diff --git a/CHANGELOG.md b/CHANGELOG.md
index 14c26f1e..e103e2bb 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,10 @@ features that will be removed in future versions **Removed** for deprecated feat
 
 ## Released ##
 
+### v2.8.13 - Dynamical pointcloud transform and QoS configuration
+  - **Update** Dynamical configuration of an additional pointcloud transform by rosparam, #104
+  - **Update** Configuration of ROS quality of service by launchfile, #101
+
 ### v2.8.11 - LMS 1xxx support
   - **Update** LMS 1xxx support with scan configuration (scan frequency and angular resolution for firmware 2.x)
 
diff --git a/driver/src/ldmrs/sick_ldmrs_driver.cpp b/driver/src/ldmrs/sick_ldmrs_driver.cpp
index f640f819..20d81ea1 100644
--- a/driver/src/ldmrs/sick_ldmrs_driver.cpp
+++ b/driver/src/ldmrs/sick_ldmrs_driver.cpp
@@ -55,7 +55,7 @@
 #endif
 
 // Convert lmdrs scan to PointCloud2
-void ldmrsScanToPointCloud2(const datatypes::Scan* scan, const sick_scan::SickCloudTransform& add_transform_xyz_rpy, sick_scan::SickRangeFilter& range_filter, bool isRearMirrorSide, const std::string& frame_id, ros_sensor_msgs::PointCloud2& msg, ros_sensor_msgs::PointCloud2& msg_polar);
+void ldmrsScanToPointCloud2(const datatypes::Scan* scan, sick_scan::SickCloudTransform& add_transform_xyz_rpy, sick_scan::SickRangeFilter& range_filter, bool isRearMirrorSide, const std::string& frame_id, ros_sensor_msgs::PointCloud2& msg, ros_sensor_msgs::PointCloud2& msg_polar);
 
 namespace sick_ldmrs_driver
 {
@@ -610,7 +610,7 @@ std::string SickLDMRS::flexres_err_to_string(const UINT32 code) const
 } // namespace sick_ldmrs_driver
 
 // Convert lmdrs scan to PointCloud2
-void ldmrsScanToPointCloud2(const datatypes::Scan* scan, const sick_scan::SickCloudTransform& add_transform_xyz_rpy, sick_scan::SickRangeFilter& range_filter, bool isRearMirrorSide, const std::string& frame_id, ros_sensor_msgs::PointCloud2& msg, ros_sensor_msgs::PointCloud2& msg_polar)
+void ldmrsScanToPointCloud2(const datatypes::Scan* scan, sick_scan::SickCloudTransform& add_transform_xyz_rpy, sick_scan::SickRangeFilter& range_filter, bool isRearMirrorSide, const std::string& frame_id, ros_sensor_msgs::PointCloud2& msg, ros_sensor_msgs::PointCloud2& msg_polar)
 {
   typedef struct SICK_LDMRS_Point
   {
diff --git a/driver/src/sick_cloud_transform.cpp b/driver/src/sick_cloud_transform.cpp
index f1891191..a96e63a0 100644
--- a/driver/src/sick_cloud_transform.cpp
+++ b/driver/src/sick_cloud_transform.cpp
@@ -72,25 +72,30 @@ sick_scan::SickCloudTransform::SickCloudTransform()
 
 sick_scan::SickCloudTransform::SickCloudTransform(rosNodePtr nh, bool cartesian_input_only)
 {
+    m_nh = nh;
     std::string add_transform_xyz_rpy = "0,0,0,0,0,0";
     rosDeclareParam(nh, "add_transform_xyz_rpy", add_transform_xyz_rpy);
     rosGetParam(nh, "add_transform_xyz_rpy", add_transform_xyz_rpy);
-    if (!init(add_transform_xyz_rpy, cartesian_input_only))
+    bool add_transform_check_dynamic_updates = false;
+    rosDeclareParam(nh, "add_transform_check_dynamic_updates", add_transform_check_dynamic_updates);
+    rosGetParam(nh, "add_transform_check_dynamic_updates", add_transform_check_dynamic_updates);
+    if (!init(add_transform_xyz_rpy, cartesian_input_only, add_transform_check_dynamic_updates))
     {
         ROS_ERROR_STREAM("## ERROR SickCloudTransform(): Initialization by \"" << add_transform_xyz_rpy << "\" failed, use 6D pose \"x,y,z,roll,pitch,yaw\" in [m] resp. [rad]");
     }
 }
 
-sick_scan::SickCloudTransform::SickCloudTransform(const std::string& add_transform_xyz_rpy, bool cartesian_input_only)
+sick_scan::SickCloudTransform::SickCloudTransform(rosNodePtr nh, const std::string& add_transform_xyz_rpy, bool cartesian_input_only, bool add_transform_check_dynamic_updates)
 {
-    if (!init(add_transform_xyz_rpy, cartesian_input_only))
+    m_nh = nh;
+    if (!init(add_transform_xyz_rpy, cartesian_input_only, add_transform_check_dynamic_updates))
     {
         ROS_ERROR_STREAM("## ERROR SickCloudTransform(): Initialization by \"" << add_transform_xyz_rpy << "\" failed, use 6D pose \"x,y,z,roll,pitch,yaw\" in [m] resp. [rad]");
     }
 }
 
 // Initializes rotation matrix and translation vector from a 6D pose configuration (x,y,z,roll,pitch,yaw) in [m] resp. [rad]
-bool sick_scan::SickCloudTransform::init(const std::string& add_transform_xyz_rpy, bool cartesian_input_only)
+bool sick_scan::SickCloudTransform::init(const std::string& add_transform_xyz_rpy, bool cartesian_input_only, bool add_transform_check_dynamic_updates)
 {
     // Split string add_transform_xyz_rpy to 6D pose x,y,z,roll,pitch,yaw in [m] resp. [rad]
     std::istringstream config_stream(add_transform_xyz_rpy);
@@ -98,7 +103,20 @@ bool sick_scan::SickCloudTransform::init(const std::string& add_transform_xyz_rp
     std::vector<float> config_values;
     while (getline(config_stream, config_arg, ','))
     {
-        config_values.push_back(std::stof(config_arg));
+        // ROS-2 interpretes parameter values configured by "ros2 param set <node> <arg> <value>" as yaml content, 
+        // but does not remove yaml escape characters required for negative numbers. Any '\\' is removed here.
+        std::string::size_type n = 0;
+        while ((n = config_arg.find('\\', n)) != std::string::npos)
+            config_arg.replace( n, 1, "");
+        try
+        {
+            float arg_value = std::stof(config_arg);
+            config_values.push_back(arg_value);
+        }
+        catch(const std::exception& e)
+        {
+            ROS_ERROR_STREAM("## ERROR SickCloudTransform(): parse error in string \"" << add_transform_xyz_rpy << "\", arg=\"" << config_arg << "\", exception " << e.what());
+        }
     }
     if(config_values.size() != 6)
     {
@@ -136,9 +154,10 @@ bool sick_scan::SickCloudTransform::init(const std::string& add_transform_xyz_rp
             m_azimuth_offset = 0;
         }
     }
-
-    // Configuration is given by 6D pose with P_world = T[world,cloud] * P_cloud. By applying the transform, we compute 
-
+    // Initialization successful
+    m_add_transform_xyz_rpy = add_transform_xyz_rpy;
+    m_cartesian_input_only = cartesian_input_only;
+    m_add_transform_check_dynamic_updates = add_transform_check_dynamic_updates;
     ROS_INFO_STREAM("SickCloudTransform: add_transform_xyz_rpy = (" << add_transform_xyz_rpy << ")");
     ROS_INFO_STREAM("SickCloudTransform: azimuth_offset = " << (m_azimuth_offset * 180.0 / M_PI) << " [deg]");
     ROS_INFO_STREAM("SickCloudTransform: additional 3x3 rotation matrix = { (" 
@@ -147,6 +166,7 @@ bool sick_scan::SickCloudTransform::init(const std::string& add_transform_xyz_rp
         << m_rotation_matrix[2][0] << "," << m_rotation_matrix[2][1] << "," << m_rotation_matrix[2][2] << ") }");
     ROS_INFO_STREAM("SickCloudTransform: apply 3x3 rotation = " << (m_apply_3x3_rotation ? "true" : "false"));
     ROS_INFO_STREAM("SickCloudTransform: additional translation = (" << m_translation_vector[0] << "," << m_translation_vector[1] << "," << m_translation_vector[2] << ")");
+    ROS_INFO_STREAM("SickCloudTransform: check_dynamic_updates = " << (m_add_transform_check_dynamic_updates ? "true" : "false"));
     return true;
 }
 
diff --git a/driver/src/sick_generic_laser.cpp b/driver/src/sick_generic_laser.cpp
index b3597e24..a5bd5e6c 100644
--- a/driver/src/sick_generic_laser.cpp
+++ b/driver/src/sick_generic_laser.cpp
@@ -93,7 +93,7 @@
 
 #define SICK_GENERIC_MAJOR_VER "2"
 #define SICK_GENERIC_MINOR_VER "8"
-#define SICK_GENERIC_PATCH_LEVEL "11"
+#define SICK_GENERIC_PATCH_LEVEL "13"
 
 #define DELETE_PTR(p) if(p){delete(p);p=0;}
 
diff --git a/driver/src/sick_scan_common.cpp b/driver/src/sick_scan_common.cpp
index 9590dbec..6090b0f2 100644
--- a/driver/src/sick_scan_common.cpp
+++ b/driver/src/sick_scan_common.cpp
@@ -620,7 +620,7 @@ namespace sick_scan
     // add_transform_xyz_rpy := T[world,cloud] with parent "world" and child "cloud", i.e. P_world = T[world,cloud] * P_cloud
     // The additional transform applies to cartesian lidar pointclouds and visualization marker (fields)
     // It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages
-    m_add_transform_xyz_rpy = sick_scan::SickCloudTransform(nh);
+    m_add_transform_xyz_rpy = sick_scan::SickCloudTransform(nh, false);
   }
 
