diff --git a/include/message_filters/subscriber.h b/include/message_filters/subscriber.h
index 387758a..ac4e633 100644
--- a/include/message_filters/subscriber.h
+++ b/include/message_filters/subscriber.h
@@ -39,6 +39,8 @@
 #include <type_traits>
 
 #include <rclcpp/rclcpp.hpp>
+#include <rclcpp/node_interfaces/node_interfaces.hpp>
+#include <rclcpp/create_subscription.hpp>
 
 #include "message_filters/connection.h"
 #include "message_filters/simple_filter.h"
@@ -46,67 +48,65 @@
 namespace message_filters
 {
 
-template<class NodeType = rclcpp::Node>
+/// Utility struct for highlighting deprecated template parameters
+struct DeprecatedTemplateParameter {};
+
+template<class NodeType = DeprecatedTemplateParameter>
 class SubscriberBase
 {
 public:
-  typedef std::shared_ptr<NodeType> NodePtr;
+  [[deprecated]] typedef std::shared_ptr<NodeType> NodePtr;
+
+  using NodeParametersInterface = rclcpp::node_interfaces::NodeParametersInterface;
+  using NodeTopicsInterface = rclcpp::node_interfaces::NodeTopicsInterface;
+
+  using RequiredInterfaces = rclcpp::node_interfaces::NodeInterfaces<NodeParametersInterface, NodeTopicsInterface>;
+
+  template<typename U = NodeType, std::enable_if_t<std::is_same<U, DeprecatedTemplateParameter>{}, int> = 0>
+  SubscriberBase() {}
+
+  template<typename U = NodeType, std::enable_if_t<!std::is_same<U, DeprecatedTemplateParameter>{}, int> = 0>
+  [[deprecated("Template parameter of SubscriberBase class has been deprecated and will be removed in future releases")]]
+  SubscriberBase() {}
 
   virtual ~SubscriberBase() = default;
+
   /**
-   * \brief Subscribe to a topic.
-   *
-   * If this Subscriber is already subscribed to a topic, this function will first unsubscribe.
-   *
-   * \param node The rclcpp::Node::SharedPtr to use to subscribe.
-   * \param topic The topic to subscribe to.
-   * \param qos (optional) The rmw qos profile to use to subscribe
+   * \brief Subscribe to a topic (deprecated in favor of NodeInterfaces interface).
    */
-  virtual void subscribe(NodePtr node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default) = 0;
+  [[deprecated]] virtual void subscribe(NodePtr /*node*/, const std::string& /*topic*/,
+                                        const rmw_qos_profile_t /*qos*/ = rmw_qos_profile_default) {};
 
   /**
-   * \brief Subscribe to a topic.
-   *
-   * If this Subscriber is already subscribed to a topic, this function will first unsubscribe.
-   *
-   * \param node The rclcpp::Node to use to subscribe.
-   * \param topic The topic to subscribe to.
-   * \param qos (optional) The rmw qos profile to use to subscribe
+   * \brief Subscribe to a topic (deprecated in favor of NodeInterfaces interface).
    */
-  virtual void subscribe(NodeType * node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default) = 0;
+  [[deprecated]] virtual void subscribe(NodeType * /*node*/, const std::string& /*topic*/,
+                                        const rmw_qos_profile_t /*qos*/ = rmw_qos_profile_default) {};
 
   /**
    * \brief Subscribe to a topic.
    *
    * If this Subscriber is already subscribed to a topic, this function will first unsubscribe.
-   * This override allows SubscriptionOptions to be passed into the class without changing API.
    *
-   * \param node The rclcpp::Node::SharedPtr to use to subscribe.
+   * \param node The NodeInterfaces to use to subscribe.
    * \param topic The topic to subscribe to.
-   * \param qos (optional) The rmw qos profile to use to subscribe.
-   * \param options The subscription options to use to subscribe.
+   * \param qos (optional) The rmw qos profile to use to subscribe
    */
-  virtual void subscribe(
-    NodePtr node,
-    const std::string& topic,
-    const rmw_qos_profile_t qos,
-    rclcpp::SubscriptionOptions options)
-  {
-    this->subscribe(node.get(), topic, qos, options);
-  };
+  virtual void subscribe(RequiredInterfaces node_interfaces, const std::string& topic,
+                         const rmw_qos_profile_t qos = rmw_qos_profile_default) = 0;
 
