From b26d2a8b7cbdddf874f9d2d45f2eca5a551bb2ba Mon Sep 17 00:00:00 2001
From: Roald Schaum <178021507+Roald-Schaum@users.noreply.github.com>
Date: Sat, 7 Feb 2026 01:27:08 -0600
Subject: [PATCH 1/6] Added QOS support for subscribers and publishers

---
 .../capabilities/advertise.py                 | 17 +++++++++--
 .../capabilities/subscribe.py                 | 16 ++++++++++
 .../rosbridge_library/internal/publishers.py  | 22 +++++++++-----
 .../rosbridge_library/internal/subscribers.py | 30 ++++++++++---------
 4 files changed, 62 insertions(+), 23 deletions(-)

diff --git a/rosbridge_library/src/rosbridge_library/capabilities/advertise.py b/rosbridge_library/src/rosbridge_library/capabilities/advertise.py
index 9397809de..bcf8b69b7 100644
--- a/rosbridge_library/src/rosbridge_library/capabilities/advertise.py
+++ b/rosbridge_library/src/rosbridge_library/capabilities/advertise.py
@@ -39,6 +39,8 @@
 from rosbridge_library.capability import Capability
 from rosbridge_library.internal.publishers import manager
 
+from rclpy.qos import QoSProfile, ReliabilityPolicy, DurabilityPolicy, HistoryPolicy, LivelinessPolicy
+
 if TYPE_CHECKING:
     from rclpy.node import Node
 
@@ -67,7 +69,7 @@ def unregister(self) -> None:
         manager.unregister(self.client_id, self.topic)
 
     def register_advertisement(
-        self, msg_type: str, adv_id: str | None = None, latch: bool = False, queue_size: int = 100
+        self, msg_type: str, adv_id: str | None = None, latch: bool = False, queue_size: int = 100, qos: QoSProfile | None = None
     ) -> None:
         # Register with the publisher manager, propagating any exception
         manager.register(
@@ -77,6 +79,7 @@ def register_advertisement(
             msg_type=msg_type,
             latch=latch,
             queue_size=queue_size,
+            qos=qos,
         )
 
         if adv_id is not None:
@@ -122,6 +125,16 @@ def advertise(self, message: dict[str, Any]) -> None:
         msg_type: str = message["type"]
         latch: bool = message.get("latch", False)
         queue_size: int = message.get("queue_size", 100)
+        qos: QoSProfile | None = QoSProfile(
+            depth=message.get("qos_depth", 10),
+            durability=message.get("durability_policy", DurabilityPolicy.SYSTEM_DEFAULT),
+            reliability=message.get("reliability_policy", ReliabilityPolicy.SYSTEM_DEFAULT),
+            history=message.get("history_policy", HistoryPolicy.SYSTEM_DEFAULT),
+            liveliness=message.get("liveliness_policy", LivelinessPolicy.SYSTEM_DEFAULT),
+        )
+
+        if message["durability_policy"] is None or message["history_policy"] is None or message["liveliness_policy"] is None or message["reliability_policy"] is None:
+            qos = None
 
         if self.topics_glob is not None:
             self.protocol.log("debug", "Topic security glob enabled, checking topic: " + topic)
@@ -149,7 +162,7 @@ def advertise(self, message: dict[str, Any]) -> None:
             self._registrations[topic] = Registration(client_id, topic, self.protocol.node_handle)
 
         # Register, propagating any exceptions
-        self._registrations[topic].register_advertisement(msg_type, aid, latch, queue_size)
+        self._registrations[topic].register_advertisement(msg_type=msg_type, adv_id=aid, latch=latch, queue_size=queue_size, qos=qos)
 
     def unadvertise(self, message: dict[str, Any]) -> None:
         # Pull out the ID
diff --git a/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py b/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py
index 518fbfbf7..6e154e4d8 100644
--- a/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py
+++ b/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py
@@ -43,6 +43,8 @@
 from rosbridge_library.internal.subscription_modifiers import MessageHandler
 from rosbridge_library.internal.type_support import ROSMessageT
 
