diff --git a/rclcpp/include/rclcpp/create_generic_publisher.hpp b/rclcpp/include/rclcpp/create_generic_publisher.hpp
index 296446f7b9..9fac1cec7f 100644
--- a/rclcpp/include/rclcpp/create_generic_publisher.hpp
+++ b/rclcpp/include/rclcpp/create_generic_publisher.hpp
@@ -39,7 +39,8 @@ namespace rclcpp
  * \param qos %QoS settings
  * \param options %Publisher options.
  * Not all publisher options are currently respected, the only relevant options for this
- * publisher are `event_callbacks`, `use_default_callbacks`, and `%callback_group`.
+ * publisher are `event_callbacks` and `use_default_callbacks`.
+ * \param group Callback group to execute this publisher's callback(e.g. QoS Events).
  */
 template<typename AllocatorT = std::allocator<void>>
 std::shared_ptr<GenericPublisher> create_generic_publisher(
@@ -49,7 +50,8 @@ std::shared_ptr<GenericPublisher> create_generic_publisher(
   const rclcpp::QoS & qos,
   const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
     rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
-  )
+  ),
+  rclcpp::CallbackGroup::SharedPtr group = nullptr
 )
 {
   auto ts_lib = rclcpp::get_typesupport_library(topic_type, "rosidl_typesupport_cpp");
@@ -60,7 +62,24 @@ std::shared_ptr<GenericPublisher> create_generic_publisher(
     topic_type,
     qos,
     options);
-  topics_interface->add_publisher(pub, options.callback_group);
+
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
+  if (group == nullptr) {
+    group = options.callback_group;
+  }
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#else
+# pragma warning(pop)
+#endif
+
+  topics_interface->add_publisher(pub, group);
   return pub;
 }
 
diff --git a/rclcpp/include/rclcpp/create_publisher.hpp b/rclcpp/include/rclcpp/create_publisher.hpp
index c633c74e2e..de5da6c5d2 100644
--- a/rclcpp/include/rclcpp/create_publisher.hpp
+++ b/rclcpp/include/rclcpp/create_publisher.hpp
@@ -50,7 +50,8 @@ create_publisher(
   const rclcpp::QoS & qos,
   const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
     rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
-  )
+  ),
+  rclcpp::CallbackGroup::SharedPtr group = nullptr
 )
 {
   auto node_topics_interface = rclcpp::node_interfaces::get_node_topics_interface(node_topics);
@@ -68,8 +69,23 @@ create_publisher(
     actual_qos
   );
 
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
+  if (group == nullptr) {
+    group = options.callback_group;
+  }
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#else
+# pragma warning(pop)
+#endif
   // Add the publisher to the node topics interface.
-  node_topics_interface->add_publisher(pub, options.callback_group);
+  node_topics_interface->add_publisher(pub, group);
 
   return std::dynamic_pointer_cast<PublisherT>(pub);
 }
@@ -97,11 +113,12 @@ create_publisher(
   const rclcpp::QoS & qos,
   const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
     rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
-  )
+  ),
+  rclcpp::CallbackGroup::SharedPtr group = nullptr
 )
 {
   return detail::create_publisher<MessageT, AllocatorT, PublisherT>(
-    node, node, topic_name, qos, options);
+    node, node, topic_name, qos, options, group);
 }
 
 /// Create and return a publisher of the given MessageT type.
@@ -117,11 +134,12 @@ create_publisher(
   const rclcpp::QoS & qos,
   const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
     rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
-  )
+  ),
+  rclcpp::CallbackGroup::SharedPtr group = nullptr
 )
 {
   return detail::create_publisher<MessageT, AllocatorT, PublisherT>(
-    node_parameters, node_topics, topic_name, qos, options);
+    node_parameters, node_topics, topic_name, qos, options, group);
 }
 
 }  // namespace rclcpp
diff --git a/rclcpp/include/rclcpp/generic_publisher.hpp b/rclcpp/include/rclcpp/generic_publisher.hpp
index 7cadda5d1d..2fc63b4ff4 100644
--- a/rclcpp/include/rclcpp/generic_publisher.hpp
+++ b/rclcpp/include/rclcpp/generic_publisher.hpp
@@ -63,7 +63,7 @@ class GenericPublisher : public rclcpp::PublisherBase
    * \param callback Callback for new messages of serialized form
    * \param options %Publisher options.
    * Not all publisher options are currently respected, the only relevant options for this
-   * publisher are `event_callbacks`, `use_default_callbacks`, and `%callback_group`.
+   * publisher are `event_callbacks` and `use_default_callbacks`.
    */
   template<typename AllocatorT = std::allocator<void>>
   GenericPublisher(
diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index 7e5f402f8a..c9ec244976 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -185,6 +185,7 @@ class Node : public std::enable_shared_from_this<Node>
    * \param[in] topic_name The topic for this publisher to publish on.
    * \param[in] qos The Quality of Service settings for the publisher.
    * \param[in] options Additional options for the created Publisher.
+   * \param[in] group Callback group to execute this publisher's callback(e.g. QoS Events).
    * \return Shared pointer to the created publisher.
    */
   template<
@@ -196,7 +197,8 @@ class Node : public std::enable_shared_from_this<Node>
     const std::string & topic_name,
     const rclcpp::QoS & qos,
     const PublisherOptionsWithAllocator<AllocatorT> & options =
-    PublisherOptionsWithAllocator<AllocatorT>()
+    PublisherOptionsWithAllocator<AllocatorT>(),
+    rclcpp::CallbackGroup::SharedPtr group = nullptr
   );
 
