & base_topic,
@@ -86,6 +118,18 @@ CameraPublisher create_camera_publisher(
   return CameraPublisher(node, base_topic, custom_qos);
 }
 
+CameraSubscriber create_camera_subscription(
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
+  const std::string & base_topic,
+  const CameraSubscriber::Callback & callback,
+  const std::string & transport,
+  rmw_qos_profile_t custom_qos)
+{
+  return CameraSubscriber(node_base_interface, node_topics_interface, node_logging_interface, base_topic, callback, transport, custom_qos);
+}
+
 CameraSubscriber create_camera_subscription(
   rclcpp::Node * node,
   const std::string & base_topic,
@@ -130,13 +174,25 @@ std::vector<std::string> getLoadableTransports()
 
 struct ImageTransport::Impl
 {
-  rclcpp::Node::SharedPtr node_;
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface_;
+  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface_;
+  //rclcpp::Node::SharedPtr node_;
 };
 
 ImageTransport::ImageTransport(rclcpp::Node::SharedPtr node)
+: ImageTransport(node->get_node_base_interface(), node->get_node_topics_interface(), node->get_node_logging_interface())
+{}
+
+ImageTransport::ImageTransport(
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface)
 : impl_(std::make_unique<ImageTransport::Impl>())
 {
-  impl_->node_ = node;
+  impl_->node_base_interface_ = node_base_interface;
+  impl_->node_topics_interface_ = node_topics_interface;
+  impl_->node_logging_interface_ = node_logging_interface;
 }
 
 ImageTransport::~ImageTransport() = default;
@@ -147,7 +203,7 @@ Publisher ImageTransport::advertise(const std::string & base_topic, uint32_t que
   (void) latch;
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
   custom_qos.depth = queue_size;
-  return create_publisher(impl_->node_.get(), base_topic, custom_qos);
+  return create_publisher(impl_->node_base_interface_, impl_->node_topics_interface_, impl_->node_logging_interface_, base_topic, custom_qos);
 }
 
 Subscriber ImageTransport::subscribe(
@@ -159,7 +215,7 @@ Subscriber ImageTransport::subscribe(
   (void) tracked_object;
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
   custom_qos.depth = queue_size;
-  return create_subscription(impl_->node_.get(), base_topic, callback,
+  return create_subscription(impl_->node_base_interface_, impl_->node_topics_interface_, impl_->node_logging_interface_, base_topic, callback,
            getTransportOrDefault(transport_hints), custom_qos);
 }
 
@@ -171,7 +227,7 @@ CameraPublisher ImageTransport::advertiseCamera(
   (void) latch;
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
   custom_qos.depth = queue_size;
-  return create_camera_publisher(impl_->node_.get(), base_topic, custom_qos);
+  return create_camera_publisher(impl_->node_base_interface_, impl_->node_topics_interface_, impl_->node_logging_interface_, base_topic, custom_qos);
 }
 
 CameraSubscriber ImageTransport::subscribeCamera(
@@ -183,7 +239,7 @@ CameraSubscriber ImageTransport::subscribeCamera(
   (void) tracked_object;
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
   custom_qos.depth = queue_size;
-  return create_camera_subscription(impl_->node_.get(), base_topic, callback,
+  return create_camera_subscription(impl_->node_base_interface_, impl_->node_topics_interface_, impl_->node_logging_interface_, base_topic, callback,
            getTransportOrDefault(transport_hints), custom_qos);
 }
 
@@ -201,8 +257,10 @@ std::string ImageTransport::getTransportOrDefault(const TransportHints * transpo
 {
   std::string ret;
   if (nullptr == transport_hints) {
-    TransportHints th(impl_->node_.get());
-    ret = th.getTransport();
+    //TransportHints th(impl_->node_.get());
+    //ret = th.getTransport();
+    // TODO(karsten1987) fix
+    ret = transport_hints->getTransport();
   } else {
     ret = transport_hints->getTransport();
   }
diff --git a/image_transport/src/publisher.cpp b/image_transport/src/publisher.cpp
index 9d8d2831..697ba538 100644
--- a/image_transport/src/publisher.cpp
+++ b/image_transport/src/publisher.cpp
@@ -50,8 +50,8 @@ namespace image_transport
 
 struct Publisher::Impl
 {
-  Impl(rclcpp::Node * node)
-  : logger_(node->get_logger()),
+  Impl(rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging_interface)
+  : logger_(logging_interface->get_logger()),
     unadvertised_(false)
   {
   }
@@ -101,12 +101,25 @@ struct Publisher::Impl
 Publisher::Publisher(
   rclcpp::Node * node, const std::string & base_topic,
   PubLoaderPtr loader, rmw_qos_profile_t custom_qos)
-: impl_(std::make_shared<Impl>(node))
+: Publisher(
+    node->get_node_base_interface(),
+    node->get_node_topics_interface(),
+    node->get_node_logging_interface(),
+    base_topic, loader, custom_qos)
+{}
+
+Publisher::Publisher(
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
+  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
+  const std::string & base_topic,
+  PubLoaderPtr loader, rmw_qos_profile_t custom_qos)
+: impl_(std::make_shared<Impl>(node_logging_interface))
 {
   // Resolve the name explicitly because otherwise the compressed topics don't remap
   // properly (#3652).
   std::string image_topic = rclcpp::expand_topic_or_service_name(base_topic,
-      node->get_name(), node->get_namespace());
+      node_base_interface->get_name(), node_base_interface->get_namespace());
   impl_->base_topic_ = image_topic;
   impl_->loader_ = loader;
 
@@ -125,7 +138,10 @@ Publisher::Publisher(
 
     try {
       auto pub = loader->createUniqueInstance(lookup_name);
-      pub->advertise(node, image_topic, custom_qos);
+      // FIXME(karsten1987): Plugin also has to cope for lifecycle nodes
+      // pub->advertise(node, image_topic, custom_qos);
+      (void) node_topics_interface;
+      (void) custom_qos;
       impl_->publishers_.push_back(std::move(pub));
     } catch (const std::runtime_error & e) {
       RCLCPP_ERROR(impl_->logger_, "Failed to load plugin %s, error string: %s\n",