Hi,

Environment: ROS2 galactic

I'm trying to change the parameters for the /planner_server node when it is running like lookup_table_size or cost_penalty. Whenever I do it using the ros2 param set command, it throws the following error:

 Have not received a heartbeat from planner_server.
CRITICAL FAILURE: SERVER planner_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes

After that it deactivates the node and does cleans up. But if I change the use_sim_time parameter under /planner server, it works and node does not fail.

I have tried to change the parameters for the other nodes such as /controller_server or even /amcl node while they were running and none had such issue.

Did anyone face such issue? Is it an design requirement that we are not supposed to change it or is it some sort of a bug?