diff --git a/pid_controller/include/pid_controller/pid_controller.hpp b/pid_controller/include/pid_controller/pid_controller.hpp
index a34dc9f87f..a4b1ef94da 100644
--- a/pid_controller/include/pid_controller/pid_controller.hpp
+++ b/pid_controller/include/pid_controller/pid_controller.hpp
@@ -80,10 +80,6 @@ class PidController : public controller_interface::ChainableControllerInterface
   controller_interface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  PID_CONTROLLER__VISIBILITY_PUBLIC
-  controller_interface::return_type update_reference_from_subscribers(
-    const rclcpp::Time & time, const rclcpp::Duration & period) override;
-
   PID_CONTROLLER__VISIBILITY_PUBLIC
   controller_interface::return_type update_and_write_commands(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
@@ -94,6 +90,8 @@ class PidController : public controller_interface::ChainableControllerInterface
   using ControllerStateMsg = control_msgs::msg::MultiDOFStateStamped;
 
 protected:
+  controller_interface::return_type update_reference_from_subscribers() override;
+
   std::shared_ptr<pid_controller::ParamListener> param_listener_;
   pid_controller::Params params_;
 
diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp
index 373e941d96..53f7e38cc4 100644
--- a/pid_controller/src/pid_controller.cpp
+++ b/pid_controller/src/pid_controller.cpp
@@ -30,10 +30,16 @@ namespace
 {  // utility
 
 // Changed services history QoS to keep all so we don't lose any client service calls
-rclcpp::QoS qos_services =
-  rclcpp::QoS(rclcpp::QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_ALL, 1))
-    .reliable()
-    .durability_volatile();
+static const rmw_qos_profile_t qos_services = {
+  RMW_QOS_POLICY_HISTORY_KEEP_ALL,
+  1,  // message queue depth
+  RMW_QOS_POLICY_RELIABILITY_RELIABLE,
+  RMW_QOS_POLICY_DURABILITY_VOLATILE,
+  RMW_QOS_DEADLINE_DEFAULT,
+  RMW_QOS_LIFESPAN_DEFAULT,
+  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
+  false};
 
 using ControllerCommandMsg = pid_controller::PidController::ControllerReferenceMsg;
 
@@ -377,8 +383,7 @@ controller_interface::CallbackReturn PidController::on_deactivate(
   return controller_interface::CallbackReturn::SUCCESS;
 }
 
-controller_interface::return_type PidController::update_reference_from_subscribers(
-  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
+controller_interface::return_type PidController::update_reference_from_subscribers()
 {
   auto current_ref = input_ref_.readFromRT();