diff --git a/.vscode/browse.vc.db b/.vscode/browse.vc.db
new file mode 100644
index 00000000..73f297a9
Binary files /dev/null and b/.vscode/browse.vc.db differ
diff --git a/.vscode/browse.vc.db-shm b/.vscode/browse.vc.db-shm
new file mode 100644
index 00000000..d27eebf9
Binary files /dev/null and b/.vscode/browse.vc.db-shm differ
diff --git a/.vscode/browse.vc.db-wal b/.vscode/browse.vc.db-wal
new file mode 100644
index 00000000..e69de29b
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 00000000..12cd87c0
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,21 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/opt/ros/humble/include/**",
+        "/home/nlg/px4_ros_com/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ros2",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++17"
+    }
+  ],
+  "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 0f4d0a0f..b425b7a7 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -2,5 +2,14 @@
     "files.associations": {
         "chrono": "cpp",
         "ostream": "cpp"
-    }
+    },
+    "ROS2.distro": "humble",
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ]
 }
\ No newline at end of file
diff --git a/src/examples/offboard_py/offboard_control.py b/src/examples/offboard_py/offboard_control.py
index 7d59f536..6fbdb01b 100755
--- a/src/examples/offboard_py/offboard_control.py
+++ b/src/examples/offboard_py/offboard_control.py
@@ -13,26 +13,32 @@ def __init__(self) -> None:
         super().__init__('offboard_control_takeoff_and_land')
 
         # Configure QoS profile for publishing and subscribing
-        qos_profile = QoSProfile(
+        qos_profile_pub = QoSProfile(
             reliability=ReliabilityPolicy.BEST_EFFORT,
             durability=DurabilityPolicy.TRANSIENT_LOCAL,
             history=HistoryPolicy.KEEP_LAST,
-            depth=1
+            depth=0
+        )
+        qos_profile_sub = QoSProfile(
+            reliability=ReliabilityPolicy.BEST_EFFORT,
+            durability=DurabilityPolicy.VOLATILE,
+            history=HistoryPolicy.KEEP_LAST,
+            depth=10
         )
 
         # Create publishers
         self.offboard_control_mode_publisher = self.create_publisher(
-            OffboardControlMode, '/fmu/in/offboard_control_mode', qos_profile)
+            OffboardControlMode, '/fmu/in/offboard_control_mode', qos_profile_pub)
         self.trajectory_setpoint_publisher = self.create_publisher(
-            TrajectorySetpoint, '/fmu/in/trajectory_setpoint', qos_profile)
+            TrajectorySetpoint, '/fmu/in/trajectory_setpoint', qos_profile_pub)
         self.vehicle_command_publisher = self.create_publisher(
-            VehicleCommand, '/fmu/in/vehicle_command', qos_profile)
+            VehicleCommand, '/fmu/in/vehicle_command', qos_profile_pub)
 
         # Create subscribers
         self.vehicle_local_position_subscriber = self.create_subscription(
-            VehicleLocalPosition, '/fmu/out/vehicle_local_position', self.vehicle_local_position_callback, qos_profile)
+            VehicleLocalPosition, '/fmu/out/vehicle_local_position', self.vehicle_local_position_callback, qos_profile_sub)
         self.vehicle_status_subscriber = self.create_subscription(
-            VehicleStatus, '/fmu/out/vehicle_status', self.vehicle_status_callback, qos_profile)
+            VehicleStatus, '/fmu/out/vehicle_status', self.vehicle_status_callback, qos_profile_sub)
 
         # Initialize variables
         self.offboard_setpoint_counter = 0