   /*!
diff --git a/driver/src/sick_scansegment_xd/config.cpp b/driver/src/sick_scansegment_xd/config.cpp
index afef0d11..3f085e56 100644
--- a/driver/src/sick_scansegment_xd/config.cpp
+++ b/driver/src/sick_scansegment_xd/config.cpp
@@ -267,7 +267,9 @@ bool sick_scansegment_xd::Config::Init(rosNodePtr _node)
     // Apply an additional transform to the cartesian pointcloud, default: "0,0,0,0,0,0" (i.e. no transform)
     std::string str_add_transform_xyz_rpy = "0,0,0,0,0,0";
     ROS_DECL_GET_PARAMETER(node, "add_transform_xyz_rpy", str_add_transform_xyz_rpy);
-    add_transform_xyz_rpy = sick_scan::SickCloudTransform(str_add_transform_xyz_rpy);
+    bool add_transform_check_dynamic_updates = false;
+    ROS_DECL_GET_PARAMETER(node, "add_transform_check_dynamic_updates", add_transform_check_dynamic_updates);
+    add_transform_xyz_rpy = sick_scan::SickCloudTransform(node, str_add_transform_xyz_rpy, false, add_transform_check_dynamic_updates);
     // Optional range filter
     float range_min = 0, range_max = 100;
     int range_filter_handling = 0;
diff --git a/driver/src/sick_scansegment_xd/msgpack_parser.cpp b/driver/src/sick_scansegment_xd/msgpack_parser.cpp
index 5fa2ee03..85d55029 100644
--- a/driver/src/sick_scansegment_xd/msgpack_parser.cpp
+++ b/driver/src/sick_scansegment_xd/msgpack_parser.cpp
@@ -506,7 +506,7 @@ std::string sick_scansegment_xd::MsgPackParser::MsgpackToHexDump(const std::vect
  * @param[in] verbose true: enable debug output, false: quiet mode
  */
 bool sick_scansegment_xd::MsgPackParser::Parse(const std::vector<uint8_t>& msgpack_data, fifo_timestamp msgpack_timestamp, 
-    const sick_scan::SickCloudTransform& add_transform_xyz_rpy, sick_scan::SickRangeFilter& range_filter, MsgPackParserOutput& result,
+    sick_scan::SickCloudTransform& add_transform_xyz_rpy, sick_scan::SickRangeFilter& range_filter, MsgPackParserOutput& result,
     sick_scansegment_xd::MsgPackValidatorData& msgpack_validator_data_collector, const sick_scansegment_xd::MsgPackValidator& msgpack_validator,
 	bool msgpack_validator_enabled, bool discard_msgpacks_not_validated,
 	bool use_software_pll, bool verbose)
@@ -563,7 +563,7 @@ bool sick_scansegment_xd::MsgPackParser::Parse(const std::vector<uint8_t>& msgpa
  * @param[in] verbose true: enable debug output, false: quiet mode
  */
 bool sick_scansegment_xd::MsgPackParser::Parse(std::istream& msgpack_istream, fifo_timestamp msgpack_timestamp, 
-	const sick_scan::SickCloudTransform& add_transform_xyz_rpy, sick_scan::SickRangeFilter& range_filter, MsgPackParserOutput& result,
+	sick_scan::SickCloudTransform& add_transform_xyz_rpy, sick_scan::SickRangeFilter& range_filter, MsgPackParserOutput& result,
     sick_scansegment_xd::MsgPackValidatorData& msgpack_validator_data_collector, 
 	const sick_scansegment_xd::MsgPackValidator& msgpack_validator,
 	bool msgpack_validator_enabled, bool discard_msgpacks_not_validated,
@@ -751,7 +751,9 @@ bool sick_scansegment_xd::MsgPackParser::Parse(std::istream& msgpack_istream, fi
 				assert(iPointCount == channelTheta.data().size() && iPointCount == distValues[echoIdx].data().size() && iPointCount == rssiValues[echoIdx].data().size());
 				groupData.push_back(sick_scansegment_xd::MsgPackParserOutput::Scanline());
 				sick_scansegment_xd::MsgPackParserOutput::Scanline& scanline = groupData.back();
-				scanline.reserve(iPointCount);
+				scanline.points.reserve(iPointCount);
+				scanline.range_min = +FLT_MAX;
+				scanline.range_max = -FLT_MAX;
 				for (int pointIdx = 0; pointIdx < iPointCount; pointIdx++)
 				{
 					float dist = 0.001f * distValues[echoIdx].data()[pointIdx]; // convert distance to meter
@@ -762,16 +764,28 @@ bool sick_scansegment_xd::MsgPackParser::Parse(std::istream& msgpack_istream, fi
 						float y = dist * sin_azimuth[pointIdx] * cos_elevation;
 						float z = dist * sin_elevation;
 						add_transform_xyz_rpy.applyTransform(x, y, z);
-    				float azimuth = channelTheta.data()[pointIdx];
+    				    float azimuth = channelTheta.data()[pointIdx];
 						float azimuth_norm = normalizeAngle(azimuth);
 						if (msgpack_validator_enabled)
 						{
 							msgpack_validator_data.update(echoIdx, segment_idx, azimuth_norm, elevation);
 							msgpack_validator_data_collector.update(echoIdx, segment_idx, azimuth_norm, elevation);
 						}
-						scanline.push_back(sick_scansegment_xd::MsgPackParserOutput::LidarPoint(x, y, z, intensity, dist, azimuth, elevation, groupIdx, echoIdx, pointIdx));
+						scanline.range_min = std::min(dist, scanline.range_min);
+						scanline.range_max = std::min(dist, scanline.range_max);
+						scanline.points.push_back(sick_scansegment_xd::MsgPackParserOutput::LidarPoint(x, y, z, intensity, dist, azimuth, elevation, groupIdx, echoIdx, pointIdx));
 				    }
 				}
+				if (iPointCount > 0)
+				{
+					scanline.angle_min = normalizeAngle(scanline.points.front().azimuth);
+					scanline.angle_max = normalizeAngle(scanline.points.back().azimuth);
+					scanline.angle_increment = (scanline.angle_max - scanline.angle_min) / (float)iPointCount;
+				}
+				else
+				{
+					scanline = sick_scansegment_xd::MsgPackParserOutput::Scanline();
+				}
 			}
 
 			// debug output
@@ -888,7 +902,7 @@ bool sick_scansegment_xd::MsgPackParser::WriteCSV(const std::vector<MsgPackParse
 		{
 			for (int echoIdx = 0; echoIdx < result.scandata[groupIdx].scanlines.size(); echoIdx++)
 			{
-				const std::vector<sick_scansegment_xd::MsgPackParserOutput::LidarPoint>& scanline = result.scandata[groupIdx].scanlines[echoIdx];
+				const std::vector<sick_scansegment_xd::MsgPackParserOutput::LidarPoint>& scanline = result.scandata[groupIdx].scanlines[echoIdx].points;
 				for (int pointIdx = 0; pointIdx < scanline.size(); pointIdx++)
 				{
 					const sick_scansegment_xd::MsgPackParserOutput::LidarPoint& point = scanline[pointIdx];
@@ -927,7 +941,7 @@ bool sick_scansegment_xd::MsgPackParser::ExportXYZI(const std::vector<MsgPackPar
 	{
 		for (int echoIdx = 0; echoIdx < results[0].scandata[groupIdx].scanlines.size(); echoIdx++)
 		{
-			data_length += results[0].scandata[groupIdx].scanlines[echoIdx].size();
+			data_length += results[0].scandata[groupIdx].scanlines[echoIdx].points.size();
 		}
 	}
 	x.reserve(data_length);
@@ -944,7 +958,7 @@ bool sick_scansegment_xd::MsgPackParser::ExportXYZI(const std::vector<MsgPackPar
 		{
 			for (int echoIdx = 0; echoIdx < result.scandata[groupIdx].scanlines.size(); echoIdx++)
 			{
-				const std::vector<sick_scansegment_xd::MsgPackParserOutput::LidarPoint>& scanline = result.scandata[groupIdx].scanlines[echoIdx];
+				const std::vector<sick_scansegment_xd::MsgPackParserOutput::LidarPoint>& scanline = result.scandata[groupIdx].scanlines[echoIdx].points;
 				for (int pointIdx = 0; pointIdx < scanline.size(); pointIdx++)
 				{
 					const sick_scansegment_xd::MsgPackParserOutput::LidarPoint& point = scanline[pointIdx];
diff --git a/driver/src/sick_scansegment_xd/ros_msgpack_publisher.cpp b/driver/src/sick_scansegment_xd/ros_msgpack_publisher.cpp
index 2baeb051..739b53c6 100644
--- a/driver/src/sick_scansegment_xd/ros_msgpack_publisher.cpp
+++ b/driver/src/sick_scansegment_xd/ros_msgpack_publisher.cpp
@@ -68,7 +68,7 @@
  *            config.publish_frame_id: frame id of ros PointCloud2 messages, default: "world"
  * @param[in] qos quality of service profile for the ros publisher, default: 1
  */
-sick_scansegment_xd::RosMsgpackPublisher::RosMsgpackPublisher(const std::string& node_name, const sick_scansegment_xd::Config& config, const rosQoS& qos)
+sick_scansegment_xd::RosMsgpackPublisher::RosMsgpackPublisher(const std::string& node_name, const sick_scansegment_xd::Config& config, rosQoS qos)
 #if defined __ROS_VERSION && __ROS_VERSION > 1
 	: Node(node_name)
 #endif
@@ -82,12 +82,23 @@ sick_scansegment_xd::RosMsgpackPublisher::RosMsgpackPublisher(const std::string&
 	m_min_azimuth = (float)-M_PI;
 	m_max_azimuth = (float)+M_PI;
 #if defined __ROS_VERSION && __ROS_VERSION > 1 // ROS-2 publisher
+    QoSConverter qos_converter;
+    int qos_val = -1;
+    rosDeclareParam(m_node, "ros_qos", qos_val);
+    rosGetParam(m_node, "ros_qos", qos_val);
+    if (qos_val >= 0)
+        qos = qos_converter.convert(qos_val);
 	m_points_collector = SegmentPointsCollector(m_segment_count);
 	if(m_publish_topic != "")
 	  m_publisher_cur_segment = create_publisher<PointCloud2Msg>(m_publish_topic, qos);
 	if(m_publish_topic_all_segments != "")
 	  m_publisher_all_segments = create_publisher<PointCloud2Msg>(m_publish_topic_all_segments, qos);
 #elif defined __ROS_VERSION && __ROS_VERSION > 0 // ROS-1 publisher
+    int qos_val = -1;
+    rosDeclareParam(m_node, "ros_qos", qos_val);
+    rosGetParam(m_node, "ros_qos", qos_val);
+    if (qos_val >= 0)
+        qos = qos_val;
 	if(m_publish_topic != "")
 		m_publisher_cur_segment = m_node->advertise<PointCloud2Msg>(m_publish_topic, qos);
 	if(m_publish_topic_all_segments != "")
@@ -210,8 +221,8 @@ void sick_scansegment_xd::RosMsgpackPublisher::HandleMsgPackData(const sick_scan
 		echo_count = std::max(msgpack_data.scandata[groupIdx].scanlines.size(), echo_count);
 		for (int echoIdx = 0; echoIdx < msgpack_data.scandata[groupIdx].scanlines.size(); echoIdx++)
 		{
-			total_point_count += msgpack_data.scandata[groupIdx].scanlines[echoIdx].size();
-			point_count_per_echo = std::max(msgpack_data.scandata[groupIdx].scanlines[echoIdx].size(), point_count_per_echo);
+			total_point_count += msgpack_data.scandata[groupIdx].scanlines[echoIdx].points.size();
+			point_count_per_echo = std::max(msgpack_data.scandata[groupIdx].scanlines[echoIdx].points.size(), point_count_per_echo);
 		}
 	}
 	float lidar_points_min_azimuth = +2.0f * (float)M_PI, lidar_points_max_azimuth = -2.0f * (float)M_PI;
@@ -224,7 +235,7 @@ void sick_scansegment_xd::RosMsgpackPublisher::HandleMsgPackData(const sick_scan
 	{
 		for (int echoIdx = 0; echoIdx < msgpack_data.scandata[groupIdx].scanlines.size(); echoIdx++)
 		{
-			const std::vector<sick_scansegment_xd::MsgPackParserOutput::LidarPoint>& scanline = msgpack_data.scandata[groupIdx].scanlines[echoIdx];
+			const std::vector<sick_scansegment_xd::MsgPackParserOutput::LidarPoint>& scanline = msgpack_data.scandata[groupIdx].scanlines[echoIdx].points;
 			for (int pointIdx = 0; pointIdx < scanline.size(); pointIdx++)
 			{
 				const sick_scansegment_xd::MsgPackParserOutput::LidarPoint& point = scanline[pointIdx];
diff --git a/include/sick_scan/sick_cloud_transform.h b/include/sick_scan/sick_cloud_transform.h
index c64dd391..224e2e40 100644
--- a/include/sick_scan/sick_cloud_transform.h
+++ b/include/sick_scan/sick_cloud_transform.h
@@ -87,8 +87,8 @@ namespace sick_scan
     public:
 