   /**
    * \brief Subscribe to a topic.
    *
    * If this Subscriber is already subscribed to a topic, this function will first unsubscribe.
    *
-   * \param node The rclcpp::Node to use to subscribe.
+   * \param node The NodeInterfaces to use to subscribe.
    * \param topic The topic to subscribe to.
    * \param qos The rmw qos profile to use to subscribe.
    * \param options The subscription options to use to subscribe.
    */
   virtual void subscribe(
-    NodeType * node,
+    RequiredInterfaces node_interfaces,
     const std::string& topic,
     const rmw_qos_profile_t qos,
     rclcpp::SubscriptionOptions options) = 0;
@@ -120,6 +120,7 @@ class SubscriberBase
    */
   virtual void unsubscribe() = 0;
 };
+
 template <typename T>
 using SubscriberBasePtr = std::shared_ptr<SubscriberBase<T>>;
 
@@ -161,62 +162,124 @@ struct message_type <M, false>
 template <typename M>
 using message_type_t = typename message_type<M>::type;
 
-template<class M, class NodeType = rclcpp::Node>
-class Subscriber 
+template<class M, class NodeType = DeprecatedTemplateParameter>
+class Subscriber
 : public SubscriberBase<NodeType>
 , public SimpleFilter<message_type_t<M>>
 {
 public:
-  typedef std::shared_ptr<NodeType> NodePtr;
   typedef message_type_t<M> MessageType;
   typedef MessageEvent<MessageType const> EventType;
 
+  // Note: can be removed once the deprecated template parameter NodeType is removed
+  using RequiredInterfaces = typename SubscriberBase<NodeType>::RequiredInterfaces;
+  using NodeParametersInterface = typename SubscriberBase<NodeType>::NodeParametersInterface;
+  using NodeTopicsInterface = typename SubscriberBase<NodeType>::NodeTopicsInterface;
+
   /**
-   * \brief Constructor
-   *
-   * See the rclcpp::Node::subscribe() variants for more information on the parameters
+   * \brief Solely for highlighting deprecated template parameters with a compiler warning
+   */
+  template<typename U = NodeType, std::enable_if_t<!std::is_same<U, DeprecatedTemplateParameter>{}, int> = 0>
+  [[deprecated("Second template parameter of Subscriber class is deprecated and will be removed in a future release")]]
+  Subscriber(RequiredInterfaces node_interfaces,
+             const std::string& topic,
+             const rmw_qos_profile_t qos,
+             rclcpp::SubscriptionOptions options)
+  {
+      subscribe(node_interfaces, topic, qos, options);
+  }
+
+  /**
+   * \brief Solely for highlighting deprecated template parameters with a compiler warning
+   */
+  template<typename U = NodeType, std::enable_if_t<!std::is_same<U, DeprecatedTemplateParameter>{}, int> = 0>
+  [[deprecated("Second template parameter of Subscriber class is deprecated and will be removed in a future release")]]
+  Subscriber(RequiredInterfaces node_interfaces, const std::string& topic,
+             const rmw_qos_profile_t qos = rmw_qos_profile_default)
+  {
+      subscribe(node_interfaces, topic, qos);
+  }
+
+  /**
+   * \brief Constructor for rclcpp::Node / rclcpp_lifecycle::LifecycleNode.
    *
-   * \param node The rclcpp::Node::SharedPtr to use to subscribe.
+   * \param node The NodeInterfaces to use to subscribe.
    * \param topic The topic to subscribe to.
    * \param qos (optional) The rmw qos profile to use to subscribe
    */
-  Subscriber(NodePtr node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)
+  template<typename U = NodeType, std::enable_if_t<std::is_same<U, DeprecatedTemplateParameter>{}, int> = 0>
+  Subscriber(RequiredInterfaces node_interfaces, const std::string& topic,
+             const rmw_qos_profile_t qos = rmw_qos_profile_default)
   {
-    subscribe(node, topic, qos);
+    subscribe(node_interfaces, topic, qos);
   }
 
