diff --git a/nav2_controller/plugins/test/path_handler.cpp b/nav2_controller/plugins/test/path_handler.cpp
index dc2b0cdca01..070a766302e 100644
--- a/nav2_controller/plugins/test/path_handler.cpp
+++ b/nav2_controller/plugins/test/path_handler.cpp
@@ -109,11 +109,11 @@ TEST(PathHandlerTests, TestBounds)
   node->declare_parameter("dummy.max_robot_pose_search_dist", rclcpp::ParameterValue(99999.9));
   auto costmap_ros = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
     "dummy_costmap", "", true);
+  rclcpp_lifecycle::State state;
+  costmap_ros->on_configure(state);
   auto results = costmap_ros->set_parameters_atomically(
     {rclcpp::Parameter("global_frame", "odom"),
       rclcpp::Parameter("robot_base_frame", "base_link")});
-  rclcpp_lifecycle::State state;
-  costmap_ros->on_configure(state);
 
   // Test initialization and getting costmap basic metadata
   handler.initialize(node, node->get_logger(), "dummy", costmap_ros, costmap_ros->getTfBuffer());
@@ -160,11 +160,11 @@ TEST(PathHandlerTests, TestBoundsWithConstraintCheck)
   node->declare_parameter("dummy.enforce_path_rotation", true);
   auto costmap_ros = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
     "dummy_costmap", "", true);
+  rclcpp_lifecycle::State state;
+  costmap_ros->on_configure(state);
   auto results = costmap_ros->set_parameters_atomically(
     {rclcpp::Parameter("global_frame", "odom"),
       rclcpp::Parameter("robot_base_frame", "base_link")});
-  rclcpp_lifecycle::State state;
-  costmap_ros->on_configure(state);
 
   // Test initialization and getting costmap basic metadata
   handler.initialize(node, node->get_logger(), "dummy", costmap_ros, costmap_ros->getTfBuffer());
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/layer.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/layer.hpp
index 571df68c9d3..f929f93778e 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/layer.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/layer.hpp
@@ -147,17 +147,6 @@ class Layer
 
   /** @brief Convenience function for layered_costmap_->getFootprint(). */
   const std::vector<geometry_msgs::msg::Point> & getFootprint() const;
-
-  /** @brief Convenience functions for declaring ROS parameters */
-  void declareParameter(
-    const std::string & param_name,
-    const rclcpp::ParameterValue & value);
-  /** @brief Convenience functions for declaring ROS parameters */
-  void declareParameter(
-    const std::string & param_name,
-    const rclcpp::ParameterType & param_type);
-  /** @brief Convenience functions for declaring ROS parameters */
-  bool hasParameter(const std::string & param_name);
   /** @brief Convenience functions for declaring ROS parameters */
   std::string getFullName(const std::string & param_name);
 
@@ -200,9 +189,6 @@ class Layer
   // TODO(bpwilcox): make this managed by this class and/or container class.
   bool enabled_;
 
-  // Names of the parameters declared on the ROS node
-  std::unordered_set<std::string> local_params_;
-
 private:
   std::vector<geometry_msgs::msg::Point> footprint_spec_;
 };
diff --git a/nav2_costmap_2d/plugins/costmap_filters/binary_filter.cpp b/nav2_costmap_2d/plugins/costmap_filters/binary_filter.cpp
index cfcac48a004..c319df7e005 100644
--- a/nav2_costmap_2d/plugins/costmap_filters/binary_filter.cpp
+++ b/nav2_costmap_2d/plugins/costmap_filters/binary_filter.cpp
@@ -67,13 +67,10 @@ void BinaryFilter::initializeFilter(
   }
 
   // Declare parameters specific to BinaryFilter only
-  std::string binary_state_topic;
-  declareParameter("default_state", rclcpp::ParameterValue(false));
-  node->get_parameter(name_ + "." + "default_state", default_state_);
-  declareParameter("binary_state_topic", rclcpp::ParameterValue("binary_state"));
-  node->get_parameter(name_ + "." + "binary_state_topic", binary_state_topic);
-  declareParameter("flip_threshold", rclcpp::ParameterValue(50.0));
-  node->get_parameter(name_ + "." + "flip_threshold", flip_threshold_);
+  default_state_ = node->declare_or_get_parameter(name_ + "." + "default_state", false);
+  std::string binary_state_topic = node->declare_or_get_parameter(name_ + "." +
+    "binary_state_topic", std::string("binary_state"));
+  flip_threshold_ = node->declare_or_get_parameter(name_ + "." + "flip_threshold", 50.0);
 
   filter_info_topic_ = filter_info_topic;
   // Setting new costmap filter info subscriber
diff --git a/nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp b/nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp
index 74fbf046fec..fb79dc74839 100644
--- a/nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp
+++ b/nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp
@@ -70,16 +70,12 @@ void CostmapFilter::onInitialize()
   }
 
   try {
-    // Declare common for all costmap filters parameters
-    declareParameter("enabled", rclcpp::ParameterValue(true));
-    declareParameter("filter_info_topic", rclcpp::PARAMETER_STRING);
-    declareParameter("transform_tolerance", rclcpp::ParameterValue(0.1));
-
     // Get parameters
-    node->get_parameter(name_ + "." + "enabled", enabled_);
-    filter_info_topic_ = node->get_parameter(name_ + "." + "filter_info_topic").as_string();
-    double transform_tolerance {};
-    node->get_parameter(name_ + "." + "transform_tolerance", transform_tolerance);
+    enabled_ = node->declare_or_get_parameter(name_ + "." + "enabled", true);
+    filter_info_topic_ = node->declare_or_get_parameter<std::string>(name_ + "." +
+      "filter_info_topic");
+    double transform_tolerance = node->declare_or_get_parameter(name_ + "." + "transform_tolerance",
+      0.1);
     transform_tolerance_ = tf2::durationFromSec(transform_tolerance);
 
     // Costmap Filter enabling service
diff --git a/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp b/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
index a72d0ab00fa..bb21956ad13 100644
--- a/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
+++ b/nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp
@@ -79,10 +79,10 @@ void KeepoutFilter::initializeFilter(
 
   global_frame_ = layered_costmap_->getGlobalFrameID();
 
-  declareParameter("override_lethal_cost", rclcpp::ParameterValue(false));
-  node->get_parameter(name_ + "." + "override_lethal_cost", override_lethal_cost_);
-  declareParameter("lethal_override_cost", rclcpp::ParameterValue(MAX_NON_OBSTACLE));
-  node->get_parameter(name_ + "." + "lethal_override_cost", lethal_override_cost_);
+  override_lethal_cost_ = node->declare_or_get_parameter(name_ + "." + "override_lethal_cost",
+    false);
+  lethal_override_cost_ = node->declare_or_get_parameter(name_ + "." + "lethal_override_cost",
+    MAX_NON_OBSTACLE);
 