         SickCloudTransform();
-        SickCloudTransform(rosNodePtr nh, bool cartesian_input_only = false);
-        SickCloudTransform(const std::string& add_transform_xyz_rpy, bool cartesian_input_only = false);
+        SickCloudTransform(rosNodePtr nh, bool cartesian_input_only /* = false */);
+        SickCloudTransform(rosNodePtr nh, const std::string& add_transform_xyz_rpy, bool cartesian_input_only /* = false */, bool add_transform_check_dynamic_updates /* = false */);
 
         /*
         * Apply an optional transform to point (x, y, z).
@@ -97,8 +97,22 @@ namespace sick_scan
         * @param[in+out] y input y in child coordinates, output y in parent coordinates
         * @param[in+out] z input z in child coordinates, output z in parent coordinates
         */
-        template<typename float_type> inline void applyTransform(float_type& x, float_type& y, float_type& z) const // 
+        template<typename float_type> inline void applyTransform(float_type& x, float_type& y, float_type& z)
         {
+            // Check parameter and re-init if parameter "add_transform_xyz_rpy" changed
+            if (m_add_transform_check_dynamic_updates && m_nh)
+            {
+                std::string add_transform_xyz_rpy = m_add_transform_xyz_rpy;
+                rosGetParam(m_nh, "add_transform_xyz_rpy", add_transform_xyz_rpy);
+                if (m_add_transform_xyz_rpy != add_transform_xyz_rpy)
+                {
+                    if (!init(add_transform_xyz_rpy, m_cartesian_input_only, m_add_transform_check_dynamic_updates))
+                    {
+                        ROS_ERROR_STREAM("## ERROR SickCloudTransform(): Re-Initialization by \"" << add_transform_xyz_rpy << "\" failed, use 6D pose \"x,y,z,roll,pitch,yaw\" in [m] resp. [rad]");
+                    }
+                }
+            }
+            // Apply transform
             if (m_apply_3x3_rotation)
             {
                 float_type u = x * m_rotation_matrix[0][0] + y * m_rotation_matrix[0][1] + z * m_rotation_matrix[0][2];
@@ -127,7 +141,7 @@ namespace sick_scan
         typedef std::array<std::array<float, 3>, 3> Matrix3x3; // 3x3 rotation matrix
 
         // Initializes rotation matrix and translation vector from a 6D pose configuration (x,y,z,roll,pitch,yaw) in [m] resp. [rad]
-        bool init(const std::string& add_transform_xyz_rpy, bool cartesian_input_only);
+        bool init(const std::string& add_transform_xyz_rpy, bool cartesian_input_only, bool add_transform_check_dynamic_updates);
 
         // Converts roll (rotation about X), pitch (rotation about Y), yaw (rotation about Z) to 3x3 rotation matrix
         static Matrix3x3 eulerToRot3x3(float roll, float pitch, float yaw);
@@ -135,6 +149,10 @@ namespace sick_scan
         // Multiply two 3x3 matrices, return a * b
         static Matrix3x3 multiply3x3(const Matrix3x3& a, const Matrix3x3& b);
 
+        rosNodePtr m_nh = 0; // ros node handle
+        std::string m_add_transform_xyz_rpy = "";                     // currently configured ros parameter "add_transform_xyz_rpy"
+        bool m_add_transform_check_dynamic_updates = false;           // True: ros parameter "add_transform_xyz_rpy" can be updated during runtime by "rosparam set", False: parameter "add_transform_xyz_rpy" configured by launchfile only
+        bool m_cartesian_input_only = false;                          // currently configured parameter cartesian_input_only
         bool m_apply_3x3_rotation = false;                            // true, if the 3x3 rotation_matrix has to be applied, otherwise false (default)
         Vector3D m_translation_vector = { 0, 0, 0 };                  // translational part x,y,z of the 6D pose, default: 0
         Matrix3x3 m_rotation_matrix = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };  // rotational part roll,pitch,yaw by 3x3 rotation matrix, default: 3x3 identity
diff --git a/include/sick_scan/sick_ros_wrapper.h b/include/sick_scan/sick_ros_wrapper.h
index 70a584bd..e99b78f0 100644
--- a/include/sick_scan/sick_ros_wrapper.h
+++ b/include/sick_scan/sick_ros_wrapper.h
@@ -169,12 +169,17 @@ template <class T> class rosPublisher : public ros::Publisher
 };
 template <typename T> rosPublisher<T> rosAdvertise(rosNodePtr nh, const std::string& topic, uint32_t queue_size = 10, rosQoS qos = 10)
 {
+    int qos_val = -1;
+    rosDeclareParam(nh, "ros_qos", qos_val);
+    rosGetParam(nh, "ros_qos", qos_val);
+    if (qos_val >= 0)
+        qos = qos_val;
     std::string topic2;
     if(topic.empty() || topic[0] != '/')
       topic2 = std::string("/") + topic;
     else
       topic2 = topic;
-    ROS_INFO_STREAM("Publishing on topic \"" << topic2 << "\"");
+    ROS_INFO_STREAM("Publishing on topic \"" << topic2 << "\", qos=" << qos);
     ros::Publisher publisher = nh->advertise<T>(topic2, queue_size);
     return rosPublisher<T>(publisher);
 }
@@ -300,6 +305,27 @@ inline uint32_t sec(const rosDuration& time) { return (uint32_t)(time.nanosecond
 inline uint32_t nsec(const rosDuration& time) { return (uint32_t)(time.nanoseconds() - 1000000000 * sec(time)); } // return nanoseconds part of rclcpp::Duration
 inline uint64_t rosNanosecTimestampNow(void) { rosTime now = rosTimeNow(); return (((uint64_t)sec(now)) * (uint64_t)1000000000) + std::min((uint64_t)nsec(now), (uint64_t)1000000000); }
 
+class QoSConverter
+{
+public:
+    int convert(const rosQoS& qos) const
+    {
+        for (std::map<int,rosQoS>::const_iterator qos_iter = m_qos_map.cbegin(); qos_iter != m_qos_map.cend(); qos_iter++)
+            if (qos_iter->second == qos)
+                return qos_iter->first;
+        return 0;
+    }
+    rosQoS convert(const int& qos) const
+    {
+        for (std::map<int,rosQoS>::const_iterator qos_iter = m_qos_map.cbegin(); qos_iter != m_qos_map.cend(); qos_iter++)
+            if (qos_iter->first == qos)
+                return qos_iter->second;
+        return rclcpp::SystemDefaultsQoS();
+    }
+protected:
+    std::map<int,rosQoS> m_qos_map = { {0, rclcpp::SystemDefaultsQoS()}, {1, rclcpp::ParameterEventsQoS()}, {2, rclcpp::ServicesQoS()}, {3, rclcpp::ParametersQoS()}, {4, rclcpp::SensorDataQoS()} };
+};
+
 template <class T> class rosPublisher : public rclcpp::Publisher<T>::SharedPtr
 {
 public:
@@ -308,7 +334,13 @@ template <class T> class rosPublisher : public rclcpp::Publisher<T>::SharedPtr
 };
 template <class T> rosPublisher<T> rosAdvertise(rosNodePtr nh, const std::string& topic, uint32_t queue_size = 10, rosQoS qos = rclcpp::SystemDefaultsQoS())
 {
-    ROS_INFO_STREAM("Publishing on topic \"" << topic << "\"");
+    QoSConverter qos_converter;
+    int qos_val = -1;
+    rosDeclareParam(nh, "ros_qos", qos_val);
+    rosGetParam(nh, "ros_qos", qos_val);
+    if (qos_val >= 0)
+        qos = qos_converter.convert(qos_val);
+    ROS_INFO_STREAM("Publishing on topic \"" << topic << "\", qos=" << qos_converter.convert(qos));
     auto publisher = nh->create_publisher<T>(topic, qos);
     return rosPublisher<T>(publisher);
 }
diff --git a/include/sick_scansegment_xd/msgpack_parser.h b/include/sick_scansegment_xd/msgpack_parser.h
index d4bd69b7..e8711ab3 100644
--- a/include/sick_scansegment_xd/msgpack_parser.h
+++ b/include/sick_scansegment_xd/msgpack_parser.h
@@ -125,7 +125,16 @@ namespace sick_scansegment_xd
         /*
          * @brief type Scanline is a vector of LidarPoint data. multiScan136 transmits 3 echos, each echo is a Scanline.
          */
-        typedef std::vector<LidarPoint> Scanline;
+        class Scanline
+        {
+        public:
+            std::vector<LidarPoint> points; // list of all scan points
+            float angle_min = 0;        // start angle of the scan [rad]
+            float angle_max = 0;        // end angle of the scan [rad]
+            float angle_increment = 0;  // angular distance between measurements [rad]
+            float range_min = 0;        // minimum range value [m]
+            float range_max = 0;        // maximum range value [m]
+        };
 
         /*
          * @brief type Scangroup is a vector of Scanlines. multiScan136 transmits 16 groups, each group has 3 echos (3 scanlines).
@@ -140,7 +149,6 @@ namespace sick_scansegment_xd
             uint32_t timestampStop_nsec;
             std::vector<Scanline> scanlines;
         };
-        // typedef std::vector<Scanline> Scangroup;
 
         /*
          * @brief scandata contains all data of a MsgPack.
@@ -196,7 +204,7 @@ namespace sick_scansegment_xd
          * @param[in] use_software_pll true (default): result timestamp from sensor ticks by software pll, false: result timestamp from msg receiving
          * @param[in] verbose true: enable debug output, false: quiet mode
          */
-        static bool Parse(const std::vector<uint8_t>& msgpack_data, fifo_timestamp msgpack_timestamp, const sick_scan::SickCloudTransform& add_transform_xyz_rpy, 
+        static bool Parse(const std::vector<uint8_t>& msgpack_data, fifo_timestamp msgpack_timestamp, sick_scan::SickCloudTransform& add_transform_xyz_rpy, 
             sick_scan::SickRangeFilter& range_filter, MsgPackParserOutput& result, 
             sick_scansegment_xd::MsgPackValidatorData& msgpack_validator_data_collector, const sick_scansegment_xd::MsgPackValidator& msgpack_validator = sick_scansegment_xd::MsgPackValidator(), 
             bool msgpack_validator_enabled = false, bool discard_msgpacks_not_validated = false,
@@ -239,7 +247,7 @@ namespace sick_scansegment_xd
          * @param[in] use_software_pll true (default): result timestamp from sensor ticks by software pll, false: result timestamp from msg receiving
          * @param[in] verbose true: enable debug output, false: quiet mode
          */
-        static bool Parse(std::istream& msgpack_istream, fifo_timestamp msgpack_timestamp, const sick_scan::SickCloudTransform& add_transform_xyz_rpy, 
+        static bool Parse(std::istream& msgpack_istream, fifo_timestamp msgpack_timestamp, sick_scan::SickCloudTransform& add_transform_xyz_rpy, 
             sick_scan::SickRangeFilter& range_filter, MsgPackParserOutput& result, 
             sick_scansegment_xd::MsgPackValidatorData& msgpack_validator_data_collector,
             const sick_scansegment_xd::MsgPackValidator& msgpack_validator = sick_scansegment_xd::MsgPackValidator(),
diff --git a/include/sick_scansegment_xd/ros_msgpack_publisher.h b/include/sick_scansegment_xd/ros_msgpack_publisher.h
index d14d354b..59d71cd2 100644
--- a/include/sick_scansegment_xd/ros_msgpack_publisher.h
+++ b/include/sick_scansegment_xd/ros_msgpack_publisher.h
@@ -103,7 +103,7 @@ namespace sick_scansegment_xd
          *            config.publish_frame_id: frame id of ros PointCloud2 messages, default: "world"
          * @param[in] qos quality of service profile for the ros publisher, default: 1
          */
-        RosMsgpackPublisher(const std::string& node_name = "sick_scansegment_xd", const sick_scansegment_xd::Config& config = sick_scansegment_xd::Config(), const rosQoS& qos = 1);
+        RosMsgpackPublisher(const std::string& node_name = "sick_scansegment_xd", const sick_scansegment_xd::Config& config = sick_scansegment_xd::Config(), rosQoS qos = 1);
 