+from rclpy.qos import QoSProfile, ReliabilityPolicy, DurabilityPolicy, HistoryPolicy, LivelinessPolicy
+
 if TYPE_CHECKING:
     from collections.abc import Callable
 
@@ -116,6 +118,7 @@ def subscribe(
         queue_length: int = 0,
         fragment_size: int | None = None,
         compression: str = "none",
+        qos: QoSProfile | None = None,
     ) -> None:
         """
         Add another client's subscription request.
@@ -156,6 +159,7 @@ def subscribe(
             self.node_handle,
             msg_type=msg_type,
             raw=raw,
+            qos=qos,
         )
 
     def unsubscribe(self, sid: str | None = None) -> None:
@@ -245,6 +249,7 @@ class Subscribe(Capability):
         (False, "fragment_size", int),
         (False, "queue_length", int),
         (False, "compression", str),
+        (False, "qos", QoSProfile)
     )
     unsubscribe_msg_fields = ((True, "topic", str),)
 
@@ -307,6 +312,17 @@ def subscribe(self, msg: dict[str, Any]) -> None:
             "fragment_size": msg.get("fragment_size"),
             "queue_length": msg.get("queue_length", 0),
             "compression": msg.get("compression", "none"),
+            "qos": (
+                QoSProfile(
+                    depth=msg.get("qos_depth", 10),
+                    durability=msg.get("durability_policy", DurabilityPolicy.SYSTEM_DEFAULT),
+                    reliability=msg.get("reliability_policy", ReliabilityPolicy.SYSTEM_DEFAULT),
+                    history=msg.get("history_policy", HistoryPolicy.SYSTEM_DEFAULT),
+                    liveliness=msg.get("liveliness_policy", LivelinessPolicy.SYSTEM_DEFAULT),
+                )
+                if "qos" in msg
+                else None
+            )
         }
         self._subscriptions[topic].subscribe(**subscribe_args)
 
diff --git a/rosbridge_library/src/rosbridge_library/internal/publishers.py b/rosbridge_library/src/rosbridge_library/internal/publishers.py
index 6901fe642..4b6c20716 100644
--- a/rosbridge_library/src/rosbridge_library/internal/publishers.py
+++ b/rosbridge_library/src/rosbridge_library/internal/publishers.py
@@ -67,6 +67,7 @@ def __init__(
         msg_type: str | None = None,
         latched_client_id: str | None = None,
         queue_size: int = 100,
+        qos : QoSProfile | None = None,
     ) -> None:
         """
         Register a publisher on the specified topic.
@@ -119,23 +120,28 @@ def __init__(
         self.topic = topic
         self.node_handle = node_handle
         self.msg_class = msg_class
+        self.publisher_qos: QoSProfile = None
+
         # Adding a lifespan solves the problem of late-joining subscribers
         # without the need of a custom message publisher implementation.
-        publisher_qos = QoSProfile(
-            depth=queue_size,
-            durability=DurabilityPolicy.TRANSIENT_LOCAL,
-        )
+        if qos is None:
+            self.publisher_qos = QoSProfile(
+                depth=queue_size,
+                durability=DurabilityPolicy.TRANSIENT_LOCAL,
+            )
+        else:
+            self.publisher_qos = qos;
 
