diff --git a/point_cloud_transport/include/point_cloud_transport/subscriber_filter.hpp b/point_cloud_transport/include/point_cloud_transport/subscriber_filter.hpp
index ef6715f..7b8aaee 100644
--- a/point_cloud_transport/include/point_cloud_transport/subscriber_filter.hpp
+++ b/point_cloud_transport/include/point_cloud_transport/subscriber_filter.hpp
@@ -36,12 +36,13 @@
 #include <string>
 
 #include <rclcpp/rclcpp.hpp>
-#include <message_filters/simple_filter.hpp>  // NOLINT
+#include <message_filters/subscriber.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
 #include <point_cloud_transport/point_cloud_transport.hpp>
 #include <point_cloud_transport/transport_hints.hpp>
 #include "point_cloud_transport/visibility_control.hpp"
+#include "point_cloud_transport/exception.hpp"
 
 namespace point_cloud_transport
 {
@@ -60,7 +61,9 @@ namespace point_cloud_transport
 /// The output connection for the SubscriberFilter object is the same signature as for rclcpp
 /// subscription callbacks.
 ///
-class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::PointCloud2>
+class SubscriberFilter
+  : public message_filters::SubscriberBase,
+  public message_filters::SimpleFilter<sensor_msgs::msg::PointCloud2>
 {
 public:
   ///
@@ -89,7 +92,9 @@ class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::
       rclcpp::node_interfaces::NodeTopicsInterface,
       rclcpp::node_interfaces::NodeLoggingInterface> node_interfaces,
     const std::string & base_topic,
-    const std::string & transport);
+    const std::string & transport,
+    rclcpp::QoS custom_qos = rclcpp::SystemDefaultsQoS(),
+    rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
 
   //! Empty constructor, use subscribe() to subscribe to a topic
   POINT_CLOUD_TRANSPORT_PUBLIC
@@ -140,9 +145,14 @@ class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::
     rclcpp::QoS custom_qos,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
 
+  //! Re-subscribe to a topic.
+  // Only works if this subscriber has previously been subscribed to a topic.
+  POINT_CLOUD_TRANSPORT_PUBLIC
+  void subscribe() override;
+
   //! Force immediate unsubscription of this subscriber from its topic
   POINT_CLOUD_TRANSPORT_PUBLIC
-  void unsubscribe();
+  void unsubscribe() override;
 
   POINT_CLOUD_TRANSPORT_PUBLIC
   std::string getTopic() const;
@@ -160,12 +170,47 @@ class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::
   const Subscriber & getSubscriber() const;
 
 private:
+  //! Must override parent message_filters::SubscriberBase method
+  // where RequiredInterfaces are just <NodeParametersInterface, NodeTopicsInterface>
+  void subscribe(
+    rclcpp::node_interfaces::NodeInterfaces<
+      NodeParametersInterface,
+      NodeTopicsInterface>,
+    const std::string &,
+    const rclcpp::QoS &) override
+  {
+    throw point_cloud_transport::Exception("Not implemented");
+  }
+
+  //! Must override parent message_filters::SubscriberBase method
+  // where RequiredInterfaces are just <NodeParametersInterface, NodeTopicsInterface>
+  void subscribe(
+    rclcpp::node_interfaces::NodeInterfaces<
+      NodeParametersInterface,
+      NodeTopicsInterface>,
+    const std::string &,
+    const rclcpp::QoS &,
+    rclcpp::SubscriptionOptions) override
+  {
+    throw point_cloud_transport::Exception("Not implemented");
+  }
+
   void cb(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & m)
   {
     signalMessage(m);
   }
 
   Subscriber sub_;
+  rclcpp::node_interfaces::NodeInterfaces<
+    rclcpp::node_interfaces::NodeBaseInterface,
+    rclcpp::node_interfaces::NodeParametersInterface,
+    rclcpp::node_interfaces::NodeTopicsInterface,
+    rclcpp::node_interfaces::NodeLoggingInterface> node_interfaces_;
+
+  std::string topic_;
+  std::string transport_;
+  rclcpp::QoS qos_ = rclcpp::SystemDefaultsQoS();
+  rclcpp::SubscriptionOptions options_;
 };
 
 }  // namespace point_cloud_transport
diff --git a/point_cloud_transport/src/subscriber_filter.cpp b/point_cloud_transport/src/subscriber_filter.cpp
index 674c866..f69d606 100644
--- a/point_cloud_transport/src/subscriber_filter.cpp
+++ b/point_cloud_transport/src/subscriber_filter.cpp
@@ -28,6 +28,7 @@
 
 #include "point_cloud_transport/subscriber_filter.hpp"
 
+#include <functional>
 #include <memory>
 #include <string>
 
@@ -40,9 +41,11 @@ SubscriberFilter::SubscriberFilter(
     rclcpp::node_interfaces::NodeTopicsInterface,
     rclcpp::node_interfaces::NodeLoggingInterface> node_interfaces,
   const std::string & base_topic,
-  const std::string & transport)
+  const std::string & transport,
+  rclcpp::QoS custom_qos,
+  rclcpp::SubscriptionOptions options)
 {
-  subscribe(node_interfaces, base_topic, transport, rclcpp::SystemDefaultsQoS());
+  subscribe(node_interfaces, base_topic, transport, custom_qos, options);
 }
 
 SubscriberFilter::SubscriberFilter()
@@ -61,13 +64,8 @@ void SubscriberFilter::subscribe(
   rmw_qos_profile_t custom_qos,
   rclcpp::SubscriptionOptions options)
 {
-  unsubscribe();
-  sub_ = point_cloud_transport::create_subscription(
-    *node, base_topic,
-    std::bind(&SubscriberFilter::cb, this, std::placeholders::_1),
-    transport,
-    rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos),
-    options);
+  subscribe(*node, base_topic, transport,
+    rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos), options);
 }
 
 void SubscriberFilter::subscribe(
@@ -101,6 +99,27 @@ void SubscriberFilter::subscribe(
     node_interfaces, base_topic,
     std::bind(&SubscriberFilter::cb, this, std::placeholders::_1),
     transport, custom_qos, options);
+  node_interfaces_ = node_interfaces;
+  topic_ = base_topic;
+  transport_ = transport;
+  qos_ = custom_qos;
+  options_ = options;
+}
+
+void SubscriberFilter::subscribe()
+{
+  unsubscribe();
+  if (!topic_.empty()) {
+    sub_ = point_cloud_transport::create_subscription(
+      node_interfaces_, topic_,
+      std::bind(&SubscriberFilter::cb, this, std::placeholders::_1),
+      transport_, qos_, options_);
+  } else {
+    RCLCPP_ERROR(
+      node_interfaces_.get_node_logging_interface()->get_logger(),
+      "Cannot re-subscribe: the subscriber filter must be initialized first."
+    );
+  }
 }
 
 void SubscriberFilter::unsubscribe()
@@ -110,7 +129,7 @@ void SubscriberFilter::unsubscribe()
 
 std::string SubscriberFilter::getTopic() const
 {
-  return sub_.getTopic();
+  return this->topic_;
 }
 
 uint32_t SubscriberFilter::getNumPublishers() const
@@ -120,7 +139,7 @@ uint32_t SubscriberFilter::getNumPublishers() const
 
 std::string SubscriberFilter::getTransport() const
 {
-  return sub_.getTransport();
+  return this->transport_;
 }
 
 const Subscriber & SubscriberFilter::getSubscriber() const