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change you callback function

   from rcl_interfaces.msg import SetParametersResult
   from rclpy.parameter import Parameter
   ...
   def cb_params(self, data):
        for parameter in data:
        if parameter.name == "name":
            if parameter.type_ == Parameter.Type.STRING:
                self.name = parameter.value
    self.get_logger().warn("parameter changed... {}".format(self.name))
    return SetParametersResult(successful=True)