         # For latched clients, no lifespan has to be specified (i.e. latch forever).
         # Otherwise we want to keep the messages for a second to prevent late-joining subscribers from
         # missing messages.
         if latched_client_id is None:
-            publisher_qos.lifespan = Duration(seconds=1)
+            self.publisher_qos.lifespan = Duration(seconds=1)
         else:
-            publisher_qos.depth = 1
+            self.publisher_qos.depth = 1
 
         self.publisher: Publisher[ROSMessageT] = node_handle.create_publisher(
-            msg_class, topic, qos_profile=publisher_qos
+            msg_class, topic, qos_profile=self.publisher_qos
         )
 
     def unregister(self) -> None:
@@ -222,6 +228,7 @@ def register(
         msg_type: str | None = None,
         latch: bool = False,
         queue_size: int = 100,
+        qos: QoSProfile | None = None,
     ) -> None:
         """
         Register a publisher on the specified topic.
@@ -247,6 +254,7 @@ def register(
                 msg_type=msg_type,
                 latched_client_id=latched_client_id,
                 queue_size=queue_size,
+                qos=qos,
             )
         elif latch and self._publishers[topic].latched_client_id != client_id:
             node_handle.get_logger().warning(
diff --git a/rosbridge_library/src/rosbridge_library/internal/subscribers.py b/rosbridge_library/src/rosbridge_library/internal/subscribers.py
index 083bec684..101c2b19c 100644
--- a/rosbridge_library/src/rosbridge_library/internal/subscribers.py
+++ b/rosbridge_library/src/rosbridge_library/internal/subscribers.py
@@ -38,7 +38,7 @@
 from typing import TYPE_CHECKING, Generic, cast
 
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
-from rclpy.qos import DurabilityPolicy, QoSProfile, ReliabilityPolicy
+from rclpy.qos import QoSProfile, ReliabilityPolicy, DurabilityPolicy, HistoryPolicy, LivelinessPolicy
 
 from rosbridge_library.internal import ros_loader
 from rosbridge_library.internal.message_conversion import msg_class_type_repr
@@ -77,6 +77,7 @@ def __init__(
         node_handle: Node,
         msg_type: str | None = None,
         raw: bool = False,
+        qos: QoSProfile | None = None,
     ) -> None:
         """
         Register a subscriber on the specified topic.
@@ -134,21 +135,22 @@ def __init__(
         # - https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html
         # - https://github.com/RobotWebTools/rosbridge_suite/issues/551
         # - https://github.com/RobotWebTools/rosbridge_suite/issues/769
-        qos = QoSProfile(
-            depth=10,
-            durability=DurabilityPolicy.VOLATILE,
-            reliability=ReliabilityPolicy.BEST_EFFORT,
-        )
+        if qos is None:
+            qos = QoSProfile(
+                depth=10,
+                durability=DurabilityPolicy.VOLATILE,
+                reliability=ReliabilityPolicy.BEST_EFFORT,
+            )
 
-        infos = node_handle.get_publishers_info_by_topic(topic)
+            infos = node_handle.get_publishers_info_by_topic(topic)
 
-        if len(infos) > 0 and all(
-            pub.qos_profile.durability == DurabilityPolicy.TRANSIENT_LOCAL for pub in infos
-        ):
-            qos.durability = DurabilityPolicy.TRANSIENT_LOCAL
-            qos.reliability = ReliabilityPolicy.RELIABLE
-        if any(pub.qos_profile.reliability == ReliabilityPolicy.BEST_EFFORT for pub in infos):
-            qos.reliability = ReliabilityPolicy.BEST_EFFORT
+            if len(infos) > 0 and all(
+                pub.qos_profile.durability == DurabilityPolicy.TRANSIENT_LOCAL for pub in infos
+            ):
+                qos.durability = DurabilityPolicy.TRANSIENT_LOCAL
+                qos.reliability = ReliabilityPolicy.RELIABLE
+            if any(pub.qos_profile.reliability == ReliabilityPolicy.BEST_EFFORT for pub in infos):
+                qos.reliability = ReliabilityPolicy.BEST_EFFORT
 
         # Create the subscriber and associated member variables
         # Subscriptions is initialized with the current client to start with.

