merged ros2->kilted-devel

2026-10-07 18:27:46 +08:00 · 2025-07-12 17:22:53 -07:00
parent cc655863a2 ca6a2c2ff7
commit 179286266c
55 changed files with 432 additions and 315 deletions
@@ -0,0 +1,80 @@
+
+FROM ubuntu:24.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install ROS2
+RUN apt update && \
+    apt install software-properties-common -y && \
+    add-apt-repository universe && \
+    apt update && \
+    apt install curl -y && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# Install build dependencies
+RUN apt-get update && \
+    apt upgrade -y && \
+    apt-get install -y \
+      git \
+      wget \
+      libtbb-dev \
+      libproj-dev \
+      libpcl-dev \
+      liboctomap-dev \
+      libfreenect-dev \
+      ros-rolling-ros-base \
+      ros-dev-tools \
+      ros-rolling-cv-bridge \
+      ros-rolling-image-geometry \
+      ros-rolling-laser-geometry \
+      ros-rolling-pcl-conversions \
+      ros-rolling-rviz-common \
+      ros-rolling-rviz-rendering \
+      ros-rolling-rviz-default-plugins \
+      ros-rolling-pcl-ros \
+      ros-rolling-imu-filter-madgwick \
+      ros-rolling-image-transport \
+      ros-rolling-octomap-msgs \
+      ros-rolling-libg2o \
+      ros-rolling-gtsam \
+      ros-rolling-libpointmatcher \
+      ros-rolling-qt-gui-cpp \
+      ros-rolling-diagnostic-updater && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/rolling/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+
+# ros2 seems not sourcing by default its multi-arch folders
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/rolling/lib/x86_64-linux-gnu
+
+# For devcontainer
+# remove ubuntu user
+RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
+
+RUN apt-get update && apt-get install -y sudo && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN mkdir -p /home/${USERNAME}/ros2_ws/src && \
+    chown -R ${USERNAME}:${USERNAME} /home/${USERNAME}/ros2_ws
+
+RUN echo "source /opt/ros/rolling/setup.bash" >> /home/${USERNAME}/.bashrc
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
@@ -0,0 +1,27 @@
+{
+    "build": {
+      "dockerfile": "Dockerfile",
+      "pull": true
+    },
+    "remoteUser": "vscode",
+    "customizations": {
+        "vscode": {
+          "extensions": [
+            "ms-vscode.cpptools-themes",
+            "ms-vscode.cmake-tools", 
+            "ms-vscode.cpptools-extension-pack",
+            "ms-azuretools.vscode-docker",
+            "ms-python.python"]
+        }
+      },
+    "settings": {
+      "python.autoComplete.extraPaths": [
+        "/opt/ros/rolling/lib/python3/dist-packages"
+      ],
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/ros2_ws/src/rtabmap_ros,type=bind",
+    "workspaceFolder": "/home/vscode/ros2_ws",
+    "postCreateCommand": "git clone https://github.com/introlab/rtabmap.git /home/vscode/ros2_ws/src/rtabmap && echo 'Initialize: export MAKEFLAGS=\"-j6\" && colcon build --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release --parallel-workers 2'"
+    //"runArgs": ["--privileged", "--runtime=nvidia", "--network=host"]
+}
@@ -60,6 +60,10 @@ IF("$ENV{ROS_DISTRO}" STRLESS "iron")
  add_definitions(-DPRE_ROS_IRON)
 ENDIF()

+IF("$ENV{ROS_DISTRO}" STRLESS "kilted")
+  add_definitions(-DPRE_ROS_KILTED)
+ENDIF()
+
 ###########
 ## Build ##
 ###########
@@ -73,7 +77,9 @@ target_include_directories(rtabmap_conversions
 ament_target_dependencies(rtabmap_conversions ${Libraries})

 IF("$ENV{ROS_DISTRO}" STRLESS "iron")
-  target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_IRON)
+  target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_IRON -DPRE_ROS_KILTED)
+ELSEIF("$ENV{ROS_DISTRO}" STRLESS "kilted")
+  target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_KILTED)
 ENDIF()

 #############
@@ -65,6 +65,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap_msgs/msg/rgbd_image.hpp>
 #include <rtabmap_msgs/msg/user_data.hpp>

+#ifdef PRE_ROS_KILTED
+#define RCLCPP_QOS(queueSize, qos) rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()
+#else
+#define RCLCPP_QOS(queueSize, qos) rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos)
+#endif
+
 namespace rtabmap_conversions {

 void transformToTF(const rtabmap::Transform & transform, tf2::Transform & tfTransform);
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>rtabmap_conversions</name>
-  <version>0.22.0</version>
+  <version>0.22.1</version>
  <description>RTAB-Map's conversions package. This package can be used to convert rtabmap_msgs's msgs into RTAB-Map's library objects.</description>
  <maintainer email="[email protected]">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>rtabmap_demos</name>
-  <version>0.22.0</version>
+  <version>0.22.1</version>
  <description>RTAB-Map's demo launch files.</description>
  <maintainer email="[email protected]">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>rtabmap_examples</name>
-  <version>0.22.0</version>
+  <version>0.22.1</version>
  <description>RTAB-Map's example launch files.</description>
  <maintainer email="[email protected]">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>rtabmap_launch</name>
-  <version>0.22.0</version>
+  <version>0.22.1</version>
  <description>RTAB-Map's main launch files.</description>
  <maintainer email="[email protected]">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>rtabmap_msgs</name>
-  <version>0.22.0</version>
+  <version>0.22.1</version>
  <description>RTAB-Map's msgs package.</description>
  <maintainer email="[email protected]">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>
@@ -30,9 +30,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap_odom/OdometryROS.h>
 #include <rtabmap_odom/visibility.h>

-#include <message_filters/subscriber.h>
-#include <message_filters/time_synchronizer.h>
-#include <message_filters/sync_policies/approximate_time.h>
+#include <message_filters/subscriber.hpp>
+#include <message_filters/time_synchronizer.hpp>
+#include <message_filters/sync_policies/approximate_time.hpp>

 #include <image_transport/image_transport.hpp>
 #include <image_transport/subscriber_filter.hpp>
@@ -30,9 +30,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap_odom/OdometryROS.h>
 #include <rtabmap_odom/visibility.h>

