Design interface to input inflation radius and cost scaling factor for costmap

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I am planning to design an interface to change the costmap inflation radius and cost scaling factor. But I found that these 2 paramters are declared as an integer in the parameter configuration file. Is there a way for the user to input the parameter from terminal to the costmap, and it can be changed anytime during the robot operation.

Currently, I am thinking to declare inflation radius and cost scaling factor as a message and create a publisher to send the value to them via a terminal. However, I am not sure how I could do it, will I make any change at the costmap_2d Cmake or package files?