From c1fa069b01ac6e1eb54475bbc3e94efac50465db Mon Sep 17 00:00:00 2001
From: Roald Schaum <178021507+Roald-Schaum@users.noreply.github.com>
Date: Sat, 7 Feb 2026 02:56:51 -0600
Subject: [PATCH 2/6] FIX: Add qos argument to manager.subscribe

---
 rosbridge_library/src/rosbridge_library/internal/subscribers.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/rosbridge_library/src/rosbridge_library/internal/subscribers.py b/rosbridge_library/src/rosbridge_library/internal/subscribers.py
index 101c2b19c..c817f5feb 100644
--- a/rosbridge_library/src/rosbridge_library/internal/subscribers.py
+++ b/rosbridge_library/src/rosbridge_library/internal/subscribers.py
@@ -306,6 +306,7 @@ def subscribe(
         node_handle: Node,
         msg_type: str | None = None,
         raw: bool = False,
+        qos: QoSProfile | None = None,
     ) -> None:
         """
         Subscribe to a topic.

From 83a766a694be7d0e2d17ec1edc5748a4aa8de2c3 Mon Sep 17 00:00:00 2001
From: Roald Schaum <178021507+Roald-Schaum@users.noreply.github.com>
Date: Tue, 17 Feb 2026 21:03:03 -0600
Subject: [PATCH 3/6] Fixed QOS setting existence check

---
 .../src/rosbridge_library/capabilities/advertise.py    | 10 ++++++++--
 .../src/rosbridge_library/capabilities/subscribe.py    |  8 +++++++-
 .../src/rosbridge_library/internal/subscribers.py      |  8 ++++++--
 3 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/rosbridge_library/src/rosbridge_library/capabilities/advertise.py b/rosbridge_library/src/rosbridge_library/capabilities/advertise.py
index bcf8b69b7..35db5acc4 100644
--- a/rosbridge_library/src/rosbridge_library/capabilities/advertise.py
+++ b/rosbridge_library/src/rosbridge_library/capabilities/advertise.py
@@ -39,7 +39,13 @@
 from rosbridge_library.capability import Capability
 from rosbridge_library.internal.publishers import manager
 
-from rclpy.qos import QoSProfile, ReliabilityPolicy, DurabilityPolicy, HistoryPolicy, LivelinessPolicy
+from rclpy.qos import (
+    QoSProfile,
+    ReliabilityPolicy,
+    DurabilityPolicy,
+    HistoryPolicy,
+    LivelinessPolicy,
+)
 
 if TYPE_CHECKING:
     from rclpy.node import Node
@@ -133,7 +139,7 @@ def advertise(self, message: dict[str, Any]) -> None:
             liveliness=message.get("liveliness_policy", LivelinessPolicy.SYSTEM_DEFAULT),
         )
 
-        if message["durability_policy"] is None or message["history_policy"] is None or message["liveliness_policy"] is None or message["reliability_policy"] is None:
+        if message.keys() & {'durability_policy', 'history_policy', 'liveliness_policy', 'reliability_policy'}:
             qos = None
 
         if self.topics_glob is not None:
diff --git a/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py b/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py
index 6e154e4d8..11ed2f9fc 100644
--- a/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py
+++ b/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py
@@ -43,7 +43,13 @@
 from rosbridge_library.internal.subscription_modifiers import MessageHandler
 from rosbridge_library.internal.type_support import ROSMessageT
 
-from rclpy.qos import QoSProfile, ReliabilityPolicy, DurabilityPolicy, HistoryPolicy, LivelinessPolicy
+from rclpy.qos import (
+    QoSProfile,
+    ReliabilityPolicy,
+    DurabilityPolicy,
+    HistoryPolicy,
+    LivelinessPolicy,
+)
 
 if TYPE_CHECKING:
     from collections.abc import Callable
diff --git a/rosbridge_library/src/rosbridge_library/internal/subscribers.py b/rosbridge_library/src/rosbridge_library/internal/subscribers.py
index c817f5feb..dc9d24d9e 100644
--- a/rosbridge_library/src/rosbridge_library/internal/subscribers.py
+++ b/rosbridge_library/src/rosbridge_library/internal/subscribers.py
@@ -38,7 +38,11 @@
 from typing import TYPE_CHECKING, Generic, cast
 
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
-from rclpy.qos import QoSProfile, ReliabilityPolicy, DurabilityPolicy, HistoryPolicy, LivelinessPolicy
+from rclpy.qos import (
+    QoSProfile,
+    ReliabilityPolicy,
+    DurabilityPolicy,
+)
 
 from rosbridge_library.internal import ros_loader
 from rosbridge_library.internal.message_conversion import msg_class_type_repr
@@ -319,7 +323,7 @@ def subscribe(
         with self._lock:
             if topic not in self._subscribers:
                 self._subscribers[topic] = MultiSubscriber(
-                    topic, client_id, callback, node_handle, msg_type=msg_type, raw=raw
+                    topic, client_id, callback, node_handle, msg_type=msg_type, raw=raw, qos=qos
                 )
             else:
                 self._subscribers[topic].subscribe(client_id, callback)

From 69d65a25f9d3fbb4d298af60a5056fa6d228b21c Mon Sep 17 00:00:00 2001
From: Roald Schaum <178021507+Roald-Schaum@users.noreply.github.com>
Date: Tue, 17 Feb 2026 21:27:16 -0600
Subject: [PATCH 4/6] Fixed formatting, missing None type potential in
 multipublisher __init__

---
 .../rosbridge_library/capabilities/advertise.py  | 12 ++++++------
 .../rosbridge_library/capabilities/subscribe.py  | 16 ++++++++--------
 .../src/rosbridge_library/internal/publishers.py |  4 ++--
 .../rosbridge_library/internal/subscribers.py    |  2 +-
 4 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/rosbridge_library/src/rosbridge_library/capabilities/advertise.py b/rosbridge_library/src/rosbridge_library/capabilities/advertise.py
index 35db5acc4..7a5e8ed53 100644
--- a/rosbridge_library/src/rosbridge_library/capabilities/advertise.py
+++ b/rosbridge_library/src/rosbridge_library/capabilities/advertise.py
@@ -36,17 +36,17 @@
 import fnmatch
 from typing import TYPE_CHECKING, Any
 
-from rosbridge_library.capability import Capability
-from rosbridge_library.internal.publishers import manager
-
 from rclpy.qos import (
-    QoSProfile,
-    ReliabilityPolicy,
     DurabilityPolicy,
     HistoryPolicy,
     LivelinessPolicy,
+    QoSProfile,
+    ReliabilityPolicy,
 )
 
+from rosbridge_library.capability import Capability
+from rosbridge_library.internal.publishers import manager
+
 if TYPE_CHECKING:
     from rclpy.node import Node
 
@@ -139,7 +139,7 @@ def advertise(self, message: dict[str, Any]) -> None:
             liveliness=message.get("liveliness_policy", LivelinessPolicy.SYSTEM_DEFAULT),
         )
 
-        if message.keys() & {'durability_policy', 'history_policy', 'liveliness_policy', 'reliability_policy'}:
+        if message.keys() & {"durability_policy", "history_policy", "liveliness_policy", "reliability_policy"}:
             qos = None
 
         if self.topics_glob is not None:
diff --git a/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py b/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py
index 11ed2f9fc..87fe4d241 100644
--- a/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py
+++ b/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py
@@ -37,20 +37,20 @@
 from threading import Lock
 from typing import TYPE_CHECKING, Any, Generic
 
-from rosbridge_library.capability import Capability
-from rosbridge_library.internal.pngcompression import encode as encode_png
-from rosbridge_library.internal.subscribers import manager
-from rosbridge_library.internal.subscription_modifiers import MessageHandler
-from rosbridge_library.internal.type_support import ROSMessageT
-
 from rclpy.qos import (
-    QoSProfile,
-    ReliabilityPolicy,
     DurabilityPolicy,
     HistoryPolicy,
     LivelinessPolicy,
+    QoSProfile,
+    ReliabilityPolicy,
 )
 
