diff --git a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_parameter_service.py b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_parameter_service.py
new file mode 100644
index 0000000000000..8e6e95601c971
--- /dev/null
+++ b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/test_parameter_service.py
@@ -0,0 +1,197 @@
+# Copyright 2023 ArduPilot.org.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+"""
+Bring up ArduPilot SITL and check that the get/set_parameters services are up and running.
+
+Checks whether a parameter is changed using service call.
+
+colcon test --packages-select ardupilot_dds_tests \
+--event-handlers=console_cohesion+ --pytest-args -k test_parameter_service
+
+"""
+
+import launch_pytest
+import pytest
+import rclpy
+import rclpy.node
+import threading
+import time
+
+from launch import LaunchDescription
+
+from launch_pytest.tools import process as process_tools
+
+from rclpy.qos import QoSProfile
+from rclpy.qos import QoSReliabilityPolicy
+from rclpy.qos import QoSHistoryPolicy
+
+from rcl_interfaces.srv import GetParameters
+from rcl_interfaces.srv import SetParameters
+from rcl_interfaces.msg import Parameter
+
+# Enums for parameter type
+PARAMETER_NOT_SET = 0
+PARAMETER_INTEGER = 2
+PARAMETER_DOUBLE = 3
+
+
+class ParameterClient(rclpy.node.Node):
+    """Send GetParameters and SetParameters Requests."""
+
+    def __init__(self):
+        """Initialize the node."""
+        super().__init__('parameter_client')
+        self.get_param_event_object = threading.Event()
+        self.set_param_event_object = threading.Event()
+        self.set_correct_object = threading.Event()
+
+    def start_client(self):
+        """Start the parameter client."""
+        qos_profile = QoSProfile(
+            reliability=QoSReliabilityPolicy.BEST_EFFORT,
+            history=QoSHistoryPolicy.KEEP_LAST,
+            depth=1,
+        )
+
+        # Define clients for getting and setting parameter
+        self.get_cli = self.create_client(GetParameters, 'ap/get_parameters')
+        while not self.get_cli.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('GetParameters service not available, waiting again...')
+
+        self.set_cli = self.create_client(SetParameters, 'ap/set_parameters')
+        while not self.set_cli.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('SetParameters service not availabel, waiting again...')
+
+        # Add a spin thread
+        self.ros_spin_thread = threading.Thread(target=lambda node: rclpy.spin(node), args=(self,))
+        self.ros_spin_thread.start()
+
+    def send_get_param_req(self, param_name):
+        self.get_req = GetParameters.Request()
+        self.get_req.names.append(param_name)
+
+        self.get_future = self.get_cli.call_async(self.get_req)
+        while not self.get_future.done():
+            self.get_logger().info("Waiting for GetParameters service response...")
+            time.sleep(0.1)
+
+        resp = self.get_future.result()
+        value = resp.values[0]
+
+        if value.type != PARAMETER_NOT_SET:
+            self.get_param_event_object.set()
+
+    def send_set_param_req(self, param_name, param_value, param_type):
+        self.set_req = SetParameters.Request()
+        param_update = Parameter()
+        param_update.name = param_name
+        param_update.value.type = param_type
+        if param_type == PARAMETER_INTEGER:
+            param_update.value.integer_value = int(param_value)
+        else:
+            param_update.value.double_value = float(param_value)
+
+        self.set_req.parameters.append(param_update)
+
+        self.desired_value = param_value
+        get_response = self.get_future.result()
+        initial_value = get_response.values[0]
+
+        if initial_value.type == PARAMETER_INTEGER:
+            self.param_value = initial_value.integer_value
+        elif initial_value.type == PARAMETER_DOUBLE:
+            self.param_value = initial_value.double_value
+        else:
+            self.param_value = 'nan'
+
+        self.set_future = self.set_cli.call_async(self.set_req)
+
+        while not self.set_future.done():
+            self.get_logger().info("Waiting for SetParameters service response...")
+            time.sleep(0.1)
+
+        if self.set_future.done():
+            response = self.set_future.result()
+            if response.results[0].successful:
+                self.set_param_event_object.set()
+
+    def check_param_change(self):
+        param_name = self.set_req.parameters[0].name
+
+        self.send_get_param_req(param_name)
+
+        get_response = self.get_future.result()
+        new_value = get_response.values[0]
+
+        if new_value.type == PARAMETER_INTEGER:
+            updated_value = new_value.integer_value
+        elif new_value.type == PARAMETER_DOUBLE:
+            updated_value = new_value.double_value
+        else:
+            updated_value = 'nan'
+
+        if updated_value == self.desired_value:
+            self.set_correct_object.set()
+
+
+@launch_pytest.fixture
+def launch_sitl_copter_dds_udp(sitl_copter_dds_udp):
+    """Fixture to create the launch description."""
