diff --git a/include/dynamic_graph_bridge/ros_python_interpreter_server.hpp b/include/dynamic_graph_bridge/ros_python_interpreter_server.hpp
index 48f6f851ce020f7838f916e01335d0ed0a468423..a3985496521a35a6b6745597e4ce56c0ca4fb3e4 100644
--- a/include/dynamic_graph_bridge/ros_python_interpreter_server.hpp
+++ b/include/dynamic_graph_bridge/ros_python_interpreter_server.hpp
@@ -85,8 +85,11 @@ class RosPythonInterpreterServer {
   /**
    * @brief start_ros_service advertize the "run_python_command" and
    * "run_python_scripts" ros services
+   * @param qos: Quality of Service
+   * @param callback_group: Callback group
    */
-  void start_ros_service();
+  void start_ros_service(const rclcpp::QoS& qos = rclcpp::ServicesQoS(),
+                         rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
  protected:
   /**
diff --git a/src/ros_python_interpreter_server.cpp b/src/ros_python_interpreter_server.cpp
index ce92f7d2a2908bec87920cbd5f1093b6e5261d9c..272e5d46f6eea1096dbf4dd7a71c04a168f3b458 100644
--- a/src/ros_python_interpreter_server.cpp
+++ b/src/ros_python_interpreter_server.cpp
@@ -25,12 +25,13 @@ RosPythonInterpreterServer::RosPythonInterpreterServer()
 
 RosPythonInterpreterServer::~RosPythonInterpreterServer() {}
 
-void RosPythonInterpreterServer::start_ros_service() {
+void RosPythonInterpreterServer::start_ros_service(
+    const rclcpp::QoS& qos, rclcpp::CallbackGroup::SharedPtr group) {
   run_python_command_callback_t runCommandCb =
       std::bind(&RosPythonInterpreterServer::runCommandCallback, this,
                 std::placeholders::_1, std::placeholders::_2);
   run_python_command_srv_ = ros_node_->create_service<RunPythonCommandSrvType>(
-      "/dynamic_graph_bridge/run_python_command", runCommandCb);
+      "/dynamic_graph_bridge/run_python_command", runCommandCb, qos, group);
   RCLCPP_INFO(
       rclcpp::get_logger("dynamic_graph_bridge"),
       "RosPythonInterpreterServer::start_ros_service - run_python_command...");
@@ -39,7 +40,7 @@ void RosPythonInterpreterServer::start_ros_service() {
       std::bind(&RosPythonInterpreterServer::runPythonFileCallback, this,
                 std::placeholders::_1, std::placeholders::_2);
   run_python_file_srv_ = ros_node_->create_service<RunPythonFileSrvType>(
-      "/dynamic_graph_bridge/run_python_file", runPythonFileCb);
+      "/dynamic_graph_bridge/run_python_file", runPythonFileCb, qos, group);
 
   RCLCPP_INFO(
       rclcpp::get_logger("dynamic_graph_bridge"),