diff --git a/samples/ros2_cpp_all_pkg/src/ros2_cpp_node.cpp b/samples/ros2_cpp_all_pkg/src/ros2_cpp_node.cpp
index c6fb53d..c9997ab 100644
--- a/samples/ros2_cpp_all_pkg/src/ros2_cpp_node.cpp
+++ b/samples/ros2_cpp_all_pkg/src/ros2_cpp_node.cpp
@@ -104,6 +104,7 @@ void Ros2CppNode::declareAndLoadParameter(const std::string& name,
         ss << param;
       }
       RCLCPP_WARN_STREAM(this->get_logger(), ss.str());
+      this->set_parameters({rclcpp::Parameter(name, rclcpp::ParameterValue(param))});
     }
   }
 
diff --git a/samples/ros2_cpp_component_pkg/src/ros2_cpp_node.cpp b/samples/ros2_cpp_component_pkg/src/ros2_cpp_node.cpp
index 9a59593..f652eab 100644
--- a/samples/ros2_cpp_component_pkg/src/ros2_cpp_node.cpp
+++ b/samples/ros2_cpp_component_pkg/src/ros2_cpp_node.cpp
@@ -97,6 +97,7 @@ void Ros2CppNode::declareAndLoadParameter(const std::string& name,
         ss << param;
       }
       RCLCPP_WARN_STREAM(this->get_logger(), ss.str());
+      this->set_parameters({rclcpp::Parameter(name, rclcpp::ParameterValue(param))});
     }
   }
 
diff --git a/samples/ros2_cpp_lifecycle_pkg/src/ros2_cpp_node.cpp b/samples/ros2_cpp_lifecycle_pkg/src/ros2_cpp_node.cpp
index f0bdd4e..ab5311b 100644
--- a/samples/ros2_cpp_lifecycle_pkg/src/ros2_cpp_node.cpp
+++ b/samples/ros2_cpp_lifecycle_pkg/src/ros2_cpp_node.cpp
@@ -99,6 +99,7 @@ void Ros2CppNode::declareAndLoadParameter(const std::string& name,
         ss << param;
       }
       RCLCPP_WARN_STREAM(this->get_logger(), ss.str());
+      this->set_parameters({rclcpp::Parameter(name, rclcpp::ParameterValue(param))});
     }
   }
 
diff --git a/samples/ros2_cpp_pkg/src/ros2_cpp_node.cpp b/samples/ros2_cpp_pkg/src/ros2_cpp_node.cpp
index 15ae866..c700c4e 100644
--- a/samples/ros2_cpp_pkg/src/ros2_cpp_node.cpp
+++ b/samples/ros2_cpp_pkg/src/ros2_cpp_node.cpp
@@ -94,6 +94,7 @@ void Ros2CppNode::declareAndLoadParameter(const std::string& name,
         ss << param;
       }
       RCLCPP_WARN_STREAM(this->get_logger(), ss.str());
+      this->set_parameters({rclcpp::Parameter(name, rclcpp::ParameterValue(param))});
     }
   }
 
diff --git a/samples/ros2_python_all_pkg/ros2_python_all_pkg/ros2_python_node.py b/samples/ros2_python_all_pkg/ros2_python_all_pkg/ros2_python_node.py
index f5b1016..e21ff10 100644
--- a/samples/ros2_python_all_pkg/ros2_python_all_pkg/ros2_python_node.py
+++ b/samples/ros2_python_all_pkg/ros2_python_all_pkg/ros2_python_node.py
@@ -91,6 +91,7 @@ def declareAndLoadParameter(self,
             else:
                 self.get_logger().warn(f"Missing parameter '{name}', using default value: {default}")
                 param = default
+                self.set_parameters([rclpy.Parameter(name=name, value=param)])
 
         # add parameter to auto-reconfigurable parameters
         if add_to_auto_reconfigurable_params:
diff --git a/samples/ros2_python_pkg/ros2_python_pkg/ros2_python_node.py b/samples/ros2_python_pkg/ros2_python_pkg/ros2_python_node.py
index 664bd43..ad58f33 100644
--- a/samples/ros2_python_pkg/ros2_python_pkg/ros2_python_node.py
+++ b/samples/ros2_python_pkg/ros2_python_pkg/ros2_python_node.py
@@ -87,6 +87,7 @@ def declareAndLoadParameter(self,
             else:
                 self.get_logger().warn(f"Missing parameter '{name}', using default value: {default}")
                 param = default
+                self.set_parameters([rclpy.Parameter(name=name, value=param)])
 
         # add parameter to auto-reconfigurable parameters
         if add_to_auto_reconfigurable_params:
diff --git a/templates/ros2_cpp_pkg/{{ package_name }}/src/{{ node_name }}.cpp.jinja b/templates/ros2_cpp_pkg/{{ package_name }}/src/{{ node_name }}.cpp.jinja
index 02ee49d..6ad60d9 100644
--- a/templates/ros2_cpp_pkg/{{ package_name }}/src/{{ node_name }}.cpp.jinja	
+++ b/templates/ros2_cpp_pkg/{{ package_name }}/src/{{ node_name }}.cpp.jinja	
@@ -128,6 +128,7 @@ void {{ node_class_name }}::declareAndLoadParameter(const std::string& name,
         ss << param;
       }
       RCLCPP_WARN_STREAM(this->get_logger(), ss.str());
+      this->set_parameters({rclcpp::Parameter(name, rclcpp::ParameterValue(param))});
     }
   }
 
diff --git a/templates/ros2_python_pkg/{{ package_name }}/{{ package_name }}/{{ node_name }}.py.jinja b/templates/ros2_python_pkg/{{ package_name }}/{{ package_name }}/{{ node_name }}.py.jinja
index 784b2ef..55df51c 100644
--- a/templates/ros2_python_pkg/{{ package_name }}/{{ package_name }}/{{ node_name }}.py.jinja	
+++ b/templates/ros2_python_pkg/{{ package_name }}/{{ package_name }}/{{ node_name }}.py.jinja	
@@ -108,6 +108,7 @@ class {{ node_class_name }}(Node):
             else:
                 self.get_logger().warn(f"Missing parameter '{name}', using default value: {default}")
                 param = default
+                self.set_parameters([rclpy.Parameter(name=name, value=param)])
 
         # add parameter to auto-reconfigurable parameters
         if add_to_auto_reconfigurable_params: