diff --git a/ros2rag.base/src/main/resources/MqttUpdater.jadd b/ros2rag.base/src/main/resources/MqttUpdater.jadd
index 394735cc78595ad0ebe15b5ab1fa6e73ef435b13..df1dc10054722b249c10637781bc896eebdaf37f 100644
--- a/ros2rag.base/src/main/resources/MqttUpdater.jadd
+++ b/ros2rag.base/src/main/resources/MqttUpdater.jadd
@@ -231,8 +231,16 @@ public class MqttUpdater {
   }
 
   public void publish(String topic, byte[] bytes) {
+    publish(topic, bytes, false);
+  }
+
+  public void publish(String topic, byte[] bytes, boolean retain) {
+    publish(topic, bytes, this.qos, retain);
+  }
+
+  public void publish(String topic, byte[] bytes, org.fusesource.mqtt.client.QoS qos, boolean retain) {
     connection.getDispatchQueue().execute(() -> {
-      connection.publish(topic, bytes, qos, false, new org.fusesource.mqtt.client.Callback<Void>() {
+      connection.publish(topic, bytes, qos, retain, new org.fusesource.mqtt.client.Callback<Void>() {
         @Override
         public void onSuccess(Void value) {
           logger.debug("Published some bytes to {}", topic);
diff --git a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
index 8c8919d739552e30cad512e8e5cd9bfb1ff832f0..a4a0f70c9058be997142bb286aa33b4e8c5b1897 100644
--- a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
+++ b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
@@ -104,7 +104,7 @@ public class StarterMain {
         .setEnableTwistLinear(false)
         .setPublishRate(100)
         .build();
-    mainHandler.publish(dataConfigTopic, dataConfig.toByteArray());
+    mainHandler.publish(dataConfigTopic, dataConfig.toByteArray(), true);
   }
 
   private void logStatus(String prefix, RobotArm robotArm) {