-#include <message_filters/subscriber.h>
-#include <message_filters/time_synchronizer.h>
-#include <message_filters/sync_policies/approximate_time.h>
+#include <message_filters/subscriber.hpp>
+#include <message_filters/time_synchronizer.hpp>
+#include <message_filters/sync_policies/approximate_time.hpp>

 #include <image_transport/image_transport.hpp>
 #include <image_transport/subscriber_filter.hpp>
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>rtabmap_odom</name>
-  <version>0.22.0</version>
+  <version>0.22.1</version>
  <description>RTAB-Map's odometry package.</description>
  <maintainer email="[email protected]">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>
@@ -138,23 +138,23 @@ void RGBDOdometry::onOdomInit()
 	{
 		if(rgbdCameras >= 2)
 		{
-			rgbd_image1_sub_.subscribe(this, "rgbd_image0", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
-			rgbd_image2_sub_.subscribe(this, "rgbd_image1", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
+			rgbd_image1_sub_.subscribe(this, "rgbd_image0", RCLCPP_QOS(topicQueueSize_, qos()), options);
+			rgbd_image2_sub_.subscribe(this, "rgbd_image1", RCLCPP_QOS(topicQueueSize_, qos()), options);
 			if(rgbdCameras >= 3)
 			{
-				rgbd_image3_sub_.subscribe(this, "rgbd_image2", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
+				rgbd_image3_sub_.subscribe(this, "rgbd_image2", RCLCPP_QOS(topicQueueSize_, qos()), options);
 			}
 			if(rgbdCameras >= 4)
 			{
-				rgbd_image4_sub_.subscribe(this, "rgbd_image3", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
+				rgbd_image4_sub_.subscribe(this, "rgbd_image3", RCLCPP_QOS(topicQueueSize_, qos()), options);
 			}
 			if(rgbdCameras >= 5)
 			{
-				rgbd_image5_sub_.subscribe(this, "rgbd_image4", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
+				rgbd_image5_sub_.subscribe(this, "rgbd_image4", RCLCPP_QOS(topicQueueSize_, qos()), options);
 			}
 			if(rgbdCameras >= 6)
 			{
-				rgbd_image6_sub_.subscribe(this, "rgbd_image5", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
+				rgbd_image6_sub_.subscribe(this, "rgbd_image5", RCLCPP_QOS(topicQueueSize_, qos()), options);
 			}

 			if(rgbdCameras == 2)
@@ -366,7 +366,7 @@ void RGBDOdometry::onOdomInit()

 		image_mono_sub_.subscribe(this, rgb_topic, rgb_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
 		image_depth_sub_.subscribe(this, depth_topic, depth_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
-		info_sub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
+		info_sub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options);

 		if(approxSync)
 		{
@@ -129,23 +129,23 @@ void StereoOdometry::onOdomInit()
 	{
 		if(rgbdCameras >= 2)
 		{
-			rgbd_image1_sub_.subscribe(this, "rgbd_image0", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
-			rgbd_image2_sub_.subscribe(this, "rgbd_image1", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
+			rgbd_image1_sub_.subscribe(this, "rgbd_image0", RCLCPP_QOS(topicQueueSize_, qos()), options);
+			rgbd_image2_sub_.subscribe(this, "rgbd_image1", RCLCPP_QOS(topicQueueSize_, qos()), options);
 			if(rgbdCameras >= 3)
 			{
-				rgbd_image3_sub_.subscribe(this, "rgbd_image2", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
+				rgbd_image3_sub_.subscribe(this, "rgbd_image2", RCLCPP_QOS(topicQueueSize_, qos()), options);
 			}
 			if(rgbdCameras >= 4)
 			{
-				rgbd_image4_sub_.subscribe(this, "rgbd_image3", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
+				rgbd_image4_sub_.subscribe(this, "rgbd_image3", RCLCPP_QOS(topicQueueSize_, qos()), options);
 			}
 			if(rgbdCameras >= 5)
 			{
-				rgbd_image5_sub_.subscribe(this, "rgbd_image4", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
+				rgbd_image5_sub_.subscribe(this, "rgbd_image4", RCLCPP_QOS(topicQueueSize_, qos()), options);
 			}
 			if(rgbdCameras >= 6)
 			{
-				rgbd_image6_sub_.subscribe(this, "rgbd_image5", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
+				rgbd_image6_sub_.subscribe(this, "rgbd_image5", RCLCPP_QOS(topicQueueSize_, qos()), options);
 			}

 			if(rgbdCameras == 2)
@@ -350,8 +350,8 @@ void StereoOdometry::onOdomInit()
 		image_transport::TransportHints hints(this);
 		imageRectLeft_.subscribe(this, "left/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
 		imageRectRight_.subscribe(this, "right/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
-		cameraInfoLeft_.subscribe(this, "left/camera_info", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile(), options);
-		cameraInfoRight_.subscribe(this, "right/camera_info", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile(), options);
+		cameraInfoLeft_.subscribe(this, "left/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options);
+		cameraInfoRight_.subscribe(this, "right/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options);

 		if(approxSync)
 		{
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>rtabmap_python</name>
-  <version>0.22.0</version>
+  <version>0.22.1</version>
  <description>RTAB-Map's python package.</description>
  <maintainer email="[email protected]">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>rtabmap_ros</name>
-  <version>0.22.0</version>
+  <version>0.22.1</version>
  <description>
    RTAB-Map Stack
  </description>
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>rtabmap_rviz_plugins</name>
-  <version>0.22.0</version>
+  <version>0.22.1</version>
  <description>RTAB-Map's rviz plugins.</description>
  <maintainer email="[email protected]">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>rtabmap_slam</name>
-  <version>0.22.0</version>
+  <version>0.22.1</version>
  <description>RTAB-Map's SLAM package.</description>
  <maintainer email="[email protected]">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>
@@ -567,10 +567,8 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
 					RCLCPP_INFO(this->get_logger(), "Subscribe to inter odom + info messages");
 					interOdomSync_ = new message_filters::Synchronizer<MyExactInterOdomSyncPolicy>(MyExactInterOdomSyncPolicy(100), interOdomSyncSub_, interOdomInfoSyncSub_);
 					interOdomSync_->registerCallback(std::bind(&CoreWrapper::interOdomInfoCallback, this, std::placeholders::_1, std::placeholders::_2));
-					rmw_qos_profile_t qos = rmw_qos_profile_default;
-					qos.depth = 100;
-					interOdomSyncSub_.subscribe(this, "inter_odom", qos);
-					interOdomInfoSyncSub_.subscribe(this, "inter_odom_info", qos);
+					interOdomSyncSub_.subscribe(this, "inter_odom", RCLCPP_QOS(100, rclcpp::ReliabilityPolicy::SystemDefault));
+					interOdomInfoSyncSub_.subscribe(this, "inter_odom_info", RCLCPP_QOS(100, rclcpp::ReliabilityPolicy::SystemDefault));
 				}
 				else
 				{
@@ -34,9 +34,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <image_transport/image_transport.hpp>
 #include <image_transport/subscriber_filter.hpp>

