diff --git a/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp b/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp
index 23cebfbd4..cc1ea259e 100644
--- a/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp
+++ b/demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp
@@ -14,6 +14,7 @@
 
 #include <memory>
 #include <sstream>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -46,6 +47,8 @@ int main(int argc, char ** argv)
     rclcpp::parameter::ParameterVariant("bar", "hello"),
     rclcpp::parameter::ParameterVariant("baz", 1.45),
     rclcpp::parameter::ParameterVariant("foobar", true),
+    rclcpp::parameter::ParameterVariant("foobarbaz", std::vector<bool>({true, false})),
+    rclcpp::parameter::ParameterVariant("toto", std::vector<uint8_t>({0xff, 0x7f})),
   });
   // Check to see if they were set.
   for (auto & result : set_parameters_results) {
@@ -56,7 +59,7 @@ int main(int argc, char ** argv)
 
   std::stringstream ss;
   // Get a few of the parameters just set.
-  for (auto & parameter : parameters_client->get_parameters({"foo", "baz"})) {
+  for (auto & parameter : parameters_client->get_parameters({"foo", "baz", "foobarbaz", "toto"})) {
     ss << "\nParameter name: " << parameter.get_name();
     ss << "\nParameter value (" << parameter.get_type_name() << "): " <<
       parameter.value_to_string();
diff --git a/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp b/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
index 8e210e543..75d63461c 100644
--- a/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
+++ b/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
@@ -14,6 +14,7 @@
 
 #include <memory>
 #include <sstream>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -46,6 +47,8 @@ int main(int argc, char ** argv)
     rclcpp::parameter::ParameterVariant("bar", "hello"),
     rclcpp::parameter::ParameterVariant("baz", 1.45),
     rclcpp::parameter::ParameterVariant("foobar", true),
+    rclcpp::parameter::ParameterVariant("foobarbaz", std::vector<bool>({true, false})),
+    rclcpp::parameter::ParameterVariant("toto", std::vector<uint8_t>({0xff, 0x7f})),
   });
   // Wait for the results.
   if (rclcpp::spin_until_future_complete(node, results) !=
@@ -62,7 +65,7 @@ int main(int argc, char ** argv)
   }
 
   // Get a few of the parameters just set.
-  auto parameters = parameters_client->get_parameters({"foo", "baz"});
+  auto parameters = parameters_client->get_parameters({"foo", "baz", "foobarbaz", "toto"});
   if (rclcpp::spin_until_future_complete(node, parameters) !=
     rclcpp::executor::FutureReturnCode::SUCCESS)
   {
diff --git a/demo_nodes_cpp/test/set_and_get_parameters.txt b/demo_nodes_cpp/test/set_and_get_parameters.txt
index c669c4280..ac31bceb4 100644
--- a/demo_nodes_cpp/test/set_and_get_parameters.txt
+++ b/demo_nodes_cpp/test/set_and_get_parameters.txt
@@ -3,3 +3,7 @@ Parameter name: foo
 Parameter value (integer): 2
 Parameter name: baz
 Parameter value (double): 1.450000
+Parameter name: foobarbaz
+Parameter value (bool_array): [true, false]
+Parameter name: toto
+Parameter value (byte_array): [0xff, 0x7f]
diff --git a/demo_nodes_cpp/test/set_and_get_parameters_async.txt b/demo_nodes_cpp/test/set_and_get_parameters_async.txt
index c669c4280..ac31bceb4 100644
--- a/demo_nodes_cpp/test/set_and_get_parameters_async.txt
+++ b/demo_nodes_cpp/test/set_and_get_parameters_async.txt
@@ -3,3 +3,7 @@ Parameter name: foo
 Parameter value (integer): 2
 Parameter name: baz
 Parameter value (double): 1.450000
+Parameter name: foobarbaz
+Parameter value (bool_array): [true, false]
+Parameter name: toto
+Parameter value (byte_array): [0xff, 0x7f]