diff --git a/rmf_visualization_rviz2_plugins/src/DoorPanel.cpp b/rmf_visualization_rviz2_plugins/src/DoorPanel.cpp
index cc88140..f56708b 100644
--- a/rmf_visualization_rviz2_plugins/src/DoorPanel.cpp
+++ b/rmf_visualization_rviz2_plugins/src/DoorPanel.cpp
@@ -30,9 +30,11 @@ DoorPanel::DoorPanel(QWidget* parent)
 : rviz_common::Panel(parent),
   _requester_id(DoorPanelRequesterId)
 {
+  const auto default_qos =
+    rclcpp::SystemDefaultsQoS().durability_volatile().keep_last(100).reliable();
   _node = std::make_shared<rclcpp::Node>(_requester_id + "_node");
   _door_state_sub = _node->create_subscription<DoorState>(
-    DoorStateTopicName, 10, [&](DoorState::UniquePtr msg)
+    DoorStateTopicName, default_qos, [&](DoorState::UniquePtr msg)
     {
       door_state_callback(std::move(msg));
     });
diff --git a/rmf_visualization_rviz2_plugins/src/LiftPanel.cpp b/rmf_visualization_rviz2_plugins/src/LiftPanel.cpp
index 7779c17..1fe8a4d 100644
--- a/rmf_visualization_rviz2_plugins/src/LiftPanel.cpp
+++ b/rmf_visualization_rviz2_plugins/src/LiftPanel.cpp
@@ -30,16 +30,20 @@ LiftPanel::LiftPanel(QWidget* parent)
 : rviz_common::Panel(parent),
   _session_id(LiftPanelSessionId)
 {
+  const auto default_qos =
+    rclcpp::SystemDefaultsQoS().durability_volatile().keep_last(100).reliable();
+  const auto transient_qos =
+    rclcpp::SystemDefaultsQoS().transient_local().keep_last(100).reliable();
   _node = std::make_shared<rclcpp::Node>(_session_id + "_node");
   _lift_state_sub = _node->create_subscription<LiftState>(
-    LiftStateTopicName, 10, [&](LiftState::UniquePtr msg)
+    LiftStateTopicName, default_qos, [&](LiftState::UniquePtr msg)
     {
       lift_state_callback(std::move(msg));
     });
   _lift_request_pub = _node->create_publisher<LiftRequest>(
-    LiftRequestTopicName, rclcpp::QoS(10));
+    LiftRequestTopicName, transient_qos);
   _adapter_lift_request_pub = _node->create_publisher<LiftRequest>(
-    AdapterLiftRequestTopicName, rclcpp::QoS(10));
+    AdapterLiftRequestTopicName, transient_qos);
 
   create_layout();
   create_connections();