-#include <message_filters/sync_policies/approximate_time.h>
-#include <message_filters/sync_policies/exact_time.h>
-#include <message_filters/subscriber.h>
+#include <message_filters/sync_policies/approximate_time.hpp>
+#include <message_filters/sync_policies/exact_time.hpp>
+#include <message_filters/subscriber.hpp>

 #include "rtabmap_msgs/msg/rgbd_image.hpp"
 #include "rtabmap_sync/SyncDiagnostic.h"
@@ -34,9 +34,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <image_transport/image_transport.hpp>
 #include <image_transport/subscriber_filter.hpp>

-#include <message_filters/sync_policies/approximate_time.h>
-#include <message_filters/sync_policies/exact_time.h>
-#include <message_filters/subscriber.h>
+#include <message_filters/sync_policies/approximate_time.hpp>
+#include <message_filters/sync_policies/exact_time.hpp>
+#include <message_filters/subscriber.hpp>

 #include "rtabmap_msgs/msg/rgbd_image.hpp"
 #include "rtabmap_sync/SyncDiagnostic.h"
@@ -34,9 +34,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <image_transport/image_transport.hpp>
 #include <image_transport/subscriber_filter.hpp>

-#include <message_filters/sync_policies/approximate_time.h>
-#include <message_filters/sync_policies/exact_time.h>
-#include <message_filters/subscriber.h>
+#include <message_filters/sync_policies/approximate_time.hpp>
+#include <message_filters/sync_policies/exact_time.hpp>
+#include <message_filters/subscriber.hpp>

 #include "rtabmap_msgs/msg/rgbd_image.hpp"
 #include "rtabmap_msgs/msg/rgbd_images.hpp"
@@ -34,9 +34,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <image_transport/image_transport.hpp>
 #include <image_transport/subscriber_filter.hpp>

-#include <message_filters/sync_policies/approximate_time.h>
-#include <message_filters/sync_policies/exact_time.h>
-#include <message_filters/subscriber.h>
+#include <message_filters/sync_policies/approximate_time.hpp>
+#include <message_filters/sync_policies/exact_time.hpp>
+#include <message_filters/subscriber.hpp>

 #include "rtabmap_msgs/msg/rgbd_image.hpp"
 #include "rtabmap_sync/SyncDiagnostic.h"
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>rtabmap_sync</name>
-  <version>0.22.0</version>
+  <version>0.22.1</version>
  <description>RTAB-Map's synchronization package.</description>
  <maintainer email="[email protected]">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>
@@ -506,22 +506,22 @@ void CommonDataSubscriber::setupDepthCallbacks(
 	image_transport::TransportHints hints(&node);
 	imageSub_.subscribe(&node, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
 	imageDepthSub_.subscribe(&node, "depth/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
-	cameraInfoSub_.subscribe(&node, "rgb/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile(), options);
+	cameraInfoSub_.subscribe(&node, "rgb/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options);

 #ifdef RTABMAP_SYNC_USER_DATA
 	if(subscribeOdom && subscribeUserData)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
-		userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
+		userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);

 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL7(CommonDataSubscriber, depthOdomDataScanDescInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
 			}
 			else
@@ -532,11 +532,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL7(CommonDataSubscriber, depthOdomDataScan2dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
 			}
 			else
@@ -547,11 +547,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL7(CommonDataSubscriber, depthOdomDataScan3dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
 			}
 			else
@@ -562,7 +562,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL6(CommonDataSubscriber, depthOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
 		}
 		else
@@ -574,16 +574,16 @@ void CommonDataSubscriber::setupDepthCallbacks(
 #endif
 	if(subscribeOdom)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);

 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL6(CommonDataSubscriber, depthOdomScanDescInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
 			}
 			else
@@ -594,11 +594,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL6(CommonDataSubscriber, depthOdomScan2dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
 			}
 			else
@@ -609,11 +609,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL6(CommonDataSubscriber, depthOdomScan3dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
 			}
 			else
@@ -624,7 +624,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL5(CommonDataSubscriber, depthOdomInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
 		}
 		else
@@ -635,17 +635,17 @@ void CommonDataSubscriber::setupDepthCallbacks(
 #ifdef RTABMAP_SYNC_USER_DATA
 	else if(subscribeUserData)
 	{
-		userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+		userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);

 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);

 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL6(CommonDataSubscriber, depthDataScanDescInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
 			}
 			else
@@ -656,12 +656,12 @@ void CommonDataSubscriber::setupDepthCallbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);

 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL6(CommonDataSubscriber, depthDataScan2dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
 			}
 			else
@@ -672,11 +672,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL6(CommonDataSubscriber, depthDataScan3dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
 			}
 			else
@@ -687,7 +687,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL5(CommonDataSubscriber, depthDataInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
 		}
 		else
@@ -701,11 +701,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_,qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL5(CommonDataSubscriber, depthScanDescInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
 			}
 			else
@@ -716,11 +716,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL5(CommonDataSubscriber, depthScan2dInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
 			}
 			else
@@ -731,11 +731,11 @@ void CommonDataSubscriber::setupDepthCallbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL5(CommonDataSubscriber, depthScan3dInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
 			}
 			else
@@ -746,7 +746,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL4(CommonDataSubscriber, depthInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_);
 		}
 		else
@@ -77,16 +77,16 @@ void CommonDataSubscriber::setupOdomCallbacks(

 	if(subscribeUserData || subscribeOdomInfo)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);