   // clamp lethal_override_cost_ in case if higher than MAX_NON_OBSTACLE is given
   lethal_override_cost_ = \
diff --git a/nav2_costmap_2d/plugins/costmap_filters/speed_filter.cpp b/nav2_costmap_2d/plugins/costmap_filters/speed_filter.cpp
index 92882a49734..8495413ea9b 100644
--- a/nav2_costmap_2d/plugins/costmap_filters/speed_filter.cpp
+++ b/nav2_costmap_2d/plugins/costmap_filters/speed_filter.cpp
@@ -66,9 +66,8 @@ void SpeedFilter::initializeFilter(
   }
 
   // Declare "speed_limit_topic" parameter specific to SpeedFilter only
-  std::string speed_limit_topic;
-  declareParameter("speed_limit_topic", rclcpp::ParameterValue("speed_limit"));
-  node->get_parameter(name_ + "." + "speed_limit_topic", speed_limit_topic);
+  std::string speed_limit_topic = node->declare_or_get_parameter(name_ + "." + "speed_limit_topic",
+    std::string("speed_limit"));
   speed_limit_topic = joinWithParentNamespace(speed_limit_topic);
 
   filter_info_topic_ = joinWithParentNamespace(filter_info_topic);
diff --git a/nav2_costmap_2d/plugins/denoise_layer.cpp b/nav2_costmap_2d/plugins/denoise_layer.cpp
index e38c61a9e03..f17cd0f70ad 100644
--- a/nav2_costmap_2d/plugins/denoise_layer.cpp
+++ b/nav2_costmap_2d/plugins/denoise_layer.cpp
@@ -27,27 +27,18 @@ namespace nav2_costmap_2d
 void
 DenoiseLayer::onInitialize()
 {
-  // Enable/disable plugin
-  declareParameter("enabled", rclcpp::ParameterValue(true));
-  // Smaller groups should be filtered
-  declareParameter("minimal_group_size", rclcpp::ParameterValue(2));
-  // Pixels connectivity type
-  declareParameter("group_connectivity_type", rclcpp::ParameterValue(8));
-
   const auto node = node_.lock();
 
   if (!node) {
     throw std::runtime_error("DenoiseLayer::onInitialize: Failed to lock node");
   }
-  node->get_parameter(name_ + "." + "enabled", enabled_);
-
-  auto getInt = [&](const std::string & parameter_name) {
-      int param{};
-      node->get_parameter(name_ + "." + parameter_name, param);
-      return param;
-    };
-
-  const int minimal_group_size_param = getInt("minimal_group_size");
+  enabled_ = node->declare_or_get_parameter(name_ + "." + "enabled", true);
+  // Smaller groups should be filtered
+  const int minimal_group_size_param = node->declare_or_get_parameter(
+    name_ + "." + "minimal_group_size", 2);
+  // Pixels connectivity type
+  const int group_connectivity_type_param = node->declare_or_get_parameter(
+    name_ + "." + "group_connectivity_type", 8);
 
   if (minimal_group_size_param <= 1) {
     RCLCPP_WARN(
@@ -60,8 +51,6 @@ DenoiseLayer::onInitialize()
     minimal_group_size_ = static_cast<size_t>(minimal_group_size_param);
   }
 
-  const int group_connectivity_type_param = getInt("group_connectivity_type");
-
   if (group_connectivity_type_param == 4) {
     group_connectivity_type_ = ConnectivityType::Way4;
   } else {
diff --git a/nav2_costmap_2d/plugins/inflation_layer.cpp b/nav2_costmap_2d/plugins/inflation_layer.cpp
index 90dfbab319e..89c1c57ac8b 100644
--- a/nav2_costmap_2d/plugins/inflation_layer.cpp
+++ b/nav2_costmap_2d/plugins/inflation_layer.cpp
@@ -89,22 +89,18 @@ InflationLayer::~InflationLayer()
 void
 InflationLayer::onInitialize()
 {
-  declareParameter("enabled", rclcpp::ParameterValue(true));
-  declareParameter("inflation_radius", rclcpp::ParameterValue(0.55));
-  declareParameter("cost_scaling_factor", rclcpp::ParameterValue(10.0));
-  declareParameter("inflate_unknown", rclcpp::ParameterValue(false));
-  declareParameter("inflate_around_unknown", rclcpp::ParameterValue(false));
-
   {
     auto node = node_.lock();
     if (!node) {
       throw std::runtime_error{"Failed to lock node"};
     }
-    node->get_parameter(name_ + "." + "enabled", enabled_);
-    node->get_parameter(name_ + "." + "inflation_radius", inflation_radius_);
-    node->get_parameter(name_ + "." + "cost_scaling_factor", cost_scaling_factor_);
-    node->get_parameter(name_ + "." + "inflate_unknown", inflate_unknown_);
-    node->get_parameter(name_ + "." + "inflate_around_unknown", inflate_around_unknown_);
+    enabled_ = node->declare_or_get_parameter(name_ + "." + "enabled", true);
+    inflation_radius_ = node->declare_or_get_parameter(name_ + "." + "inflation_radius", 0.55);
+    cost_scaling_factor_ = node->declare_or_get_parameter(
+      name_ + "." + "cost_scaling_factor", 10.0);
+    inflate_unknown_ = node->declare_or_get_parameter(name_ + "." + "inflate_unknown", false);
+    inflate_around_unknown_ = node->declare_or_get_parameter(
+      name_ + "." + "inflate_around_unknown", false);
 
     dyn_params_handler_ = node->add_on_set_parameters_callback(
       std::bind(
diff --git a/nav2_costmap_2d/plugins/obstacle_layer.cpp b/nav2_costmap_2d/plugins/obstacle_layer.cpp
index 7cf7cbbba9b..bcfdab605a0 100644
--- a/nav2_costmap_2d/plugins/obstacle_layer.cpp
+++ b/nav2_costmap_2d/plugins/obstacle_layer.cpp
@@ -79,18 +79,11 @@ ObstacleLayer::~ObstacleLayer()
 void ObstacleLayer::onInitialize()
 {
   bool track_unknown_space;
-  double transform_tolerance;
+  double transform_tolerance = 0.1;
 
   // The topics that we'll subscribe to from the parameter server
   std::string topics_string;
 