         /*
          * @brief RosMsgpackPublisher destructor
diff --git a/launch/sick_ldmrs.launch b/launch/sick_ldmrs.launch
index e5fa31e3..7e38c103 100644
--- a/launch/sick_ldmrs.launch
+++ b/launch/sick_ldmrs.launch
@@ -8,6 +8,7 @@
     <arg name="frame_id" default="cloud"/>
     <arg name="nodename" default="sick_ldmrs"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
 
         <!-- Common settings for LDMRS -->
@@ -47,6 +48,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -88,5 +90,13 @@
         <param name="min_object_age" type="int" value="0"/>                   <!-- # gen.add("min_object_age",        int_t,    0, "Minimum tracking age (number of scans) of an object to be transmitted.",        0,               0,               65535) -->
         <param name="max_prediction_age" type="int" value="0"/>               <!-- # gen.add("max_prediction_age",    int_t,    0, "Maximum prediction age (number of scans) of an object to be transmitted.",      0,               0,               65535) -->
             
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_lms_1xx.launch b/launch/sick_lms_1xx.launch
index ce6a7919..a905d52f 100644
--- a/launch/sick_lms_1xx.launch
+++ b/launch/sick_lms_1xx.launch
@@ -8,6 +8,7 @@
     <arg name="sw_pll_only_publish" default="true"/>
     <arg name="nodename" default="sick_lms_1xx"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <param name="intensity" type="bool" value="False"/>
         <param name="intensity_resolution_16bit" type="bool" value="false"/>
@@ -61,6 +62,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
         <param name="read_timeout_millisec_default" type="int" value="5000"/>     <!-- 5 sec read timeout in operational mode (measurement mode), default: 5000 milliseconds -->
@@ -68,5 +70,13 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_lms_1xx_encoder.launch b/launch/sick_lms_1xx_encoder.launch
index aca6db61..2e9cd668 100644
--- a/launch/sick_lms_1xx_encoder.launch
+++ b/launch/sick_lms_1xx_encoder.launch
@@ -6,6 +6,7 @@
     <arg name="cloud_topic" default="cloud"/>
     <arg name="frame_id" default="cloud"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <!-- robot_description and robot_state_publisher hier evtl. einbauen  -->
     <node name="sick_lms_1xx" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <!-- default values: -->
@@ -56,6 +57,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -64,5 +66,13 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_lms_1xxx.launch b/launch/sick_lms_1xxx.launch
index 353e319f..5d72a867 100644
--- a/launch/sick_lms_1xxx.launch
+++ b/launch/sick_lms_1xxx.launch
@@ -7,6 +7,7 @@
     <arg name="frame_id" default="cloud"/>
     <arg name="nodename" default="sick_lms_1xxx"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <!-- robot_description and robot_state_publisher hier evtl. einbauen  -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <!-- default values: -->
@@ -62,6 +63,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -74,5 +76,13 @@
         <param name="lfp_meanfilter" type="int" value="2" /> <!-- MRS1xxx, LMS1xxx, LMS4xxx, LRS4xxx: lfp_meanfilter<0: do not apply, lfp_meanfilter==0: deactivate LFPmeanfilter, lfp_meanfilter>0: activate LFPmeanfilter with lfp_meanfilter = number of scans -->
         <param name="lfp_medianfilter" type="int" value="1" /> <!-- MRS1xxx, LMS1xxx, LMS4xxx, LRS4xxx: lfp_medianfilter<0: do not apply, lfp_medianfilter==0: deactivate LFPmedianfilter, lfp_medianfilter==1: activate LFPmedianfilter -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_lms_1xxx_v2.launch b/launch/sick_lms_1xxx_v2.launch
index 933dedaa..19479ceb 100644
--- a/launch/sick_lms_1xxx_v2.launch
+++ b/launch/sick_lms_1xxx_v2.launch
@@ -7,6 +7,7 @@
     <arg name="frame_id" default="cloud"/>
     <arg name="nodename" default="sick_lms_1xxx"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <!-- robot_description and robot_state_publisher hier evtl. einbauen  -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <!-- default values: -->
@@ -67,6 +68,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -79,5 +81,13 @@
         <param name="lfp_meanfilter" type="int" value="2" /> <!-- MRS1xxx, LMS1xxx, LMS4xxx, LRS4xxx: lfp_meanfilter<0: do not apply, lfp_meanfilter==0: deactivate LFPmeanfilter, lfp_meanfilter>0: activate LFPmeanfilter with lfp_meanfilter = number of scans -->
         <param name="lfp_medianfilter" type="int" value="1" /> <!-- MRS1xxx, LMS1xxx, LMS4xxx, LRS4xxx: lfp_medianfilter<0: do not apply, lfp_medianfilter==0: deactivate LFPmedianfilter, lfp_medianfilter==1: activate LFPmedianfilter -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_lms_4xxx.launch b/launch/sick_lms_4xxx.launch
index e6a35dcf..6d34997f 100644
--- a/launch/sick_lms_4xxx.launch
+++ b/launch/sick_lms_4xxx.launch
@@ -28,6 +28,7 @@
     <arg name="frame_id" default="cloud"/>
     <arg name="nodename" default="sick_lms_4xxx"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
 
         <!-- default values: -->
@@ -85,6 +86,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -97,6 +99,14 @@
         <param name="lfp_meanfilter" type="int" value="2" /> <!-- MRS1xxx, LMS1xxx, LMS4xxx, LRS4xxx: lfp_meanfilter<0: do not apply, lfp_meanfilter==0: deactivate LFPmeanfilter, lfp_meanfilter>0: activate LFPmeanfilter with lfp_meanfilter = number of scans -->
         <param name="lfp_medianfilter" type="int" value="1" /> <!-- MRS1xxx, LMS1xxx, LMS4xxx, LRS4xxx: lfp_medianfilter<0: do not apply, lfp_medianfilter==0: deactivate LFPmedianfilter, lfp_medianfilter==1: activate LFPmedianfilter -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 
 </launch>
diff --git a/launch/sick_lms_4xxx_encoder.launch b/launch/sick_lms_4xxx_encoder.launch
index fa48f564..e83ce6c9 100644
--- a/launch/sick_lms_4xxx_encoder.launch
+++ b/launch/sick_lms_4xxx_encoder.launch
@@ -23,6 +23,7 @@
     <arg name="cloud_topic" default="cloud"/>
     <arg name="frame_id" default="cloud"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="sick_lms_4xxx" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
 
         <!-- Default: min_angle = -135 degree, max_angle = 135 -->
@@ -82,6 +83,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -90,6 +92,14 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 
 </launch>
diff --git a/launch/sick_lms_5xx.launch b/launch/sick_lms_5xx.launch
index a8d4b422..f7745711 100644
--- a/launch/sick_lms_5xx.launch
+++ b/launch/sick_lms_5xx.launch
@@ -16,6 +16,7 @@ Check IP-address, if you scanner is not found after roslaunch.
     <arg name="sw_pll_only_publish" default="true"/>
     <arg name="nodename" default="sick_lms_5xx"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <!-- launch file for the lms_5xx series -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <!-- launch-prefix="gdb -ex run - -args" -->
@@ -80,6 +81,7 @@ Check IP-address, if you scanner is not found after roslaunch.
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True"/> <!-- start ros service for cola commands -->
         <param name="activate_lferec" type="bool" value="True"/> <!-- activate field monitoring by lferec messages -->
@@ -92,6 +94,14 @@ Check IP-address, if you scanner is not found after roslaunch.
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
         <!--
diff --git a/launch/sick_lms_5xx_encoder.launch b/launch/sick_lms_5xx_encoder.launch
index 86ef7c6e..0afcd568 100644
--- a/launch/sick_lms_5xx_encoder.launch
+++ b/launch/sick_lms_5xx_encoder.launch
@@ -14,6 +14,7 @@ Check IP-address, if you scanner is not found after roslaunch.
     <arg name="cloud_topic" default="cloud"/>
     <arg name="frame_id" default="cloud"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <!-- launch file for the lms_5xx series -->
     <node name="sick_lms_5xx" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
 