-  Subscriber(NodeType * node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)
-  {
-    subscribe(node, topic, qos);
-  }
+  /**
+   * \brief Constructor for rclcpp::Node::SharedPtr / rclcpp_lifecycle::LifecycleNode::SharedPtr.
+   *
+   * \param node The NodeT::SharedPtr to use to subscribe.
+   * \param topic The topic to subscribe to.
+   * \param qos (optional) The rmw qos profile to use to subscribe
+   */
+  template<typename NodeT>
+  Subscriber(std::shared_ptr<NodeT> node, const std::string& topic,
+             const rmw_qos_profile_t qos = rmw_qos_profile_default) : Subscriber(node.get(), topic, qos) {}
 
   /**
-   * \brief Constructor
+   * \brief Constructor for raw pointer to rclcpp::Node / rclcpp_lifecycle::LifecycleNode.
    *
-   * See the rclcpp::Node::subscribe() variants for more information on the parameters
+   * \param node The NodeT raw pointer to use to subscribe.
+   * \param topic The topic to subscribe to.
+   * \param qos (optional) The rmw qos profile to use to subscribe
+   */
+  template<typename NodeT>
+  Subscriber(NodeT * node, const std::string& topic,
+             const rmw_qos_profile_t qos = rmw_qos_profile_default) : Subscriber(*node, topic, qos) {}
+
+  /**
+   * \brief Constructor for rclcpp::Node / rclcpp_lifecycle::LifecycleNode.
    *
-   * \param node The rclcpp::Node::SharedPtr to use to subscribe.
+   * \param node_interfaces The NodeInterfaces to use to subscribe.
    * \param topic The topic to subscribe to.
    * \param qos The rmw qos profile to use to subscribe.
    * \param options The subscription options to use to subscribe.
    */
-  Subscriber(
-    NodePtr node,
-    const std::string& topic,
-    const rmw_qos_profile_t qos,
-    rclcpp::SubscriptionOptions options)
+  template<typename U = NodeType, std::enable_if_t<std::is_same<U, DeprecatedTemplateParameter>{}, int> = 0>
+  Subscriber(RequiredInterfaces node_interfaces,
+             const std::string& topic,
+             const rmw_qos_profile_t qos,
+             rclcpp::SubscriptionOptions options)
   {
-      subscribe(node.get(), topic, qos, options);
+    subscribe(node_interfaces, topic, qos, options);
   }
 
-  Subscriber(
-    NodeType * node,
-    const std::string& topic,
-    const rmw_qos_profile_t qos,
-    rclcpp::SubscriptionOptions options)
-  {
-    subscribe(node, topic, qos, options);
-  }
+  /**
+   * \brief Constructor for rclcpp::Node::SharedPtr / rclcpp_lifecycle::LifecycleNode::SharedPtr.
+   *
+   * \param node The NodeT::SharedPtr to use to subscribe.
+   * \param topic The topic to subscribe to.
+   * \param qos The rmw qos profile to use to subscribe.
+   * \param options The subscription options to use to subscribe.
+   */
+  template<typename NodeT>
+  Subscriber(std::shared_ptr<NodeT> node,
+             const std::string& topic,
+             const rmw_qos_profile_t qos,
+             rclcpp::SubscriptionOptions options) : Subscriber(node.get(), topic, qos, options) {}
+
+  /**
+   * \brief Constructor for raw pointer to rclcpp::Node / rclcpp_lifecycle::LifecycleNode.
+   *
+   * \param node The NodeT raw pointer to use to subscribe.
+   * \param topic The topic to subscribe to.
+   * \param qos The rmw qos profile to use to subscribe.
+   * \param options The subscription options to use to subscribe.
+   */
+  template<typename NodeT>
+  Subscriber(NodeT * node,
+             const std::string& topic,
+             const rmw_qos_profile_t qos,
+             rclcpp::SubscriptionOptions options) : Subscriber(*node, topic, qos, options) {}
 