-  declareParameter("enabled", rclcpp::ParameterValue(true));
-  declareParameter("footprint_clearing_enabled", rclcpp::ParameterValue(true));
-  declareParameter("min_obstacle_height", rclcpp::ParameterValue(0.0));
-  declareParameter("max_obstacle_height", rclcpp::ParameterValue(2.0));
-  declareParameter("combination_method", rclcpp::ParameterValue(1));
-  declareParameter("observation_sources", rclcpp::ParameterValue(std::string("")));
-
   auto node = node_.lock();
   if (!node) {
     throw std::runtime_error{"Failed to lock node"};
@@ -98,19 +91,22 @@ void ObstacleLayer::onInitialize()
 
   allow_parameter_qos_overrides_ = nav2::declare_or_get_parameter(node,
     "allow_parameter_qos_overrides", true);
-  node->get_parameter(name_ + "." + "enabled", enabled_);
-  node->get_parameter(name_ + "." + "footprint_clearing_enabled", footprint_clearing_enabled_);
-  node->get_parameter(name_ + "." + "min_obstacle_height", min_obstacle_height_);
-  node->get_parameter(name_ + "." + "max_obstacle_height", max_obstacle_height_);
+  enabled_ = node->declare_or_get_parameter(name_ + "." + "enabled", true);
+  footprint_clearing_enabled_ = node->declare_or_get_parameter(
+    name_ + "." + "footprint_clearing_enabled", true);
+  min_obstacle_height_ = node->declare_or_get_parameter(
+    name_ + "." + "min_obstacle_height", 0.0);
+  max_obstacle_height_ = node->declare_or_get_parameter(
+    name_ + "." + "max_obstacle_height", 2.0);
+  int combination_method_param = node->declare_or_get_parameter(
+    name_ + "." + "combination_method", 1);
+  topics_string = node->declare_or_get_parameter(
+    name_ + "." + "observation_sources", std::string(""));
   node->get_parameter("track_unknown_space", track_unknown_space);
   node->get_parameter("transform_tolerance", transform_tolerance);
-  node->get_parameter(name_ + "." + "observation_sources", topics_string);
   double tf_filter_tolerance = nav2::declare_or_get_parameter(
     node, name_ + "." +
     "tf_filter_tolerance", 0.05);
-
-  int combination_method_param{};
-  node->get_parameter(name_ + "." + "combination_method", combination_method_param);
   combination_method_ = combination_method_from_int(combination_method_param);
 
   dyn_params_handler_ = node->add_on_set_parameters_callback(
@@ -147,37 +143,28 @@ void ObstacleLayer::onInitialize()
     std::string topic, sensor_frame, data_type, transport_type;
     bool inf_is_valid, clearing, marking;
 
-    declareParameter(source + "." + "topic", rclcpp::ParameterValue(source));
-    declareParameter(source + "." + "sensor_frame", rclcpp::ParameterValue(std::string("")));
-    declareParameter(source + "." + "observation_persistence", rclcpp::ParameterValue(0.0));
-    declareParameter(source + "." + "expected_update_rate", rclcpp::ParameterValue(0.0));
-    declareParameter(source + "." + "data_type", rclcpp::ParameterValue(std::string("LaserScan")));
-    declareParameter(source + "." + "min_obstacle_height", rclcpp::ParameterValue(0.0));
-    declareParameter(source + "." + "max_obstacle_height", rclcpp::ParameterValue(0.0));
-    declareParameter(source + "." + "inf_is_valid", rclcpp::ParameterValue(false));
-    declareParameter(source + "." + "marking", rclcpp::ParameterValue(true));
-    declareParameter(source + "." + "clearing", rclcpp::ParameterValue(false));
-    declareParameter(source + "." + "obstacle_max_range", rclcpp::ParameterValue(2.5));
-    declareParameter(source + "." + "obstacle_min_range", rclcpp::ParameterValue(0.0));
-    declareParameter(source + "." + "raytrace_max_range", rclcpp::ParameterValue(3.0));
-    declareParameter(source + "." + "raytrace_min_range", rclcpp::ParameterValue(0.0));
-    declareParameter(source + "." + "transport_type", rclcpp::ParameterValue(std::string("raw")));
-
-    node->get_parameter(name_ + "." + source + "." + "topic", topic);
-    node->get_parameter(name_ + "." + source + "." + "sensor_frame", sensor_frame);
-    node->get_parameter(
-      name_ + "." + source + "." + "observation_persistence",
-      observation_keep_time);
-    node->get_parameter(
-      name_ + "." + source + "." + "expected_update_rate",
-      expected_update_rate);
-    node->get_parameter(name_ + "." + source + "." + "data_type", data_type);
-    node->get_parameter(name_ + "." + source + "." + "min_obstacle_height", min_obstacle_height);
-    node->get_parameter(name_ + "." + source + "." + "max_obstacle_height", max_obstacle_height);
-    node->get_parameter(name_ + "." + source + "." + "inf_is_valid", inf_is_valid);
-    node->get_parameter(name_ + "." + source + "." + "marking", marking);
-    node->get_parameter(name_ + "." + source + "." + "clearing", clearing);
-    node->get_parameter(name_ + "." + source + "." + "transport_type", transport_type);
+    topic = node->declare_or_get_parameter(
+      name_ + "." + source + "." + "topic", source);
+    sensor_frame = node->declare_or_get_parameter(
+      name_ + "." + source + "." + "sensor_frame", std::string(""));
+    observation_keep_time = node->declare_or_get_parameter(
+      name_ + "." + source + "." + "observation_persistence", 0.0);
+    expected_update_rate = node->declare_or_get_parameter(
+      name_ + "." + source + "." + "expected_update_rate", 0.0);
+    data_type = node->declare_or_get_parameter(
+      name_ + "." + source + "." + "data_type", std::string("LaserScan"));
+    min_obstacle_height = node->declare_or_get_parameter(
+      name_ + "." + source + "." + "min_obstacle_height", 0.0);
+    max_obstacle_height = node->declare_or_get_parameter(
+      name_ + "." + source + "." + "max_obstacle_height", 0.0);
+    inf_is_valid = node->declare_or_get_parameter(
+      name_ + "." + source + "." + "inf_is_valid", false);
+    marking = node->declare_or_get_parameter(
+      name_ + "." + source + "." + "marking", true);
+    clearing = node->declare_or_get_parameter(
+      name_ + "." + source + "." + "clearing", false);
+    transport_type = node->declare_or_get_parameter(
+      name_ + "." + source + "." + "transport_type", std::string("raw"));
 
     if (!(data_type == "PointCloud2" || data_type == "LaserScan")) {
       RCLCPP_FATAL(
@@ -188,14 +175,16 @@ void ObstacleLayer::onInitialize()
     }
 
     // get the obstacle range for the sensor
-    double obstacle_max_range, obstacle_min_range;
-    node->get_parameter(name_ + "." + source + "." + "obstacle_max_range", obstacle_max_range);
-    node->get_parameter(name_ + "." + source + "." + "obstacle_min_range", obstacle_min_range);
+    double obstacle_max_range = node->declare_or_get_parameter(
+      name_ + "." + source + "." + "obstacle_max_range", 2.5);
+    double obstacle_min_range = node->declare_or_get_parameter(
+      name_ + "." + source + "." + "obstacle_min_range", 0.0);
 
     // get the raytrace ranges for the sensor
-    double raytrace_max_range, raytrace_min_range;
-    node->get_parameter(name_ + "." + source + "." + "raytrace_min_range", raytrace_min_range);
-    node->get_parameter(name_ + "." + source + "." + "raytrace_max_range", raytrace_max_range);
+    double raytrace_max_range = node->declare_or_get_parameter(
+      name_ + "." + source + "." + "raytrace_max_range", 3.0);
+    double raytrace_min_range = node->declare_or_get_parameter(
+      name_ + "." + source + "." + "raytrace_min_range", 0.0);
 
     topic = joinWithParentNamespace(topic);
 
diff --git a/nav2_costmap_2d/plugins/plugin_container_layer.cpp b/nav2_costmap_2d/plugins/plugin_container_layer.cpp
index 7352ab07df4..0a61a41dbdd 100644
--- a/nav2_costmap_2d/plugins/plugin_container_layer.cpp
+++ b/nav2_costmap_2d/plugins/plugin_container_layer.cpp
@@ -35,21 +35,11 @@ void PluginContainerLayer::onInitialize()
     throw std::runtime_error{"Failed to lock node"};
   }
 
-  nav2::declare_parameter_if_not_declared(
-    node, name_ + "." + "enabled",
-    rclcpp::ParameterValue(true));
-  nav2::declare_parameter_if_not_declared(
-    node, name_ + "." + "plugins",
-    rclcpp::ParameterValue(std::vector<std::string>{}));
-  nav2::declare_parameter_if_not_declared(
-    node, name_ + "." + "combination_method",
-    rclcpp::ParameterValue(1));
-
-  node->get_parameter(name_ + "." + "enabled", enabled_);
-  node->get_parameter(name_ + "." + "plugins", plugin_names_);
-
-  int combination_method_param{};
-  node->get_parameter(name_ + "." + "combination_method", combination_method_param);
+  enabled_ = node->declare_or_get_parameter(name_ + "." + "enabled", true);
+  plugin_names_ = node->declare_or_get_parameter(
+    name_ + "." + "plugins", std::vector<std::string>{});
+  int combination_method_param = node->declare_or_get_parameter(
+    name_ + "." + "combination_method", 1);
   combination_method_ = combination_method_from_int(combination_method_param);
 
   dyn_params_handler_ = node->add_on_set_parameters_callback(
diff --git a/nav2_costmap_2d/plugins/range_sensor_layer.cpp b/nav2_costmap_2d/plugins/range_sensor_layer.cpp
index 275403a8283..3230cf6d936 100644
--- a/nav2_costmap_2d/plugins/range_sensor_layer.cpp
+++ b/nav2_costmap_2d/plugins/range_sensor_layer.cpp
@@ -73,33 +73,28 @@ void RangeSensorLayer::onInitialize()
     throw std::runtime_error{"Failed to lock node"};
   }
 
-  declareParameter("enabled", rclcpp::ParameterValue(true));
-  node->get_parameter(name_ + "." + "enabled", enabled_);
-  declareParameter("phi", rclcpp::ParameterValue(1.2));
-  node->get_parameter(name_ + "." + "phi", phi_v_);
-  declareParameter("inflate_cone", rclcpp::ParameterValue(1.0));
-  node->get_parameter(name_ + "." + "inflate_cone", inflate_cone_);
-  declareParameter("no_readings_timeout", rclcpp::ParameterValue(0.0));
-  node->get_parameter(name_ + "." + "no_readings_timeout", no_readings_timeout_);
-  declareParameter("clear_threshold", rclcpp::ParameterValue(0.2));
-  node->get_parameter(name_ + "." + "clear_threshold", clear_threshold_);
-  declareParameter("mark_threshold", rclcpp::ParameterValue(0.8));
-  node->get_parameter(name_ + "." + "mark_threshold", mark_threshold_);
-  declareParameter("clear_on_max_reading", rclcpp::ParameterValue(false));
-  node->get_parameter(name_ + "." + "clear_on_max_reading", clear_on_max_reading_);
+  enabled_ = node->declare_or_get_parameter(name_ + "." + "enabled", true);
+  phi_v_ = node->declare_or_get_parameter(name_ + "." + "phi", 1.2);
+  inflate_cone_ = node->declare_or_get_parameter(name_ + "." + "inflate_cone", 1.0);
+  no_readings_timeout_ = node->declare_or_get_parameter(
+    name_ + "." + "no_readings_timeout", 0.0);
+  clear_threshold_ = node->declare_or_get_parameter(
+    name_ + "." + "clear_threshold", 0.2);
+  mark_threshold_ = node->declare_or_get_parameter(
+    name_ + "." + "mark_threshold", 0.8);
+  clear_on_max_reading_ = node->declare_or_get_parameter(
+    name_ + "." + "clear_on_max_reading", false);
 
   double temp_tf_tol = 0.0;
   node->get_parameter("transform_tolerance", temp_tf_tol);
   transform_tolerance_ = tf2::durationFromSec(temp_tf_tol);
 
-  std::vector<std::string> topic_names{};
-  declareParameter("topics", rclcpp::ParameterValue(topic_names));
-  node->get_parameter(name_ + "." + "topics", topic_names);
+  std::vector<std::string> topic_names = node->declare_or_get_parameter(
+    name_ + "." + "topics", std::vector<std::string>{});
 
   InputSensorType input_sensor_type = InputSensorType::ALL;
-  std::string sensor_type_name;
-  declareParameter("input_sensor_type", rclcpp::ParameterValue("ALL"));
-  node->get_parameter(name_ + "." + "input_sensor_type", sensor_type_name);
+  std::string sensor_type_name = node->declare_or_get_parameter(
+    name_ + "." + "input_sensor_type", std::string("ALL"));
 
   std::transform(
     sensor_type_name.begin(), sensor_type_name.end(),
diff --git a/nav2_costmap_2d/plugins/static_layer.cpp b/nav2_costmap_2d/plugins/static_layer.cpp
index a23fc71c1b5..3d568b79022 100644
--- a/nav2_costmap_2d/plugins/static_layer.cpp
+++ b/nav2_costmap_2d/plugins/static_layer.cpp
@@ -133,28 +133,23 @@ StaticLayer::getParameters()
   int temp_lethal_threshold = 0;
   double temp_tf_tol = 0.0;
 