@@ -73,6 +74,7 @@ Check IP-address, if you scanner is not found after roslaunch.
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -81,6 +83,14 @@ Check IP-address, if you scanner is not found after roslaunch.
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
         <!--
diff --git a/launch/sick_lrs_36x0.launch b/launch/sick_lrs_36x0.launch
index b90e1d84..4b37feab 100644
--- a/launch/sick_lrs_36x0.launch
+++ b/launch/sick_lrs_36x0.launch
@@ -9,6 +9,7 @@
     <arg name="skip" default="0"/>
     <arg name="nodename" default="sick_lrs_36x0"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <param name="intensity" type="bool" value="True"/>
         <param name="frame_id" type="str" value="$(arg frame_id)"/>
@@ -54,6 +55,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -62,6 +64,14 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
         <!--
         |Mode |Inter-laced |Scan freq. | Result. scan freq.| Reso-lution |Total Resol. | Field of view| Sector| LRS 3601 3611 |OEM 1501|NAV 310 |LRS 3600 3610 |OEM 1500|
         |   |   |       |        |        |         |       |                 |   |   |   |   |   |
diff --git a/launch/sick_lrs_36x1.launch b/launch/sick_lrs_36x1.launch
index 96975515..0c898a00 100644
--- a/launch/sick_lrs_36x1.launch
+++ b/launch/sick_lrs_36x1.launch
@@ -9,6 +9,7 @@
     <arg name="skip" default="0"/>
     <arg name="nodename" default="sick_lrs_36x1"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <param name="intensity" type="bool" value="True"/>
         <param name="frame_id" type="str" value="$(arg frame_id)"/>
@@ -52,6 +53,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -60,6 +62,14 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
         <!--
         |Mode |Inter-laced |Scan freq. | Result. scan freq.| Reso-lution |Total Resol. | Field of view| Sector| LRS 3601 3611 |OEM 1501|NAV 310 |LRS 3600 3610 |OEM 1500|
         |   |   |       |        |        |         |       |                 |   |   |   |   |   |
diff --git a/launch/sick_lrs_4xxx.launch b/launch/sick_lrs_4xxx.launch
index e8155f5a..75581c84 100644
--- a/launch/sick_lrs_4xxx.launch
+++ b/launch/sick_lrs_4xxx.launch
@@ -8,6 +8,7 @@
     <arg name="skip" default="0"/>
     <arg name="nodename" default="sick_lrs_4xxx"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <param name="scanner_type" type="string" value="sick_lrs_4xxx"/>
         <param name="hostname" type="string" value="$(arg hostname)"/>
@@ -61,6 +62,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -76,5 +78,13 @@
         <!-- Supported by sick_generic_caller version 2.8.4 and above: -->
         <param name="glare_detection_sens" type="int" value="-1" />        <!-- Glare Detection Sensitivity (LRS4xxx only): glare_detection_sens<0: do not apply, glare_detection_sens==0: deactivate glare_detection_filter, glare_detection_sens==5: medium glare detection sensitivity, glare_detection_sens==10: sensitive glare detection filter -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_mrs_1xxx.launch b/launch/sick_mrs_1xxx.launch
index dec58da8..3616443d 100644
--- a/launch/sick_mrs_1xxx.launch
+++ b/launch/sick_mrs_1xxx.launch
@@ -16,6 +16,7 @@ default max_angle for this scanner type is +137.5 degree.
     <arg name="imu_frame_id" default="imu_link"/> 
     <arg name="nodename" default="sick_mrs_1xxx"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <!-- launch-prefix="gdb -ex run - -args" -->
         <!-- default values: -->
@@ -70,6 +71,7 @@ default max_angle for this scanner type is +137.5 degree.
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -82,6 +84,14 @@ default max_angle for this scanner type is +137.5 degree.
         <param name="lfp_meanfilter" type="int" value="2" /> <!-- MRS1xxx, LMS1xxx, LMS4xxx, LRS4xxx: lfp_meanfilter<0: do not apply, lfp_meanfilter==0: deactivate LFPmeanfilter, lfp_meanfilter>0: activate LFPmeanfilter with lfp_meanfilter = number of scans -->
         <param name="lfp_medianfilter" type="int" value="1" /> <!-- MRS1xxx, LMS1xxx, LMS4xxx, LRS4xxx: lfp_medianfilter<0: do not apply, lfp_medianfilter==0: deactivate LFPmedianfilter, lfp_medianfilter==1: activate LFPmedianfilter -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
         <!--
diff --git a/launch/sick_mrs_1xxx_cartographer.launch b/launch/sick_mrs_1xxx_cartographer.launch
index d9e9571d..b6d90a16 100644
--- a/launch/sick_mrs_1xxx_cartographer.launch
+++ b/launch/sick_mrs_1xxx_cartographer.launch
@@ -14,6 +14,7 @@ default max_angle for this scanner type is +137.5 degree.
     <arg name="frame_id" default="cloud"/>
     <arg name="imu_frame_id" default="imu_link"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <!-- robot_description and robot_state_publisher is prepared but final STL-model is missing -->
     <node name="sick_mrs_1xxx" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <!-- default values: -->
@@ -69,6 +70,7 @@ default max_angle for this scanner type is +137.5 degree.
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -77,6 +79,14 @@ default max_angle for this scanner type is +137.5 degree.
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
         <!--
diff --git a/launch/sick_mrs_6xxx.launch b/launch/sick_mrs_6xxx.launch
index 8a77715c..e242c6c5 100644
--- a/launch/sick_mrs_6xxx.launch
+++ b/launch/sick_mrs_6xxx.launch
@@ -7,6 +7,7 @@
     <arg name="frame_id" default="cloud"/>
     <arg name="nodename" default="sick_mrs_6xxx"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <!-- robot_description and robot_state_publisher will be published here -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <!-- default values: -->
@@ -61,6 +62,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -69,5 +71,13 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_mrs_6xxx_first_echo.launch b/launch/sick_mrs_6xxx_first_echo.launch
index 5ac8e1bc..3a06f25a 100644
--- a/launch/sick_mrs_6xxx_first_echo.launch
+++ b/launch/sick_mrs_6xxx_first_echo.launch
@@ -6,6 +6,7 @@
     <arg name="cloud_topic" default="cloud"/>
     <arg name="frame_id" default="cloud"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <!-- robot_description and robot_state_publisher will be published here -->
     <node name="sick_mrs_6xxx" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <!-- default values: -->
@@ -58,6 +59,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -66,5 +68,13 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_mrs_6xxx_last_echo.launch b/launch/sick_mrs_6xxx_last_echo.launch
index 3058b085..f8bc5756 100644
--- a/launch/sick_mrs_6xxx_last_echo.launch
+++ b/launch/sick_mrs_6xxx_last_echo.launch
@@ -6,6 +6,7 @@
     <arg name="cloud_topic" default="cloud"/>
     <arg name="frame_id" default="cloud"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <!-- robot_description and robot_state_publisher will be published here -->
     <node name="sick_mrs_6xxx" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <!-- default values: -->
@@ -57,6 +58,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -65,5 +67,13 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_mrs_6xxx_narrow.launch b/launch/sick_mrs_6xxx_narrow.launch
index c406f4be..3a2bab93 100644
--- a/launch/sick_mrs_6xxx_narrow.launch
+++ b/launch/sick_mrs_6xxx_narrow.launch
@@ -6,6 +6,7 @@
     <arg name="cloud_topic" default="cloud"/>
     <arg name="frame_id" default="cloud"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <!-- robot_description and robot_state_publisher will be published here -->
 
     <!-- robot_description and robot_state_publisher will be published here -->
@@ -59,6 +60,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -67,5 +69,13 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_nav_2xx.launch b/launch/sick_nav_2xx.launch
index de5af77c..09cedce6 100644
--- a/launch/sick_nav_2xx.launch
+++ b/launch/sick_nav_2xx.launch
@@ -6,6 +6,7 @@
     <arg name="frame_id" default="cloud"/>
     <arg name="nodename" default="sick_nav_2xx"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <param name="intensity" type="bool" value="true"/>
         <param name="intensity_resolution_16bit" type="bool" value="true"/>
@@ -45,6 +46,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -53,5 +55,13 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_nav_3xx.launch b/launch/sick_nav_3xx.launch
index 243110c7..cb2319ff 100644
--- a/launch/sick_nav_3xx.launch
+++ b/launch/sick_nav_3xx.launch
@@ -12,6 +12,7 @@
     <arg name="nodename" default="sick_nav_3xx"/>
     <arg name="skip" default="0"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <param name="scanner_type" type="string" value="sick_nav_3xx"/>
 
@@ -63,6 +64,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -71,6 +73,14 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 
 </launch>
diff --git a/launch/sick_nav_3xx_ascii.launch b/launch/sick_nav_3xx_ascii.launch
index 1b047281..1aa6bb24 100644
--- a/launch/sick_nav_3xx_ascii.launch
+++ b/launch/sick_nav_3xx_ascii.launch
@@ -6,6 +6,7 @@
     <arg name="cloud_topic" default="cloud"/>
     <arg name="frame_id" default="cloud"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="sick_nav_3xx" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <param name="scanner_type" type="string" value="sick_nav_3xx"/>
 
@@ -48,6 +49,15 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
+
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
 
     </node>
 
diff --git a/launch/sick_new_ip.launch b/launch/sick_new_ip.launch
index 57db43a4..c5cfaa32 100644
--- a/launch/sick_new_ip.launch
+++ b/launch/sick_new_ip.launch
@@ -30,6 +30,14 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 
 </launch>
diff --git a/launch/sick_oem_15xx.launch b/launch/sick_oem_15xx.launch
index 4567547d..7f26441a 100644
--- a/launch/sick_oem_15xx.launch
+++ b/launch/sick_oem_15xx.launch
@@ -12,6 +12,7 @@
     <arg name="skip" default="0"/>
     <arg name="nodename" default="sick_oem_15xx"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <param name="scanner_type" type="string" value="sick_oem_15xx"/>
         <param name="use_binary_protocol" type="bool" value="true"/>
@@ -53,6 +54,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -61,6 +63,14 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
         <!--
         |Mode |Inter-laced |Scan freq. | Result. scan freq.| Reso-lution |Total Resol. | Field of view| Sector| LRS 3601 3611 |OEM 1501|NAV 310 |LRS 3600 3610 |OEM 1500|
         |   |   |       |        |        |         |       |                 |   |   |   |   |   |
diff --git a/launch/sick_rms_1xxx.launch b/launch/sick_rms_1xxx.launch
index 4fff3fee..393581f2 100644
--- a/launch/sick_rms_1xxx.launch
+++ b/launch/sick_rms_1xxx.launch
@@ -9,6 +9,7 @@
     <arg name="cloud_topic" default="cloud"/>
     <arg name="frame_id" default="cloud"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <!-- default values: -->
         <param name="scanner_type" type="string" value="sick_rms_1xxx"/>
@@ -55,6 +56,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="False" />     <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -63,5 +65,13 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_rms_1xxx_ascii.launch b/launch/sick_rms_1xxx_ascii.launch
index fb5a3950..6dadef1f 100644
--- a/launch/sick_rms_1xxx_ascii.launch
+++ b/launch/sick_rms_1xxx_ascii.launch
@@ -6,6 +6,7 @@
     <arg name="cloud_topic" default="cloud"/>
     <arg name="frame_id" default="cloud"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <!-- default values: -->
         <param name="scanner_type" type="string" value="sick_rms_1xxx"/>
@@ -52,6 +53,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="False" />     <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -60,5 +62,13 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_rms_2xxx.launch b/launch/sick_rms_2xxx.launch
index 48cc39c2..1b1abd6c 100644
--- a/launch/sick_rms_2xxx.launch
+++ b/launch/sick_rms_2xxx.launch
@@ -12,6 +12,7 @@
     <arg name="cloud_topic" default="cloud"/>
     <arg name="frame_id" default="cloud"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <!-- default values: -->
         <param name="scanner_type" type="string" value="sick_rms_2xxx"/>
@@ -59,6 +60,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="False" />     <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -67,5 +69,13 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_rms_3xx.launch b/launch/sick_rms_3xx.launch
index 3e1ddf41..ab0a4887 100644
--- a/launch/sick_rms_3xx.launch
+++ b/launch/sick_rms_3xx.launch
@@ -12,6 +12,7 @@
     <arg name="cloud_topic" default="cloud"/>
     <arg name="frame_id" default="cloud"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <!-- default values: -->
         <param name="scanner_type" type="string" value="sick_rms_3xx"/>
@@ -59,6 +60,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="False" />     <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -67,5 +69,13 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_rms_3xx_emul.launch b/launch/sick_rms_3xx_emul.launch
index a6690c86..d5361fae 100644
--- a/launch/sick_rms_3xx_emul.launch
+++ b/launch/sick_rms_3xx_emul.launch
@@ -11,6 +11,7 @@
     <arg name="cloud_topic" default="cloud"/>
     <arg name="frame_id" default="cloud"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="sick_rms_3xx" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <!-- default values: -->
         <param name="scanner_type" type="string" value="sick_rms_3xx"/>
@@ -47,6 +48,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="False" />     <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -55,5 +57,13 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_scansegment_xd.launch b/launch/sick_scansegment_xd.launch
index dfe843ff..0533e1ce 100644
--- a/launch/sick_scansegment_xd.launch
+++ b/launch/sick_scansegment_xd.launch
@@ -10,6 +10,7 @@
     <arg name="publish_topic_all_segments" default="/cloud_360" />        <!-- ros topic to publish PointCloud2 messages of all segments (360 deg), default: "/cloud_360" -->
     <arg name="publish_frame_id" default="world" />                       <!-- frame id of ros PointCloud2 messages, default: "world" -->
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">    
         <param name="scanner_type" type="string" value="sick_scansegment_xd"/>
 
