diff --git a/rosbag2_transport/src/rosbag2_transport/player.cpp b/rosbag2_transport/src/rosbag2_transport/player.cpp
index c6e1a4be87..29bffb3583 100644
--- a/rosbag2_transport/src/rosbag2_transport/player.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/player.cpp
@@ -44,7 +44,7 @@ namespace
  * Determine which QoS to offer for a topic.
  * The priority of the profile selected is:
  *   1. The override specified in play_options (if one exists for the topic).
- *   2. The default RMW QoS profile.
+ *   2. A profile automatically adapted to the recorded QoS profiles of publishers on the topic.
  *
  * \param topic_name The full name of the topic, with namespace (ex. /arm/joint_status).
  * \param topic_qos_profile_overrides A map of topic to QoS profile overrides.
@@ -52,14 +52,15 @@ namespace
  */
 rclcpp::QoS publisher_qos_for_topic(
   const std::string & topic_name,
-  std::unordered_map<std::string, rclcpp::QoS> topic_qos_profile_overrides)
+  const std::unordered_map<std::string, rclcpp::QoS> & topic_qos_profile_overrides,
+  const std::unordered_map<std::string, std::vector<Rosbag2QoS>> & recorded_qos_profiles)
 {
   auto qos_it = topic_qos_profile_overrides.find(topic_name);
   if (qos_it != topic_qos_profile_overrides.end()) {
     ROSBAG2_TRANSPORT_LOG_INFO_STREAM("Overriding QoS profile for topic " << topic_name);
     return rosbag2_transport::Rosbag2QoS{qos_it->second};
   }
-  return rosbag2_transport::Rosbag2QoS{};
+  return Rosbag2QoS::adapt_offer_to_recorded_offers(recorded_qos_profiles.at(topic_name));
 }
 }  // namespace
 
@@ -70,9 +71,17 @@ const std::chrono::milliseconds
 Player::queue_read_wait_period_ = std::chrono::milliseconds(100);
 
 Player::Player(
-  std::shared_ptr<rosbag2_cpp::Reader> reader, std::shared_ptr<Rosbag2Node> rosbag2_transport)
-: reader_(std::move(reader)), rosbag2_transport_(rosbag2_transport)
-{}
+  std::shared_ptr<rosbag2_cpp::Reader> reader,
+  std::shared_ptr<Rosbag2Node> rosbag2_transport,
+  const rosbag2_storage::BagMetadata & metadata)
+: reader_(std::move(reader)), rosbag2_transport_(rosbag2_transport), metadata_(metadata)
+{
+  for (auto topic_information : metadata.topics_with_message_count) {
+    const auto & topic_metadata = topic_information.topic_metadata;
+    const auto & loaded_profiles = YAML::Load(topic_metadata.offered_qos_profiles);
+    recorded_qos_profiles_[topic_metadata.name] = loaded_profiles.as<std::vector<Rosbag2QoS>>();
+  }
+}
 
 bool Player::is_storage_completely_loaded() const
 {
@@ -189,7 +198,8 @@ void Player::prepare_publishers(const PlayOptions & options)
 
   auto topics = reader_->get_all_topics_and_types();
   for (const auto & topic : topics) {
-    auto topic_qos = publisher_qos_for_topic(topic.name, topic_qos_profile_overrides_);
+    auto topic_qos = publisher_qos_for_topic(
+      topic.name, topic_qos_profile_overrides_, recorded_qos_profiles_);
     publishers_.insert(
       std::make_pair(
         topic.name, rosbag2_transport_->create_generic_publisher(
diff --git a/rosbag2_transport/src/rosbag2_transport/player.hpp b/rosbag2_transport/src/rosbag2_transport/player.hpp
index cc7a612ae1..63ebd46923 100644
--- a/rosbag2_transport/src/rosbag2_transport/player.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/player.hpp
@@ -28,6 +28,7 @@
 
 #include "rosbag2_transport/play_options.hpp"
 
+#include "qos.hpp"
 #include "replayable_message.hpp"
 
 using TimePoint = std::chrono::time_point<std::chrono::high_resolution_clock>;
@@ -70,6 +71,7 @@ class Player
   std::shared_ptr<Rosbag2Node> rosbag2_transport_;
   std::unordered_map<std::string, std::shared_ptr<GenericPublisher>> publishers_;
   std::unordered_map<std::string, rclcpp::QoS> topic_qos_profile_overrides_;
+  std::unordered_map<std::string, std::vector<Rosbag2QoS>> recorded_qos_profiles_;
 };
 
 }  // namespace rosbag2_transport