diff --git a/rviz_common/CMakeLists.txt b/rviz_common/CMakeLists.txt
index 7741c400b..330200258 100644
--- a/rviz_common/CMakeLists.txt
+++ b/rviz_common/CMakeLists.txt
@@ -128,6 +128,7 @@ set(rviz_common_headers_to_moc
   include/rviz_common/visualization_frame.hpp
   src/rviz_common/widget_geometry_change_detector.hpp
   include/rviz_common/ros_topic_display.hpp
+  include/rviz_common/ros_adapter_display.hpp
 )
 
 foreach(header "${rviz_common_headers_to_moc}")
diff --git a/rviz_common/include/rviz_common/ros_adapter_display.hpp b/rviz_common/include/rviz_common/ros_adapter_display.hpp
new file mode 100644
index 000000000..df04723da
--- /dev/null
+++ b/rviz_common/include/rviz_common/ros_adapter_display.hpp
@@ -0,0 +1,224 @@
+// Copyright (c) 2012, Willow Garage, Inc.
+// Copyright (c) 2017, Bosch Software Innovations GmbH.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef RVIZ_COMMON__ROS_ADAPTER_DISPLAY_HPP_
+#define RVIZ_COMMON__ROS_ADAPTER_DISPLAY_HPP_
+
+#include <cstdint>
+#include <functional>
+#include <memory>
+#include <sstream>
+#include <stdexcept>
+#include <string>
+
+#include <QString>  // NOLINT: cpplint is unable to handle the include order here
+
+#include "rviz_common/ros_topic_display.hpp"
+
+#include "rclcpp/qos.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/time.hpp"
+#include "rclcpp/type_adapter.hpp"
+
+namespace rviz_common
+{
+
+/** @brief Display subclass using a rclcpp::subscription,
+ * templated on the ROS message type and a custom type, to support REP 2007
+ *
+ * This class handles subscribing and unsubscribing to a ROS node when the display is
+ * enabled or disabled. */
+template<class MessageType, class AdaptedType>
+class RosAdapterDisplay : public rviz_common::_RosTopicDisplay
+{
+// No Q_OBJECT macro here, moc does not support Q_OBJECT in a templated class.
+
+public:
+  /** @brief Convenience typedef so subclasses don't have to use
+   * the long templated class name to refer to their super class. */
+  typedef RosAdapterDisplay<MessageType, AdaptedType> RADClass;
+  using Adapter = typename rclcpp::adapt_type<AdaptedType>::as<MessageType>;
+
+  RosAdapterDisplay()
+  : messages_received_(0)
+  {
+    QString message_type = QString::fromStdString(rosidl_generator_traits::name<MessageType>());
+    topic_property_->setMessageType(message_type);
+    topic_property_->setDescription(message_type + " topic to subscribe to.");
+  }
+
+  ~RosAdapterDisplay() override
+  {
+    unsubscribe();
+  }
+
+  void reset() override
+  {
+    Display::reset();
+    messages_received_ = 0;
+  }
+
+  void setTopic(const QString & topic, const QString & datatype) override
+  {
+    (void) datatype;
+    topic_property_->setString(topic);
+  }
+
+protected:
+  void updateTopic() override
+  {
+    unsubscribe();
+    reset();
+    subscribe();
+    context_->queueRender();
+  }
+
+  virtual void subscribe()
+  {
+    if (!isEnabled() ) {
+      return;
+    }
+
+    if (topic_property_->isEmpty()) {
+      setStatus(
+        properties::StatusProperty::Error,
+        "Topic",
+        QString("Error subscribing: Empty topic name"));
+      return;
+    }
+
+    try {
+      rclcpp::SubscriptionOptions sub_opts;
+      sub_opts.event_callbacks.message_lost_callback =
+        [&](rclcpp::QOSMessageLostInfo & info)
+        {
+          std::ostringstream sstm;
+          sstm << "Some messages were lost:\n>\tNumber of new lost messages: " <<
+            info.total_count_change << " \n>\tTotal number of messages lost: " <<
+            info.total_count;
+          setStatus(properties::StatusProperty::Warn, "Topic", QString(sstm.str().c_str()));
+        };
+
+      rclcpp::Node::SharedPtr node = rviz_ros_node_.lock()->get_raw_node();
+      subscription_ =
+        node->template create_subscription<Adapter>(
+        topic_property_->getTopicStd(),
+        qos_profile,
+        std::bind(
+          &RosAdapterDisplay<MessageType, AdaptedType>::incomingMessage, this,
+          std::placeholders::_1),
+        sub_opts);
+      subscription_start_time_ = node->now();
+      setStatus(rviz_common::properties::StatusProperty::Ok, "Topic", "OK");
+    } catch (rclcpp::exceptions::InvalidTopicNameError & e) {
+      setStatus(
+        rviz_common::properties::StatusProperty::Error, "Topic",
+        QString("Error subscribing: ") + e.what());
+    }
+  }
+
+  virtual void unsubscribe()
+  {
+    subscription_.reset();
+  }
+
+  void onEnable() override
+  {
+    subscribe();
+  }
+
+  void onDisable() override
+  {
+    unsubscribe();
+    reset();
+  }
+
+  void fixedFrameChanged() override
+  {
+    reset();
+  }
+
+  /** @brief Incoming message callback.  Checks if the message pointer
+   * is valid, increments messages_received_, then calls
+   * processMessage(). */
+  void incomingMessage(const typename std::shared_ptr<const AdaptedType> msg)
+  {
+    if (!msg) {
+      return;
+    }
+
+    ++messages_received_;
+    QString topic_str = QString::number(messages_received_) + " messages received";
+    rviz_common::properties::StatusProperty::Level topic_status_level =
+      rviz_common::properties::StatusProperty::Ok;
+    // Append topic subscription frequency if we can lock rviz_ros_node_.
+    std::shared_ptr<ros_integration::RosNodeAbstractionIface> node_interface =
+      rviz_ros_node_.lock();
+    if (node_interface != nullptr) {
+      try {
+        const double duration =
+          (node_interface->get_raw_node()->now() - subscription_start_time_).seconds();
+        const double subscription_frequency =
+          static_cast<double>(messages_received_) / duration;
+        topic_str += " at " + QString::number(subscription_frequency, 'f', 1) + " hz.";
+      } catch (const std::runtime_error & e) {
+        if (std::string(e.what()).find("can't subtract times with different time sources") !=
+          std::string::npos)
+        {
+          topic_status_level = rviz_common::properties::StatusProperty::Warn;
+          topic_str += ". ";
+          topic_str += e.what();
+        } else {
+          throw;
+        }
+      }
+    }
+    setStatus(
+      topic_status_level,
+      "Topic",
+      topic_str);
+
+    processMessage(msg);
+  }
+
+  /** @brief Implement this to process the contents of a message.
+   *
+   * This is called by incomingMessage(). */
+  virtual void processMessage(const typename std::shared_ptr<const AdaptedType> msg) = 0;
+
+  typename rclcpp::Subscription<Adapter>::SharedPtr subscription_;
+  rclcpp::Time subscription_start_time_;
+  uint32_t messages_received_;
+};
+
+}  // end namespace rviz_common
+
+#endif  // RVIZ_COMMON__ROS_ADAPTER_DISPLAY_HPP_