diff --git a/rclcpp/include/rclcpp/publisher.hpp b/rclcpp/include/rclcpp/publisher.hpp
index ec26790e75..acebcf884b 100644
--- a/rclcpp/include/rclcpp/publisher.hpp
+++ b/rclcpp/include/rclcpp/publisher.hpp
@@ -289,6 +289,12 @@ class Publisher : public PublisherBase
     }
   }
 
+  void
+  publish(std::shared_ptr<const rcl_serialized_message_t> serialized_msg)
+  {
+    return this->publish(serialized_msg.get());
+  }
+
   std::shared_ptr<MessageAlloc> get_allocator() const
   {
     return message_allocator_;