+from rosbridge_library.capability import Capability
+from rosbridge_library.internal.pngcompression import encode as encode_png
+from rosbridge_library.internal.subscribers import manager
+from rosbridge_library.internal.subscription_modifiers import MessageHandler
+from rosbridge_library.internal.type_support import ROSMessageT
+
 if TYPE_CHECKING:
     from collections.abc import Callable
 
diff --git a/rosbridge_library/src/rosbridge_library/internal/publishers.py b/rosbridge_library/src/rosbridge_library/internal/publishers.py
index 4b6c20716..d2b59426d 100644
--- a/rosbridge_library/src/rosbridge_library/internal/publishers.py
+++ b/rosbridge_library/src/rosbridge_library/internal/publishers.py
@@ -120,7 +120,7 @@ def __init__(
         self.topic = topic
         self.node_handle = node_handle
         self.msg_class = msg_class
-        self.publisher_qos: QoSProfile = None
+        self.publisher_qos: QoSProfile | None = None
 
         # Adding a lifespan solves the problem of late-joining subscribers
         # without the need of a custom message publisher implementation.
@@ -130,7 +130,7 @@ def __init__(
                 durability=DurabilityPolicy.TRANSIENT_LOCAL,
             )
         else:
-            self.publisher_qos = qos;
+            self.publisher_qos = qos
 
         # For latched clients, no lifespan has to be specified (i.e. latch forever).
         # Otherwise we want to keep the messages for a second to prevent late-joining subscribers from
diff --git a/rosbridge_library/src/rosbridge_library/internal/subscribers.py b/rosbridge_library/src/rosbridge_library/internal/subscribers.py
index dc9d24d9e..80d359241 100644
--- a/rosbridge_library/src/rosbridge_library/internal/subscribers.py
+++ b/rosbridge_library/src/rosbridge_library/internal/subscribers.py
@@ -39,9 +39,9 @@
 
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
 from rclpy.qos import (
+    DurabilityPolicy,
     QoSProfile,
     ReliabilityPolicy,
-    DurabilityPolicy,
 )
 
 from rosbridge_library.internal import ros_loader

From b2a5c99feccb7d31966393f0aa7d7d1bb8387c1c Mon Sep 17 00:00:00 2001
From: Roald Schaum <178021507+Roald-Schaum@users.noreply.github.com>
Date: Tue, 17 Feb 2026 21:37:28 -0600
Subject: [PATCH 5/6] Fixed formatting (again)

---
 .../capabilities/advertise.py                  | 18 +++++++++++++++---
 .../capabilities/subscribe.py                  |  2 +-
 .../rosbridge_library/internal/publishers.py   |  2 +-
 3 files changed, 17 insertions(+), 5 deletions(-)

diff --git a/rosbridge_library/src/rosbridge_library/capabilities/advertise.py b/rosbridge_library/src/rosbridge_library/capabilities/advertise.py
index 7a5e8ed53..1194a7788 100644
--- a/rosbridge_library/src/rosbridge_library/capabilities/advertise.py
+++ b/rosbridge_library/src/rosbridge_library/capabilities/advertise.py
@@ -75,7 +75,12 @@ def unregister(self) -> None:
         manager.unregister(self.client_id, self.topic)
 
     def register_advertisement(
-        self, msg_type: str, adv_id: str | None = None, latch: bool = False, queue_size: int = 100, qos: QoSProfile | None = None
+        self,
+        msg_type: str,
+        adv_id: str | None = None,
+        latch: bool = False,
+        queue_size: int = 100,
+        qos: QoSProfile | None = None
     ) -> None:
         # Register with the publisher manager, propagating any exception
         manager.register(
@@ -139,7 +144,12 @@ def advertise(self, message: dict[str, Any]) -> None:
             liveliness=message.get("liveliness_policy", LivelinessPolicy.SYSTEM_DEFAULT),
         )
 