-  declareParameter("enabled", rclcpp::ParameterValue(true));
-  declareParameter("subscribe_to_updates", rclcpp::ParameterValue(false));
-  declareParameter("map_subscribe_transient_local", rclcpp::ParameterValue(true));
-  declareParameter("transform_tolerance", rclcpp::ParameterValue(0.0));
-  declareParameter("map_topic", rclcpp::ParameterValue("map"));
-  declareParameter("footprint_clearing_enabled", rclcpp::ParameterValue(false));
-  declareParameter("restore_cleared_footprint", rclcpp::ParameterValue(true));
-
   auto node = node_.lock();
   if (!node) {
     throw std::runtime_error{"Failed to lock node"};
   }
 
-  node->get_parameter(name_ + "." + "enabled", enabled_);
-  node->get_parameter(name_ + "." + "subscribe_to_updates", subscribe_to_updates_);
-  node->get_parameter(name_ + "." + "footprint_clearing_enabled", footprint_clearing_enabled_);
-  node->get_parameter(name_ + "." + "restore_cleared_footprint", restore_cleared_footprint_);
-  node->get_parameter(name_ + "." + "map_topic", map_topic_);
+  enabled_ = node->declare_or_get_parameter(name_ + "." + "enabled", true);
+  subscribe_to_updates_ = node->declare_or_get_parameter(
+    name_ + "." + "subscribe_to_updates", false);
+  footprint_clearing_enabled_ = node->declare_or_get_parameter(
+    name_ + "." + "footprint_clearing_enabled", false);
+  restore_cleared_footprint_ = node->declare_or_get_parameter(
+    name_ + "." + "restore_cleared_footprint", true);
+  map_topic_ = node->declare_or_get_parameter(
+    name_ + "." + "map_topic", std::string("map"));
   map_topic_ = joinWithParentNamespace(map_topic_);
-  node->get_parameter(
-    name_ + "." + "map_subscribe_transient_local",
-    map_subscribe_transient_local_);
+  map_subscribe_transient_local_ = node->declare_or_get_parameter(
+    name_ + "." + "map_subscribe_transient_local", true);
   node->get_parameter("track_unknown_space", track_unknown_space_);
   node->get_parameter("use_maximum", use_maximum_);
   node->get_parameter("lethal_cost_threshold", temp_lethal_threshold);
diff --git a/nav2_costmap_2d/plugins/voxel_layer.cpp b/nav2_costmap_2d/plugins/voxel_layer.cpp
index c90e7781cce..f20f01f34ef 100644
--- a/nav2_costmap_2d/plugins/voxel_layer.cpp
+++ b/nav2_costmap_2d/plugins/voxel_layer.cpp
@@ -62,36 +62,28 @@ void VoxelLayer::onInitialize()
 {
   ObstacleLayer::onInitialize();
 
-  declareParameter("enabled", rclcpp::ParameterValue(true));
-  declareParameter("footprint_clearing_enabled", rclcpp::ParameterValue(true));
-  declareParameter("min_obstacle_height", rclcpp::ParameterValue(0.0));
-  declareParameter("max_obstacle_height", rclcpp::ParameterValue(2.0));
-  declareParameter("z_voxels", rclcpp::ParameterValue(10));
-  declareParameter("origin_z", rclcpp::ParameterValue(0.0));
-  declareParameter("z_resolution", rclcpp::ParameterValue(0.2));
-  declareParameter("unknown_threshold", rclcpp::ParameterValue(15));
-  declareParameter("mark_threshold", rclcpp::ParameterValue(0));
-  declareParameter("combination_method", rclcpp::ParameterValue(1));
-  declareParameter("publish_voxel_map", rclcpp::ParameterValue(false));
-
   auto node = node_.lock();
   if (!node) {
     throw std::runtime_error{"Failed to lock node"};
   }
 
-  node->get_parameter(name_ + "." + "enabled", enabled_);
-  node->get_parameter(name_ + "." + "footprint_clearing_enabled", footprint_clearing_enabled_);
-  node->get_parameter(name_ + "." + "min_obstacle_height", min_obstacle_height_);
-  node->get_parameter(name_ + "." + "max_obstacle_height", max_obstacle_height_);
-  node->get_parameter(name_ + "." + "z_voxels", size_z_);
-  node->get_parameter(name_ + "." + "origin_z", origin_z_);
-  node->get_parameter(name_ + "." + "z_resolution", z_resolution_);
-  node->get_parameter(name_ + "." + "unknown_threshold", unknown_threshold_);
-  node->get_parameter(name_ + "." + "mark_threshold", mark_threshold_);
-  node->get_parameter(name_ + "." + "publish_voxel_map", publish_voxel_);
-
-  int combination_method_param{};
-  node->get_parameter(name_ + "." + "combination_method", combination_method_param);
+  enabled_ = node->declare_or_get_parameter(name_ + "." + "enabled", true);
+  footprint_clearing_enabled_ = node->declare_or_get_parameter(
+    name_ + "." + "footprint_clearing_enabled", true);
+  min_obstacle_height_ = node->declare_or_get_parameter(
+    name_ + "." + "min_obstacle_height", 0.0);
+  max_obstacle_height_ = node->declare_or_get_parameter(
+    name_ + "." + "max_obstacle_height", 2.0);
+  size_z_ = node->declare_or_get_parameter(name_ + "." + "z_voxels", 10);
+  origin_z_ = node->declare_or_get_parameter(name_ + "." + "origin_z", 0.0);
+  z_resolution_ = node->declare_or_get_parameter(name_ + "." + "z_resolution", 0.2);
+  unknown_threshold_ = node->declare_or_get_parameter(
+    name_ + "." + "unknown_threshold", 15);
+  mark_threshold_ = node->declare_or_get_parameter(name_ + "." + "mark_threshold", 0);
+  int combination_method_param = node->declare_or_get_parameter(
+    name_ + "." + "combination_method", 1);
+  publish_voxel_ = node->declare_or_get_parameter(
+    name_ + "." + "publish_voxel_map", false);
   combination_method_ = combination_method_from_int(combination_method_param);
 
