In this paper, we propose a method to construct a scalable sensor data stream delivery system that guarantees the specified delivery quality of service (i.e., total reachability to destinations), even when delivery server resources (nodes) are in a heterogeneous churn situation. A number of P2P-based methods have been proposed for constructing a scalable and efficient sensor data stream system that accommodates different delivery cycles by distributing communication loads of the nodes. However, no existing method can guarantee delivery quality of service when the nodes on the system have a heterogeneous churn rate. As an extension of existing methods, which assign relay nodes based on the distributed hashing of the time-to-deliver, our method specifies the number of replication nodes, based on the churn rate of each node and on the relevant delivery paths. Through simulations, we confirmed that our proposed method can guarantee the required reachability, while avoiding any increase in unnecessary resource assignment costs.