@@ -59,6 +60,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <!-- SOPAS settings: -->
         <param name="sopas_tcp_port" type="string" value="2111" />                          <!-- TCP port for SOPAS commands, default port: 2111 -->
@@ -90,6 +92,14 @@
         <param name="msgpack_validator_valid_segments" type="string" value="0 1 2 3 4 5 6 7 8 9 10 11" />     <!-- indices of valid segmentes, default for full scan: 12 segments -->
         <param name="msgpack_validator_layer_filter" type="string" value="1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1" /> <!-- default for full scan: 16 layer active, i.e. "1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1" -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 
 </launch>
diff --git a/launch/sick_tim_240.launch b/launch/sick_tim_240.launch
index 561f7980..6affc29c 100644
--- a/launch/sick_tim_240.launch
+++ b/launch/sick_tim_240.launch
@@ -23,6 +23,7 @@
     <arg name="sw_pll_only_publish" default="true"/>
     <arg name="nodename" default="sick_tim_240"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <param name="scanner_type" type="string" value="sick_tim_240"/>
         <!-- datagram shows values from -90 ... 120 (211 values) -->
@@ -67,6 +68,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -75,5 +77,13 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_tim_240_bin.launch b/launch/sick_tim_240_bin.launch
index e62a6d34..3d585c9d 100644
--- a/launch/sick_tim_240_bin.launch
+++ b/launch/sick_tim_240_bin.launch
@@ -21,6 +21,7 @@
     <arg name="cloud_topic" default="cloud"/>
     <arg name="frame_id" default="cloud"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="sick_tim_240" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <param name="scanner_type" type="string" value="sick_tim_240"/>
         <!-- datagram shows values from -90 ... 120 (211 values) -->
@@ -65,6 +66,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -73,5 +75,13 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
diff --git a/launch/sick_tim_4xx.launch b/launch/sick_tim_4xx.launch
index cdbf4cb0..e11ca732 100644
--- a/launch/sick_tim_4xx.launch
+++ b/launch/sick_tim_4xx.launch
@@ -49,6 +49,7 @@
     <arg name="nodename" default="sick_tim_443"/>
     <arg name="port" default="2112"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <param name="scanner_type" type="string" value="sick_tim_4xx"/>
         <param name="nodename" type="string" value="$(arg nodename)"/>
@@ -90,6 +91,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -98,6 +100,14 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
 
diff --git a/launch/sick_tim_5xx.launch b/launch/sick_tim_5xx.launch
index 4539b30c..d0437c5f 100644
--- a/launch/sick_tim_5xx.launch
+++ b/launch/sick_tim_5xx.launch
@@ -26,6 +26,7 @@
     <arg name="nodename" default="sick_tim_5xx"/>
     <arg name="port" default="2112"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <param name="scanner_type" type="string" value="sick_tim_5xx"/>
         <param name="nodename" type="string" value="$(arg nodename)"/>
@@ -67,6 +68,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -75,6 +77,14 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
         <!--
diff --git a/launch/sick_tim_5xx_ASCII.launch b/launch/sick_tim_5xx_ASCII.launch
index 7351b66b..b94f6937 100644
--- a/launch/sick_tim_5xx_ASCII.launch
+++ b/launch/sick_tim_5xx_ASCII.launch
@@ -23,6 +23,7 @@
     <arg name="cloud_topic" default="cloud"/>
     <arg name="frame_id" default="cloud"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="sick_tim_5xx" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <!-- Default: min_angle = -135 degree, max_angle = 135 -->
         <!-- default values: -->
@@ -76,6 +77,16 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
+
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
         <!--
diff --git a/launch/sick_tim_5xx_new_ip.launch b/launch/sick_tim_5xx_new_ip.launch
index f59b516f..514934e2 100644
--- a/launch/sick_tim_5xx_new_ip.launch
+++ b/launch/sick_tim_5xx_new_ip.launch
@@ -16,6 +16,7 @@
   <arg name="cloud_topic" default="cloud" />
   <arg name="frame_id" default="cloud" />
   <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+  <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
   <node name="sick_tim_5xx" pkg="sick_scan" type="sick_generic_caller"  respawn="false" output="screen" required="true">
     <param name="scanner_type" type="string" value="sick_tim_5xx" />
     <!-- -135 deg -->
@@ -56,6 +57,7 @@
     <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
     <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
     <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+    <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
     <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
     <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -64,6 +66,14 @@
     <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
     <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+    <!-- Configuration of ROS quality of service: -->
+    <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+    <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+    <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+    <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+    <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+    <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
   </node>
 </launch>
 
diff --git a/launch/sick_tim_5xx_twin.launch b/launch/sick_tim_5xx_twin.launch
index f4d70d29..40cfd921 100644
--- a/launch/sick_tim_5xx_twin.launch
+++ b/launch/sick_tim_5xx_twin.launch
@@ -18,6 +18,7 @@
     <arg name="hostname1" default="192.168.0.1"/>
     <arg name="hostname2" default="192.168.0.2"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <param name="robot_description" command="$(find xacro)/xacro.py '$(find sick_scan)/urdf/example.urdf.xacro'"/>
     <node pkg="tf" type="static_transform_publisher" name="scanner1_to_map" args="0 0 0 0 0 0 map laser_1 100"/>
     <node pkg="tf" type="static_transform_publisher" name="scanner2_to_map" args="2 0 0 0 0 0 map laser_2 100"/>
@@ -58,6 +59,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="start_services" type="bool" value="True" />                  <!-- Start ros service for cola commands, default: true -->
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
@@ -66,6 +68,14 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
     <node name="sick_tim_5xx_2" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <param name="scanner_type" type="string" value="sick_tim_5xx"/>
@@ -94,6 +104,14 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
         <remap from="scan" to="scan_2"/>
         <remap from="cloud" to="cloud_2"/>
     </node>
diff --git a/launch/sick_tim_7xx.launch b/launch/sick_tim_7xx.launch
index 3d2ded6d..a89e05e2 100644
--- a/launch/sick_tim_7xx.launch
+++ b/launch/sick_tim_7xx.launch
@@ -26,6 +26,7 @@
     <arg name="frame_id" default="cloud"/>
     <arg name="sw_pll_only_publish" default="true"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <param name="scanner_type" type="string" value="sick_tim_7xx"/>
         <param name="nodename" type="string" value="$(arg nodename)"/>
@@ -69,6 +70,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
         <param name="read_timeout_millisec_default" type="int" value="5000"/>     <!-- 5 sec read timeout in operational mode (measurement mode), default: 5000 milliseconds -->
@@ -76,6 +78,14 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 
 </launch>
diff --git a/launch/sick_tim_7xxS.launch b/launch/sick_tim_7xxS.launch
index 43f8e240..12916d86 100644
--- a/launch/sick_tim_7xxS.launch
+++ b/launch/sick_tim_7xxS.launch
@@ -27,6 +27,7 @@
     <arg name="port" default="2112"/>
     <arg name="skip" default="0"/>
     <arg name="add_transform_xyz_rpy" default="0,0,0,0,0,0"/>
+    <arg name="add_transform_check_dynamic_updates" default="false"/> <!-- Note: dynamical updates of parameter add_transform_xyz_rpy can decrease the performance and is therefor deactivated by default -->
     <node name="$(arg nodename)" pkg="sick_scan" type="sick_generic_caller" respawn="false" output="screen" required="true">
         <param name="scanner_type" type="string" value="sick_tim_7xxS"/>
         <param name="nodename" type="string" value="$(arg nodename)"/>
@@ -71,6 +72,7 @@
         <!-- The additional transform applies to cartesian lidar pointclouds and visualization marker (fields) -->
         <!-- It is NOT applied to polar pointclouds, radarscans, ldmrs objects or other messages -->
         <param name="add_transform_xyz_rpy" type="string" value="$(arg add_transform_xyz_rpy)" /> 
+        <param name="add_transform_check_dynamic_updates" type="bool" value="$(arg add_transform_check_dynamic_updates)" />
 
         <param name="message_monitoring_enabled" type="bool" value="True" />      <!-- Enable message monitoring with reconnect+reinit in case of timeouts, default: true -->
         <param name="read_timeout_millisec_default" type="int" value="5000"/>     <!-- 5 sec read timeout in operational mode (measurement mode), default: 5000 milliseconds -->
@@ -78,6 +80,14 @@
         <param name="read_timeout_millisec_kill_node" type="int" value="150000"/> <!-- 150 sec pointcloud timeout, ros node will be killed if no point cloud published within the last 150 sec., default: 150000 milliseconds -->
         <param name="client_authorization_pw" type="string" value="F4724744"/>    <!-- Default password for client authorization -->
 