   /**
    * \brief Empty constructor, use subscribe() to subscribe to a topic
@@ -233,13 +296,14 @@ class Subscriber
    *
    * If this Subscriber is already subscribed to a topic, this function will first unsubscribe.
    *
-   * \param node The rclcpp::Node::SharedPtr to use to subscribe.
+   * \param node_interfaces The NodeInterfaces to use to subscribe.
    * \param topic The topic to subscribe to.
    * \param qos (optional) The rmw qos profile to use to subscribe
    */
-  void subscribe(NodePtr node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default) override
+  // TODO(wjwwood): deprecate in favor of API's that use `rclcpp::QoS` instead.
+  void subscribe(RequiredInterfaces node_interfaces, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default) override
   {
-    subscribe(node.get(), topic, qos, rclcpp::SubscriptionOptions());
+    subscribe(node_interfaces, topic, qos, rclcpp::SubscriptionOptions());
   }
 
   /**
@@ -247,14 +311,15 @@ class Subscriber
    *
    * If this Subscriber is already subscribed to a topic, this function will first unsubscribe.
    *
-   * \param node The rclcpp::Node to use to subscribe.
+   * \param node The NodeT::SharedPtr to use to subscribe.
    * \param topic The topic to subscribe to.
    * \param qos (optional) The rmw qos profile to use to subscribe
    */
   // TODO(wjwwood): deprecate in favor of API's that use `rclcpp::QoS` instead.
-  void subscribe(NodeType * node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default) override
+  template<typename NodeT>
+  void subscribe(std::shared_ptr<NodeT> node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)
   {
-    subscribe(node, topic, qos, rclcpp::SubscriptionOptions());
+    subscribe(node.get(), topic, qos, rclcpp::SubscriptionOptions());
   }
 
   /**
@@ -262,20 +327,15 @@ class Subscriber
    *
    * If this Subscriber is already subscribed to a topic, this function will first unsubscribe.
    *
-   * \param node The rclcpp::Node::SharedPtr to use to subscribe.
+   * \param node The NodeT raw pointer to use to subscribe.
    * \param topic The topic to subscribe to.
-   * \param qos The rmw qos profile to use to subscribe.
-   * \param options The subscription options to use to subscribe.
+   * \param qos (optional) The rmw qos profile to use to subscribe
    */
-  void subscribe(
-    NodePtr node,
-    const std::string& topic,
-    const rmw_qos_profile_t qos,
-    rclcpp::SubscriptionOptions options) override
+  // TODO(wjwwood): deprecate in favor of API's that use `rclcpp::QoS` instead.
+  template<typename NodeT>
+  void subscribe(NodeT * node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)
   {
-    subscribe(node.get(), topic, qos, options);
-    node_raw_ = nullptr;
-    node_shared_ = node;
+    subscribe(*node, topic, qos, rclcpp::SubscriptionOptions());
   }
 
