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I guess it isn't possible. For now I'm solving it by using the sensor data profile as following:

rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, QUEUE_DEPTH), qos_profile);

sub_ = this->create_subscription<std_msgs::msg::Header>(
SUB_TOPIC_NAME, qos, std::bind(&Node::callback, this, std::placeholders::_1));