diff --git a/depth_image_proc/src/crop_foremost.cpp b/depth_image_proc/src/crop_foremost.cpp
index e44d4ca34..7581bb1d1 100644
--- a/depth_image_proc/src/crop_foremost.cpp
+++ b/depth_image_proc/src/crop_foremost.cpp
@@ -58,8 +58,6 @@ class CropForemostNode : public rclcpp::Node
   std::mutex connect_mutex_;
   image_transport::Publisher pub_depth_;
 
-  void connectCb();
-
   void depthCb(const sensor_msgs::msg::Image::ConstSharedPtr & raw_msg);
 
   double distance_;
@@ -72,33 +70,24 @@ CropForemostNode::CropForemostNode(const rclcpp::NodeOptions & options)
 {
   distance_ = this->declare_parameter("distance", 0.0);
 
-  // Monitor whether anyone is subscribed to the output
-  // TODO(ros2) Implement when SubscriberStatusCallback is available
-  // image_transport::SubscriberStatusCallback connect_cb =
-  //   std::bind(&CropForemostNode::connectCb, this);
-  connectCb();
-  // Make sure we don't enter connectCb() between advertising and assigning to pub_depth_
-  std::lock_guard<std::mutex> lock(connect_mutex_);
-  // TODO(ros2) Implement when SubscriberStatusCallback is available
-  // pub_depth_ = it_->advertise("image", 1, connect_cb, connect_cb);
-  pub_depth_ = image_transport::create_publisher(this, "image");
-}
-
-// Handles (un)subscribing when clients (un)subscribe
-void CropForemostNode::connectCb()
-{
-  std::lock_guard<std::mutex> lock(connect_mutex_);
-  // TODO(ros2) Implement getNumSubscribers when rcl/rmw support it
-  // if (pub_depth_.getNumSubscribers() == 0)
-  if (0) {
-    sub_raw_.shutdown();
-  } else if (!sub_raw_) {
-    image_transport::TransportHints hints(this, "raw");
-    sub_raw_ = image_transport::create_subscription(
-      this, "image_raw",
-      std::bind(&CropForemostNode::depthCb, this, std::placeholders::_1),
-      hints.getTransport());
-  }
+  // Create publisher with connect callback
+  rclcpp::PublisherOptions pub_options;
+  pub_options.event_callbacks.matched_callback =
+    [this](rclcpp::MatchedInfo &)
+    {
+      std::lock_guard<std::mutex> lock(connect_mutex_);
+      if (pub_depth_.getNumSubscribers() == 0) {
+        sub_raw_.shutdown();
+      } else if (!sub_raw_) {
+        image_transport::TransportHints hints(this, "raw");
+        sub_raw_ = image_transport::create_subscription(
+          this, "image_raw",
+          std::bind(&CropForemostNode::depthCb, this, std::placeholders::_1),
+          hints.getTransport());
+      }
+    };
+  pub_depth_ =
+    image_transport::create_publisher(this, "image", rmw_qos_profile_default, pub_options);
 }
 
 void CropForemostNode::depthCb(const sensor_msgs::msg::Image::ConstSharedPtr & raw_msg)
diff --git a/depth_image_proc/src/disparity.cpp b/depth_image_proc/src/disparity.cpp
index 51a97c4da..367395228 100644
--- a/depth_image_proc/src/disparity.cpp
+++ b/depth_image_proc/src/disparity.cpp
@@ -69,8 +69,6 @@ class DisparityNode : public rclcpp::Node
   double max_range_;
   double delta_d_;
 
-  void connectCb();
-
   void depthCb(
     const sensor_msgs::msg::Image::ConstSharedPtr & depth_msg,
     const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info_msg);
@@ -98,34 +96,23 @@ DisparityNode::DisparityNode(const rclcpp::NodeOptions & options)
     std::bind(
       &DisparityNode::depthCb, this, std::placeholders::_1, std::placeholders::_2));
 
