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This git issue addresses this feature.

There's no direct solution but you can use the rcl parser and map function to read the yaml in and reset the parameters. For an example code the ZED2 ROS2 node uses this method. See the file zed-ros2-wrapper/zed_wrapper/src/zed_wrapper_container.cpp. I haven't fully gone through that code, but they definitely use the rcl parser to read in parameters from a yaml programatically.