   if (publish_voxel_) {
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index 5ea1d20682a..f20b67d9d6e 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -111,34 +111,11 @@ Costmap2DROS::Costmap2DROS(
 void Costmap2DROS::init()
 {
   RCLCPP_INFO(get_logger(), "Creating Costmap");
-
-  declare_parameter("always_send_full_costmap", rclcpp::ParameterValue(false));
-  declare_parameter("map_vis_z", rclcpp::ParameterValue(0.0));
-  declare_parameter("footprint_padding", rclcpp::ParameterValue(0.01f));
-  declare_parameter("footprint", rclcpp::ParameterValue(std::string("[]")));
-  declare_parameter("global_frame", rclcpp::ParameterValue(std::string("map")));
-  declare_parameter("height", rclcpp::ParameterValue(5));
-  declare_parameter("width", rclcpp::ParameterValue(5));
   declare_parameter("lethal_cost_threshold", rclcpp::ParameterValue(100));
-  declare_parameter("observation_sources", rclcpp::ParameterValue(std::string("")));
-  declare_parameter("origin_x", rclcpp::ParameterValue(0.0));
-  declare_parameter("origin_y", rclcpp::ParameterValue(0.0));
-  declare_parameter("plugins", rclcpp::ParameterValue(default_plugins_));
-  declare_parameter("filters", rclcpp::ParameterValue(std::vector<std::string>()));
-  declare_parameter("publish_frequency", rclcpp::ParameterValue(1.0));
-  declare_parameter("resolution", rclcpp::ParameterValue(0.1));
-  declare_parameter("robot_base_frame", rclcpp::ParameterValue(std::string("base_link")));
-  declare_parameter("robot_radius", rclcpp::ParameterValue(0.1));
-  declare_parameter("rolling_window", rclcpp::ParameterValue(false));
-  declare_parameter("track_unknown_space", rclcpp::ParameterValue(false));
-  declare_parameter("transform_tolerance", rclcpp::ParameterValue(0.3));
-  declare_parameter("initial_transform_timeout", rclcpp::ParameterValue(60.0));
   declare_parameter("trinary_costmap", rclcpp::ParameterValue(true));
   declare_parameter("unknown_cost_value", rclcpp::ParameterValue(static_cast<unsigned char>(0xff)));
   declare_parameter("inscribed_obstacle_cost_value", rclcpp::ParameterValue(99));
-  declare_parameter("update_frequency", rclcpp::ParameterValue(5.0));
   declare_parameter("use_maximum", rclcpp::ParameterValue(false));
-  declare_parameter("subscribe_to_stamped_footprint", rclcpp::ParameterValue(false));
 }
 
 Costmap2DROS::~Costmap2DROS()
@@ -410,27 +387,46 @@ Costmap2DROS::getParameters()
   RCLCPP_DEBUG(get_logger(), " getParameters");
 
   // Get all of the required parameters
-  get_parameter("always_send_full_costmap", always_send_full_costmap_);
-  get_parameter("map_vis_z", map_vis_z_);
-  get_parameter("footprint", footprint_);
-  get_parameter("footprint_padding", footprint_padding_);
-  get_parameter("global_frame", global_frame_);
-  get_parameter("height", map_height_meters_);
-  get_parameter("origin_x", origin_x_);
-  get_parameter("origin_y", origin_y_);
-  get_parameter("publish_frequency", map_publish_frequency_);
-  get_parameter("resolution", resolution_);
-  get_parameter("robot_base_frame", robot_base_frame_);
-  get_parameter("robot_radius", robot_radius_);
-  get_parameter("rolling_window", rolling_window_);
-  get_parameter("track_unknown_space", track_unknown_space_);
-  get_parameter("transform_tolerance", transform_tolerance_);
-  get_parameter("initial_transform_timeout", initial_transform_timeout_);
-  get_parameter("update_frequency", map_update_frequency_);
-  get_parameter("width", map_width_meters_);
-  get_parameter("plugins", plugin_names_);
-  get_parameter("filters", filter_names_);
-  get_parameter("subscribe_to_stamped_footprint", subscribe_to_stamped_footprint_);
+  always_send_full_costmap_ = declare_or_get_parameter(
+    "always_send_full_costmap", false);
+  map_vis_z_ = declare_or_get_parameter("map_vis_z", 0.0);
+  footprint_padding_ = declare_or_get_parameter("footprint_padding", 0.01f);
+  footprint_ = declare_or_get_parameter(
+    "footprint", std::string("[]"));
+  global_frame_ = declare_or_get_parameter(
+    "global_frame", std::string("map"));
+  map_height_meters_ = declare_or_get_parameter(
+    "height", 5);
+  map_width_meters_ = declare_or_get_parameter(
+    "width", 5);
+  origin_x_ = declare_or_get_parameter(
+    "origin_x", 0.0);
+  origin_y_ = declare_or_get_parameter(
+    "origin_y", 0.0);
+  plugin_names_ = declare_or_get_parameter(
+    "plugins", default_plugins_);
+  filter_names_ = declare_or_get_parameter(
+    "filters", std::vector<std::string>());
+  map_publish_frequency_ = declare_or_get_parameter(
+    "publish_frequency", 1.0);
+  resolution_ = declare_or_get_parameter(
+    "resolution", 0.1);
+  robot_base_frame_ = declare_or_get_parameter(
+    "robot_base_frame", std::string("base_link"));
+  robot_radius_ = declare_or_get_parameter(
+    "robot_radius", 0.1);
+  rolling_window_ = declare_or_get_parameter(
+    "rolling_window", false);
+  track_unknown_space_ = declare_or_get_parameter(
+    "track_unknown_space", false);
+  transform_tolerance_ = declare_or_get_parameter(
+    "transform_tolerance", 0.3);
+  initial_transform_timeout_ = declare_or_get_parameter(
+    "initial_transform_timeout", 60.0);
+  map_update_frequency_ = declare_or_get_parameter(
+    "update_frequency", 5.0);
+  subscribe_to_stamped_footprint_ = declare_or_get_parameter(
+    "subscribe_to_stamped_footprint", false);
 
   auto node = shared_from_this();
 
diff --git a/nav2_costmap_2d/src/layer.cpp b/nav2_costmap_2d/src/layer.cpp
index c0437974fe7..c64ff6f1603 100644
--- a/nav2_costmap_2d/src/layer.cpp
+++ b/nav2_costmap_2d/src/layer.cpp
@@ -72,44 +72,6 @@ Layer::getFootprint() const
   return layered_costmap_->getFootprint();
 }
 
-void
-Layer::declareParameter(
-  const std::string & param_name,
-  const rclcpp::ParameterValue & value)
-{
-  auto node = node_.lock();
-  if (!node) {
-    throw std::runtime_error{"Failed to lock node"};
-  }
-  local_params_.insert(param_name);
-  nav2::declare_parameter_if_not_declared(
-    node, getFullName(param_name), value);
-}
-
-void
-Layer::declareParameter(
-  const std::string & param_name,
-  const rclcpp::ParameterType & param_type)
-{
-  auto node = node_.lock();
-  if (!node) {
-    throw std::runtime_error{"Failed to lock node"};
-  }
-  local_params_.insert(param_name);
-  nav2::declare_parameter_if_not_declared(
-    node, getFullName(param_name), param_type);
-}
-
-bool
-Layer::hasParameter(const std::string & param_name)
-{
-  auto node = node_.lock();
-  if (!node) {
-    throw std::runtime_error{"Failed to lock node"};
-  }
-  return node->has_parameter(getFullName(param_name));
-}
-
 std::string
 Layer::getFullName(const std::string & param_name)
 {
diff --git a/nav2_costmap_2d/test/integration/obstacle_tests.cpp b/nav2_costmap_2d/test/integration/obstacle_tests.cpp
index 35b0169a0b7..5da52c8278a 100644
--- a/nav2_costmap_2d/test/integration/obstacle_tests.cpp
+++ b/nav2_costmap_2d/test/integration/obstacle_tests.cpp
@@ -337,11 +337,10 @@ TEST_F(TestNode, testRepeatedResets) {
   // Set parameters
   auto plugins = layers.getPlugins();
   for_each(
-    begin(*plugins), end(*plugins), [&layer_dummy](const auto & plugin) {
+    begin(*plugins), end(*plugins), [this, &layer_dummy](const auto & plugin) {
       string layer_param = layer_dummy.first + "_" + plugin->getName();
 
