diff --git a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp b/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp
index 91f08b1bb50..d47c06235ad 100644
--- a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp
+++ b/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp
@@ -42,8 +42,9 @@
 #include "nav_2d_msgs/msg/twist2_d_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "nav2_util/lifecycle_node.hpp"
-#include "rclcpp/rclcpp.hpp"
 #include "nav2_util/node_utils.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/subscription_options.hpp"
 
 namespace nav_2d_utils
 {
@@ -70,11 +71,15 @@ class OdomSubscriber
 
     std::string odom_topic;
     nh->get_parameter_or("odom_topic", odom_topic, default_topic);
+
+    rclcpp::SubscriptionOptions sub_options;
+    sub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
     odom_sub_ =
       nh->create_subscription<nav_msgs::msg::Odometry>(
       odom_topic,
       rclcpp::SystemDefaultsQoS(),
-      std::bind(&OdomSubscriber::odomCallback, this, std::placeholders::_1));
+      std::bind(&OdomSubscriber::odomCallback, this, std::placeholders::_1),
+      sub_options);
   }
 
   inline nav_2d_msgs::msg::Twist2D getTwist() {return odom_vel_.velocity;}
diff --git a/nav2_util/src/odometry_utils.cpp b/nav2_util/src/odometry_utils.cpp
index 9bf585bdfe2..565df740730 100644
--- a/nav2_util/src/odometry_utils.cpp
+++ b/nav2_util/src/odometry_utils.cpp
@@ -16,6 +16,7 @@
 #include <string>
 
 #include "nav2_util/odometry_utils.hpp"
+#include "rclcpp/subscription_options.hpp"
 
 using namespace std::chrono;  // NOLINT
 using namespace std::chrono_literals;  // NOLINT
@@ -30,10 +31,14 @@ OdomSmoother::OdomSmoother(
 : odom_history_duration_(rclcpp::Duration::from_seconds(filter_duration))
 {
   auto node = parent.lock();
+
+  rclcpp::SubscriptionOptions sub_options;
+  sub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
   odom_sub_ = node->create_subscription<nav_msgs::msg::Odometry>(
     odom_topic,
     rclcpp::SystemDefaultsQoS(),
-    std::bind(&OdomSmoother::odomCallback, this, std::placeholders::_1));
+    std::bind(&OdomSmoother::odomCallback, this, std::placeholders::_1),
+    sub_options);
 
   odom_cumulate_.twist.twist.linear.x = 0;
   odom_cumulate_.twist.twist.linear.y = 0;
@@ -50,10 +55,14 @@ OdomSmoother::OdomSmoother(
 : odom_history_duration_(rclcpp::Duration::from_seconds(filter_duration))
 {
   auto node = parent.lock();
+
+  rclcpp::SubscriptionOptions sub_options;
+  sub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
   odom_sub_ = node->create_subscription<nav_msgs::msg::Odometry>(
     odom_topic,
     rclcpp::SystemDefaultsQoS(),
-    std::bind(&OdomSmoother::odomCallback, this, std::placeholders::_1));
+    std::bind(&OdomSmoother::odomCallback, this, std::placeholders::_1),
+    sub_options);
 
   odom_cumulate_.twist.twist.linear.x = 0;
   odom_cumulate_.twist.twist.linear.y = 0;