diff --git a/gazebo_plugins/src/gazebo_ros_diff_drive.cpp b/gazebo_plugins/src/gazebo_ros_diff_drive.cpp
index 7bdad81ba..3fd6ca24c 100644
--- a/gazebo_plugins/src/gazebo_ros_diff_drive.cpp
+++ b/gazebo_plugins/src/gazebo_ros_diff_drive.cpp
@@ -268,7 +268,8 @@ void GazeboRosDiffDrive::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
   }
   impl_->last_update_time_ = _model->GetWorld()->SimTime();
 
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
+  rmw_qos_profile_t qos_profile = rmw_qos_profile_default;
+  qos_profile.depth = 1;
   impl_->cmd_vel_sub_ = impl_->ros_node_->create_subscription<geometry_msgs::msg::Twist>(
     "cmd_vel", std::bind(&GazeboRosDiffDrivePrivate::OnCmdVel, impl_.get(),
     std::placeholders::_1),
diff --git a/gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp b/gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp
index 070026b57..182c04187 100644
--- a/gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp
+++ b/gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp
@@ -60,12 +60,11 @@ TEST_F(GazeboRosDiffDriveTest, Publishing)
 
   // Create subscriber
   nav_msgs::msg::Odometry::SharedPtr latestMsg;
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
   auto sub = node->create_subscription<nav_msgs::msg::Odometry>(
     "test/odom_test",
     [&latestMsg](const nav_msgs::msg::Odometry::SharedPtr _msg) {
       latestMsg = _msg;
-    }, qos_profile);
+    });
 
   // Send command
   auto pub = node->create_publisher<geometry_msgs::msg::Twist>("test/cmd_test");