diff --git a/ur_controllers/src/gpio_controller.cpp b/ur_controllers/src/gpio_controller.cpp
index ba16fb4b1..ffe3afd6c 100644
--- a/ur_controllers/src/gpio_controller.cpp
+++ b/ur_controllers/src/gpio_controller.cpp
@@ -286,6 +286,7 @@ ur_controllers::GPIOController::on_activate(const rclcpp_lifecycle::State& /*pre
   try {
     auto qos_latched = rclcpp::SystemDefaultsQoS();
     qos_latched.transient_local();
+    qos_latched.reliable();
     // register publisher
     io_pub_ = get_node()->create_publisher<ur_msgs::msg::IOStates>("~/io_states", rclcpp::SystemDefaultsQoS());