diff --git a/CMakeLists.txt b/CMakeLists.txt
index ceacfa58e..b49b9c81a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,6 +20,7 @@ find_package(diagnostic_msgs REQUIRED)
 find_package(diagnostic_updater REQUIRED)
 find_package(geographic_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(message_filters REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(sensor_msgs REQUIRED)
@@ -107,6 +108,7 @@ ament_target_dependencies(
   diagnostic_updater
   geographic_msgs
   geometry_msgs
+  message_filters
   nav_msgs
   rclcpp
   sensor_msgs
diff --git a/include/robot_localization/ros_robot_localization_listener.hpp b/include/robot_localization/ros_robot_localization_listener.hpp
index 333c53800..4f50d4a32 100644
--- a/include/robot_localization/ros_robot_localization_listener.hpp
+++ b/include/robot_localization/ros_robot_localization_listener.hpp
@@ -49,18 +49,6 @@
 namespace robot_localization
 {
 
-namespace detail
-{
-rclcpp::SubscriptionOptions
-get_subscription_options_with_default_qos_override_policies()
-{
-  auto subscription_options = rclcpp::SubscriptionOptions();
-  subscription_options.qos_overriding_options =
-    rclcpp::QosOverridingOptions::with_default_policies();
-  return subscription_options;
-}
-}  // namespace detail
-
 //! @brief RosRobotLocalizationListener class
 //!
 //! This class wraps the RobotLocalizationEstimator. It listens to topics over
@@ -82,10 +70,7 @@ class RosRobotLocalizationListener
   //!
   //! @param[in] node - rclcpp node shared pointer
   //!
-  explicit RosRobotLocalizationListener(
-    rclcpp::Node::SharedPtr node,
-    rclcpp::SubscriptionOptions options =
-    detail::get_subscription_options_with_default_qos_override_policies());
+  explicit RosRobotLocalizationListener(rclcpp::Node::SharedPtr node);
 
   //! @brief Destructor
   //!
diff --git a/package.xml b/package.xml
index c755790d1..372e2943e 100644
--- a/package.xml
+++ b/package.xml
@@ -26,6 +26,7 @@
   <depend>diagnostic_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>geographiclib</depend>
+  <depend>message_filters</depend>
   <depend>nav_msgs</depend>
   <build_depend>rclcpp</build_depend>
   <build_depend>rmw_implementation</build_depend>
diff --git a/src/navsat_transform.cpp b/src/navsat_transform.cpp
index 74be08f0a..1df5c1f18 100644
--- a/src/navsat_transform.cpp
+++ b/src/navsat_transform.cpp
@@ -170,32 +170,23 @@ NavSatTransform::NavSatTransform(const rclcpp::NodeOptions & options)
 
   auto custom_qos = rclcpp::SensorDataQoS(rclcpp::KeepLast(1));
 
-  auto subscriber_options = rclcpp::SubscriptionOptions();
-  subscriber_options.qos_overriding_options =
-    rclcpp::QosOverridingOptions::with_default_policies();
   odom_sub_ = this->create_subscription<nav_msgs::msg::Odometry>(
-    "odometry/filtered", custom_qos, std::bind(
-      &NavSatTransform::odomCallback, this, _1), subscriber_options);
+    "odometry/filtered", custom_qos, std::bind(&NavSatTransform::odomCallback, this, _1));
 
   gps_sub_ = this->create_subscription<sensor_msgs::msg::NavSatFix>(
-    "gps/fix", custom_qos, std::bind(&NavSatTransform::gpsFixCallback, this, _1),
-    subscriber_options);
+    "gps/fix", custom_qos, std::bind(&NavSatTransform::gpsFixCallback, this, _1));
 
   if (!use_odometry_yaw_ && !use_manual_datum_) {
     imu_sub_ = this->create_subscription<sensor_msgs::msg::Imu>(
-      "imu", custom_qos, std::bind(&NavSatTransform::imuCallback, this, _1), subscriber_options);
+      "imu", custom_qos, std::bind(&NavSatTransform::imuCallback, this, _1));
   }
 
-  rclcpp::PublisherOptions publisher_options;
-  publisher_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
   gps_odom_pub_ =
-    this->create_publisher<nav_msgs::msg::Odometry>(
-    "odometry/gps", rclcpp::QoS(10), publisher_options);
+    this->create_publisher<nav_msgs::msg::Odometry>("odometry/gps", rclcpp::QoS(10));
 
   if (publish_gps_) {
     filtered_gps_pub_ =
-      this->create_publisher<sensor_msgs::msg::NavSatFix>(
-      "gps/filtered", rclcpp::QoS(10), publisher_options);
+      this->create_publisher<sensor_msgs::msg::NavSatFix>("gps/filtered", rclcpp::QoS(10));
   }
 