-        if message.keys() & {"durability_policy", "history_policy", "liveliness_policy", "reliability_policy"}:
+        if message.keys() & {
+            "durability_policy",
+            "history_policy",
+            "liveliness_policy",
+            "reliability_policy"
+        }:
             qos = None
 
         if self.topics_glob is not None:
@@ -168,7 +178,9 @@ def advertise(self, message: dict[str, Any]) -> None:
             self._registrations[topic] = Registration(client_id, topic, self.protocol.node_handle)
 
         # Register, propagating any exceptions
-        self._registrations[topic].register_advertisement(msg_type=msg_type, adv_id=aid, latch=latch, queue_size=queue_size, qos=qos)
+        self._registrations[topic].register_advertisement(
+            msg_type=msg_type, adv_id=aid, latch=latch, queue_size=queue_size, qos=qos
+        )
 
     def unadvertise(self, message: dict[str, Any]) -> None:
         # Pull out the ID
diff --git a/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py b/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py
index 87fe4d241..db62d0fe1 100644
--- a/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py
+++ b/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py
@@ -255,7 +255,7 @@ class Subscribe(Capability):
         (False, "fragment_size", int),
         (False, "queue_length", int),
         (False, "compression", str),
-        (False, "qos", QoSProfile)
+        (False, "qos", QoSProfile),
     )
     unsubscribe_msg_fields = ((True, "topic", str),)
 
diff --git a/rosbridge_library/src/rosbridge_library/internal/publishers.py b/rosbridge_library/src/rosbridge_library/internal/publishers.py
index d2b59426d..f7a5133fd 100644
--- a/rosbridge_library/src/rosbridge_library/internal/publishers.py
+++ b/rosbridge_library/src/rosbridge_library/internal/publishers.py
@@ -67,7 +67,7 @@ def __init__(
         msg_type: str | None = None,
         latched_client_id: str | None = None,
         queue_size: int = 100,
-        qos : QoSProfile | None = None,
+        qos: QoSProfile | None = None,
     ) -> None:
         """
         Register a publisher on the specified topic.

From 6b384776126d6c7d05b2400532ab08360ff134ee Mon Sep 17 00:00:00 2001
From: Roald Schaum <178021507+Roald-Schaum@users.noreply.github.com>
Date: Tue, 17 Feb 2026 21:39:44 -0600
Subject: [PATCH 6/6] More formatting fixes

---
 .../src/rosbridge_library/capabilities/advertise.py           | 4 ++--
 .../src/rosbridge_library/capabilities/subscribe.py           | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/rosbridge_library/src/rosbridge_library/capabilities/advertise.py b/rosbridge_library/src/rosbridge_library/capabilities/advertise.py
index 1194a7788..046ddd921 100644
--- a/rosbridge_library/src/rosbridge_library/capabilities/advertise.py
+++ b/rosbridge_library/src/rosbridge_library/capabilities/advertise.py
@@ -80,7 +80,7 @@ def register_advertisement(
         adv_id: str | None = None,
         latch: bool = False,
         queue_size: int = 100,
-        qos: QoSProfile | None = None
+        qos: QoSProfile | None = None,
     ) -> None:
         # Register with the publisher manager, propagating any exception
         manager.register(
@@ -148,7 +148,7 @@ def advertise(self, message: dict[str, Any]) -> None:
             "durability_policy",
             "history_policy",
             "liveliness_policy",
-            "reliability_policy"
+            "reliability_policy",
         }:
             qos = None
 
diff --git a/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py b/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py
index db62d0fe1..c11cf5a65 100644
--- a/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py
+++ b/rosbridge_library/src/rosbridge_library/capabilities/subscribe.py
@@ -328,7 +328,7 @@ def subscribe(self, msg: dict[str, Any]) -> None:
                 )
                 if "qos" in msg
                 else None
-            )
+            ),
         }
         self._subscriptions[topic].subscribe(**subscribe_args)