+        <!-- Configuration of ROS quality of service: -->
+        <!-- On ROS-1, parameter "ros_qos" sets the queue_size of ros publisher -->
+        <!-- On ROS-2, parameter "ros_qos" sets the QoS of ros publisher to one of the following predefined values: -->
+        <!-- 0: rclcpp::SystemDefaultsQoS(), 1: rclcpp::ParameterEventsQoS(), 2: rclcpp::ServicesQoS(), 3: rclcpp::ParametersQoS(), 4: rclcpp::SensorDataQoS() -->
+        <!-- See e.g. https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html#ad7e932d8e2f636c80eff674546ec3963 for further details about ROS2 QoS -->
+        <!-- Default value is -1, i.e. queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 is used.-->
+        <param name="ros_qos" type="int" value="-1"/>  <!-- Default QoS=-1, i.e. do not overwrite, use queue_size=10 on ROS-1 resp. qos=rclcpp::SystemDefaultsQoS() on ROS-2 -->
+
     </node>
 </launch>
         <!--
diff --git a/test/emulator/config/rviz2_lms5xx.rviz b/test/emulator/config/rviz2_lms5xx.rviz
index ca4d4d34..1a48bb90 100644
--- a/test/emulator/config/rviz2_lms5xx.rviz
+++ b/test/emulator/config/rviz2_lms5xx.rviz
@@ -10,8 +10,9 @@ Panels:
         - /MarkerArray1/Topic1
         - /MarkerArray2
         - /MarkerArray2/Topic1
+        - /Axes1
       Splitter Ratio: 0.5
-    Tree Height: 758
+    Tree Height: 768
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -63,7 +64,7 @@ Visualization Manager:
       Max Color: 255; 255; 255
       Max Intensity: 254
       Min Color: 0; 0; 0
-      Min Intensity: 187
+      Min Intensity: 159
       Name: PointCloud2
       Position Transformer: XYZ
       Selectable: true
@@ -103,6 +104,13 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: visualization_marker_array
       Value: true
+    - Class: rviz_default_plugins/Axes
+      Enabled: true
+      Length: 1
+      Name: Axes
+      Radius: 0.05000000074505806
+      Reference Frame: <Fixed Frame>
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -146,7 +154,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 5.996953964233398
+      Distance: 7.522579193115234
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -161,10 +169,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.5697963237762451
+      Pitch: 1.5597963333129883
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 2.220393657684326
+      Yaw: 3.1404054164886475
     Saved: ~
 Window Geometry:
   Displays:
@@ -172,7 +180,7 @@ Window Geometry:
   Height: 987
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000015600000381fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000381000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000381fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000381000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003380000038100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000038afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000370000038a000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000038afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000370000038a000000a100fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000033c0000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
@@ -180,5 +188,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1449
-  X: 359
-  Y: 73
+  X: 827
+  Y: 39
diff --git a/test/emulator/config/rviz_mrs100_add_transform.rviz b/test/emulator/config/rviz_mrs100_add_transform.rviz
index 1b92a2f4..27a36f49 100644
--- a/test/emulator/config/rviz_mrs100_add_transform.rviz
+++ b/test/emulator/config/rviz_mrs100_add_transform.rviz
@@ -25,7 +25,6 @@ Panels:
     Name: Views
     Splitter Ratio: 0.535315990447998
   - Class: rviz/Time
-    Experimental: false
     Name: Time
     SyncMode: 0
     SyncSource: PointCloud2
@@ -82,7 +81,7 @@ Visualization Manager:
       Class: rviz/PointCloud2
       Color: 255; 255; 255
       Color Transformer: Intensity
-      Decay Time: 0.5
+      Decay Time: 1
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
@@ -153,7 +152,7 @@ Window Geometry:
   Height: 870
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002c8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002c8000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003aafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000003aa000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650100000000000004f3000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000397000002c800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002c8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002c8000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003aafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000003aa000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650100000000000004f3000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000397000002c800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
diff --git a/test/scripts/run_linux_ros1_simu_add_transform_dynamically.bash b/test/scripts/run_linux_ros1_simu_add_transform_dynamically.bash
new file mode 100644
index 00000000..c29ffa9d
--- /dev/null
+++ b/test/scripts/run_linux_ros1_simu_add_transform_dynamically.bash
@@ -0,0 +1,166 @@
+#!/bin/bash
+
+# Start tim7xx emulator and rviz
+function start_tim7xx_emulator()
+{
+    echo -e "\nrun_linux_ros1_simu_add_transform: starting tim7xx emulation ...\n"
+    roslaunch sick_scan emulator_01_default.launch &
+    sleep 1 ; rosrun rviz rviz -d ./src/sick_scan_xd/test/emulator/config/rviz_tim7xx_add_transform.rviz --opengl 210 &
+    sleep 1
+}
+
+# Start ldmrs emulator and rviz
+function start_ldmrs_emulator()
+{
+    echo -e "\nrun_linux_ros1_simu_add_transform: starting ldmrs emulation ...\n"
+    roslaunch sick_scan test_server_ldmrs.launch &
+    sleep 1 ; rosrun rviz rviz -d ./src/sick_scan_xd/test/emulator/config/rviz_ldmrs_add_transform.rviz --opengl 210 &
+    sleep 1
+}
+
+# Start rms3xx radar emulator and rviz
+function start_rms3xx_emulator()
+{
+    echo -e "\nrun_linux_ros1_simu_add_transform: starting rms3xx radar emulation ...\n"
+    roslaunch sick_scan emulator_rms3xx.launch &
+    sleep 1 ; rosrun rviz rviz -d ./src/sick_scan_xd/test/emulator/config/rviz_rms3xx_add_transform.rviz --opengl 210 &
+    sleep 1
+}
+
+# Start mrs100 (multiscan136) emulator and rviz
+function start_mrs100_emulator()
+{
+    echo -e "\nrun_linux_ros1_simu_add_transform: starting mrs100 (multiscan136) emulation ...\n"
+    python3 ./src/sick_scan_xd/test/python/mrs100_sopas_test_server.py --tcp_port=2111 --cola_binary=0 &
+    sleep 1 ; rosrun rviz rviz -d ./src/sick_scan_xd/test/emulator/config/rviz_mrs100_add_transform.rviz --opengl 210 &
+    sleep 1
+}
+
+# Wait for max 40 seconds, or until 'q' or 'Q' pressed, or until rviz is closed
+function waitUntilRvizClosed()
+{
+    duration_sec=$1
+    sleep 1
+    for ((cnt=1;cnt<=$duration_sec;cnt++)) ; do  
+        echo -e "sick_scan_xd running. Close rviz or press 'q' to exit..." ; read -t 1.0 -n1 -s key
+        if [[ $key = "q" ]] || [[ $key = "Q" ]]; then break ; fi
+        rviz_running=`(ps -elf | grep rviz | grep -v grep | wc -l)`
+        if [ $rviz_running -lt 1 ] ; then break ; fi
+    done
+}
+
+# Shutdown simulation, kill all nodes and processes
+function kill_simu()
+{
+    echo -e "Finishing sick_scan emulation, shutdown ros nodes\n"
+    rosnode kill -a ; sleep 1
+    killall sick_generic_caller ; sleep 1
+    killall sick_scan_emulator ; sleep 1
+    pkill -f mrs100_sopas_test_server.py
+    pkill -f mrs100_pcap_player.py
+}
+
+# Sets parameter add_transform_xyz_rpy dynamically, moves and rotates the pointcloud
+function run_simu_transforms()
+{
+    nodename=$1
+    delta=$2 # dx, dy in meter, e.g. 0.1
+    echo -e "\nrun_linux_ros1_simu_add_transform.bash: setting transforms (translation in x,y)\n"
+    for ((cnt=1;cnt<=1;cnt++)) ; do  # apply translation in x and y
+        sleep 2 ; rosparam set $nodename "$delta,0.0,0,0,0,0"       # x=+0.3, y=+0.0, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; rosparam set $nodename "$delta,$delta,0,0,0,0"    # x=+0.3, y=+0.3, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; rosparam set $nodename "0.0,$delta,0,0,0,0"       # x=+0.3, y=+0.3, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; rosparam set $nodename "-$delta,$delta,0,0,0,0"   # x=-0.3, y=+0.3, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; rosparam set $nodename "-$delta,0.0,0,0,0,0"      # x=-0.3, y=+0.0, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; rosparam set $nodename "-$delta,-$delta,0,0,0,0"  # x=-0.3, y=-0.3, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; rosparam set $nodename "0.0,-$delta,0,0,0,0"      # x=+0.0, y=-0.3, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; rosparam set $nodename "$delta,-$delta,0,0,0,0"   # x=+0.3, y=-0.3, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; rosparam set $nodename "$delta,0.0,0,0,0,0"       # x=+0.3, y=+0.0, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; rosparam set $nodename "0.0,0.0,0,0,0,0"          # x=+0.0, y=+0.0, z=0, roll=0, pitch=0, yaw=0 deg
+    done
+    echo -e "\nrun_linux_ros1_simu_add_transform.bash: setting transforms (rotation about yaw)\n"
+    for ((cnt=1;cnt<=1;cnt++)) ; do  # apply rotation about yaw angle
+
+        sleep 2 ; rosparam set $nodename "0,0,0,0.0000000,0.0000000,0.7853982"   # x=0, y=0, z=0, roll=0, pitch=0, yaw=45 deg
+        sleep 2 ; rosparam set $nodename "0,0,0,0.0000000,0.0000000,1.5707963"   # x=0, y=0, z=0, roll=0, pitch=0, yaw=90 deg
+        sleep 2 ; rosparam set $nodename "0,0,0,0.0000000,0.0000000,2.3561945"   # x=0, y=0, z=0, roll=0, pitch=0, yaw=135 deg
+        sleep 2 ; rosparam set $nodename "0,0,0,0.0000000,0.0000000,3.1415926"   # x=0, y=0, z=0, roll=0, pitch=0, yaw=180 deg
+        sleep 2 ; rosparam set $nodename "0,0,0,0.0000000,0.0000000,-2.3561945"  # x=0, y=0, z=0, roll=0, pitch=0, yaw=-135 deg
+        sleep 2 ; rosparam set $nodename "0,0,0,0.0000000,0.0000000,-1.5707963"  # x=0, y=0, z=0, roll=0, pitch=0, yaw=-90 deg
+        sleep 2 ; rosparam set $nodename "0,0,0,0.0000000,0.0000000,-0.7853982"  # x=0, y=0, z=0, roll=0, pitch=0, yaw=-45 deg
+        sleep 2 ; rosparam set $nodename "0,0,0,0.0000000,0.0000000,0.0000000"   # x=0, y=0, z=0, roll=0, pitch=0, yaw=0 deg
+    done
+    waitUntilRvizClosed 2
+    kill_simu
+}
+
+
+# Run sick_generic_caller with tim7xx and additional transform
+function run_simu_tim7xx()
+{
+    start_tim7xx_emulator
+    echo -e "\nrun_linux_ros1_simu_add_transform.bash: starting sick_scan sick_tim_7xx.launch, no transform\n"
+    roslaunch sick_scan sick_tim_7xx.launch hostname:=127.0.0.1 add_transform_xyz_rpy:=0,0,0,0,0,0 add_transform_check_dynamic_updates:=true &
+    sleep 5
+    run_simu_transforms sick_tim_7xx/add_transform_xyz_rpy 0.3
+    kill_simu
+}
+
+# Run sick_generic_caller with mrs100 and additional transform
+function run_simu_mrs100()
+{
+    start_mrs100_emulator
+    echo -e "\nrun_linux_ros1_simu_add_transform.bash: starting sick_scan sick_scansegment_xd.launch, no transform\n"
+    roslaunch sick_scan sick_scansegment_xd.launch hostname:=127.0.0.1 udp_receiver_ip:=127.0.0.1 add_transform_xyz_rpy:=0,0,0,0,0,0 add_transform_check_dynamic_updates:=true &
