diff --git a/pcl_ros/include/pcl_ros/filters/filter.hpp b/pcl_ros/include/pcl_ros/filters/filter.hpp
index c4e88d7f..9b466740 100644
--- a/pcl_ros/include/pcl_ros/filters/filter.hpp
+++ b/pcl_ros/include/pcl_ros/filters/filter.hpp
@@ -137,11 +137,17 @@ class Filter : public PCLNode<sensor_msgs::msg::PointCloud2>
   /** \brief Pointer to parameters callback handle. */
   OnSetParametersCallbackHandle::SharedPtr callback_handle_;
 
+  typedef message_filters::sync_policies::ApproximateTime<
+      PointCloud2, PointIndices> SyncApproxPolInputIndices;
+  typedef message_filters::Synchronizer<SyncApproxPolInputIndices> SynchronizerApproxInputIndices;
+
+  typedef message_filters::sync_policies::ExactTime<
+      PointCloud2, PointIndices> SyncExactPolInputIndices;
+  typedef message_filters::Synchronizer<SyncExactPolInputIndices> SynchronizerExactInputIndices;
+
   /** \brief Synchronized input, and indices.*/
-  std::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2,
-    PointIndices>>> sync_input_indices_e_;
-  std::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2,
-    PointIndices>>> sync_input_indices_a_;
+  std::shared_ptr<SynchronizerExactInputIndices> sync_input_indices_e_;
+  std::shared_ptr<SynchronizerApproxInputIndices> sync_input_indices_a_;
 
   /** \brief Parameter callback
     * \param params parameter values to set
diff --git a/pcl_ros/include/pcl_ros/filters/project_inliers.hpp b/pcl_ros/include/pcl_ros/filters/project_inliers.hpp
index 639289c4..b4ffd68b 100644
--- a/pcl_ros/include/pcl_ros/filters/project_inliers.hpp
+++ b/pcl_ros/include/pcl_ros/filters/project_inliers.hpp
@@ -77,11 +77,20 @@ class ProjectInliers : public Filter
   /** \brief The message filter subscriber for model coefficients. */
   message_filters::Subscriber<ModelCoefficients> sub_model_;
 
+  typedef message_filters::sync_policies::ApproximateTime<
+      PointCloud2, PointIndices, ModelCoefficients> SyncApproxPolInputIndicesModel;
+  typedef message_filters::Synchronizer<SyncApproxPolInputIndicesModel>
+    SynchronizerApproxInputIndicesModel;
+
+  typedef message_filters::sync_policies::ExactTime<
+      PointCloud2, PointIndices, ModelCoefficients> SyncExactPolInputIndicesModel;
+  typedef message_filters::Synchronizer<SyncExactPolInputIndicesModel>
+    SynchronizerExactInputIndicesModel;
+
   /** \brief Synchronized input, indices, and model coefficients.*/
-  std::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2,
-    PointIndices, ModelCoefficients>>> sync_input_indices_model_e_;
-  std::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2,
-    PointIndices, ModelCoefficients>>> sync_input_indices_model_a_;
+  std::shared_ptr<SynchronizerExactInputIndicesModel> sync_input_indices_model_e_;
+  std::shared_ptr<SynchronizerApproxInputIndicesModel> sync_input_indices_model_a_;
+
   /** \brief The PCL filter implementation used. */
   pcl::ProjectInliers<pcl::PCLPointCloud2> impl_;
 
diff --git a/pcl_ros/src/pcl_ros/filters/filter.cpp b/pcl_ros/src/pcl_ros/filters/filter.cpp
index a53b8209..0d2fd55d 100644
--- a/pcl_ros/src/pcl_ros/filters/filter.cpp
+++ b/pcl_ros/src/pcl_ros/filters/filter.cpp
@@ -119,14 +119,14 @@ pcl_ros::Filter::subscribe()
   if (use_indices_) {
     // Subscribe to the input using a filter
     auto sensor_qos_profile =
-      rclcpp::SensorDataQoS().keep_last(max_queue_size_).get_rmw_qos_profile();
+      rclcpp::SensorDataQoS().keep_last(max_queue_size_);
     sub_input_filter_.subscribe(this, "input", sensor_qos_profile);
     sub_indices_filter_.subscribe(this, "indices", sensor_qos_profile);
 
