exampe of using AsyncParametersClient for multiple params [closed]

edit

I am trying to use a parameter node to store all the params that define a robot using the guide HERE.

The examples show are for only one param, how would you do set it up for multiple params? Do I really have to do all those lines of code for each param?

class TestGetGlobalParam : public rclcpp::Node
{
public:
    TestGetGlobalParam() : Node("test_get_global_param")
    {
        parameters_client = 
            std::make_shared<rclcpp::AsyncParametersClient>(this, "/global_parameter_server");

            parameters_client->wait_for_service();
            auto parameters_future = parameters_client->get_parameters(
                {"my_global_param"},
                std::bind(&TestGetGlobalParam::callbackGlobalParam, this, std::placeholders::_1));
        }
        void callbackGlobalParam(std::shared_future<std::vector<rclcpp::Parameter>> future)
        {
            auto result = future.get();
            auto param = result.at(0);
            RCLCPP_INFO(this->get_logger(), "Got global param: %s", param.as_string().c_str());
        }
private:
    std::shared_ptr<rclcpp::AsyncParametersClient> parameters_client;
};

While I know ROS2 is trying to get away from global params, but for the project I have envisioned it's the best way I can think of. I am trying to write a set of packages for legged robots (3 or 4 dof, and 4, 6 or 8 legs) where the user defines their robot via YAML and the code sets up the low level controller for IK, gait, etc.