+    sitl_ld, sitl_actions = sitl_copter_dds_udp
+
+    ld = LaunchDescription(
+        [
+            sitl_ld,
+            launch_pytest.actions.ReadyToTest(),
+        ]
+    )
+    actions = sitl_actions
+    yield ld, actions
+
+
+@pytest.mark.launch(fixture=launch_sitl_copter_dds_udp)
+def test_dds_udp_parameter_services(launch_context, launch_sitl_copter_dds_udp):
+    """Test Get/Set parameter services broadcast by AP_DDS."""
+    _, actions = launch_sitl_copter_dds_udp
+    micro_ros_agent = actions["micro_ros_agent"].action
+    mavproxy = actions["mavproxy"].action
+    sitl = actions["sitl"].action
+
+    # Wait for process to start.
+    process_tools.wait_for_start_sync(launch_context, micro_ros_agent, timeout=2)
+    process_tools.wait_for_start_sync(launch_context, mavproxy, timeout=2)
+    process_tools.wait_for_start_sync(launch_context, sitl, timeout=2)
+
+    rclpy.init()
+    try:
+        node = ParameterClient()
+        node.start_client()
+        parameter_name = "LOIT_SPEED"
+        param_change_value = 1250
+        param_type = PARAMETER_DOUBLE
+        node.send_get_param_req(parameter_name)
+        get_param_received_flag = node.get_param_event_object.wait(timeout=10.0)
+        assert get_param_received_flag, f"Did not get '{parameter_name}' param."
+        node.send_set_param_req(parameter_name, param_change_value, param_type)
+        set_param_received_flag = node.set_param_event_object.wait(timeout=10.0)
+        assert set_param_received_flag, f"Could not set '{parameter_name}' to '{param_change_value}'"
+        node.check_param_change()
+        set_param_changed_flag = node.set_correct_object.wait(timeout=10.0)
+        assert set_param_changed_flag, f"Did not confirm '{parameter_name}' value change"
+
+    finally:
+        rclpy.shutdown()
+    yield
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
index 36d8d1bf714f6..35225282f2373 100644
--- a/libraries/AP_DDS/AP_DDS_Client.cpp
+++ b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -81,6 +81,17 @@ geometry_msgs_msg_TwistStamped AP_DDS_Client::rx_velocity_control_topic {};
 ardupilot_msgs_msg_GlobalPosition AP_DDS_Client::rx_global_position_control_topic {};
 #endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED
 
+// Define the parameter server data members, which are static class scope.
+// If these are created on the stack, then the AP_DDS_Client::on_request
+// frame size is exceeded.
+#if AP_DDS_PARAMETER_SERVER_ENABLED
+rcl_interfaces_srv_SetParameters_Request AP_DDS_Client::set_parameter_request {};
+rcl_interfaces_srv_SetParameters_Response AP_DDS_Client::set_parameter_response {};
+rcl_interfaces_srv_GetParameters_Request AP_DDS_Client::get_parameters_request {};
+rcl_interfaces_srv_GetParameters_Response AP_DDS_Client::get_parameters_response {};
+rcl_interfaces_msg_Parameter AP_DDS_Client::param {};
+#endif
+
 const AP_Param::GroupInfo AP_DDS_Client::var_info[] {
 
     // @Param: _ENABLE
@@ -801,6 +812,196 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
         break;
     }
 #endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED
+#if AP_DDS_PARAMETER_SERVER_ENABLED
+    case services[to_underlying(ServiceIndex::SET_PARAMETERS)].rep_id: {
+        const bool deserialize_success = rcl_interfaces_srv_SetParameters_Request_deserialize_topic(ub, &set_parameter_request);
+        if (deserialize_success == false) {
+            GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Set Parameters Request : Failed to deserialize request.", msg_prefix);
+            break;
+        }
+
+        if (set_parameter_request.parameters_size > 8U) {
+            break;
+        }
+
+        // Set parameters and responses for each one requested
+        set_parameter_response.results_size = set_parameter_request.parameters_size;
+        for (size_t i = 0; i < set_parameter_request.parameters_size; i++) {
+            param = set_parameter_request.parameters[i];
+
+            enum ap_var_type var_type;
+
+            // set parameter
+            AP_Param *vp;
+            char param_key[AP_MAX_NAME_SIZE + 1];
+            strncpy(param_key, (char *)param.name, AP_MAX_NAME_SIZE);
+            param_key[AP_MAX_NAME_SIZE] = 0;
+
+            // Currently only integer and double value types can be set.