   /**
@@ -283,14 +343,14 @@ class Subscriber
    *
    * If this Subscriber is already subscribed to a topic, this function will first unsubscribe.
    *
-   * \param node The rclcpp::Node to use to subscribe.
+   * \param node The NodeInterfaces to use to subscribe.
    * \param topic The topic to subscribe to.
    * \param qos The rmw qos profile to use to subscribe
    * \param options The subscription options to use to subscribe.
    */
   // TODO(wjwwood): deprecate in favor of API's that use `rclcpp::QoS` instead.
   void subscribe(
-    NodeType * node,
+    RequiredInterfaces node_interfaces,
     const std::string& topic,
     const rmw_qos_profile_t qos,
     rclcpp::SubscriptionOptions options) override
@@ -304,12 +364,21 @@ class Subscriber
       rclcpp_qos.get_rmw_qos_profile() = qos;
       qos_ = qos;
       options_ = options;
-      sub_ = node->template create_subscription<M>(topic, rclcpp_qos,
-          [this](const std::shared_ptr<MessageType const> msg) {
-            this->cb(EventType(msg));
-          }, options);
 
-      node_raw_ = node;
+      // Note: temporary variables are solely needed because the involved submodules are inconsistent about the passing
+      //       of shared_ptr. While the node_interfaces return by value, the create_subscription function expects the
+      //       shared_ptr to be passed via reference...
+      auto parameters_interface = node_interfaces.template get<NodeParametersInterface>();
+      auto topics_interface = node_interfaces.template get<NodeTopicsInterface>();
+
+      sub_ = rclcpp::create_subscription<MessageType>(parameters_interface,
+                                                      topics_interface,
+                                                      topic, rclcpp_qos,
+                                                      [this](const std::shared_ptr<MessageType const> msg) {
+                                                        this->cb(EventType(msg));
+                                                      }, options);
+
+      node_interfaces_ = node_interfaces;
     }
   }
 
@@ -320,11 +389,7 @@ class Subscriber
   {
     if (!topic_.empty())
     {
-      if (node_raw_ != nullptr) {
-        subscribe(node_raw_, topic_, qos_, options_);
-      } else if (node_shared_ != nullptr) {
-        subscribe(node_shared_, topic_, qos_, options_);
-      }
+      subscribe(node_interfaces_, topic_, qos_, options_);
     }
   }
 
@@ -372,8 +437,7 @@ class Subscriber
 
   typename rclcpp::Subscription<M>::SharedPtr sub_;
 
-  NodePtr node_shared_;
-  NodeType * node_raw_ {nullptr};
+  RequiredInterfaces node_interfaces_;
 
   std::string topic_;
   rmw_qos_profile_t qos_;
diff --git a/test/test_subscriber.cpp b/test/test_subscriber.cpp
index 88d5ab2..10339a2 100644
--- a/test/test_subscriber.cpp
+++ b/test/test_subscriber.cpp
@@ -287,6 +287,31 @@ TEST(Subscriber, lifecycle)
   ASSERT_GT(h.count_, 0);
 }
 
+TEST(Subscriber, node_interfaces)
+{
+    auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("test_node");
+    Helper h;
+
+    // disassemble node into relevant interfaces
+    using NodeParametersInterface = rclcpp::node_interfaces::NodeParametersInterface;
+    using NodeTopicsInterface = rclcpp::node_interfaces::NodeTopicsInterface;
+    using RequiredInterfaces = rclcpp::node_interfaces::NodeInterfaces<NodeParametersInterface, NodeTopicsInterface>;
+
+    message_filters::Subscriber<Msg> sub(RequiredInterfaces(*node), "test_topic");
+    sub.registerCallback(std::bind(&Helper::cb, &h, std::placeholders::_1));
+    auto pub = node->create_publisher<Msg>("test_topic", 10);
+    pub->on_activate();
+    rclcpp::Clock ros_clock;
+    auto start = ros_clock.now();
+    while (h.count_ == 0 && (ros_clock.now() - start) < rclcpp::Duration(1, 0)) {
+        pub->publish(Msg());
+        rclcpp::Rate(50).sleep();
+        rclcpp::spin_some(node->get_node_base_interface());
+    }
+
+    ASSERT_GT(h.count_, 0);
+}
+
 
 int main(int argc, char **argv)
 {