diff --git a/rmw_fastrtps_cpp/src/rmw_client.cpp b/rmw_fastrtps_cpp/src/rmw_client.cpp
index 171a72cfb..409a91f1c 100644
--- a/rmw_fastrtps_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_client.cpp
@@ -120,10 +120,13 @@ rmw_create_client(
     _register_type(participant, info->response_type_support_);
   }
 
+  if (!impl->leave_middleware_default_qos) {
+    subscriberParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = response_type_name;
-  subscriberParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   if (!qos_policies->avoid_ros_namespace_conventions) {
     subscriberParam.topic.topicName = std::string(ros_service_response_prefix) + service_name;
   } else {
@@ -131,11 +134,14 @@ rmw_create_client(
   }
   subscriberParam.topic.topicName += "Reply";
 
+  if (!impl->leave_middleware_default_qos) {
+    publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+    publisherParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = request_type_name;
-  publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   if (!qos_policies->avoid_ros_namespace_conventions) {
     publisherParam.topic.topicName = std::string(ros_service_requester_prefix) + service_name;
   } else {
diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
index 5907590fd..520afdf6a 100644
--- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -113,9 +113,12 @@ rmw_create_publisher(
     _register_type(participant, info->type_support_);
   }
 
-  publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  if (!impl->leave_middleware_default_qos) {
+    publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+    publisherParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = type_name;
   if (!qos_policies->avoid_ros_namespace_conventions) {
diff --git a/rmw_fastrtps_cpp/src/rmw_service.cpp b/rmw_fastrtps_cpp/src/rmw_service.cpp
index af81304e4..80a8739ff 100644
--- a/rmw_fastrtps_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_service.cpp
@@ -132,9 +132,12 @@ rmw_create_service(
     _register_type(participant, info->response_type_support_);
   }
 
+  if (!impl->leave_middleware_default_qos) {
+    subscriberParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
-  subscriberParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   subscriberParam.topic.topicDataType = request_type_name;
   if (!qos_policies->avoid_ros_namespace_conventions) {
     subscriberParam.topic.topicName = std::string(ros_service_requester_prefix) + service_name;
@@ -143,11 +146,14 @@ rmw_create_service(
   }
   subscriberParam.topic.topicName += "Request";
 
+  if (!impl->leave_middleware_default_qos) {
+    publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+    publisherParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = response_type_name;
-  publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   if (!qos_policies->avoid_ros_namespace_conventions) {
     publisherParam.topic.topicName = std::string(ros_service_response_prefix) + service_name;
   } else {
diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
index 998b859f8..27ad9e374 100644
--- a/rmw_fastrtps_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -116,8 +116,11 @@ rmw_create_subscription(
     _register_type(participant, info->type_support_);
   }
 
-  subscriberParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  if (!impl->leave_middleware_default_qos) {
+    subscriberParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = type_name;
   if (!qos_policies->avoid_ros_namespace_conventions) {
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
index da3c6cda0..7adbf62f0 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
@@ -125,10 +125,13 @@ rmw_create_client(
     _register_type(participant, info->response_type_support_);
   }
 
+  if (!impl->leave_middleware_default_qos) {
+    subscriberParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = response_type_name;
-  subscriberParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   if (!qos_policies->avoid_ros_namespace_conventions) {
     subscriberParam.topic.topicName = std::string(ros_service_response_prefix) + service_name;
   } else {
@@ -136,11 +139,14 @@ rmw_create_client(
   }
   subscriberParam.topic.topicName += "Reply";
 
+  if (!impl->leave_middleware_default_qos) {
+    publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+    publisherParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = request_type_name;
-  publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   if (!qos_policies->avoid_ros_namespace_conventions) {
     publisherParam.topic.topicName = std::string(ros_service_requester_prefix) + service_name;
   } else {
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
index ae44cfe03..f279dcbfc 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
@@ -108,9 +108,12 @@ rmw_create_publisher(
     _register_type(participant, info->type_support_);
   }
 
-  publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  if (!impl->leave_middleware_default_qos) {
+    publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+    publisherParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = type_name;
   if (!qos_policies->avoid_ros_namespace_conventions) {
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
index 2de1d7645..42495c7d0 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
@@ -137,9 +137,12 @@ rmw_create_service(
     _register_type(participant, info->response_type_support_);
   }
 
