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I couldn't get on_parameter_event to work when the node was within a namespace, but the object is already a Node so doesn't need a paramaeters client, that is redundant- so get rid parameters_client_ and param_sub_ and onParameterEvent above inside the class that is the receiving end of set parameters.

Instead:

  register_param_change_callback(
        std::bind(&CppTest::onParameterChange, this, _1));

...
rcl_interfaces::msg::SetParametersResult CppTest::onParameterChange(
    std::vector<rclcpp::Parameter> parameters)
{
  // this doesn't do any checking, it just assumes the parameter
  // changes are good
  dirty_ = true;
  auto result = rcl_interfaces::msg::SetParametersResult();
  result.successful = true;
  return result;
}

I couldn't get on_parameter_event to work when the node was within a namespace, but the object is already a Node so doesn't need a paramaeters client, that is redundant- so get rid parameters_client_ and param_sub_ and onParameterEvent above inside the class that is the receiving end of set parameters.

Instead:

class CppTest : public rclcpp::Node {
...

  register_param_change_callback(
        std::bind(&CppTest::onParameterChange, this, _1));

...
rcl_interfaces::msg::SetParametersResult CppTest::onParameterChange(
    std::vector<rclcpp::Parameter> parameters)
{
  // this doesn't do any checking, it just assumes the parameter
  // changes are good
  dirty_ = true;
  auto result = rcl_interfaces::msg::SetParametersResult();
  result.successful = true;
  return result;
}

I couldn't get on_parameter_event to work when the node was within a namespace, but the object is already a Node so doesn't need a paramaeters client, parameters client for itself, that is redundant- so get rid parameters_client_ and param_sub_ and onParameterEvent above inside the class that is the receiving end of set parameters.

Instead:

class CppTest : public rclcpp::Node {
...

  register_param_change_callback(
        std::bind(&CppTest::onParameterChange, this, _1));

...
rcl_interfaces::msg::SetParametersResult CppTest::onParameterChange(
    std::vector<rclcpp::Parameter> parameters)
{
  // this doesn't do any checking, it just assumes the parameter
  // changes are good
  dirty_ = true;
  auto result = rcl_interfaces::msg::SetParametersResult();
  result.successful = true;
  return result;
}