Dynamically change the gmapping parameters during ongoing simulation

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Hi,

I was wondering is it possible to switch the weights of the odometry and Lidar during the simulation? The idea is when the robot is moving in a long hallway, give more weight to odometry than the lidar and the moment it finds a corridor, switches the weights i.e more weight to lidar and less to odometry. I know the parameter to tune this is minimumScore in gmapping.launch file. So, is it possible to write a rosservice or create a parameter server to change only this parameter 'minimumScore' during the ongoing simulation?