 #ifdef RTABMAP_SYNC_USER_DATA
 		if(subscribeUserData)
 		{
-			userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+			userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL3(CommonDataSubscriber, odomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, odomInfoSub_);
 			}
 			else
@@ -99,7 +99,7 @@ void CommonDataSubscriber::setupOdomCallbacks(
 		if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL2(CommonDataSubscriber, odomInfo, approxSync_, syncQueueSize_, odomSub_, odomInfoSub_);
 		}
 	}
@@ -505,22 +505,22 @@ void CommonDataSubscriber::setupRGBCallbacks(

 	image_transport::TransportHints hints(&node);
 	imageSub_.subscribe(&node, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
-	cameraInfoSub_.subscribe(&node, "rgb/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile(), options);
+	cameraInfoSub_.subscribe(&node, "rgb/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options);

 #ifdef RTABMAP_SYNC_USER_DATA
 	if(subscribeOdom && subscribeUserData)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
-		userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
+		userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);

 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScanDescInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
 			}
 			else
@@ -531,11 +531,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScan2dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
 			}
 			else
@@ -546,11 +546,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScan3dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
 			}
 			else
@@ -561,7 +561,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL5(CommonDataSubscriber, rgbOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
 		}
 		else
@@ -573,16 +573,16 @@ void CommonDataSubscriber::setupRGBCallbacks(
 #endif		
 	if(subscribeOdom)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);

 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL5(CommonDataSubscriber, rgbOdomScanDescInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
 			}
 			else
@@ -593,11 +593,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL5(CommonDataSubscriber, rgbOdomScan2dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
 			}
 			else
@@ -608,11 +608,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL5(CommonDataSubscriber, rgbOdomScan3dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
 			}
 			else
@@ -623,7 +623,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL4(CommonDataSubscriber, rgbOdomInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
 		}
 		else
@@ -634,17 +634,17 @@ void CommonDataSubscriber::setupRGBCallbacks(
 #ifdef RTABMAP_SYNC_USER_DATA
 	else if(subscribeUserData)
 	{
-		userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+		userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);

 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);

 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL5(CommonDataSubscriber, rgbDataScanDescInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
 			}
 			else
@@ -655,12 +655,12 @@ void CommonDataSubscriber::setupRGBCallbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);

 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL5(CommonDataSubscriber, rgbDataScan2dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
 			}
 			else
@@ -671,11 +671,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL5(CommonDataSubscriber, rgbDataScan3dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
 			}
 			else
@@ -686,7 +686,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL4(CommonDataSubscriber, rgbDataInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_);
 		}
 		else
@@ -700,11 +700,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL4(CommonDataSubscriber, rgbScanDescInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_);
 			}
 			else
@@ -715,11 +715,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL4(CommonDataSubscriber, rgbScan2dInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_);
 			}
 			else
@@ -730,11 +730,11 @@ void CommonDataSubscriber::setupRGBCallbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL4(CommonDataSubscriber, rgbScan3dInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_);
 			}
 			else
@@ -745,7 +745,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL3(CommonDataSubscriber, rgbInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, odomInfoSub_);
 		}
 		else
@@ -576,17 +576,17 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 	{
 		rgbdSubs_.resize(1);
 		rgbdSubs_[0] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
-		rgbdSubs_[0]->subscribe(&node, "rgbd_image", rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
+		rgbdSubs_[0]->subscribe(&node, "rgbd_image", RCLCPP_QOS(topicQueueSize_, qosImage_), options);

