diff --git a/README.md b/README.md
index c4ba620..9a9e269 100644
--- a/README.md
+++ b/README.md
@@ -60,7 +60,7 @@ Note that GStreamer is licensed under the LGPL, and GStreamer plugins have their
 * `reopen_on_eof`: Re-open the stream if it ends (EOF)
 * `sync_sink`: Synchronize the app sink (sometimes setting this to `false` can resolve problems with sub-par framerates)
 * `use_gst_timestamps`: Use the GStreamer buffer timestamps for the image message header timestamps (setting this to `false` results in header timestamps being the time that the image buffer transfer is completed)
-* `image_encoding`: image encoding ("rgb8", "mono8", "yuv422", "jpeg")
+* `image_encoding`: image encoding ("rgb8", "mono8", "yuv422", "rgba8", "jpeg")
 * `use_sensor_data_qos`: The flag to use sensor data qos for camera topic(image, camera_info)
 
 ## Examples
diff --git a/src/gscam.cpp b/src/gscam.cpp
index e670b21..9ed1e19 100644
--- a/src/gscam.cpp
+++ b/src/gscam.cpp
@@ -110,6 +110,7 @@ bool GSCam::configure()
   if (image_encoding_ != sensor_msgs::image_encodings::RGB8 &&
     image_encoding_ != sensor_msgs::image_encodings::MONO8 &&
     image_encoding_ != sensor_msgs::image_encodings::YUV422 &&
+    image_encoding_ != sensor_msgs::image_encodings::RGBA8 &&
     image_encoding_ != "jpeg")
   {
     RCLCPP_FATAL_STREAM(get_logger(), "Unsupported image encoding: " + image_encoding_);
@@ -177,6 +178,11 @@ bool GSCam::init_stream()
       "video/x-raw",
       "format", G_TYPE_STRING, "UYVY",
       NULL);
+  } else if (image_encoding_ == sensor_msgs::image_encodings::RGBA8) {
+    caps = gst_caps_new_simple(
+      "video/x-raw",
+      "format", G_TYPE_STRING, "RGBA",
+      NULL);
   } else if (image_encoding_ == "jpeg") {
     caps = gst_caps_new_simple("image/jpeg", NULL, NULL);
   }