   // Sleep for the parameterized amount of time, to give
diff --git a/src/ros_filter.cpp b/src/ros_filter.cpp
index 125656748..13fa46344 100644
--- a/src/ros_filter.cpp
+++ b/src/ros_filter.cpp
@@ -819,10 +819,7 @@ void RosFilter<T>::loadParams()
   // Try to resolve tf_prefix
   std::string tf_prefix = "";
   std::string tf_prefix_path = "";
-  try {
-    this->declare_parameter<std::string>("tf_prefix");
-  } catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
-  }
+  this->declare_parameter<std::string>("tf_prefix");
   if (this->get_parameter("tf_prefix", tf_prefix_path)) {
     // Append the tf prefix in a tf2-friendly manner
     filter_utilities::appendPrefix(tf_prefix, map_frame_id_);
@@ -890,10 +887,7 @@ void RosFilter<T>::loadParams()
   control_timeout = this->declare_parameter("control_timeout", 0.0);
 
   if (use_control_) {
-    try {
-      this->declare_parameter<std::vector<bool>>("control_config");
-    } catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
-    }
+    this->declare_parameter<std::vector<bool>>("control_config");
     if (this->get_parameter("control_config", control_update_vector)) {
       if (control_update_vector.size() != TWIST_SIZE) {
         std::cerr << "Control configuration must be of size " << TWIST_SIZE <<
@@ -909,10 +903,7 @@ void RosFilter<T>::loadParams()
       use_control_ = false;
     }
 
-    try {
-      this->declare_parameter<std::vector<double>>("acceleration_limits");
-    } catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
-    }
+    this->declare_parameter<std::vector<double>>("acceleration_limits");
     if (this->get_parameter("acceleration_limits", acceleration_limits)) {
       if (acceleration_limits.size() != TWIST_SIZE) {
         std::cerr << "Acceleration configuration must be of size " << TWIST_SIZE <<
@@ -928,10 +919,7 @@ void RosFilter<T>::loadParams()
       acceleration_limits.resize(TWIST_SIZE, 1.0);
     }
 
-    try {
-      this->declare_parameter<std::vector<double>>("acceleration_gains");
-    } catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
-    }
+    this->declare_parameter<std::vector<double>>("acceleration_gains");
     if (this->get_parameter("acceleration_gains", acceleration_gains)) {
       const int size = acceleration_gains.size();
       if (size != TWIST_SIZE) {
@@ -945,10 +933,7 @@ void RosFilter<T>::loadParams()
       }
     }
 
-    try {
-      this->declare_parameter<std::vector<double>>("deceleration_limits");
-    } catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
-    }
+    this->declare_parameter<std::vector<double>>("deceleration_limits");
     if (this->get_parameter("deceleration_limits", deceleration_limits)) {
       if (deceleration_limits.size() != TWIST_SIZE) {
         std::cerr << "Deceleration configuration must be of size " << TWIST_SIZE <<
@@ -964,10 +949,7 @@ void RosFilter<T>::loadParams()
       deceleration_limits = acceleration_limits;
     }
 
-    try {
-      this->declare_parameter<std::vector<double>>("deceleration_gains");
-    } catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
-    }
+    this->declare_parameter<std::vector<double>>("deceleration_gains");
     if (this->get_parameter("deceleration_gains", deceleration_gains)) {
       const int size = deceleration_gains.size();
       if (size != TWIST_SIZE) {
@@ -999,10 +981,7 @@ void RosFilter<T>::loadParams()
     dynamic_process_noise_covariance);
 
   std::vector<double> initial_state;
-  try {
-    this->declare_parameter<std::vector<double>>("initial_state");
-  } catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
-  }
+  this->declare_parameter<std::vector<double>>("initial_state");
   if (this->get_parameter("initial_state", initial_state)) {
     if (initial_state.size() != STATE_SIZE) {
       std::cerr << "Initial state must be of size " << STATE_SIZE <<
@@ -1091,10 +1070,7 @@ void RosFilter<T>::loadParams()
     ss << "odom" << topic_ind++;
     std::string odom_topic_name = ss.str();
     std::string odom_topic;
-    try {
-      this->declare_parameter<std::string>(odom_topic_name);
-    } catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
-    }
+    this->declare_parameter<std::string>(odom_topic_name);
 