-  // Monitor whether anyone is subscribed to the output
-  // TODO(ros2) Implement when SubscriberStatusCallback is available
-  // ros::SubscriberStatusCallback connect_cb = std::bind(&DisparityNode::connectCb, this);
-  connectCb();
-
-  // Make sure we don't enter connectCb() between advertising and assigning to pub_disparity_
-  std::lock_guard<std::mutex> lock(connect_mutex_);
-  // TODO(ros2) Implement when SubscriberStatusCallback is available
-  // pub_disparity_ =
-  //   left_nh.advertise<stereo_msgs::DisparityImage>("disparity", 1, connect_cb, connect_cb);
+  // Create publisher with connect callback
+  rclcpp::PublisherOptions pub_options;
+  pub_options.event_callbacks.matched_callback =
+    [this](rclcpp::MatchedInfo &)
+    {
+      std::lock_guard<std::mutex> lock(connect_mutex_);
+      if (pub_disparity_->get_subscription_count() == 0) {
+        sub_depth_image_.unsubscribe();
+        sub_info_.unsubscribe();
+      } else if (!sub_depth_image_.getSubscriber()) {
+        image_transport::TransportHints hints(this, "raw");
+        sub_depth_image_.subscribe(this, "left/image_rect", hints.getTransport());
+        sub_info_.subscribe(this, "right/camera_info");
+      }
+    };
   pub_disparity_ = create_publisher<stereo_msgs::msg::DisparityImage>(
-    "left/disparity", rclcpp::SensorDataQoS());
-}
-
-// Handles (un)subscribing when clients (un)subscribe
-void DisparityNode::connectCb()
-{
-  std::lock_guard<std::mutex> lock(connect_mutex_);
-  // TODO(ros2) Implement getNumSubscribers when rcl/rmw support it
-  // if (pub_disparity_.getNumSubscribers() == 0)
-  if (0) {
-    sub_depth_image_.unsubscribe();
-    sub_info_.unsubscribe();
-  } else if (!sub_depth_image_.getSubscriber()) {
-    image_transport::TransportHints hints(this, "raw");
-    sub_depth_image_.subscribe(this, "left/image_rect", hints.getTransport());
-    sub_info_.subscribe(this, "right/camera_info");
-  }
+    "left/disparity", rclcpp::SensorDataQoS(), pub_options);
 }
 
 void DisparityNode::depthCb(
diff --git a/depth_image_proc/src/register.cpp b/depth_image_proc/src/register.cpp
index 92f59bb4c..bb5c8c588 100644
--- a/depth_image_proc/src/register.cpp
+++ b/depth_image_proc/src/register.cpp
@@ -84,8 +84,6 @@ class RegisterNode : public rclcpp::Node
   bool fill_upsampling_holes_;
   bool use_rgb_timestamp_;  // use source time stamp from RGB camera
 
-  void connectCb();
-
   void imageCb(
     const Image::ConstSharedPtr & depth_image_msg,
     const CameraInfo::ConstSharedPtr & depth_info_msg,
@@ -121,36 +119,27 @@ RegisterNode::RegisterNode(const rclcpp::NodeOptions & options)
       &RegisterNode::imageCb, this, std::placeholders::_1,
       std::placeholders::_2, std::placeholders::_3));
 
-  // Monitor whether anyone is subscribed to the output
-  // TODO(ros2) Implement when SubscriberStatusCallback is available
-  // image_transport::SubscriberStatusCallback image_connect_cb
-  //   boost::bind(&RegisterNode::connectCb, this);
-  // ros::SubscriberStatusCallback info_connect_cb = boost::bind(&RegisterNode::connectCb, this);
-  connectCb();
-  // Make sure we don't enter connectCb() between advertising and assigning to pub_registered_
-  std::lock_guard<std::mutex> lock(connect_mutex_);
-  // pub_registered_ = it_depth_reg.advertiseCamera("image_rect", 1,
-  //                                               image_connect_cb, image_connect_cb,
-  //                                               info_connect_cb, info_connect_cb);
-  pub_registered_ = image_transport::create_camera_publisher(this, "depth_registered/image_rect");
-}
-
-// Handles (un)subscribing when clients (un)subscribe
-void RegisterNode::connectCb()
-{
-  std::lock_guard<std::mutex> lock(connect_mutex_);
-  // TODO(ros2) Implement getNumSubscribers when rcl/rmw support it
-  // if (pub_point_cloud_->getNumSubscribers() == 0)
-  if (0) {
-    sub_depth_image_.unsubscribe();
-    sub_depth_info_.unsubscribe();
-    sub_rgb_info_.unsubscribe();
-  } else if (!sub_depth_image_.getSubscriber()) {
-    image_transport::TransportHints hints(this, "raw");
-    sub_depth_image_.subscribe(this, "depth/image_rect", hints.getTransport());
-    sub_depth_info_.subscribe(this, "depth/camera_info");
-    sub_rgb_info_.subscribe(this, "rgb/camera_info");
-  }
+  // Create publisher with connect callback
+  rclcpp::PublisherOptions pub_options;
+  pub_options.event_callbacks.matched_callback =
+    [this](rclcpp::MatchedInfo &)
+    {
+      std::lock_guard<std::mutex> lock(connect_mutex_);
+      if (pub_registered_.getNumSubscribers() == 0) {
+        sub_depth_image_.unsubscribe();
+        sub_depth_info_.unsubscribe();
+        sub_rgb_info_.unsubscribe();
+      } else if (!sub_depth_image_.getSubscriber()) {
+        image_transport::TransportHints hints(this, "raw");
+        sub_depth_image_.subscribe(this, "depth/image_rect", hints.getTransport());
+        sub_depth_info_.subscribe(this, "depth/camera_info");
+        sub_rgb_info_.subscribe(this, "rgb/camera_info");
+      }
+    };
+  pub_registered_ =
+    image_transport::create_camera_publisher(
+    this, "depth_registered/image_rect",
+    rmw_qos_profile_default, pub_options);
 }
 
 void RegisterNode::imageCb(