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Did you happen to use #include "rclcpp/node.hpp" in your parameters_monitor.cpp, as opposed to the #include "rclcpp/rclcpp.hpp" that's used in the tutorials? (I managed to reproduce your issue by using #include "rclcpp/node.hpp.)

As @aprotyas explained, the feature only seems available for ROS2 Galactic onwards.

Using #include rclcpp/rclcpp.hppwill call #include "rclcpp/parameter_event_handler.hpp".

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