-      // Notice we are using Layer::declareParameter
-      plugin->declareParameter(layer_param, rclcpp::ParameterValue(layer_dummy.second));
+      node_->declare_parameter(layer_param, rclcpp::ParameterValue(layer_dummy.second));
     });
 
   // Check that all parameters have been set
@@ -351,9 +350,9 @@ TEST_F(TestNode, testRepeatedResets) {
   // layer-level param
   ASSERT_TRUE(
     all_of(
-      begin(*plugins), end(*plugins), [&layer_dummy](const auto & plugin) {
+      begin(*plugins), end(*plugins), [this, &layer_dummy](const auto & plugin) {
         string layer_param = layer_dummy.first + "_" + plugin->getName();
-        return plugin->hasParameter(layer_param);
+        return node_->has_parameter(layer_param);
       }));
 
   // Reset all layers. Parameters should be declared if not declared, otherwise skipped.
diff --git a/nav2_costmap_2d/test/regression/plugin_api_order.cpp b/nav2_costmap_2d/test/regression/plugin_api_order.cpp
index 318ded02bf1..a457b111e6c 100644
--- a/nav2_costmap_2d/test/regression/plugin_api_order.cpp
+++ b/nav2_costmap_2d/test/regression/plugin_api_order.cpp
@@ -25,10 +25,14 @@ TEST(CostmapPluginsTester, checkPluginAPIOrder)
     std::make_shared<nav2_costmap_2d::Costmap2DROS>("costmap_ros");
 
   // Workaround to avoid setting base_link->map transform
+  costmap_ros->declare_parameter("robot_base_frame", "map");
   costmap_ros->set_parameter(rclcpp::Parameter("robot_base_frame", "map"));
   // Specifying order verification plugin in the parameters
   std::vector<std::string> plugins_str;
   plugins_str.push_back("order_layer");
+  costmap_ros->declare_parameter(
+    "plugins",
+    rclcpp::ParameterValue(plugins_str));
   costmap_ros->set_parameter(rclcpp::Parameter("plugins", plugins_str));
   costmap_ros->declare_parameter(
     "order_layer.plugin",
diff --git a/nav2_costmap_2d/test/unit/declare_parameter_test.cpp b/nav2_costmap_2d/test/unit/declare_parameter_test.cpp
index a426dd5a8a9..d757a605750 100644
--- a/nav2_costmap_2d/test/unit/declare_parameter_test.cpp
+++ b/nav2_costmap_2d/test/unit/declare_parameter_test.cpp
@@ -38,7 +38,7 @@ TEST(DeclareParameter, useValidParameter)
 
   layer.initialize(&layers, "test_layer", &tf, node, nullptr);
 
-  layer.declareParameter("test1", rclcpp::ParameterValue("test_val1"));
+  node->declare_parameter("test_layer.test1", rclcpp::ParameterValue("test_val1"));
   try {
     std::string val = node->get_parameter("test_layer.test1").as_string();
     EXPECT_EQ(val, "test_val1");
@@ -57,7 +57,7 @@ TEST(DeclareParameter, useInvalidParameter)
 
   layer.initialize(&layers, "test_layer", &tf, node, nullptr);
 
-  layer.declareParameter("test2", rclcpp::PARAMETER_STRING);
+  node->declare_parameter("test_layer.test2", rclcpp::PARAMETER_STRING);
   try {
     std::string val = node->get_parameter("test_layer.test2").as_string();
     FAIL() << "Incorrectly handling test_layer.test2 parameter which was not set";
diff --git a/nav2_costmap_2d/test/unit/lifecycle_test.cpp b/nav2_costmap_2d/test/unit/lifecycle_test.cpp
index e54264ebeae..ed81acc36e7 100644
--- a/nav2_costmap_2d/test/unit/lifecycle_test.cpp
+++ b/nav2_costmap_2d/test/unit/lifecycle_test.cpp
@@ -25,6 +25,7 @@ TEST(LifecylceTest, CheckInitialTfTimeout) {
   rclcpp::init(0, nullptr);
 
   auto costmap = std::make_shared<nav2_costmap_2d::Costmap2DROS>(rclcpp::NodeOptions());
+  costmap->declare_parameter("initial_transform_timeout", 0.0);
   costmap->set_parameter({"initial_transform_timeout", 0.0});
 
   std::thread spin_thread{[costmap]() {rclcpp::spin(costmap->get_node_base_interface());}};
diff --git a/nav2_graceful_controller/test/test_graceful_controller.cpp b/nav2_graceful_controller/test/test_graceful_controller.cpp
index 85057dae1c3..c716107eb90 100644
--- a/nav2_graceful_controller/test/test_graceful_controller.cpp
+++ b/nav2_graceful_controller/test/test_graceful_controller.cpp
@@ -470,15 +470,11 @@ TEST(GracefulControllerTest, computeVelocityCommandRotate) {
 
   // Create a costmap of 10x10 meters
   auto costmap_ros = std::make_shared<nav2_costmap_2d::Costmap2DROS>("test_costmap");
-  auto results = costmap_ros->set_parameters(
-    {rclcpp::Parameter("global_frame", "test_global_frame"),
-      rclcpp::Parameter("robot_base_frame", "test_robot_frame"),
-      rclcpp::Parameter("width", 10),
-      rclcpp::Parameter("height", 10),
-      rclcpp::Parameter("resolution", 0.1)});
-  for (const auto & result : results) {
-    EXPECT_TRUE(result.successful) << result.reason;
-  }
+  costmap_ros->declare_parameter("global_frame", rclcpp::ParameterValue("test_global_frame"));
+  costmap_ros->declare_parameter("robot_base_frame", rclcpp::ParameterValue("test_robot_frame"));
+  costmap_ros->declare_parameter("width", rclcpp::ParameterValue(10));
+  costmap_ros->declare_parameter("height", rclcpp::ParameterValue(10));
+  costmap_ros->declare_parameter("resolution", rclcpp::ParameterValue(0.1));
   costmap_ros->on_configure(rclcpp_lifecycle::State());
 
