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For those who are lazy like myself, plus it's not really covered in the tutorials, here's how you specify the QoS for a topic subscription.

  twist_stamped_sub_ =
      node_->create_subscription<geometry_msgs::msg::TwistStamped>(parameters_->cartesian_command_in_topic,
                                                                   rclcpp::SystemDefaultsQoS(),
                                                                   std::bind(&ServoCalcs::twistStampedCB, this, _1));

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