diff --git a/config/udp_bridge.yaml b/config/udp_bridge.yaml
index 1e8315b..884a61c 100644
--- a/config/udp_bridge.yaml
+++ b/config/udp_bridge.yaml
@@ -21,13 +21,8 @@
       - /debug/dsd/localization/dsd_tree
       - /debug/dsd/localization/dsd_stack
       - /team_data
-      - /balls_relative
-      - /debug/viz_ball
-      - /robots_relative
+      - /ball_position_relative_filtered
       - /gamestate
-      - /animation
       - /diagnostics_agg
-      - /imu/data
-      - /buttons
       - /system_workload
       - /field/map
diff --git a/udp_bridge/receiver.py b/udp_bridge/receiver.py
index 2434ea2..004970f 100755
--- a/udp_bridge/receiver.py
+++ b/udp_bridge/receiver.py
@@ -5,6 +5,7 @@
 
 import rclpy
 from rclpy.node import Node
+from rclpy.qos import DurabilityPolicy, QoSProfile
 
 from udp_bridge.message_handler import MessageHandler
 
@@ -49,15 +50,16 @@ def handle_message(self, msg: bytes):
             data = deserialized_msg.get("data")
             topic: str = deserialized_msg.get("topic")
             hostname: str = deserialized_msg.get("hostname")
+            latched: bool = deserialized_msg.get("latched")
 
             if hostname not in self.known_senders:
                 self.known_senders.append(hostname)
 
-            self.publish(topic, data, hostname)
+            self.publish(topic, data, hostname, latched)
         except Exception as e:
             self.node.get_logger().error(f"Could not deserialize received message with error {e}")
 
-    def publish(self, topic: str, msg, hostname: str):
+    def publish(self, topic: str, msg, hostname: str, latched: bool):
         """
         Publish a message into ROS
 
@@ -72,7 +74,11 @@ def publish(self, topic: str, msg, hostname: str):
         # create a publisher object if we don't have one already
         if namespaced_topic not in self.publishers.keys():
             self.node.get_logger().info(f"Publishing new topic {namespaced_topic}")
-            self.publishers[namespaced_topic] = self.node.create_publisher(type(msg), namespaced_topic, 1)
+            self.publishers[namespaced_topic] = self.node.create_publisher(
+                type(msg),
+                namespaced_topic,
+                qos_profile=QoSProfile(depth=10, durability=DurabilityPolicy.TRANSIENT_LOCAL) if latched else 10,
+            )
 
         self.publishers[namespaced_topic].publish(msg)
 
diff --git a/udp_bridge/sender.py b/udp_bridge/sender.py
index 67ad2c0..03702ba 100755
--- a/udp_bridge/sender.py
+++ b/udp_bridge/sender.py
@@ -91,6 +91,7 @@ def __message_callback(self, data, latched=False):
                 "data": data,
                 "topic": self.topic,
                 "hostname": HOSTNAME,
+                "latched": latched,
             }
         )