   // Create controller
@@ -556,15 +552,11 @@ TEST(GracefulControllerTest, computeVelocityCommandRegular) {
 
   // Create a costmap of 10x10 meters
   auto costmap_ros = std::make_shared<nav2_costmap_2d::Costmap2DROS>("test_costmap");
-  auto results = costmap_ros->set_parameters(
-    {rclcpp::Parameter("global_frame", "test_global_frame"),
-      rclcpp::Parameter("robot_base_frame", "test_robot_frame"),
-      rclcpp::Parameter("width", 10),
-      rclcpp::Parameter("height", 10),
-      rclcpp::Parameter("resolution", 0.1)});
-  for (const auto & result : results) {
-    EXPECT_TRUE(result.successful) << result.reason;
-  }
+  costmap_ros->declare_parameter("global_frame", rclcpp::ParameterValue("test_global_frame"));
+  costmap_ros->declare_parameter("robot_base_frame", rclcpp::ParameterValue("test_robot_frame"));
+  costmap_ros->declare_parameter("width", rclcpp::ParameterValue(10));
+  costmap_ros->declare_parameter("height", rclcpp::ParameterValue(10));
+  costmap_ros->declare_parameter("resolution", rclcpp::ParameterValue(0.1));
   costmap_ros->on_configure(rclcpp_lifecycle::State());
 
   // Create controller
@@ -645,15 +637,11 @@ TEST(GracefulControllerTest, computeVelocityCommandRegularBackwards) {
 
   // Create a costmap of 10x10 meters
   auto costmap_ros = std::make_shared<nav2_costmap_2d::Costmap2DROS>("test_costmap");
-  auto results = costmap_ros->set_parameters(
-    {rclcpp::Parameter("global_frame", "test_global_frame"),
-      rclcpp::Parameter("robot_base_frame", "test_robot_frame"),
-      rclcpp::Parameter("width", 10),
-      rclcpp::Parameter("height", 10),
-      rclcpp::Parameter("resolution", 0.1)});
-  for (const auto & result : results) {
-    EXPECT_TRUE(result.successful) << result.reason;
-  }
+  costmap_ros->declare_parameter("global_frame", rclcpp::ParameterValue("test_global_frame"));
+  costmap_ros->declare_parameter("robot_base_frame", rclcpp::ParameterValue("test_robot_frame"));
+  costmap_ros->declare_parameter("width", rclcpp::ParameterValue(10));
+  costmap_ros->declare_parameter("height", rclcpp::ParameterValue(10));
+  costmap_ros->declare_parameter("resolution", rclcpp::ParameterValue(0.1));
   costmap_ros->on_configure(rclcpp_lifecycle::State());
 
   // Create controller
@@ -729,15 +717,11 @@ TEST(GracefulControllerTest, computeVelocityCommandFinal) {
 
   // Create a costmap of 10x10 meters
   auto costmap_ros = std::make_shared<nav2_costmap_2d::Costmap2DROS>("test_costmap");
-  auto results = costmap_ros->set_parameters(
-    {rclcpp::Parameter("global_frame", "test_global_frame"),
-      rclcpp::Parameter("robot_base_frame", "test_robot_frame"),
-      rclcpp::Parameter("width", 10),
-      rclcpp::Parameter("height", 10),
-      rclcpp::Parameter("resolution", 0.1)});
-  for (const auto & result : results) {
-    EXPECT_TRUE(result.successful) << result.reason;
-  }
+  costmap_ros->declare_parameter("global_frame", rclcpp::ParameterValue("test_global_frame"));
+  costmap_ros->declare_parameter("robot_base_frame", rclcpp::ParameterValue("test_robot_frame"));
+  costmap_ros->declare_parameter("width", rclcpp::ParameterValue(10));
+  costmap_ros->declare_parameter("height", rclcpp::ParameterValue(10));
+  costmap_ros->declare_parameter("resolution", rclcpp::ParameterValue(0.1));
   costmap_ros->on_configure(rclcpp_lifecycle::State());
 
   // Create controller
diff --git a/nav2_planner/test/test_plan_through_poses.cpp b/nav2_planner/test/test_plan_through_poses.cpp
index f0aa854c07c..029d980b84f 100644
--- a/nav2_planner/test/test_plan_through_poses.cpp
+++ b/nav2_planner/test/test_plan_through_poses.cpp
@@ -163,10 +163,10 @@ void Tester::setParameters()
     PLANNER_PLUGINS.front() + ".tolerance", rclcpp::ParameterValue(PLANNER_TOLERANCE));
 
   auto costmap = planner_->getCostmapROS();
-  costmap->set_parameter(rclcpp::Parameter("height", COSTMAP_HEIGHT_METERS));
-  costmap->set_parameter(rclcpp::Parameter("width", COSTMAP_WIDTH_METERS));
-  costmap->set_parameter(rclcpp::Parameter("resolution", COSTMAP_RESOLUTION));
-  costmap->set_parameter(rclcpp::Parameter("plugins", COSTMAP_PLUGINS));
+  costmap->declare_parameter("height", COSTMAP_HEIGHT_METERS);
+  costmap->declare_parameter("width", COSTMAP_WIDTH_METERS);
+  costmap->declare_parameter("resolution", COSTMAP_RESOLUTION);
+  costmap->declare_parameter("plugins", COSTMAP_PLUGINS);
 
   costmap->declare_parameter("static_layer.plugin", rclcpp::ParameterValue(COSTMAP_LAYER_NAME));
   costmap->declare_parameter("static_layer.lethal_cost_threshold", rclcpp::ParameterValue(100));
diff --git a/nav2_rotation_shim_controller/test/test_shim_controller.cpp b/nav2_rotation_shim_controller/test/test_shim_controller.cpp
index b2fbedd498a..9791b84fede 100644
--- a/nav2_rotation_shim_controller/test/test_shim_controller.cpp
+++ b/nav2_rotation_shim_controller/test/test_shim_controller.cpp
@@ -219,8 +219,8 @@ TEST(RotationShimControllerTest, computeVelocityTests)
   auto tf = std::make_shared<tf2_ros::Buffer>(node->get_clock());
   auto listener = std::make_shared<tf2_ros::TransformListener>(*tf, node, true);
   auto costmap = std::make_shared<nav2_costmap_2d::Costmap2DROS>("fake_costmap");
-  costmap->set_parameter(rclcpp::Parameter("origin_x", 0.0));
-  costmap->set_parameter(rclcpp::Parameter("origin_y", 0.0));
+  costmap->declare_parameter("origin_x", 0.0);
+  costmap->declare_parameter("origin_y", 0.0);
   costmap->configure();
   auto tf_broadcaster = std::make_shared<tf2_ros::TransformBroadcaster>(node);