diff --git a/nav2_constrained_smoother/include/nav2_constrained_smoother/options.hpp b/nav2_constrained_smoother/include/nav2_constrained_smoother/options.hpp
index 6c1f3fb33e4..17a7971daed 100644
--- a/nav2_constrained_smoother/include/nav2_constrained_smoother/options.hpp
+++ b/nav2_constrained_smoother/include/nav2_constrained_smoother/options.hpp
@@ -49,34 +49,19 @@ struct SmootherParams
     std::string local_name = name + std::string(".");
 
     // Smoother params
-    double minimum_turning_radius;
-    nav2::declare_parameter_if_not_declared(
-      node, name + ".minimum_turning_radius", rclcpp::ParameterValue(0.4));
-    node->get_parameter(name + ".minimum_turning_radius", minimum_turning_radius);
+    double minimum_turning_radius = node->declare_or_get_parameter(
+      name + ".minimum_turning_radius", 0.4);
     max_curvature = 1.0f / minimum_turning_radius;
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "w_curve", rclcpp::ParameterValue(30.0));
-    node->get_parameter(local_name + "w_curve", curvature_weight);
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "w_cost", rclcpp::ParameterValue(0.015));
-    node->get_parameter(local_name + "w_cost", costmap_weight);
-    double cost_cusp_multiplier;
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "w_cost_cusp_multiplier", rclcpp::ParameterValue(3.0));
-    node->get_parameter(local_name + "w_cost_cusp_multiplier", cost_cusp_multiplier);
+    curvature_weight = node->declare_or_get_parameter(local_name + "w_curve", 30.0);
+    costmap_weight = node->declare_or_get_parameter(local_name + "w_cost", 0.015);
+    double cost_cusp_multiplier = node->declare_or_get_parameter(
+      local_name + "w_cost_cusp_multiplier", 3.0);
     cusp_costmap_weight = costmap_weight * cost_cusp_multiplier;
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "cusp_zone_length", rclcpp::ParameterValue(2.5));
-    node->get_parameter(local_name + "cusp_zone_length", cusp_zone_length);
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "w_dist", rclcpp::ParameterValue(0.0));
-    node->get_parameter(local_name + "w_dist", distance_weight);
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "w_smooth", rclcpp::ParameterValue(2000000.0));
-    node->get_parameter(local_name + "w_smooth", smooth_weight);
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "cost_check_points", rclcpp::ParameterValue(std::vector<double>()));
-    node->get_parameter(local_name + "cost_check_points", cost_check_points);
+    cusp_zone_length = node->declare_or_get_parameter(local_name + "cusp_zone_length", 2.5);
+    distance_weight = node->declare_or_get_parameter(local_name + "w_dist", 0.0);
+    smooth_weight = node->declare_or_get_parameter(local_name + "w_smooth", 2000000.0);
+    cost_check_points = node->declare_or_get_parameter(
+      local_name + "cost_check_points", std::vector<double>());
     if (cost_check_points.size() % 3 != 0) {
       RCLCPP_ERROR(
         rclcpp::get_logger(
@@ -93,21 +78,15 @@ struct SmootherParams
     for (size_t i = 2u; i < cost_check_points.size(); i += 3) {
       cost_check_points[i] /= check_point_weights_sum;
     }
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "path_downsampling_factor", rclcpp::ParameterValue(1));
-    node->get_parameter(local_name + "path_downsampling_factor", path_downsampling_factor);
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "path_upsampling_factor", rclcpp::ParameterValue(1));
-    node->get_parameter(local_name + "path_upsampling_factor", path_upsampling_factor);
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "reversing_enabled", rclcpp::ParameterValue(true));
-    node->get_parameter(local_name + "reversing_enabled", reversing_enabled);
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "keep_goal_orientation", rclcpp::ParameterValue(true));
-    node->get_parameter(local_name + "keep_goal_orientation", keep_goal_orientation);
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "keep_start_orientation", rclcpp::ParameterValue(true));
-    node->get_parameter(local_name + "keep_start_orientation", keep_start_orientation);
+    path_downsampling_factor = node->declare_or_get_parameter(
+      local_name + "path_downsampling_factor", 1);
+    path_upsampling_factor = node->declare_or_get_parameter(
+      local_name + "path_upsampling_factor", 1);
+    reversing_enabled = node->declare_or_get_parameter(local_name + "reversing_enabled", true);
+    keep_goal_orientation = node->declare_or_get_parameter(
+      local_name + "keep_goal_orientation", true);
+    keep_start_orientation = node->declare_or_get_parameter(
+      local_name + "keep_start_orientation", true);
   }
 
   double smooth_weight{0.0};
@@ -151,9 +130,8 @@ struct OptimizerParams
     std::string local_name = name + std::string(".optimizer.");
 
     // Optimizer params
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "linear_solver_type", rclcpp::ParameterValue("SPARSE_NORMAL_CHOLESKY"));
-    node->get_parameter(local_name + "linear_solver_type", linear_solver_type);
+    linear_solver_type = node->declare_or_get_parameter(
+      local_name + "linear_solver_type", std::string("SPARSE_NORMAL_CHOLESKY"));
     if (solver_types.find(linear_solver_type) == solver_types.end()) {
       std::stringstream valid_types_str;
       for (auto type = solver_types.begin(); type != solver_types.end(); type++) {
@@ -167,21 +145,11 @@ struct OptimizerParams
         "Invalid linear_solver_type. Valid values are %s", valid_types_str.str().c_str());
       throw std::runtime_error("Invalid parameter: linear_solver_type");
     }
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "param_tol", rclcpp::ParameterValue(1e-15));
-    node->get_parameter(local_name + "param_tol", param_tol);
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "fn_tol", rclcpp::ParameterValue(1e-7));
-    node->get_parameter(local_name + "fn_tol", fn_tol);
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "gradient_tol", rclcpp::ParameterValue(1e-10));
-    node->get_parameter(local_name + "gradient_tol", gradient_tol);
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "max_iterations", rclcpp::ParameterValue(100));
-    node->get_parameter(local_name + "max_iterations", max_iterations);
-    nav2::declare_parameter_if_not_declared(
-      node, local_name + "debug_optimizer", rclcpp::ParameterValue(false));
-    node->get_parameter(local_name + "debug_optimizer", debug);
+    param_tol = node->declare_or_get_parameter(local_name + "param_tol", 1e-15);
+    fn_tol = node->declare_or_get_parameter(local_name + "fn_tol", 1e-7);
+    gradient_tol = node->declare_or_get_parameter(local_name + "gradient_tol", 1e-10);
+    max_iterations = node->declare_or_get_parameter(local_name + "max_iterations", 100);
+    debug = node->declare_or_get_parameter(local_name + "debug_optimizer", false);
   }
 
   const std::map<std::string, ceres::LinearSolverType> solver_types = {
diff --git a/nav2_constrained_smoother/src/constrained_smoother.cpp b/nav2_constrained_smoother/src/constrained_smoother.cpp
index 03ab36ec3ce..5f96cf6d9d2 100644
--- a/nav2_constrained_smoother/src/constrained_smoother.cpp
+++ b/nav2_constrained_smoother/src/constrained_smoother.cpp
@@ -32,7 +32,6 @@
 
 #include "tf2/utils.hpp"
 
-using nav2::declare_parameter_if_not_declared;
 using nav2_util::geometry_utils::euclidean_distance;
 using namespace nav2_costmap_2d;  // NOLINT