diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
index 11bfc96..e174774 100644
--- a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
+++ b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
@@ -186,7 +186,8 @@ class RosActionNode : public BT::ActionNodeBase
   struct ActionClientInstance
   {
     ActionClientInstance(std::shared_ptr<rclcpp::Node> node,
-                         const std::string& action_name);
+                         const std::string& action_name,
+                         const rcl_action_client_options_t& action_client_options);
 
     ActionClientPtr action_client;
     rclcpp::CallbackGroup::SharedPtr callback_group;
@@ -234,6 +235,7 @@ class RosActionNode : public BT::ActionNodeBase
   const std::chrono::milliseconds server_timeout_;
   const std::chrono::milliseconds wait_for_server_timeout_;
   std::string action_client_key_;
+  rcl_action_client_options_t action_client_options_;
 
 private:
   std::shared_future<typename GoalHandle::SharedPtr> future_goal_handle_;
@@ -253,12 +255,14 @@ class RosActionNode : public BT::ActionNodeBase
 
 template <class T>
 RosActionNode<T>::ActionClientInstance::ActionClientInstance(
-    std::shared_ptr<rclcpp::Node> node, const std::string& action_name)
+    std::shared_ptr<rclcpp::Node> node, const std::string& action_name,
+    const rcl_action_client_options_t& action_client_options)
 {
   callback_group =
       node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);
   callback_executor.add_callback_group(callback_group, node->get_node_base_interface());
-  action_client = rclcpp_action::create_client<T>(node, action_name, callback_group);
+  action_client = rclcpp_action::create_client<T>(node, action_name, callback_group,
+                                                  action_client_options);
 }
 
 template <class T>
@@ -269,6 +273,7 @@ inline RosActionNode<T>::RosActionNode(const std::string& instance_name,
   , node_(params.nh)
   , server_timeout_(params.server_timeout)
   , wait_for_server_timeout_(params.wait_for_server_timeout)
+  , action_client_options_(params.action_client_options)
 {
   // Three cases:
   // - we use the default action_name in RosNodeParams when port is empty
@@ -320,8 +325,9 @@ inline bool RosActionNode<T>::createClient(const std::string& action_name)
   auto it = registry.find(action_client_key_);
   if(it == registry.end() || it->second.expired())
   {
-    client_instance_ = std::make_shared<ActionClientInstance>(node, action_name);
-    registry.insert_or_assign(action_client_key_, client_instance_);
+    client_instance_ =
+        std::make_shared<ActionClientInstance>(node, action_name, action_client_options_);
+    registry.insert_or_assign({ action_client_key_, client_instance_ });
   }
   else
   {
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp
index dec8848..fdba3de 100644
--- a/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp
+++ b/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp
@@ -145,7 +145,8 @@ class RosServiceNode : public BT::ActionNodeBase
   struct ServiceClientInstance
   {
     ServiceClientInstance(std::shared_ptr<rclcpp::Node> node,
-                          const std::string& service_name);
+                          const std::string& service_name,
+                          const rclcpp::QoS& qos);
 
     ServiceClientPtr service_client;
     rclcpp::CallbackGroup::SharedPtr callback_group;
@@ -190,6 +191,7 @@ class RosServiceNode : public BT::ActionNodeBase
 
   std::weak_ptr<rclcpp::Node> node_;
   std::string service_name_;
+  rclcpp::QoS qos_;
   bool service_name_should_be_checked_ = false;
   const std::chrono::milliseconds service_timeout_;
   const std::chrono::milliseconds wait_for_service_timeout_;
@@ -212,7 +214,8 @@ class RosServiceNode : public BT::ActionNodeBase
 
 template <class T>
 inline RosServiceNode<T>::ServiceClientInstance::ServiceClientInstance(
-    std::shared_ptr<rclcpp::Node> node, const std::string& service_name)
+    std::shared_ptr<rclcpp::Node> node, const std::string& service_name,
+    const rclcpp::QoS& qos)
 {
   callback_group =
       node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);
@@ -221,7 +224,7 @@ inline RosServiceNode<T>::ServiceClientInstance::ServiceClientInstance(
 // For Jazzy and Later Support
 #if RCLCPP_VERSION_GTE(28, 0, 0)
   service_client =
-      node->create_client<T>(service_name, rclcpp::ServicesQoS(), callback_group);
+      node->create_client<T>(service_name, qos, callback_group);
 #else
   service_client = node->create_client<T>(service_name, rmw_qos_profile_services_default,
                                           callback_group);
@@ -236,6 +239,7 @@ inline RosServiceNode<T>::RosServiceNode(const std::string& instance_name,
   , node_(params.nh)
   , service_timeout_(params.server_timeout)
   , wait_for_service_timeout_(params.wait_for_server_timeout)
+  , qos_(params.service_qos)
 {
   // check port remapping
   auto portIt = config().input_ports.find("service_name");
@@ -282,8 +286,9 @@ inline bool RosServiceNode<T>::createClient(const std::string& service_name)
   auto it = registry.find(client_key);
   if(it == registry.end() || it->second.expired())
   {
-    srv_instance_ = std::make_shared<ServiceClientInstance>(node, service_name);
-    registry.insert_or_assign(client_key, srv_instance_);
+    srv_instance_ =
+        std::make_shared<ServiceClientInstance>(node, service_name, qos_);
+    registry.insert_or_assign({ client_key, srv_instance_ });
 
