diff --git a/apriltag_detector/CMakeLists.txt b/apriltag_detector/CMakeLists.txt
index 317889d..20c1a06 100644
--- a/apriltag_detector/CMakeLists.txt
+++ b/apriltag_detector/CMakeLists.txt
@@ -39,6 +39,10 @@ if(${rclcpp_VERSION} VERSION_GREATER_EQUAL "28.0.0")
   add_definitions(-DUSE_MATCHED_EVENTS)
 endif()
 
+if(${image_transport_VERSION} VERSION_GREATER_EQUAL "6.3.0")
+  add_definitions(-DIMAGE_TRANSPORT_USE_QOS)
+endif()
+
 #
 # --------- header-only library
 #
diff --git a/apriltag_detector/src/detector_component.cpp b/apriltag_detector/src/detector_component.cpp
index 8a65979..fb0488b 100644
--- a/apriltag_detector/src/detector_component.cpp
+++ b/apriltag_detector/src/detector_component.cpp
@@ -92,14 +92,26 @@ rmw_qos_profile_t string_to_profile(const std::string & s)
   return (rmw_qos_profile_default);
 }
 
+#ifdef IMAGE_TRANSPORT_USE_QOS
+static rclcpp::QoS convert_profile(const rmw_qos_profile_t & p)
+{
+  return (rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(p), p));
+}
+#else
+static const rmw_qos_profile_t & convert_profile(const rmw_qos_profile_t & p)
+{
+  return (p);
+}
+#endif
+
 void DetectorComponent::subscribe()
 {
+  const auto profile = string_to_profile(image_qos_profile_);
   image_sub_ = std::make_shared<image_transport::Subscriber>(
     image_transport::create_subscription(
       this, "image",
       std::bind(&DetectorComponent::callback, this, std::placeholders::_1),
-      in_transport_,
-      string_to_profile(image_qos_profile_)));  // rmw_qos_profile_default);//
+      in_transport_, convert_profile(profile)));
   is_subscribed_ = true;
 }
 
diff --git a/apriltag_draw/CMakeLists.txt b/apriltag_draw/CMakeLists.txt
index b163dbc..4ababd2 100644
--- a/apriltag_draw/CMakeLists.txt
+++ b/apriltag_draw/CMakeLists.txt
@@ -46,6 +46,10 @@ endif()
 if(${rclcpp_VERSION} VERSION_GREATER_EQUAL "28.0.0")
   add_definitions(-DUSE_MATCHED_EVENTS)
 endif()
+
+if(${image_transport_VERSION} VERSION_GREATER_EQUAL "6.3.0")
+  add_definitions(-DIMAGE_TRANSPORT_USE_QOS)
+endif()
 #
 # --------- composable node library (public)
 #
diff --git a/apriltag_draw/src/apriltag_draw.cpp b/apriltag_draw/src/apriltag_draw.cpp
index e20f35a..ac20305 100644
--- a/apriltag_draw/src/apriltag_draw.cpp
+++ b/apriltag_draw/src/apriltag_draw.cpp
@@ -86,6 +86,18 @@ static rmw_qos_profile_t string_to_profile(const std::string & s)
   return (rmw_qos_profile_default);
 }
 
+#ifdef IMAGE_TRANSPORT_USE_QOS
+static rclcpp::QoS convert_profile(const rmw_qos_profile_t & p)
+{
+  return (rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(p), p));
+}
+#else
+static const rmw_qos_profile_t & convert_profile(const rmw_qos_profile_t & p)
+{
+  return (p);
+}
+#endif
+
 ApriltagDraw::ApriltagDraw(const rclcpp::NodeOptions & options)
 : Node("apriltag_draw", options)
 {
@@ -109,10 +121,10 @@ ApriltagDraw::ApriltagDraw(const rclcpp::NodeOptions & options)
       }
     };
   image_pub_ = image_transport::create_publisher(
-    this, "image_tags", rmw_qos_profile_default, pub_options);
+    this, "image_tags", convert_profile(rmw_qos_profile_default), pub_options);
 #else
   image_pub_ = image_transport::create_publisher(
-    this, "image_tags", rmw_qos_profile_default);
+    this, "image_tags", convert_profile(rmw_qos_profile_default));
 
   // Since the early ROS2 image transport does not call back when
   // subscribers come and go: must check by polling
@@ -139,7 +151,7 @@ void ApriltagDraw::subscribe()
     image_transport::create_subscription(
       this, "image",
       std::bind(&ApriltagDraw::imageCallback, this, std::placeholders::_1),
-      transport_, qos_profile_));
+      transport_, convert_profile(qos_profile_)));
   is_subscribed_ = true;
 }