diff --git a/rclcpp/include/rclcpp/publisher.hpp b/rclcpp/include/rclcpp/publisher.hpp
index c6f16643c6..0bc9e0aeb7 100644
--- a/rclcpp/include/rclcpp/publisher.hpp
+++ b/rclcpp/include/rclcpp/publisher.hpp
@@ -320,7 +320,7 @@ class Publisher : public PublisherBase
   {
     if (!intra_process_is_enabled_) {
       // In this case we're not using intra process.
-      auto ros_msg_ptr = std::make_unique<ROSMessageType>();
+      auto ros_msg_ptr = create_ros_message_unique_ptr();
       rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, *ros_msg_ptr);
       this->do_inter_process_publish(*ros_msg_ptr);
       return;
@@ -367,7 +367,7 @@ class Publisher : public PublisherBase
   {
     if (!intra_process_is_enabled_) {
       // Convert to the ROS message equivalent and publish it.
-      auto ros_msg_ptr = std::make_unique<ROSMessageType>();
+      auto ros_msg_ptr = create_ros_message_unique_ptr();
       rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(msg, *ros_msg_ptr);
       this->do_inter_process_publish(*ros_msg_ptr);
       return;