diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp
index 8fc0f5d130..70c3df96f5 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp
@@ -33,6 +33,7 @@
 #include "nav2_util/lifecycle_node.hpp"
 #include "nav2_util/node_utils.hpp"
 #include "tf2/utils.h"
+#include "rcl_interfaces/msg/set_parameters_result.hpp"
 
 namespace nav2_smac_planner
 {
@@ -92,7 +93,8 @@ class SmacPlanner2D : public nav2_core::GlobalPlanner
    * @brief Callback executed when a parameter change is detected
    * @param event ParameterEvent message
    */
-  void on_parameter_event_callback(const rcl_interfaces::msg::ParameterEvent::SharedPtr event);
+  rcl_interfaces::msg::SetParametersResult
+  dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
 
   std::unique_ptr<AStarAlgorithm<Node2D>> _a_star;
   GridCollisionChecker _collision_checker;
@@ -117,9 +119,8 @@ class SmacPlanner2D : public nav2_core::GlobalPlanner
   std::mutex _mutex;
   rclcpp_lifecycle::LifecycleNode::WeakPtr _node;
 
-  // Subscription for parameter change
-  rclcpp::AsyncParametersClient::SharedPtr _parameters_client;
-  rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr _parameter_event_sub;
+  // Dynamic parameters handler
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler;
 };
 
 }  // namespace nav2_smac_planner
diff --git a/nav2_smac_planner/src/smac_planner_2d.cpp b/nav2_smac_planner/src/smac_planner_2d.cpp
index bf1d78721c..5e089e5969 100644
--- a/nav2_smac_planner/src/smac_planner_2d.cpp
+++ b/nav2_smac_planner/src/smac_planner_2d.cpp
@@ -147,16 +147,6 @@ void SmacPlanner2D::configure(
 
   _raw_plan_publisher = node->create_publisher<nav_msgs::msg::Path>("unsmoothed_plan", 1);
 
-  // Setup callback for changes to parameters.
-  _parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(
-    node->get_node_base_interface(),
-    node->get_node_topics_interface(),
-    node->get_node_graph_interface(),
-    node->get_node_services_interface());
-
-  _parameter_event_sub = _parameters_client->on_parameter_event(
-    std::bind(&SmacPlanner2D::on_parameter_event_callback, this, _1));
-
   RCLCPP_INFO(
     _logger, "Configured plugin %s of type SmacPlanner2D with "
     "tolerance %.2f, maximum iterations %i, "
@@ -175,6 +165,10 @@ void SmacPlanner2D::activate()
   if (_costmap_downsampler) {
     _costmap_downsampler->on_activate();
   }
+  auto node = _node.lock();
+  // Add callback for dynamic parametrs
+  dyn_params_handler = node->add_on_set_parameters_callback(
+    std::bind(&SmacPlanner2D::dynamicParametersCallback, this, _1));
 }
 
 void SmacPlanner2D::deactivate()
@@ -186,6 +180,7 @@ void SmacPlanner2D::deactivate()
   if (_costmap_downsampler) {
     _costmap_downsampler->on_deactivate();
   }
+  dyn_params_handler.reset();
 }
 
 void SmacPlanner2D::cleanup()
@@ -340,45 +335,45 @@ nav_msgs::msg::Path SmacPlanner2D::createPlan(
   return plan;
 }
 
-void SmacPlanner2D::on_parameter_event_callback(
-  const rcl_interfaces::msg::ParameterEvent::SharedPtr event)
+rcl_interfaces::msg::SetParametersResult
+SmacPlanner2D::dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters)
 {
+  rcl_interfaces::msg::SetParametersResult result;
   std::lock_guard<std::mutex> lock_reinit(_mutex);
 
   bool reinit_a_star = false;
   bool reinit_downsampler = false;
 
-  for (auto & changed_parameter : event->changed_parameters) {
-    const auto & type = changed_parameter.value.type;
-    const auto & name = changed_parameter.name;
-    const auto & value = changed_parameter.value;
+  for (auto parameter : parameters) {
+    const auto & type = parameter.get_type();
+    const auto & name = parameter.get_name();
 
     if (type == ParameterType::PARAMETER_DOUBLE) {
       if (name == _name + ".tolerance") {
-        _tolerance = static_cast<float>(value.double_value);
+        _tolerance = static_cast<float>(parameter.as_double());
       } else if (name == _name + ".cost_travel_multiplier") {
         reinit_a_star = true;
-        _search_info.cost_penalty = value.double_value;
+        _search_info.cost_penalty = parameter.as_double();
       } else if (name == _name + ".max_planning_time") {
-        _max_planning_time = value.double_value;
+        _max_planning_time = parameter.as_double();
       }
     } else if (type == ParameterType::PARAMETER_BOOL) {
       if (name == _name + ".downsample_costmap") {
         reinit_downsampler = true;
-        _downsample_costmap = value.bool_value;
+        _downsample_costmap = parameter.as_bool();
       } else if (name == _name + ".allow_unknown") {
         reinit_a_star = true;
-        _allow_unknown = value.bool_value;
+        _allow_unknown = parameter.as_bool();
       } else if (name == _name + ".use_final_approach_orientation") {
-        _use_final_approach_orientation = value.bool_value;
+        _use_final_approach_orientation = parameter.as_bool();
       }
     } else if (type == ParameterType::PARAMETER_INTEGER) {
       if (name == _name + ".downsampling_factor") {
         reinit_downsampler = true;
-        _downsampling_factor = value.integer_value;
+        _downsampling_factor = parameter.as_int();
       } else if (name == _name + ".max_iterations") {
         reinit_a_star = true;
-        _max_iterations = value.integer_value;
+        _max_iterations = parameter.as_int();
         if (_max_iterations <= 0) {
           RCLCPP_INFO(
             _logger, "maximum iteration selected as <= 0, "
@@ -387,7 +382,7 @@ void SmacPlanner2D::on_parameter_event_callback(
         }
       } else if (name == _name + ".max_on_approach_iterations") {
         reinit_a_star = true;
-        _max_on_approach_iterations = value.integer_value;
+        _max_on_approach_iterations = parameter.as_int();
         if (_max_on_approach_iterations <= 0) {
           RCLCPP_INFO(
             _logger, "On approach iteration selected as <= 0, "
@@ -398,7 +393,7 @@ void SmacPlanner2D::on_parameter_event_callback(
     } else if (type == ParameterType::PARAMETER_STRING) {
       if (name == _name + ".motion_model_for_search") {
         reinit_a_star = true;
-        _motion_model = fromString(value.string_value);
+        _motion_model = fromString(parameter.as_string());
         if (_motion_model == MotionModel::UNKNOWN) {
           RCLCPP_WARN(
             _logger,
@@ -434,6 +429,8 @@ void SmacPlanner2D::on_parameter_event_callback(
       }
     }
   }
+  result.successful = true;
+  return result;
 }
 
 }  // namespace nav2_smac_planner