+            // The following parameter value types are not handled:
+            // bool, string, byte_array, bool_array, integer_array, double_array and string_array
+            bool param_isnan = true;
+            bool param_isinf = true;
+            float param_value;
+            switch (param.value.type) {
+            case PARAMETER_INTEGER: {
+                param_isnan = isnan(param.value.integer_value);
+                param_isinf = isinf(param.value.integer_value);
+                param_value = float(param.value.integer_value);
+                break;
+            }
+            case PARAMETER_DOUBLE: {
+                param_isnan = isnan(param.value.double_value);
+                param_isinf = isinf(param.value.double_value);
+                param_value = float(param.value.double_value);
+                break;
+            }
+            default: {
+                break;
+            }
+            }
+
+            // find existing param to get the old value
+            uint16_t parameter_flags = 0;
+            vp = AP_Param::find(param_key, &var_type, &parameter_flags);
+            if (vp == nullptr || param_isnan || param_isinf) {
+                set_parameter_response.results[i].successful = false;
+                strncpy(set_parameter_response.results[i].reason, "Parameter not found", sizeof(set_parameter_response.results[i].reason));
+                continue;
+            }
+
+            // Add existing parameter checks used in GCS_Param.cpp
+            if (parameter_flags & AP_PARAM_FLAG_INTERNAL_USE_ONLY) {
+                // The user can set BRD_OPTIONS to enable set of internal
+                // parameters, for developer testing or unusual use cases
+                if (AP_BoardConfig::allow_set_internal_parameters()) {
+                    parameter_flags &= ~AP_PARAM_FLAG_INTERNAL_USE_ONLY;
+                }
+            }
+
+            if ((parameter_flags & AP_PARAM_FLAG_INTERNAL_USE_ONLY) || vp->is_read_only()) {
+                set_parameter_response.results[i].successful = false;
+                strncpy(set_parameter_response.results[i].reason, "Parameter is read only",sizeof(set_parameter_response.results[i].reason));
+                continue;
+            }
+
+            // Set and save the value if it changed
+            bool force_save = vp->set_and_save_by_name_ifchanged(param_key, param_value);
+
+            if (force_save && (parameter_flags & AP_PARAM_FLAG_ENABLE)) {
+                AP_Param::invalidate_count();
+            }
+
+            set_parameter_response.results[i].successful = true;
+            strncpy(set_parameter_response.results[i].reason, "Parameter accepted", sizeof(set_parameter_response.results[i].reason));
+        }
+
+        const uxrObjectId replier_id = {
+            .id = services[to_underlying(ServiceIndex::SET_PARAMETERS)].rep_id,
+            .type = UXR_REPLIER_ID
+        };
+
+        uint32_t reply_size = rcl_interfaces_srv_SetParameters_Response_size_of_topic(&set_parameter_response, 0U);
+        uint8_t reply_buffer[reply_size] {};
+        ucdrBuffer reply_ub;
+
+        ucdr_init_buffer(&reply_ub, reply_buffer, reply_size);
+        const bool serialize_success = rcl_interfaces_srv_SetParameters_Response_serialize_topic(&reply_ub, &set_parameter_response);
+        if (serialize_success == false) {
+            break;
+        }
+
+        uxr_buffer_reply(uxr_session, reliable_out, replier_id, sample_id, reply_buffer, ucdr_buffer_length(&reply_ub));
+        bool successful_params = true;
+        for (size_t i = 0; i < set_parameter_response.results_size; i++) {
+            // Check that all the parameters were set successfully
+            successful_params &= set_parameter_response.results[i].successful;
+        }
+        GCS_SEND_TEXT(successful_params ? MAV_SEVERITY_INFO : MAV_SEVERITY_WARNING, "%s Set Parameters Request : %s", msg_prefix, successful_params ? "SUCCESSFUL" : "ONE OR MORE PARAMS FAILED" );
+        break;
+    }
+    case services[to_underlying(ServiceIndex::GET_PARAMETERS)].rep_id: {
+        const bool deserialize_success = rcl_interfaces_srv_GetParameters_Request_deserialize_topic(ub, &get_parameters_request);
+        if (deserialize_success == false) {