 #ifdef RTABMAP_SYNC_USER_DATA
 		if(subscribeOdom && subscribeUserData)
 		{
-			odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
-			userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+			odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
+			userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);
 			if(subscribeScanDesc)
 			{
 				subscribedToScanDescriptor_ = true;
-				scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+				scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = false;
@@ -597,7 +597,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 			else if(subscribeScan2d)
 			{
 				subscribedToScan2d_ = true;
-				scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+				scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = false;
@@ -608,7 +608,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 			else if(subscribeScan3d)
 			{
 				subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+				scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = false;
@@ -619,7 +619,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 			else if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL4(CommonDataSubscriber, rgbdOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
 			}
 			else
@@ -631,11 +631,11 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 #endif			
 		if(subscribeOdom)
 		{
-			odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			if(subscribeScanDesc)
 			{
 				subscribedToScanDescriptor_ = true;
-				scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+				scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = false;
@@ -646,7 +646,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 			else if(subscribeScan2d)
 			{
 				subscribedToScan2d_ = true;
-				scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+				scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = false;
@@ -657,7 +657,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 			else if(subscribeScan3d)
 			{
 				subscribedToScan3d_ = true;
-				scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+				scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = false;
@@ -668,7 +668,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 			else if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL3(CommonDataSubscriber, rgbdOdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), odomInfoSub_);
 			}
 			else
@@ -679,11 +679,11 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 #ifdef RTABMAP_SYNC_USER_DATA
 		else if(subscribeUserData)
 		{
-			userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+			userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);
 			if(subscribeScanDesc)
 			{
 				subscribedToScanDescriptor_ = true;
-				scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+				scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = false;
@@ -694,7 +694,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 			else if(subscribeScan2d)
 			{
 				subscribedToScan2d_ = true;
-				scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+				scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = false;
@@ -705,7 +705,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 			else if(subscribeScan3d)
 			{
 				subscribedToScan3d_ = true;
-				scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+				scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = false;
@@ -716,7 +716,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 			else if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL3(CommonDataSubscriber, rgbdDataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_);
 			}
 			else
@@ -730,7 +730,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 			if(subscribeScanDesc)
 			{
 				subscribedToScanDescriptor_ = true;
-				scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+				scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = false;
@@ -741,7 +741,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 			else if(subscribeScan2d)
 			{
 				subscribedToScan2d_ = true;
-				scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+				scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = false;
@@ -752,7 +752,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 			else if(subscribeScan3d)
 			{
 				subscribedToScan3d_ = true;
-				scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+				scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = false;
@@ -763,7 +763,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 			else if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
-				odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+				odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 				SYNC_DECL2(CommonDataSubscriber, rgbdInfo, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), odomInfoSub_);
 			}
 			else
@@ -362,17 +362,17 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 	for(int i=0; i<2; ++i)
 	{
 		rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
-		rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
+		rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), RCLCPP_QOS(topicQueueSize_, qosImage_), options);
 	}
 #ifdef RTABMAP_SYNC_USER_DATA
 	if(subscribeOdom && subscribeUserData)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
-		userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
+		userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -383,7 +383,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -394,7 +394,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -405,7 +405,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL5(CommonDataSubscriber, rgbd2OdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
 		}
 		else
@@ -417,11 +417,11 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 #endif
 	if(subscribeOdom)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -432,7 +432,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -443,7 +443,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -454,7 +454,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL4(CommonDataSubscriber, rgbd2OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
 		}
 		else
@@ -465,11 +465,11 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 #ifdef RTABMAP_SYNC_USER_DATA
 	else if(subscribeUserData)
 	{
-		userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+		userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -480,7 +480,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -491,7 +491,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -502,7 +502,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL4(CommonDataSubscriber, rgbd2DataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
 		}
 		else
@@ -516,7 +516,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -527,7 +527,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -538,7 +538,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -549,7 +549,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL3(CommonDataSubscriber, rgbd2Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_);
 		}
 		else
@@ -450,17 +450,17 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 	for(int i=0; i<3; ++i)
 	{
 		rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
-		rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
+		rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), RCLCPP_QOS(topicQueueSize_, qosImage_), options);
 	}
 #ifdef RTABMAP_SYNC_USER_DATA
 	if(subscribeOdom && subscribeUserData)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
-		userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
+		userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);
 		if(subscribeScanDescriptor)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -471,7 +471,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -482,7 +482,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -493,7 +493,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL6(CommonDataSubscriber, rgbd3OdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
 		}
 		else
@@ -505,11 +505,11 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 #endif		
 	if(subscribeOdom)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 		if(subscribeScanDescriptor)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -520,7 +520,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -531,7 +531,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -542,7 +542,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL5(CommonDataSubscriber, rgbd3OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
 		}
 		else
@@ -553,11 +553,11 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 #ifdef RTABMAP_SYNC_USER_DATA
 	else if(subscribeUserData)
 	{
-		userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+		userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);
 		if(subscribeScanDescriptor)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -568,7 +568,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -579,7 +579,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -590,7 +590,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL5(CommonDataSubscriber, rgbd3DataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
 		}
 		else
@@ -604,7 +604,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 		if(subscribeScanDescriptor)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -615,7 +615,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -626,7 +626,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = true;
@@ -638,7 +638,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL4(CommonDataSubscriber, rgbd3Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_);
 		}
 		else
@@ -419,17 +419,17 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 	for(int i=0; i<4; ++i)
 	{
 		rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
-		rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
+		rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), RCLCPP_QOS(topicQueueSize_, qosImage_), options);
 	}
 #ifdef RTABMAP_SYNC_USER_DATA
 	if(subscribeOdom && subscribeUserData)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
-		userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
+		userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -440,7 +440,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -451,7 +451,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -462,7 +462,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL7(CommonDataSubscriber, rgbd4OdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
 		}
 		else
@@ -474,11 +474,11 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 #endif		
 	if(subscribeOdom)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -489,7 +489,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -500,7 +500,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -511,7 +511,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL6(CommonDataSubscriber, rgbd4OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
 		}
 		else
@@ -522,11 +522,11 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 #ifdef RTABMAP_SYNC_USER_DATA
 	else if(subscribeUserData)
 	{
-		userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+		userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -537,7 +537,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -548,7 +548,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -559,7 +559,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL6(CommonDataSubscriber, rgbd4DataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
 		}
 		else
@@ -573,7 +573,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -584,7 +584,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -595,7 +595,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -606,7 +606,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL5(CommonDataSubscriber, rgbd4Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_);
 		}
 		else
@@ -271,15 +271,15 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
 	for(int i=0; i<5; ++i)
 	{
 		rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
-		rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
+		rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), RCLCPP_QOS(topicQueueSize_, qosImage_), options);
 	}
 	if(subscribeOdom)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -290,7 +290,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -301,7 +301,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -312,7 +312,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL7(CommonDataSubscriber, rgbd5OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
 		}
 		else
@@ -325,7 +325,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -336,7 +336,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -347,7 +347,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -358,7 +358,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL6(CommonDataSubscriber, rgbd5Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_);
 		}
 		else
@@ -289,15 +289,15 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
 	for(int i=0; i<6; ++i)
 	{
 		rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
-		rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
+		rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), RCLCPP_QOS(topicQueueSize_, qosImage_), options);
 	}
 	if(subscribeOdom)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -308,7 +308,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -319,7 +319,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -330,7 +330,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL8(CommonDataSubscriber, rgbd6OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
 		}
 		else
@@ -343,7 +343,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -354,7 +354,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -365,7 +365,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -376,7 +376,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL7(CommonDataSubscriber, rgbd6Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_);
 		}
 		else
@@ -334,16 +334,16 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
 {
 	RCLCPP_INFO(node.get_logger(), "Setup rgbdX callback");

-	rgbdXSub_.subscribe(&node, "rgbd_images", rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
+	rgbdXSub_.subscribe(&node, "rgbd_images", RCLCPP_QOS(topicQueueSize_, qosImage_), options);
 #ifdef RTABMAP_SYNC_USER_DATA
 	if(subscribeOdom && subscribeUserData)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
-		userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
+		userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -354,7 +354,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -365,7 +365,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -376,7 +376,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL4(CommonDataSubscriber, rgbdXOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, rgbdXSub_, odomInfoSub_);
 		}
 		else
@@ -388,11 +388,11 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
 #endif
 	if(subscribeOdom)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -403,7 +403,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -414,7 +414,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -425,7 +425,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL3(CommonDataSubscriber, rgbdXOdomInfo, approxSync_, syncQueueSize_, odomSub_, rgbdXSub_, odomInfoSub_);
 		}
 		else
@@ -436,11 +436,11 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
 #ifdef RTABMAP_SYNC_USER_DATA
 	else if(subscribeUserData)
 	{
-		userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+		userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -451,7 +451,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -462,7 +462,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -473,7 +473,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL3(CommonDataSubscriber, rgbdXDataInfo, approxSync_, syncQueueSize_, userDataSub_, rgbdXSub_, odomInfoSub_);
 		}
 		else
@@ -487,7 +487,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
 		if(subscribeScanDesc)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -498,7 +498,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
 		else if(subscribeScan2d)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -509,7 +509,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
 		else if(subscribeScan3d)
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 			if(subscribeOdomInfo)
 			{
 				subscribedToOdomInfo_ = false;
@@ -520,7 +520,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL2(CommonDataSubscriber, rgbdXInfo, approxSync_, syncQueueSize_, rgbdXSub_, odomInfoSub_);
 		}
 		else
@@ -291,31 +291,31 @@ void CommonDataSubscriber::setupScanCallbacks(
 		if(scanDescTopic)
 		{
 			subscribedToScanDescriptor_ = true;
-			scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 		}
 		else if(scan2dTopic)
 		{
 			subscribedToScan2d_ = true;
-			scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 		}
 		else
 		{
 			subscribedToScan3d_ = true;
-			scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options);
+			scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options);
 		}

