Index: src/ros_msg_transporter.hpp
===================================================================
--- src/ros_msg_transporter.hpp	(revision 33731)
+++ src/ros_msg_transporter.hpp	(working copy)
@@ -144,7 +144,7 @@
     void publish(){
       typename base::ChannelElement<T>::value_t sample; // XXX: real-time !
       // this read should always succeed since signal() means 'data available in a data element'.
-      base::ChannelElement<T>* input = dynamic_cast< base::ChannelElement<T>* >(this->input);
+      typename base::ChannelElement<T>::shared_ptr input = boost::dynamic_pointer_cast< base::ChannelElement<T> >( this->getInput() );
       if( input->read(sample) == NewData )
 	ros_pub.publish(sample);
     }