diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 00000000..6a9b34ca
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,22 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/brian/rplidar_ws/install/rplidar_ros/include/**",
+        "/opt/ros/humble/include/**",
+        "/home/brian/rplidar_ws/src/rplidar_ros/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 00000000..11eadcd7
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,14 @@
+{
+    "ros.distro": "humble",
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "files.associations": {
+        "functional": "cpp"
+    }
+}
\ No newline at end of file
diff --git a/include/rplidar_node.hpp b/include/rplidar_node.hpp
index d2a1bd4f..81dabb0f 100644
--- a/include/rplidar_node.hpp
+++ b/include/rplidar_node.hpp
@@ -31,6 +31,7 @@
 #define RPLIDAR_NODE_HPP_
 
 #include <rclcpp/clock.hpp>
+#include <rclcpp/qos.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp/time.hpp>
 #include <rclcpp/time_source.hpp>
diff --git a/src/rplidar_node.cpp b/src/rplidar_node.cpp
index c1284bcf..64c66a6d 100644
--- a/src/rplidar_node.cpp
+++ b/src/rplidar_node.cpp
@@ -33,7 +33,7 @@
  *
  */
 
-#include <rplidar_node.hpp>
+#include "rplidar_node.hpp"
 
 namespace rplidar_ros
 {
@@ -112,7 +112,8 @@ rplidar_node::rplidar_node(const rclcpp::NodeOptions & options)
   /* done setting up RPLIDAR stuff, now set up ROS 2 stuff */
 
   /* create the publisher for "/scan" */
-  m_publisher = this->create_publisher<LaserScan>(topic_name_, 10);
+  rclcpp::QoS scan_qos(rclcpp::KeepLast(5),rmw_qos_profile_sensor_data);
+  m_publisher = this->create_publisher<LaserScan>(topic_name_, scan_qos);
 
   /* create stop motor service */
   m_stop_motor_service = this->create_service<std_srvs::srv::Empty>(