diff --git a/rmf_visualization_floorplans/src/FloorplanVisualizer.cpp b/rmf_visualization_floorplans/src/FloorplanVisualizer.cpp
index d27cd4c..e0eefa6 100644
--- a/rmf_visualization_floorplans/src/FloorplanVisualizer.cpp
+++ b/rmf_visualization_floorplans/src/FloorplanVisualizer.cpp
@@ -123,7 +123,7 @@ FloorplanVisualizer::FloorplanVisualizer(const rclcpp::NodeOptions& options)
 
   _param_sub = this->create_subscription<RvizParam>(
     "rmf_visualization/parameters",
-    rclcpp::SystemDefaultsQoS(),
+    rclcpp::SystemDefaultsQoS().keep_last(10),
     [=](RvizParam::ConstSharedPtr msg)
     {
       if (msg->map_name.empty() || msg->map_name == _current_level)
diff --git a/rmf_visualization_navgraphs/src/NavGraphVisualizer.cpp b/rmf_visualization_navgraphs/src/NavGraphVisualizer.cpp
index 8ce7438..4eee6cc 100644
--- a/rmf_visualization_navgraphs/src/NavGraphVisualizer.cpp
+++ b/rmf_visualization_navgraphs/src/NavGraphVisualizer.cpp
@@ -411,7 +411,7 @@ NavGraphVisualizer::NavGraphVisualizer(const rclcpp::NodeOptions& options)
   // It is okay to capture this by reference here.
   _param_sub = this->create_subscription<RvizParam>(
     "rmf_visualization/parameters",
-    rclcpp::SystemDefaultsQoS(),
+    rclcpp::SystemDefaultsQoS().keep_last(10),
     [=](RvizParam::ConstSharedPtr msg)
     {
       if (msg->map_name.empty() || msg->map_name == _current_level)
diff --git a/rmf_visualization_rviz2_plugins/src/LiftPanel.cpp b/rmf_visualization_rviz2_plugins/src/LiftPanel.cpp
index 3b10ce8..7779c17 100644
--- a/rmf_visualization_rviz2_plugins/src/LiftPanel.cpp
+++ b/rmf_visualization_rviz2_plugins/src/LiftPanel.cpp
@@ -36,12 +36,10 @@ LiftPanel::LiftPanel(QWidget* parent)
     {
       lift_state_callback(std::move(msg));
     });
-  const auto transient_qos = rclcpp::SystemDefaultsQoS()
-    .reliable().keep_last(100).transient_local();
   _lift_request_pub = _node->create_publisher<LiftRequest>(
-    LiftRequestTopicName, transient_qos);
+    LiftRequestTopicName, rclcpp::QoS(10));
   _adapter_lift_request_pub = _node->create_publisher<LiftRequest>(
-    AdapterLiftRequestTopicName, transient_qos);
+    AdapterLiftRequestTopicName, rclcpp::QoS(10));
 
   create_layout();
   create_connections();
@@ -375,7 +373,7 @@ void LiftPanel::lift_state_callback(LiftState::UniquePtr msg)
 void LiftPanel::display_state(const LiftState& msg)
 {
   std::string floors_str = "";
-  for (const auto& f : msg.available_floors)
+  for (const auto f : msg.available_floors)
     floors_str += f + ", ";
 
   std::string available_modes_str = "";
diff --git a/rmf_visualization_rviz2_plugins/src/SchedulePanel.cpp b/rmf_visualization_rviz2_plugins/src/SchedulePanel.cpp
index 332c560..f47585f 100644
--- a/rmf_visualization_rviz2_plugins/src/SchedulePanel.cpp
+++ b/rmf_visualization_rviz2_plugins/src/SchedulePanel.cpp
@@ -42,9 +42,10 @@ SchedulePanel::SchedulePanel(QWidget* parent)
 
   // Creating publisher
   _param_pub = _node->create_publisher<RvizParamMsg>(
-    _param_topic.toStdString(), rclcpp::SystemDefaultsQoS());
+    _param_topic.toStdString(), rclcpp::SystemDefaultsQoS().keep_last(10));
   _cancel_pub = _node->create_publisher<NegotiationRefusal>(
-    rmf_traffic_ros2::NegotiationRefusalTopicName, rclcpp::SystemDefaultsQoS());
+    rmf_traffic_ros2::NegotiationRefusalTopicName,
+    rclcpp::SystemDefaultsQoS().keep_last(10));
 
   // Create layout for output topic and map_name
   QHBoxLayout* layout1 = new QHBoxLayout;
@@ -130,14 +131,16 @@ SchedulePanel::SchedulePanel(QWidget* parent)
     SIGNAL(clicked()), this, SLOT(cancel_negotiation()));
 
   _notice_sub = _node->create_subscription<NegotiationNotice>(
-    "/rmf_traffic/negotiation_notice", rclcpp::SystemDefaultsQoS(),
+    "/rmf_traffic/negotiation_notice", rclcpp::SystemDefaultsQoS().keep_last(
+      10),
     [&](const NegotiationNotice::UniquePtr msg)
     {
       this->recieved_notification(*msg);
     });
 
   _conclusion_sub = _node->create_subscription<NegotiationConclusion>(
-    "/rmf_traffic/negotiation_conclusion", rclcpp::SystemDefaultsQoS(),
+    "/rmf_traffic/negotiation_conclusion", rclcpp::SystemDefaultsQoS().keep_last(
+      10),
     [&](const NegotiationConclusion::UniquePtr msg)
     {
       this->recieved_conclusion(*msg);
@@ -263,7 +266,7 @@ void SchedulePanel::set_topic(const QString& new_topic)
     {
       // Update publisher
       _param_pub = _node->create_publisher<RvizParamMsg>(
-        _param_topic.toStdString(), rclcpp::SystemDefaultsQoS());
+        _param_topic.toStdString(), rclcpp::SystemDefaultsQoS().keep_last(10));
       // Send new message
       send_param();
     }