diff --git a/nav2_costmap_2d/plugins/obstacle_layer.cpp b/nav2_costmap_2d/plugins/obstacle_layer.cpp
index 6321305dd79..3ba1c97f08a 100644
--- a/nav2_costmap_2d/plugins/obstacle_layer.cpp
+++ b/nav2_costmap_2d/plugins/obstacle_layer.cpp
@@ -225,8 +225,7 @@ void ObstacleLayer::onInitialize()
       source.c_str(), topic.c_str(),
       global_frame_.c_str(), expected_update_rate, observation_keep_time);
 
-    rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_sensor_data;
-    custom_qos_profile.depth = 50;
+    const auto custom_qos_profile = rclcpp::SensorDataQoS().keep_last(50);
 
     // create a callback for the topic
     if (data_type == "LaserScan") {