     if (approximate_sync_) {
       sync_input_indices_a_ =
-        std::make_shared<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2,
-          pcl_msgs::msg::PointIndices>>>(max_queue_size_);
+        std::make_shared<SynchronizerApproxInputIndices>(SyncApproxPolInputIndices(
+          max_queue_size_));
       sync_input_indices_a_->connectInput(sub_input_filter_, sub_indices_filter_);
       sync_input_indices_a_->registerCallback(
         std::bind(
@@ -134,8 +134,8 @@ pcl_ros::Filter::subscribe()
           std::placeholders::_1, std::placeholders::_2));
     } else {
       sync_input_indices_e_ =
-        std::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2,
-          pcl_msgs::msg::PointIndices>>>(max_queue_size_);
+        std::make_shared<SynchronizerExactInputIndices>(SyncExactPolInputIndices(
+          max_queue_size_));
       sync_input_indices_e_->connectInput(sub_input_filter_, sub_indices_filter_);
       sync_input_indices_e_->registerCallback(
         std::bind(
diff --git a/pcl_ros/src/pcl_ros/filters/project_inliers.cpp b/pcl_ros/src/pcl_ros/filters/project_inliers.cpp
index 39804ba3..25906866 100644
--- a/pcl_ros/src/pcl_ros/filters/project_inliers.cpp
+++ b/pcl_ros/src/pcl_ros/filters/project_inliers.cpp
@@ -108,29 +108,25 @@ pcl_ros::ProjectInliers::subscribe()
 
   auto qos_profile = rclcpp::QoS(
     rclcpp::KeepLast(max_queue_size_),
-    rmw_qos_profile_default).get_rmw_qos_profile();
+    rmw_qos_profile_default);
   auto sensor_qos_profile = rclcpp::QoS(
     rclcpp::KeepLast(max_queue_size_),
-    rmw_qos_profile_sensor_data).get_rmw_qos_profile();
+    rmw_qos_profile_sensor_data);
   sub_input_filter_.subscribe(this, "input", sensor_qos_profile);
   sub_indices_filter_.subscribe(this, "indices", qos_profile);
   sub_model_.subscribe(this, "model", qos_profile);
 
   if (approximate_sync_) {
-    sync_input_indices_model_a_ = std::make_shared<
-      message_filters::Synchronizer<
-        message_filters::sync_policies::ApproximateTime<
-          PointCloud2, PointIndices, ModelCoefficients>>>(max_queue_size_);
+    sync_input_indices_model_a_ = std::make_shared<SynchronizerApproxInputIndicesModel>(
+      SyncApproxPolInputIndicesModel(max_queue_size_));
     sync_input_indices_model_a_->connectInput(sub_input_filter_, sub_indices_filter_, sub_model_);
     sync_input_indices_model_a_->registerCallback(
       std::bind(
         &ProjectInliers::input_indices_model_callback, this,
         std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
   } else {
-    sync_input_indices_model_e_ = std::make_shared<
-      message_filters::Synchronizer<
-        message_filters::sync_policies::ExactTime<
-          PointCloud2, PointIndices, ModelCoefficients>>>(max_queue_size_);
+    sync_input_indices_model_e_ = std::make_shared<SynchronizerExactInputIndicesModel>(
+      SyncExactPolInputIndicesModel(max_queue_size_));
     sync_input_indices_model_e_->connectInput(sub_input_filter_, sub_indices_filter_, sub_model_);
     sync_input_indices_model_e_->registerCallback(
       std::bind(