 #ifdef RTABMAP_SYNC_USER_DATA
 		if(subscribeOdom && subscribeUserData)
 		{
-			odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
-			userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+			odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
+			userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);

 			if(scanDescTopic)
 			{
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = true;
-					odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+					odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 					SYNC_DECL4(CommonDataSubscriber, odomDataScanDescInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scanDescSub_, odomInfoSub_);
 				}
 				else
@@ -328,7 +328,7 @@ void CommonDataSubscriber::setupScanCallbacks(
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = true;
-					odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+					odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 					SYNC_DECL4(CommonDataSubscriber, odomDataScan2dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scanSub_, odomInfoSub_);
 				}
 				else
@@ -341,7 +341,7 @@ void CommonDataSubscriber::setupScanCallbacks(
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = true;
-					odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+					odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 					SYNC_DECL4(CommonDataSubscriber, odomDataScan3dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scan3dSub_, odomInfoSub_);
 				}
 				else
@@ -354,14 +354,14 @@ void CommonDataSubscriber::setupScanCallbacks(
 #endif			
 		if(subscribeOdom)
 		{
-			odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);

 			if(scanDescTopic)
 			{
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = true;
-					odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+					odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 					SYNC_DECL3(CommonDataSubscriber, odomScanDescInfo, approxSync_, syncQueueSize_, odomSub_, scanDescSub_, odomInfoSub_);
 				}
 				else
@@ -374,7 +374,7 @@ void CommonDataSubscriber::setupScanCallbacks(
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = true;
-					odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+					odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 					SYNC_DECL3(CommonDataSubscriber, odomScan2dInfo, approxSync_, syncQueueSize_, odomSub_, scanSub_, odomInfoSub_);
 				}
 				else
@@ -387,7 +387,7 @@ void CommonDataSubscriber::setupScanCallbacks(
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = true;
-					odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+					odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 					SYNC_DECL3(CommonDataSubscriber, odomScan3dInfo, approxSync_, syncQueueSize_, odomSub_, scan3dSub_, odomInfoSub_);
 				}
 				else
@@ -399,14 +399,14 @@ void CommonDataSubscriber::setupScanCallbacks(
 #ifdef RTABMAP_SYNC_USER_DATA
 		else if(subscribeUserData)
 		{
-			userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options);
+			userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options);

 			if(scanDescTopic)
 			{
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = true;
-					odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+					odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 					SYNC_DECL3(CommonDataSubscriber, dataScanDescInfo, approxSync_, syncQueueSize_, userDataSub_, scanDescSub_, odomInfoSub_);
 				}
 				else
@@ -419,7 +419,7 @@ void CommonDataSubscriber::setupScanCallbacks(
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = true;
-					odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+					odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 					SYNC_DECL3(CommonDataSubscriber, dataScan2dInfo, approxSync_, syncQueueSize_, userDataSub_, scanSub_, odomInfoSub_);
 				}
 				else
@@ -432,7 +432,7 @@ void CommonDataSubscriber::setupScanCallbacks(
 				if(subscribeOdomInfo)
 				{
 					subscribedToOdomInfo_ = true;
-					odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+					odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 					SYNC_DECL3(CommonDataSubscriber, dataScan3dInfo, approxSync_, syncQueueSize_, userDataSub_, scan3dSub_, odomInfoSub_);
 				}
 				else
@@ -445,7 +445,7 @@ void CommonDataSubscriber::setupScanCallbacks(
 		else if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			if(scanDescTopic)
 			{
 				SYNC_DECL2(CommonDataSubscriber, scanDescInfo, approxSync_, syncQueueSize_, scanDescSub_, odomInfoSub_);
@@ -75,14 +75,14 @@ void CommonDataSubscriber::setupSensorDataCallbacks(
 {
 	RCLCPP_INFO(node.get_logger(), "Setup SensorData callback");

-	sensorDataSub_.subscribe(&node, "sensor_data", rclcpp::QoS(topicQueueSize_).reliability(qosSensorData_).get_rmw_qos_profile(), options);
+	sensorDataSub_.subscribe(&node, "sensor_data", RCLCPP_QOS(topicQueueSize_, qosSensorData_), options);
 	if(subscribeOdom)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 		if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL3(CommonDataSubscriber, sensorDataOdomInfo, approxSync_, syncQueueSize_, odomSub_, sensorDataSub_, odomInfoSub_);
 		}
 		else
@@ -95,7 +95,7 @@ void CommonDataSubscriber::setupSensorDataCallbacks(
 		if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL2(CommonDataSubscriber, sensorDataInfo, approxSync_, syncQueueSize_, sensorDataSub_, odomInfoSub_);
 		}
 		else
@@ -100,17 +100,17 @@ void CommonDataSubscriber::setupStereoCallbacks(
 	image_transport::TransportHints hints(&node);
 	imageRectLeft_.subscribe(&node, "left/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
 	imageRectRight_.subscribe(&node, "right/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options);
-	cameraInfoLeft_.subscribe(&node, "left/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile(), options);
-	cameraInfoRight_.subscribe(&node, "right/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile(), options);
+	cameraInfoLeft_.subscribe(&node, "left/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options);
+	cameraInfoRight_.subscribe(&node, "right/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options);

 	if(subscribeOdom)
 	{
-		odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+		odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);

 		if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL6(CommonDataSubscriber, stereoOdomInfo, approxSync_, syncQueueSize_, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
 		}
 		else
@@ -123,7 +123,7 @@ void CommonDataSubscriber::setupStereoCallbacks(
 		if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
-			odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options);
+			odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options);
 			SYNC_DECL5(CommonDataSubscriber, stereoInfo, approxSync_, syncQueueSize_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_);
 		}
 		else
@@ -100,7 +100,7 @@ RGBSync::RGBSync(const rclcpp::NodeOptions & options) :

