diff --git a/src/ros2/dds_user_config.vhd b/src/ros2/dds_user_config.vhd
index 52cb345..09ce264 100644
--- a/src/ros2/dds_user_config.vhd
+++ b/src/ros2/dds_user_config.vhd
@@ -94,7 +94,7 @@ package body user_config is
     procedure set_sim_timing (ref : inout CONFIG_TYPE; sel : in boolean) is
     begin
         if (sel) then
-            ref.HEARTBEAT_PERIOD              := gen_duration(10 us);
+            ref.HEARTBEAT_PERIOD              := gen_duration(50 us);
             ref.HEARTBEAT_RESPONSE_DELAY      := gen_duration(500 ns);
             ref.HEARTBEAT_SUPPRESSION_DELAY   := gen_duration(100 ns);
             ref.ACKNACK_RESPONSE_DELAY        := gen_duration(500 ns);
diff --git a/src/ros2/ros_package.vhd b/src/ros2/ros_package.vhd
index 34f8ddd..e27ee9b 100644
--- a/src/ros2/ros_package.vhd
+++ b/src/ros2/ros_package.vhd
@@ -430,6 +430,7 @@ package body ros_package is
         config.MAX_SAMPLES              := profile.HISTORY_DEPTH;
         config.MAX_INSTANCES            := profile.HISTORY_DEPTH;
         config.MAX_SAMPLES_PER_INSTANCE := profile.HISTORY_DEPTH;
+        config.PUSH_MODE                := FALSE; -- CycloneDDS compatibility
     end procedure;
     
     function gen_fqn(ns : string; node : string; name : string) return USER_STRING_TYPE is