     RCLCPP_INFO(logger(), "Node [%s] created service client [%s]", name().c_str(),
                 service_name.c_str());
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_topic_pub_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_topic_pub_node.hpp
index 8ccdc69..0a51a71 100644
--- a/behaviortree_ros2/include/behaviortree_ros2/bt_topic_pub_node.hpp
+++ b/behaviortree_ros2/include/behaviortree_ros2/bt_topic_pub_node.hpp
@@ -88,6 +88,7 @@ class RosTopicPubNode : public BT::ConditionNode
   std::shared_ptr<rclcpp::Node> node_;
   std::string prev_topic_name_;
   bool topic_name_may_change_ = false;
+  rclcpp::QoS qos_;
 
 private:
   std::shared_ptr<Publisher> publisher_;
@@ -103,7 +104,7 @@ template <class T>
 inline RosTopicPubNode<T>::RosTopicPubNode(const std::string& instance_name,
                                            const NodeConfig& conf,
                                            const RosNodeParams& params)
-  : BT::ConditionNode(instance_name, conf), node_(params.nh)
+  : BT::ConditionNode(instance_name, conf), node_(params.nh), qos_(params.topic_qos)
 {
   // check port remapping
   auto portIt = config().input_ports.find("topic_name");
@@ -158,7 +159,7 @@ inline bool RosTopicPubNode<T>::createPublisher(const std::string& topic_name)
     throw RuntimeError("topic_name is empty");
   }
 
-  publisher_ = node_->create_publisher<T>(topic_name, 1);
+  publisher_ = node_->create_publisher<T>(topic_name, qos_);
   prev_topic_name_ = topic_name;
   return true;
 }
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp
index 975b1dc..05d2e98 100644
--- a/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp
+++ b/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp
@@ -51,7 +51,8 @@ class RosTopicSubNode : public BT::ConditionNode
 protected:
   struct SubscriberInstance
   {
-    SubscriberInstance(std::shared_ptr<rclcpp::Node> node, const std::string& topic_name);
+    SubscriberInstance(std::shared_ptr<rclcpp::Node> node, const std::string& topic_name,
+                       const rclcpp::QoS& qos);
 
     std::shared_ptr<Subscriber> subscriber;
     rclcpp::CallbackGroup::SharedPtr callback_group;
@@ -80,6 +81,7 @@ class RosTopicSubNode : public BT::ConditionNode
   std::shared_ptr<SubscriberInstance> sub_instance_;
   std::shared_ptr<TopicT> last_msg_;
   std::string topic_name_;
+  rclcpp::QoS qos_;
   boost::signals2::connection signal_connection_;
   std::string subscriber_key_;
 
@@ -164,7 +166,8 @@ class RosTopicSubNode : public BT::ConditionNode
 //----------------------------------------------------------------
 template <class T>
 inline RosTopicSubNode<T>::SubscriberInstance::SubscriberInstance(
-    std::shared_ptr<rclcpp::Node> node, const std::string& topic_name)
+    std::shared_ptr<rclcpp::Node> node, const std::string& topic_name,
+    const rclcpp::QoS& qos)
 {
   // create a callback group for this particular instance
   callback_group =
@@ -180,14 +183,14 @@ inline RosTopicSubNode<T>::SubscriberInstance::SubscriberInstance(
     last_msg = msg;
     broadcaster(msg);
   };
-  subscriber = node->create_subscription<T>(topic_name, 1, callback, option);
+  subscriber = node->create_subscription<T>(topic_name, qos, callback, option);
 }
 
 template <class T>
 inline RosTopicSubNode<T>::RosTopicSubNode(const std::string& instance_name,
                                            const NodeConfig& conf,
                                            const RosNodeParams& params)
-  : BT::ConditionNode(instance_name, conf), node_(params.nh)
+  : BT::ConditionNode(instance_name, conf), node_(params.nh), qos_(params.topic_qos)
 {
   // check port remapping
   auto portIt = config().input_ports.find("topic_name");
@@ -261,8 +264,8 @@ inline bool RosTopicSubNode<T>::createSubscriber(const std::string& topic_name)
   auto it = registry.find(subscriber_key_);
   if(it == registry.end() || it->second.expired())
   {
-    sub_instance_ = std::make_shared<SubscriberInstance>(node, topic_name);
-    registry.insert_or_assign(subscriber_key_, sub_instance_);
+    sub_instance_ = std::make_shared<SubscriberInstance>(node, topic_name, qos_);
+    registry.insert_or_assign({ subscriber_key_, sub_instance_ });
 
     RCLCPP_INFO(logger(), "Node [%s] created Subscriber to topic [%s]", name().c_str(),
                 topic_name.c_str());
diff --git a/behaviortree_ros2/include/behaviortree_ros2/ros_node_params.hpp b/behaviortree_ros2/include/behaviortree_ros2/ros_node_params.hpp
index d9e1de7..bf69f5e 100644
--- a/behaviortree_ros2/include/behaviortree_ros2/ros_node_params.hpp
+++ b/behaviortree_ros2/include/behaviortree_ros2/ros_node_params.hpp
@@ -15,6 +15,8 @@
 #pragma once
 
 #include <rclcpp/rclcpp.hpp>
+#include <rcl_action/action_client.h>
+#include <rmw/qos_profiles.h>
 #include <string>
 #include <chrono>
 #include <memory>
@@ -34,6 +36,12 @@ struct RosNodeParams
   // - RosTopicSubNode: name of the topic to subscribe to
   std::string default_port_value;
 
+  // Default qos configuration for actions, services and topics
+  rcl_action_client_options_t action_client_options =
+      rcl_action_client_get_default_options();
+  rclcpp::QoS service_qos = rclcpp::ServicesQoS();
+  rclcpp::QoS topic_qos = rclcpp::SystemDefaultsQoS();
+
   // parameters used only by service client and action clients
 
   // timeout when sending a request