 	image_transport::TransportHints hints(this);
 	imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
-	cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCaminfo).get_rmw_qos_profile());
+	cameraInfoSub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize, qosCaminfo));

 	std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s,\n   %s",
 						get_name(),
@@ -115,7 +115,7 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
 	std::string depthTopic = this->get_node_topics_interface()->resolve_topic_name("depth/image"); // Humble doesn't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
 	imageSub_.subscribe(this, rgbTopic, rgbImageTransport, rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
 	imageDepthSub_.subscribe(this, depthTopic, depthImageTransport, rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
-	cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
+	cameraInfoSub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));

 	std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s,\n   %s,\n   %s",
 						get_name(),
@@ -80,7 +80,7 @@ RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
 	for(int i=0; i<rgbdCameras; ++i)
 	{
 		rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_msgs::msg::RGBDImage>;
-		rgbdSubs_[i]->subscribe(this, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
+		rgbdSubs_[i]->subscribe(this, uFormat("rgbd_image%d", i), RCLCPP_QOS(topicQueueSize, qos));
 	}

 	std::string name_ = get_name();
@@ -99,8 +99,8 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
 	image_transport::TransportHints hints(this);
 	imageLeftSub_.subscribe(this, "left/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
 	imageRightSub_.subscribe(this, "right/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
-	cameraInfoLeftSub_.subscribe(this, "left/camera_info"), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile();
-	cameraInfoRightSub_.subscribe(this, "right/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
+	cameraInfoLeftSub_.subscribe(this, "left/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
+	cameraInfoRightSub_.subscribe(this, "right/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));

 	std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s,\n   %s,\n   %s,\n   %s",
 						get_name(),
@@ -33,9 +33,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>

-#include <message_filters/sync_policies/approximate_time.h>
-#include <message_filters/subscriber.h>
-#include <message_filters/sync_policies/exact_time.h>
+#include <message_filters/sync_policies/approximate_time.hpp>
+#include <message_filters/subscriber.hpp>
+#include <message_filters/sync_policies/exact_time.hpp>

 namespace rtabmap_util
 {
@@ -34,8 +34,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>

-#include <message_filters/subscriber.h>
-#include <message_filters/sync_policies/exact_time.h>
+#include <message_filters/subscriber.hpp>
+#include <message_filters/sync_policies/exact_time.hpp>

 #include <rtabmap_conversions/MsgConversion.h>
 #include <rtabmap/core/util3d.h>
@@ -36,9 +36,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <image_transport/image_transport.hpp>
 #include <image_transport/subscriber_filter.hpp>

-#include <message_filters/sync_policies/approximate_time.h>
-#include <message_filters/sync_policies/exact_time.h>
-#include <message_filters/subscriber.h>
+#include <message_filters/sync_policies/approximate_time.hpp>
+#include <message_filters/sync_policies/exact_time.hpp>
+#include <message_filters/subscriber.hpp>

 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -38,9 +38,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <image_transport/image_transport.hpp>
 #include <image_transport/subscriber_filter.hpp>

-#include <message_filters/sync_policies/approximate_time.h>
-#include <message_filters/sync_policies/exact_time.h>
-#include <message_filters/subscriber.h>
+#include <message_filters/sync_policies/approximate_time.hpp>
+#include <message_filters/sync_policies/exact_time.hpp>
+#include <message_filters/subscriber.hpp>

 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -37,9 +37,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>

-#include <message_filters/sync_policies/approximate_time.h>
-#include <message_filters/sync_policies/exact_time.h>
-#include <message_filters/subscriber.h>
+#include <message_filters/sync_policies/approximate_time.hpp>
+#include <message_filters/sync_policies/exact_time.hpp>
+#include <message_filters/subscriber.hpp>

 namespace rtabmap_util
 {
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>rtabmap_util</name>
-  <version>0.22.0</version>
+  <version>0.22.1</version>
  <description>RTAB-Map's various useful nodes and nodelets.</description>
  <maintainer email="[email protected]">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>
@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap_util/imu_to_tf.hpp>
 #include <rtabmap_conversions/MsgConversion.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#include <tf2/LinearMath/Transform.h>
+#include <tf2/LinearMath/Transform.hpp>
 #include <tf2/utils.hpp>

 namespace rtabmap_util
@@ -87,14 +87,14 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options)

 	cloudPub_ = create_publisher<sensor_msgs::msg::PointCloud2>("combined_cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));

-	cloudSub_1_.subscribe(this, "cloud1", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
-	cloudSub_2_.subscribe(this, "cloud2", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
+	cloudSub_1_.subscribe(this, "cloud1", RCLCPP_QOS(topicQueueSize, qos));
+	cloudSub_2_.subscribe(this, "cloud2", RCLCPP_QOS(topicQueueSize, qos));