     rclcpp::Parameter parameter;
     if (this->get_parameter(odom_topic_name, parameter)) {
@@ -1244,10 +1220,7 @@ void RosFilter<T>::loadParams()
     ss << "pose" << topic_ind++;
     std::string pose_topic_name = ss.str();
     std::string pose_topic;
-    try {
-      this->declare_parameter<std::string>(pose_topic_name);
-    } catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
-    }
+    this->declare_parameter<std::string>(pose_topic_name);
 
     rclcpp::Parameter parameter;
     if (this->get_parameter(pose_topic_name, parameter)) {
@@ -1364,10 +1337,7 @@ void RosFilter<T>::loadParams()
     ss << "twist" << topic_ind++;
     std::string twist_topic_name = ss.str();
     std::string twist_topic;
-    try {
-      this->declare_parameter<std::string>(twist_topic_name);
-    } catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
-    }
+    this->declare_parameter<std::string>(twist_topic_name);
 
     rclcpp::Parameter parameter;
     if (this->get_parameter(twist_topic_name, parameter)) {
@@ -1448,10 +1418,7 @@ void RosFilter<T>::loadParams()
     ss << "imu" << topic_ind++;
     std::string imu_topic_name = ss.str();
     std::string imu_topic;
-    try {
-      this->declare_parameter<std::string>(imu_topic_name);
-    } catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
-    }
+    this->declare_parameter<std::string>(imu_topic_name);
 
     rclcpp::Parameter parameter;
     if (this->get_parameter(imu_topic_name, parameter)) {
@@ -1760,10 +1727,7 @@ void RosFilter<T>::loadParams()
   process_noise_covariance.setZero();
   std::vector<double> process_noise_covar_flat;
 
-  try {
-    this->declare_parameter<std::vector<double>>("process_noise_covariance");
-  } catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
-  }
+  this->declare_parameter<std::vector<double>>("process_noise_covariance");
   if (this->get_parameter(
       "process_noise_covariance",
       process_noise_covar_flat))
@@ -1790,10 +1754,7 @@ void RosFilter<T>::loadParams()
   initial_estimate_error_covariance.setZero();
   std::vector<double> estimate_error_covar_flat;
 
-  try {
-    this->declare_parameter<std::vector<double>>("initial_estimate_covariance");
-  } catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
-  }
+  this->declare_parameter<std::vector<double>>("initial_estimate_covariance");
   if (this->get_parameter(
       "initial_estimate_covariance",
       estimate_error_covar_flat))
@@ -2009,17 +1970,14 @@ void RosFilter<T>::initialize()
     tf2::toMsg(tf2::Transform::getIdentity());
 
   // Position publisher
-  rclcpp::PublisherOptions publisher_options;
-  publisher_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
   position_pub_ =
-    this->create_publisher<nav_msgs::msg::Odometry>(
-    "odometry/filtered", rclcpp::QoS(10), publisher_options);
+    this->create_publisher<nav_msgs::msg::Odometry>("odometry/filtered", rclcpp::QoS(10));
 
   // Optional acceleration publisher
   if (publish_acceleration_) {
     accel_pub_ =
       this->create_publisher<geometry_msgs::msg::AccelWithCovarianceStamped>(
-      "accel/filtered", rclcpp::QoS(10), publisher_options);
+      "accel/filtered", rclcpp::QoS(10));
   }
 
   const std::chrono::duration<double> timespan{1.0 / frequency_};
diff --git a/src/ros_robot_localization_listener.cpp b/src/ros_robot_localization_listener.cpp
index a6faeae32..da6917fcb 100644
--- a/src/ros_robot_localization_listener.cpp
+++ b/src/ros_robot_localization_listener.cpp
@@ -75,12 +75,11 @@ FilterTypes::FilterType filterTypeFromString(
 }
 
 RosRobotLocalizationListener::RosRobotLocalizationListener(
-  rclcpp::Node::SharedPtr node,
-  rclcpp::SubscriptionOptions options)
+  rclcpp::Node::SharedPtr node)
 : qos1_(1),
   qos10_(10),
-  odom_sub_(node, "odom/filtered", qos1_.get_rmw_qos_profile(), options),
-  accel_sub_(node, "acceleration/filtered", qos1_.get_rmw_qos_profile(), options),
+  odom_sub_(node, "odom/filtered", qos1_.get_rmw_qos_profile()),
+  accel_sub_(node, "acceleration/filtered", qos1_.get_rmw_qos_profile()),
   sync_(odom_sub_, accel_sub_, 10u),
   node_clock_(node->get_node_clock_interface()->get_clock()),
   node_logger_(node->get_node_logging_interface()),