+  if (!impl->leave_middleware_default_qos) {
+    subscriberParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
-  subscriberParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   subscriberParam.topic.topicDataType = request_type_name;
   if (!qos_policies->avoid_ros_namespace_conventions) {
     subscriberParam.topic.topicName = std::string(ros_service_requester_prefix) + service_name;
@@ -148,11 +151,14 @@ rmw_create_service(
   }
   subscriberParam.topic.topicName += "Request";
 
+  if (!impl->leave_middleware_default_qos) {
+    publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+    publisherParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = response_type_name;
-  publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   if (!qos_policies->avoid_ros_namespace_conventions) {
     publisherParam.topic.topicName = std::string(ros_service_response_prefix) + service_name;
   } else {
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
index a421424fe..a5c9e7e52 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
@@ -112,8 +112,11 @@ rmw_create_subscription(
     _register_type(participant, info->type_support_);
   }
 
-  subscriberParam.historyMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  if (!impl->leave_middleware_default_qos) {
+    subscriberParam.historyMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
+
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = type_name;
   if (!qos_policies->avoid_ros_namespace_conventions) {
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp
index 4e086435d..163eb9484 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp
@@ -37,6 +37,13 @@ typedef struct CustomParticipantInfo
   ReaderInfo * secondarySubListener;
   WriterInfo * secondaryPubListener;
   rmw_guard_condition_t * graph_guard_condition;
+
+  // Flag to establish if the QoS of the participant,
+  // its publishers and its subscribers are going
+  // to be configured only from an XML file or if 
+  // their settings are going to be overwritten by code 
+  // with the default configuration.
+  bool leave_middleware_default_qos;
 } CustomParticipantInfo;
 
 class ParticipantListener : public eprosima::fastrtps::ParticipantListener
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_node.cpp b/rmw_fastrtps_shared_cpp/src/rmw_node.cpp
index c106f5db6..e9dc8b207 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_node.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_node.cpp
@@ -104,6 +104,25 @@ create_node(
 
   try {
     node_impl = new CustomParticipantInfo();
+
+    node_impl->leave_middleware_default_qos = false;
+    const char * env_var = "RMW_FASTRTPS_USE_QOS_FROM_XML";
+    // Check if the configuration from XML has been enabled from
+    // the RMW_FASTRTPS_USE_QOS_FROM_XML env variable.
+    char * config_env_val = nullptr;
+#ifndef _WIN32
+    config_env_val = getenv(env_var);
+    if (config_env_val != nullptr) {
+      node_impl->leave_middleware_default_qos = strcmp(config_env_val, "1") == 0;
+    }
+#else
+    size_t config_env_val_size;
+    _dupenv_s(&config_env_val, &config_env_val_size, env_var);
+    if (config_env_val != nullptr) {
+      node_impl->leave_middleware_default_qos = strcmp(config_env_val, "1") == 0;
+    }
+    free(config_env_val);
+#endif
   } catch (std::bad_alloc &) {
     RMW_SET_ERROR_MSG("failed to allocate node impl struct");
     goto fail;
@@ -246,11 +265,32 @@ __rmw_create_node(
   // since the participant name is not part of the DDS spec
   participantAttrs.rtps.setName(name);
 
+  bool leave_middleware_default_qos = false;
+  const char * env_var = "RMW_FASTRTPS_USE_QOS_FROM_XML";
+  // Check if the configuration from XML has been enabled from
+  // the RMW_FASTRTPS_USE_QOS_FROM_XML env variable.
+  char * config_env_val = nullptr;
+#ifndef _WIN32
+  config_env_val = getenv(env_var);
+  if (config_env_val != nullptr) {
+    leave_middleware_default_qos = strcmp(config_env_val, "1") == 0;
+  }
+#else
+  size_t config_env_val_size;
+  _dupenv_s(&config_env_val, &config_env_val_size, env_var);
+  if (config_env_val != nullptr) {
+    leave_middleware_default_qos = strcmp(config_env_val, "1") == 0;
+  }
+  free(config_env_val);
+#endif
+
   // allow reallocation to support discovery messages bigger than 5000 bytes
-  participantAttrs.rtps.builtin.readerHistoryMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-  participantAttrs.rtps.builtin.writerHistoryMemoryPolicy =
-    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  if (!leave_middleware_default_qos) {
+    participantAttrs.rtps.builtin.readerHistoryMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+    participantAttrs.rtps.builtin.writerHistoryMemoryPolicy =
+      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  }
 
   size_t length = strlen(name) + strlen("name=;") +
     strlen(namespace_) + strlen("namespace=;") + 1;