   /// Create and return a Subscription.
@@ -278,9 +280,10 @@ class Node : public std::enable_shared_from_this<Node>
    * \param[in] topic_name Topic name
    * \param[in] topic_type Topic type
    * \param[in] qos %QoS settings
-   * \param options %Publisher options.
+   * \param[in] options %Publisher options.
+   * \param[in] group %Publisher group.
    * Not all publisher options are currently respected, the only relevant options for this
-   * publisher are `event_callbacks`, `use_default_callbacks`, and `%callback_group`.
+   * publisher are `event_callbacks` and `use_default_callbacks`.
    * \return Shared pointer to the created generic publisher.
    */
   template<typename AllocatorT = std::allocator<void>>
@@ -290,7 +293,8 @@ class Node : public std::enable_shared_from_this<Node>
     const rclcpp::QoS & qos,
     const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
       rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
-    )
+    ),
+    rclcpp::CallbackGroup::SharedPtr group = nullptr
   );
 
   /// Create and return a GenericSubscription.
diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index 46f54aa054..bfa99ab52e 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -73,13 +73,15 @@ std::shared_ptr<PublisherT>
 Node::create_publisher(
   const std::string & topic_name,
   const rclcpp::QoS & qos,
-  const PublisherOptionsWithAllocator<AllocatorT> & options)
+  const PublisherOptionsWithAllocator<AllocatorT> & options,
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   return rclcpp::create_publisher<MessageT, AllocatorT, PublisherT>(
     *this,
     extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
     qos,
-    options);
+    options,
+    group);
 }
 
 template<
@@ -159,14 +161,16 @@ Node::create_generic_publisher(
   const std::string & topic_name,
   const std::string & topic_type,
   const rclcpp::QoS & qos,
-  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
+  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options,
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   return rclcpp::create_generic_publisher(
     node_topics_,
     extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
     topic_type,
     qos,
-    options
+    options,
+    group
   );
 }
 
diff --git a/rclcpp/include/rclcpp/publisher_options.hpp b/rclcpp/include/rclcpp/publisher_options.hpp
index 48250307e9..95ec5dd6f6 100644
--- a/rclcpp/include/rclcpp/publisher_options.hpp
+++ b/rclcpp/include/rclcpp/publisher_options.hpp
@@ -34,6 +34,13 @@ namespace rclcpp
 
 class CallbackGroup;
 
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
 /// Non-templated part of PublisherOptionsWithAllocator<Allocator>.
 struct PublisherOptionsBase
 {
@@ -52,6 +59,7 @@ struct PublisherOptionsBase
     RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_NOT_REQUIRED;
 
   /// Callback group in which the waitable items from the publisher should be placed.
+  [[deprecated("use create_publisher with a dedicated callback_group instead")]]
   std::shared_ptr<rclcpp::CallbackGroup> callback_group;
 
   /// Optional RMW implementation specific payload to be used during creation of the publisher.
@@ -60,6 +68,11 @@ struct PublisherOptionsBase
 
   QosOverridingOptions qos_overriding_options;
 };
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#else
+# pragma warning(pop)
+#endif
 
 /// Structure containing optional configuration for Publishers.
 template<typename Allocator>
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
index 4442304c0c..9e5c64f796 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
@@ -203,6 +203,7 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
    * \param[in] topic_name The topic for this publisher to publish on.
    * \param[in] qos The Quality of Service settings for this publisher.
    * \param[in] options The publisher options for this publisher.
+   * \param[in] group Callback group to execute this publisher's callback(e.g. QoS Events).
    * \return Shared pointer to the created lifecycle publisher.
    */
   template<typename MessageT, typename AllocatorT = std::allocator<void>>
@@ -212,7 +213,8 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
     const rclcpp::QoS & qos,
     const PublisherOptionsWithAllocator<AllocatorT> & options = (
       create_default_publisher_options<AllocatorT>()
-    )
+    ),
+    rclcpp::CallbackGroup::SharedPtr group = nullptr
   );
 
   /// Create and return a Subscription.
@@ -289,7 +291,8 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
     const rclcpp::QoS & qos,
     const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
       rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
-    )
+    ),
+    rclcpp::CallbackGroup::SharedPtr group = nullptr
   );
 
   /// Create and return a GenericSubscription.
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
index a7f1c686bc..1ce7c1e7fd 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
@@ -46,14 +46,16 @@ std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, AllocatorT>>
 LifecycleNode::create_publisher(
   const std::string & topic_name,
   const rclcpp::QoS & qos,
-  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
+  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options,
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   using PublisherT = rclcpp_lifecycle::LifecyclePublisher<MessageT, AllocatorT>;
   return rclcpp::create_publisher<MessageT, AllocatorT, PublisherT>(
     *this,
     topic_name,
     qos,
-    options);
+    options,
+    group);
 }
 
 // TODO(karsten1987): Create LifecycleSubscriber
@@ -137,7 +139,8 @@ LifecycleNode::create_generic_publisher(
   const std::string & topic_name,
   const std::string & topic_type,
   const rclcpp::QoS & qos,
-  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
+  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options,
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   return rclcpp::create_generic_publisher(
     node_topics_,
@@ -146,7 +149,8 @@ LifecycleNode::create_generic_publisher(
     topic_name,
     topic_type,
     qos,
-    options
+    options,
+    group
   );
 }