diff --git a/monitor/Cargo.toml b/monitor/Cargo.toml
index 98ea830..492402a 100644
--- a/monitor/Cargo.toml
+++ b/monitor/Cargo.toml
@@ -23,6 +23,6 @@ rtlola-interpreter-macros = "0.1.0"
 serde = { version = "1.0.145", features = ["derive"] }
 bincode = "1.3.3"
 byteorder = "1.3.4"
-r2r = "0.9.4"
+r2r = "0.9.5"
 futures = "0.3.19"
 tokio = { version = "1.28.2", features = ["full"] }
\ No newline at end of file
diff --git a/monitor/build_src/ros2_reader.rs b/monitor/build_src/ros2_reader.rs
index dee3db9..dc8ced2 100644
--- a/monitor/build_src/ros2_reader.rs
+++ b/monitor/build_src/ros2_reader.rs
@@ -71,7 +71,8 @@ impl Ros2Reader {
                 "RMW_QOS_POLICY_HISTORY_KEEP_LAST" => String::from("KeepLast"),
                 "RMW_QOS_POLICY_HISTORY_KEEP_ALL" => String::from("KeepAll"),
                 "RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT" => String::from("SystemDefault"),
-                _ => String::from("Unknown"),
+                "RMW_QOS_POLICY_HISTORY_UNKNOWN" => String::from("Unknown"),
+                _ => config.QoS_Default.history.clone()
             }
         } else {
             config.QoS_Default.history.clone()
@@ -90,7 +91,8 @@ impl Ros2Reader {
                     "RMW_QOS_POLICY_RELIABILITY_RELIABLE" => String::from("Reliable"),
                     "RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT" => String::from("BestEffort"),
                     "RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT" => String::from("SystemDefault"),
-                    _ => String::from("Unknown"),
+                    "RMW_QOS_POLICY_RELIABILITY_UNKNOWN" => String::from("Unknown"),
+                    _ => config.QoS_Default.reliability.clone(),
                 }
             } else {
                 config.QoS_Default.reliability.clone()
@@ -101,7 +103,8 @@ impl Ros2Reader {
                     "RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL" => String::from("TransientLocal"),
                     "RMW_QOS_POLICY_DURABILITY_VOLATILE" => String::from("Volatile"),
                     "RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT" => String::from("SystemDefault"),
-                    _ => String::from("Unknown"),
+                    "RMW_QOS_POLICY_DURABILITY_UNKNOWN" => String::from("Unknown"),
+                    _ => config.QoS_Default.durability.clone(),
                 }
             } else {
                 config.QoS_Default.durability.clone()
@@ -134,7 +137,8 @@ impl Ros2Reader {
                     "RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT" => String::from("SystemDefault"),
                     "RMW_QOS_POLICY_LIVELINESS_AUTOMATIC" => String::from("Automatic"),
                     "RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC" => String::from("ManualByTopic"),
-                    _ => String::from("Unknown"),
+                    "RMW_QOS_POLICY_LIVELINESS_UNKNOWN" => String::from("Unknown"),
+                    _ => config.QoS_Default.liveliness.clone(),
                 }
             } else {
                 config.QoS_Default.liveliness.clone()
diff --git a/monitor/ros2_config.toml b/monitor/ros2_config.toml
index 8edef35..2e404c3 100644
--- a/monitor/ros2_config.toml
+++ b/monitor/ros2_config.toml
@@ -15,10 +15,10 @@ history = "KeepLast"                            # Options: KeepAll, KeepLast, Sy
 depth = 10                                      # integer for queue size
 reliability = "Reliable"                        # Options: BestEffort, Reliable, SystemDefault
 durability = "Volatile"                         # Options: TransientLocal, Volatile, SystemDefault, Unknown
-deadline_ms = 20000                             # in milliseconds
-lifespan_ms = 20000                             # in milliseconds
+deadline_ms = 0                             # in milliseconds
+lifespan_ms = 0                             # in milliseconds
 liveliness = "Automatic"                        # Options: Automatic, ManualByTopic, SystemDefault, Unknown
-liveliness_lease_duration_ms = 20000            # in milliseconds
+liveliness_lease_duration_ms = 0            # in milliseconds
 avoid_ros_namespace_conventions = false         # set to false to use ROS prefix and true to not using ROS namespace prefixing
 
 [QoS_RTLolaOutput] 
@@ -26,10 +26,10 @@ history = "KeepLast"                            # Options: KeepAll, KeepLast, Sy
 depth = 10                                      # integer for queue size
 reliability = "Reliable"                        # Options: BestEffort, Reliable, SystemDefault
 durability = "Volatile"                         # Options: TransientLocal, Volatile, SystemDefault, Unknown
-deadline_ms = 20000                             # in milliseconds
-lifespan_ms = 20000                             # in milliseconds
+deadline_ms = 0                             # in milliseconds
+lifespan_ms = 0                             # in milliseconds
 liveliness = "Automatic"                        # Options: Automatic, ManualByTopic, SystemDefault, Unknown
-liveliness_lease_duration_ms = 20000            # in milliseconds
+liveliness_lease_duration_ms = 0            # in milliseconds
 avoid_ros_namespace_conventions = false         # set to false to use ROS prefix and true to not using ROS namespace prefixing
 
 [QoS_RTLolaService]