diff --git a/include/robot_localization/ros_robot_localization_listener.hpp b/include/robot_localization/ros_robot_localization_listener.hpp
index 9e5d679b..ae53e451 100644
--- a/include/robot_localization/ros_robot_localization_listener.hpp
+++ b/include/robot_localization/ros_robot_localization_listener.hpp
@@ -37,8 +37,8 @@
 
 #include "Eigen/Dense"
 #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
-#include "message_filters/subscriber.h"
-#include "message_filters/time_synchronizer.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/time_synchronizer.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/rclcpp.hpp"
diff --git a/src/ros_robot_localization_listener.cpp b/src/ros_robot_localization_listener.cpp
index e5083708..d1b32d85 100644
--- a/src/ros_robot_localization_listener.cpp
+++ b/src/ros_robot_localization_listener.cpp
@@ -70,9 +70,9 @@ RosRobotLocalizationListener::RosRobotLocalizationListener(
   rclcpp::SubscriptionOptions options)
 : qos1_(1),
   qos10_(10),
-  odom_sub_(node, "odom/filtered", qos1_.get_rmw_qos_profile(), options),
-  accel_sub_(node, "acceleration/filtered", qos1_.get_rmw_qos_profile(), options),
-  sync_(odom_sub_, accel_sub_, 10u),
+  odom_sub_(node, "odom/filtered", qos1_, options),
+  accel_sub_(node, "acceleration/filtered", qos1_, options),
+  sync_(10u, odom_sub_, accel_sub_),
   node_clock_(node->get_node_clock_interface()->get_clock()),
   node_logger_(node->get_node_logging_interface()),
   base_frame_id_(""),