+    sleep 5
+    python3 ./src/sick_scan_xd/test/python/mrs100_pcap_player.py --pcap_filename=./src/sick_scan_xd/test/emulator/scandata/20210929_mrs100_token_udp.pcapng --udp_port=2115 --repeat=10 &
+    run_simu_transforms sick_scansegment_xd/add_transform_xyz_rpy 2.0
+    kill_simu
+}
+
+# Run sick_generic_caller with ldmrs and additional transform
+function run_simu_ldmrs()
+{
+    start_ldmrs_emulator
+    echo -e "\nrun_linux_ros1_simu_add_transform.bash: starting sick_scan sick_ldmrs.launch, no transform\n"
+    roslaunch sick_scan sick_ldmrs.launch hostname:=127.0.0.1 add_transform_xyz_rpy:=0,0,0,0,0,0 add_transform_check_dynamic_updates:=true &
+    sleep 5
+    run_simu_transforms sick_ldmrs/add_transform_xyz_rpy 1.0 
+    kill_simu
+}
+
+# Run sick_generic_caller with rms3xx radar and additional transform
+function run_simu_rms3xx()
+{
+    start_rms3xx_emulator
+    echo -e "\nrun_linux_ros1_simu_add_transform.bash: starting sick_scan sick_rms_3xx.launch, no transform\n"
+    roslaunch sick_scan sick_rms_3xx.launch hostname:=127.0.0.1 add_transform_xyz_rpy:=0,0,0,0,0,0 add_transform_check_dynamic_updates:=true &
+    sleep 5
+    run_simu_transforms sick_rms_3xx/add_transform_xyz_rpy 3.0 
+    kill_simu
+}
+
+
+printf "\033c"
+pushd ../../../..
+if [ -f /opt/ros/melodic/setup.bash ] ; then source /opt/ros/melodic/setup.bash   ; fi
+if [ -f /opt/ros/noetic/setup.bash  ] ; then source /opt/ros/noetic/setup.bash    ; fi
+if [ -f ./devel_isolated/setup.bash ] ; then source ./devel_isolated/setup.bash   ; fi
+
+# Start roscore if not yet running
+roscore_running=`(ps -elf | grep roscore | grep -v grep | wc -l)`
+if [ $roscore_running -lt 1 ] ; then 
+  roscore &
+  sleep 3
+fi
+
+# Run sick_generic_caller with additional transforms
+
+run_simu_tim7xx
+run_simu_mrs100
+run_simu_ldmrs
+run_simu_rms3xx
+
+echo -e "\nrun_linux_ros1_simu_add_transform.bash finished.\n"
+popd
+
diff --git a/test/scripts/run_linux_ros1_simu_add_transform.bash b/test/scripts/run_linux_ros1_simu_add_transform_static.bash
similarity index 100%
rename from test/scripts/run_linux_ros1_simu_add_transform.bash
rename to test/scripts/run_linux_ros1_simu_add_transform_static.bash
diff --git a/test/scripts/run_linux_ros2_simu_add_transform_dynamically.bash b/test/scripts/run_linux_ros2_simu_add_transform_dynamically.bash
new file mode 100644
index 00000000..2b0ae6a6
--- /dev/null
+++ b/test/scripts/run_linux_ros2_simu_add_transform_dynamically.bash
@@ -0,0 +1,83 @@
+#!/bin/bash
+
+function simu_killall()
+{
+  sleep 1 ; killall -SIGINT rviz2
+  sleep 1 ; killall -SIGINT sick_generic_caller
+  sleep 1 ; killall -SIGINT sick_scan_emulator
+  sleep 1 ; killall -9 rviz2
+  sleep 1 ; killall -9 sick_generic_caller
+  sleep 1 ; killall -9 sick_scan_emulator 
+  sleep 1
+}
+
+# Start tim7xx emulator and rviz
+function start_tim7xx_emulator()
+{
+    echo -e "\nrun_linux_ros2_simu_add_transform: starting tim7xx emulation ...\n"
+    cp -f ./src/sick_scan_xd/test/emulator/scandata/sopas_et_field_test_1_2_both_010.pcapng_full.json /tmp/lmd_scandata.pcapng.json
+    sleep  1 ; ros2 run sick_scan sick_scan_emulator ./src/sick_scan_xd/test/emulator/launch/emulator_01_default.launch scanner_type:=sick_tim_7xx &
+    sleep  1 ; ros2 run rviz2 rviz2 -d ./src/sick_scan_xd/test/emulator/config/rviz2_tim7xx_add_transform.rviz &
+    sleep 1
+}
+
+# Sets parameter add_transform_xyz_rpy dynamically, moves and rotates the pointcloud
+function run_simu_transforms()
+{
+    nodename=$1
+    paramname=$2
+    delta=$3 # dx, dy in meter, e.g. 0.1
+    echo -e "\nrun_linux_ros1_simu_add_transform.bash: setting transforms (translation in x,y)\n"
+    for ((cnt=1;cnt<=1;cnt++)) ; do  # apply translation in x and y
+        sleep 2 ; ros2 param set $nodename $paramname "$delta,0.0,0,0,0,0"       # x=+0.3, y=+0.0, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; ros2 param set $nodename $paramname "$delta,$delta,0,0,0,0"    # x=+0.3, y=+0.3, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; ros2 param set $nodename $paramname "0.0,$delta,0,0,0,0"       # x=+0.3, y=+0.3, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; ros2 param set $nodename $paramname "\-$delta,$delta,0,0,0,0"   # x=-0.3, y=+0.3, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; ros2 param set $nodename $paramname "\-$delta,0.0,0,0,0,0"      # x=-0.3, y=+0.0, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; ros2 param set $nodename $paramname "\-$delta,\-$delta,0,0,0,0"  # x=-0.3, y=-0.3, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; ros2 param set $nodename $paramname "0.0,\-$delta,0,0,0,0"      # x=+0.0, y=-0.3, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; ros2 param set $nodename $paramname "$delta,\-$delta,0,0,0,0"   # x=+0.3, y=-0.3, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; ros2 param set $nodename $paramname "$delta,0.0,0,0,0,0"       # x=+0.3, y=+0.0, z=0, roll=0, pitch=0, yaw=0 deg
+        sleep 2 ; ros2 param set $nodename $paramname "0.0,0.0,0,0,0,0"          # x=+0.0, y=+0.0, z=0, roll=0, pitch=0, yaw=0 deg
+    done
+    echo -e "\nrun_linux_ros1_simu_add_transform.bash: setting transforms (rotation about yaw)\n"
+    for ((cnt=1;cnt<=1;cnt++)) ; do  # apply rotation about yaw angle
+
+        sleep 2 ; ros2 param set $nodename $paramname "0,0,0,0.0000000,0.0000000,0.7853982"    # x=0, y=0, z=0, roll=0, pitch=0, yaw=45 deg
+        sleep 2 ; ros2 param set $nodename $paramname "0,0,0,0.0000000,0.0000000,1.5707963"    # x=0, y=0, z=0, roll=0, pitch=0, yaw=90 deg
+        sleep 2 ; ros2 param set $nodename $paramname "0,0,0,0.0000000,0.0000000,2.3561945"    # x=0, y=0, z=0, roll=0, pitch=0, yaw=135 deg
+        sleep 2 ; ros2 param set $nodename $paramname "0,0,0,0.0000000,0.0000000,3.1415926"    # x=0, y=0, z=0, roll=0, pitch=0, yaw=180 deg
+        sleep 2 ; ros2 param set $nodename $paramname "0,0,0,0.0000000,0.0000000,\-2.3561945"  # x=0, y=0, z=0, roll=0, pitch=0, yaw=-135 deg
+        sleep 2 ; ros2 param set $nodename $paramname "0,0,0,0.0000000,0.0000000,\-1.5707963"  # x=0, y=0, z=0, roll=0, pitch=0, yaw=-90 deg
+        sleep 2 ; ros2 param set $nodename $paramname "0,0,0,0.0000000,0.0000000,\-0.7853982"  # x=0, y=0, z=0, roll=0, pitch=0, yaw=-45 deg
+        sleep 2 ; ros2 param set $nodename $paramname "0,0,0,0.0000000,0.0000000,0.0000000"    # x=0, y=0, z=0, roll=0, pitch=0, yaw=0 deg
+    done
+    sleep 2
+    kill_simu
+}
+
+# Run sick_generic_caller with tim7xx and additional transform
+function run_simu_tim7xx()
+{
+    start_tim7xx_emulator
+    echo -e "\nrun_linux_ros2_simu_add_transform.bash: starting sick_scan sick_tim_7xx.launch, no transform\n"
+    ros2 run sick_scan sick_generic_caller ./src/sick_scan_xd/launch/sick_tim_7xx.launch hostname:=127.0.0.1 port:=2111 add_transform_xyz_rpy:=0,0,0,0,0,0 add_transform_check_dynamic_updates:=true &
+    sleep 5
+    run_simu_transforms sick_scan add_transform_xyz_rpy 0.3
+    simu_killall
+}
+
+simu_killall
+printf "\033c"
+pushd ../../../..
+if [ -f /opt/ros/eloquent/setup.bash ] ; then source /opt/ros/eloquent/setup.bash ; fi
+if [ -f /opt/ros/foxy/setup.bash     ] ; then source /opt/ros/foxy/setup.bash     ; fi
+source ./install/setup.bash
+
+# Run sick_generic_caller with tim7xx and additional transforms
+
+run_simu_tim7xx
+
+echo -e "\nrun_linux_ros2_simu_add_transform.bash finished.\n"
+popd
+
diff --git a/test/scripts/run_linux_ros2_simu_add_transform.bash b/test/scripts/run_linux_ros2_simu_add_transform_static.bash
similarity index 100%
rename from test/scripts/run_linux_ros2_simu_add_transform.bash
rename to test/scripts/run_linux_ros2_simu_add_transform_static.bash
diff --git a/test/scripts/run_win64_ros2_simu_add_transform_dynamically.cmd b/test/scripts/run_win64_ros2_simu_add_transform_dynamically.cmd
new file mode 100644
index 00000000..168892b2
--- /dev/null
+++ b/test/scripts/run_win64_ros2_simu_add_transform_dynamically.cmd
@@ -0,0 +1,75 @@
+REM 
+REM Run sick_scan on ROS-2 Windows with lms5xx emulator
+REM 
+
+if exist "c:\dev\ros2_foxy\local_setup.bat" ( call C:\dev\ros2_foxy\local_setup.bat )
+if exist "c:\opt\ros\foxy\x64\setup.bat" ( call c:\opt\ros\foxy\x64\setup.bat )
+rem if exist "%ProgramFiles(x86)%\Microsoft Visual Studio\Shared\Python36_64" set PYTHON_DIR=%ProgramFiles(x86)%\Microsoft Visual Studio\Shared\Python36_64
+rem if exist "%ProgramFiles(x86)%\Microsoft Visual Studio\Shared\Python37_64" set PYTHON_DIR=%ProgramFiles(x86)%\Microsoft Visual Studio\Shared\Python37_64
+rem set PATH=%PYTHON_DIR%;%PYTHON_DIR%\DLLs;%PYTHON_DIR%\Lib;%PYTHON_DIR%\Scripts;%PATH%
+rem set PATH=c:\vcpkg\installed\x64-windows\bin;%PATH%
+
+pushd ..\..\..\..
+call .\install\setup.bat
+start "rviz2" ros2 run rviz2 rviz2 -d ./src/sick_scan_xd/test/emulator/config/rviz2_lms5xx.rviz
+@timeout /t 5
+
+REM 
+REM Run lms5xx emulator
+REM 
+
+python --version
+start "python ../test/emulator/test_server.py" .\src\sick_scan_xd\test\emulator\test_server.cmd  ./src/sick_scan_xd/test/emulator/test_server.py --scandata_file=./src/sick_scan_xd/test/emulator/scandata/20210302_lms511.pcapng.scandata.txt --scandata_frequency=20.0 --tcp_port=2112
+@timeout /t 1
+
+REM 
+REM Run sick_scan on ROS-2 Windows
+REM 
+
+start "sick_generic_caller" ros2 run sick_scan sick_generic_caller ./src/sick_scan_xd/launch/sick_lms_5xx.launch hostname:=127.0.0.1 sw_pll_only_publish:=False add_transform_xyz_rpy:=0,0,0,0,0,0 add_transform_check_dynamic_updates:=true
+
+REM 
+REM Apply transforms (translation in x,y and rotation about z)
+REM 
+
+@timeout /t 5
+ros2 param set sick_scan add_transform_xyz_rpy "1,0,0,0,0,0"
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "1,1,0,0,0,0"
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "0,1,0,0,0,0"
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "\-1,1,0,0,0,0"
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "\-1,0,0,0,0,0"
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "\-1,\-1,0,0,0,0"
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "0,\-1,0,0,0,0"
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "1,\-1,0,0,0,0"
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "1,0,0,0,0,0"
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "0,0,0,0,0,0"
+
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "0,0,0,0,0,0.7853982"
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "0,0,0,0,0,1.5707963"
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "0,0,0,0,0,2.3561945"
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "0,0,0,0,0,3.1415926"
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "0,0,0,0,0,-2.3561945"
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "0,0,0,0,0,-1.5707963"
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "0,0,0,0,0,-0.7853982"
+@timeout /t 2
+ros2 param set sick_scan add_transform_xyz_rpy "0,0,0,0,0,0"
+
+@pause
+popd
+
diff --git a/test/scripts/run_win64_ros2_simu_add_transform.cmd b/test/scripts/run_win64_ros2_simu_add_transform_static.cmd
similarity index 100%
rename from test/scripts/run_win64_ros2_simu_add_transform.cmd
rename to test/scripts/run_win64_ros2_simu_add_transform_static.cmd