diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/map_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/map_publisher.hpp
index 63827e470..0f3b4834f 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/publishers/map_publisher.hpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/publishers/map_publisher.hpp
@@ -84,10 +84,10 @@ class MapPublisher : public rclcpp::Node
       }
     }
 
-    auto occupancy_grid = std::make_shared<nav_msgs::msg::OccupancyGrid>();
-    occupancy_grid->header = header;
-    occupancy_grid->info = meta_data;
-    occupancy_grid->data = new_data;
+    nav_msgs::msg::OccupancyGrid occupancy_grid;
+    occupancy_grid.header = header;
+    occupancy_grid.info = meta_data;
+    occupancy_grid.data = new_data;
 
     publisher->publish(occupancy_grid);
   }
diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/point_cloud2_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/point_cloud2_publisher.hpp
index ffc81056b..503e86094 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/publishers/point_cloud2_publisher.hpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/publishers/point_cloud2_publisher.hpp
@@ -75,7 +75,7 @@ class PointCloud2Publisher : public rclcpp::Node
     auto message = rviz_default_plugins::createPointCloud2WithPoints({{0, 0, 0}});
     message->header.frame_id = "pointcloud2_frame";
 
-    publisher_->publish(message);
+    publisher_->publish(*message);
   }
 
   rclcpp::TimerBase::SharedPtr timer_;