diff --git a/demo_nodes_cpp/CMakeLists.txt b/demo_nodes_cpp/CMakeLists.txt
index e4b572551..143c189de 100644
--- a/demo_nodes_cpp/CMakeLists.txt
+++ b/demo_nodes_cpp/CMakeLists.txt
@@ -72,6 +72,7 @@ add_library(topics_library SHARED
   src/topics/talker_loaned_message.cpp
   src/topics/talker_serialized_message.cpp
   src/topics/listener.cpp
+  src/topics/listener_loaned_message.cpp
   src/topics/listener_serialized_message.cpp
   src/topics/listener_best_effort.cpp)
 add_demo_dependencies(timers_library)
@@ -121,6 +122,9 @@ rclcpp_components_register_node(topics_library
 rclcpp_components_register_node(topics_library
   PLUGIN "demo_nodes_cpp::Listener"
   EXECUTABLE listener)
+rclcpp_components_register_node(topics_library
+  PLUGIN "demo_nodes_cpp::LoanedMessageListener"
+  EXECUTABLE listener_loaned_message)
 rclcpp_components_register_node(topics_library
   PLUGIN "demo_nodes_cpp::SerializedMessageListener"
   EXECUTABLE listener_serialized_message)
diff --git a/demo_nodes_cpp/src/topics/listener_loaned_message.cpp b/demo_nodes_cpp/src/topics/listener_loaned_message.cpp
new file mode 100644
index 000000000..f5665a801
--- /dev/null
+++ b/demo_nodes_cpp/src/topics/listener_loaned_message.cpp
@@ -0,0 +1,53 @@
+// Copyright 2021 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
+
+#include "std_msgs/msg/float64.hpp"
+#include "demo_nodes_cpp/visibility_control.h"
+
+namespace demo_nodes_cpp
+{
+// Create a Listener class that subclasses the generic rclcpp::Node base class.
+// The main function below will instantiate the class as a ROS node.
+class LoanedMessageListener : public rclcpp::Node
+{
+public:
+  DEMO_NODES_CPP_PUBLIC
+  explicit LoanedMessageListener(const rclcpp::NodeOptions & options)
+  : Node("listener_loaned_message", options)
+  {
+    // Create a callback function for when messages are received.
+    // Variations of this function also exist using, for example UniquePtr for zero-copy transport.
+    setvbuf(stdout, NULL, _IONBF, BUFSIZ);
+    auto callback =
+      [this](const std_msgs::msg::Float64::SharedPtr msg) -> void
+      {
+        RCLCPP_INFO(this->get_logger(), "I heard: [%f]", msg->data);
+      };
+    // Create a subscription to the topic which can be matched with one or more compatible ROS
+    // publishers.
+    // Note that not all publishers on the same topic with the same type will be compatible:
+    // they must have compatible Quality of Service policies.
+    sub_ = create_subscription<std_msgs::msg::Float64>("chatter_pod", 10, callback);
+  }
+
+private:
+  rclcpp::Subscription<std_msgs::msg::Float64>::SharedPtr sub_;
+};
+
+}  // namespace demo_nodes_cpp
+
+RCLCPP_COMPONENTS_REGISTER_NODE(demo_nodes_cpp::LoanedMessageListener)