 	std::string subscribedTopicsMsg;
 	if(count == 4)
 	{
-		cloudSub_3_.subscribe(this, "cloud3", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
-		cloudSub_4_.subscribe(this, "cloud4", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
+		cloudSub_3_.subscribe(this, "cloud3", RCLCPP_QOS(topicQueueSize, qos));
+		cloudSub_4_.subscribe(this, "cloud4", RCLCPP_QOS(topicQueueSize, qos));
 		if(approx)
 		{
 			approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(ApproxSync4Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
@@ -118,7 +118,7 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options)
 	}
 	else if(count == 3)
 	{
-		cloudSub_3_.subscribe(this, "cloud3", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
+		cloudSub_3_.subscribe(this, "cloud3", RCLCPP_QOS(topicQueueSize, qos));
 		if(approx)
 		{
 			approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(ApproxSync3Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
@@ -147,9 +147,9 @@ PointCloudAssembler::PointCloudAssembler(const rclcpp::NodeOptions & options) :
 	}
 	else if(subscribeOdomInfo)
 	{
-		syncCloudSub_.subscribe(this, "cloud", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
-		syncOdomSub_.subscribe(this, "odom", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosOdom).get_rmw_qos_profile());
-		syncOdomInfoSub_.subscribe(this, "odom_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosOdom).get_rmw_qos_profile());
+		syncCloudSub_.subscribe(this, "cloud", RCLCPP_QOS(topicQueueSize, qos));
+		syncOdomSub_.subscribe(this, "odom", RCLCPP_QOS(topicQueueSize, qosOdom));
+		syncOdomInfoSub_.subscribe(this, "odom_info", RCLCPP_QOS(topicQueueSize, qosOdom));
 		exactInfoSync_ = new message_filters::Synchronizer<syncInfoPolicy>(syncInfoPolicy(syncQueueSize), syncCloudSub_, syncOdomSub_, syncOdomInfoSub_);
 		exactInfoSync_->registerCallback(std::bind(&rtabmap_util::PointCloudAssembler::callbackCloudOdomInfo, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
 		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (exact sync):\n   %s,\n   %s",
@@ -160,8 +160,8 @@ PointCloudAssembler::PointCloudAssembler(const rclcpp::NodeOptions & options) :
 	}
 	else
 	{
-		syncCloudSub_.subscribe(this, "cloud", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
-		syncOdomSub_.subscribe(this, "odom", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosOdom).get_rmw_qos_profile());
+		syncCloudSub_.subscribe(this, "cloud", RCLCPP_QOS(topicQueueSize, qos));
+		syncOdomSub_.subscribe(this, "odom", RCLCPP_QOS(topicQueueSize, qosOdom));
 		exactSync_ = new message_filters::Synchronizer<syncPolicy>(syncPolicy(syncQueueSize), syncCloudSub_, syncOdomSub_);
 		exactSync_->registerCallback(std::bind(&rtabmap_util::PointCloudAssembler::callbackCloudOdom, this, std::placeholders::_1, std::placeholders::_2));
 		subscribedTopicsMsg_ = uFormat("\n%s subscribed to (exact sync):\n   %s,\n   %s",
@@ -158,10 +158,10 @@ PointCloudXYZ::PointCloudXYZ(const rclcpp::NodeOptions & options) :

 	image_transport::TransportHints hints(this);
 	imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
-	cameraInfoSub_.subscribe(this, "depth/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
+	cameraInfoSub_.subscribe(this, "depth/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));

-	disparitySub_.subscribe(this, "disparity/image", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
-	disparityCameraInfoSub_.subscribe(this, "disparity/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
+	disparitySub_.subscribe(this, "disparity/image", RCLCPP_QOS(topicQueueSize, qos));
+	disparityCameraInfoSub_.subscribe(this, "disparity/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
 }

 PointCloudXYZ::~PointCloudXYZ()
@@ -187,14 +187,14 @@ PointCloudXYZRGB::PointCloudXYZRGB(const rclcpp::NodeOptions & options) :
 	image_transport::TransportHints hints(this);
 	imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
 	imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
-	cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
+	cameraInfoSub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));

-	imageDisparitySub_.subscribe(this, "disparity", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
+	imageDisparitySub_.subscribe(this, "disparity", RCLCPP_QOS(topicQueueSize, qos));

 	imageLeft_.subscribe(this, "left/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
 	imageRight_.subscribe(this, "right/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
-	cameraInfoLeft_.subscribe(this, "left/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
-	cameraInfoRight_.subscribe(this, "right/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
+	cameraInfoLeft_.subscribe(this, "left/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
+	cameraInfoRight_.subscribe(this, "right/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
 }

 PointCloudXYZRGB::~PointCloudXYZRGB()
@@ -125,8 +125,8 @@ PointCloudToDepthImage::PointCloudToDepthImage(const rclcpp::NodeOptions & optio
 		exactSync_->registerCallback(std::bind(&PointCloudToDepthImage::callback, this, std::placeholders::_1, std::placeholders::_2));
 	}

-	pointCloudSub_.subscribe(this, "cloud", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
-	cameraInfoSub_.subscribe(this, "camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile());
+	pointCloudSub_.subscribe(this, "cloud", RCLCPP_QOS(topicQueueSize, qos));
+	cameraInfoSub_.subscribe(this, "camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
 }

 PointCloudToDepthImage::~PointCloudToDepthImage()
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>rtabmap_viz</name>
-  <version>0.22.0</version>
+  <version>0.22.1</version>
  <description>RTAB-Map's visualization package.</description>
  <maintainer email="[email protected]">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>
@@ -147,8 +147,8 @@ GuiWrapper::GuiWrapper(const rclcpp::NodeOptions & options) :
 	}
 	else
 	{
-	    infoTopic_.subscribe(this, "info", rclcpp::QoS(this->getTopicQueueSize()).get_rmw_qos_profile());
-	    mapDataTopic_.subscribe(this, "mapData", rclcpp::QoS(this->getTopicQueueSize()).get_rmw_qos_profile());
+	    infoTopic_.subscribe(this, "info", RCLCPP_QOS(this->getTopicQueueSize(), rclcpp::ReliabilityPolicy::SystemDefault));
+	    mapDataTopic_.subscribe(this, "mapData", RCLCPP_QOS(this->getTopicQueueSize(), rclcpp::ReliabilityPolicy::SystemDefault));
 	    infoMapSync_ = new message_filters::Synchronizer<MyInfoMapSyncPolicy>(
 			    MyInfoMapSyncPolicy(this->getSyncQueueSize()),
 			    infoTopic_,
@@ -156,8 +156,8 @@ GuiWrapper::GuiWrapper(const rclcpp::NodeOptions & options) :
 	    infoMapSync_->registerCallback(std::bind(&GuiWrapper::infoMapCallback, this, std::placeholders::_1, std::placeholders::_2));
 	}

-	goalTopic_.subscribe(this, "goal_node", rclcpp::QoS(this->getTopicQueueSize()).get_rmw_qos_profile());
-	pathTopic_.subscribe(this, "global_path", rclcpp::QoS(this->getTopicQueueSize()).get_rmw_qos_profile());
+	goalTopic_.subscribe(this, "goal_node", RCLCPP_QOS(this->getTopicQueueSize(), rclcpp::ReliabilityPolicy::SystemDefault));
+	pathTopic_.subscribe(this, "global_path", RCLCPP_QOS(this->getTopicQueueSize(), rclcpp::ReliabilityPolicy::SystemDefault));
 	goalPathSync_ = new message_filters::Synchronizer<MyGoalPathSyncPolicy>(
 			MyGoalPathSyncPolicy(this->getSyncQueueSize()),
 			goalTopic_,