+            GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s Get Parameters Request : Failed to deserialize request.", msg_prefix);
+            break;
+        }
+
+        if (get_parameters_request.names_size > 8U) {
+            break;
+        }
+
+        bool successful_read = true;
+        get_parameters_response.values_size = get_parameters_request.names_size;
+        for (size_t i = 0; i < get_parameters_request.names_size; i++) {
+            enum ap_var_type var_type;
+
+            AP_Param *vp;
+            char param_key[AP_MAX_NAME_SIZE + 1];
+            strncpy(param_key, (char *)get_parameters_request.names[i], AP_MAX_NAME_SIZE);
+            param_key[AP_MAX_NAME_SIZE] = 0;
+
+            vp = AP_Param::find(param_key, &var_type);
+            if (vp == nullptr) {
+                get_parameters_response.values[i].type = PARAMETER_NOT_SET;
+                successful_read &= false;
+                continue;
+            }
+
+            switch (var_type) {
+            case AP_PARAM_INT8: {
+                get_parameters_response.values[i].type = PARAMETER_INTEGER;
+                get_parameters_response.values[i].integer_value = ((AP_Int8 *)vp)->get();
+                successful_read &= true;
+                break;
+            }
+            case AP_PARAM_INT16: {
+                get_parameters_response.values[i].type = PARAMETER_INTEGER;
+                get_parameters_response.values[i].integer_value = ((AP_Int16 *)vp)->get();
+                successful_read &= true;
+                break;
+            }
+            case AP_PARAM_INT32: {
+                get_parameters_response.values[i].type = PARAMETER_INTEGER;
+                get_parameters_response.values[i].integer_value = ((AP_Int32 *)vp)->get();
+                successful_read &= true;
+                break;
+            }
+            case AP_PARAM_FLOAT: {
+                get_parameters_response.values[i].type = PARAMETER_DOUBLE;
+                get_parameters_response.values[i].double_value = vp->cast_to_float(var_type);
+                successful_read &= true;
+                break;
+            }
+            default: {
+                get_parameters_response.values[i].type = PARAMETER_NOT_SET;
+                successful_read &= false;
+                break;
+            }
+            }
+        }
+
+        const uxrObjectId replier_id = {
+            .id = services[to_underlying(ServiceIndex::GET_PARAMETERS)].rep_id,
+            .type = UXR_REPLIER_ID
+        };
+
+        uint32_t reply_size = rcl_interfaces_srv_GetParameters_Response_size_of_topic(&get_parameters_response, 0U);
+        uint8_t reply_buffer[reply_size] {};
+        ucdrBuffer reply_ub;
+
+        ucdr_init_buffer(&reply_ub, reply_buffer, reply_size);
+        const bool serialize_success = rcl_interfaces_srv_GetParameters_Response_serialize_topic(&reply_ub, &get_parameters_response);
+        if (serialize_success == false) {
+            break;
+        }
+
+        uxr_buffer_reply(uxr_session, reliable_out, replier_id, sample_id, reply_buffer, ucdr_buffer_length(&reply_ub));
+
+        GCS_SEND_TEXT(successful_read ? MAV_SEVERITY_INFO : MAV_SEVERITY_WARNING, "%s Get Parameters Request : %s", msg_prefix, successful_read ? "SUCCESSFUL" : "ONE OR MORE PARAM NOT FOUND");
+        break;
+    }
+#endif // AP_DDS_PARAMETER_SERVER_ENABLED
     }
 }
 
@@ -947,7 +1148,7 @@ bool AP_DDS_Client::create()
         .id = 0x01,
         .type = UXR_PARTICIPANT_ID
     };
-    const char* participant_name = "ardupilot_dds";
+    const char* participant_name = AP_DDS_PARTICIPANT_NAME;
     const auto participant_req_id = uxr_buffer_create_participant_bin(&session, reliable_out, participant_id,
                                     static_cast<uint16_t>(domain_id), participant_name, UXR_REPLACE);
 
diff --git a/libraries/AP_DDS/AP_DDS_Client.h b/libraries/AP_DDS/AP_DDS_Client.h
index 92bdbf2a4bd30..ded3451f99228 100644
--- a/libraries/AP_DDS/AP_DDS_Client.h
+++ b/libraries/AP_DDS/AP_DDS_Client.h
@@ -46,6 +46,14 @@
 #if AP_DDS_CLOCK_PUB_ENABLED
 #include "rosgraph_msgs/msg/Clock.h"
 #endif // AP_DDS_CLOCK_PUB_ENABLED
+#if AP_DDS_PARAMETER_SERVER_ENABLED
+#include "rcl_interfaces/srv/SetParameters.h"
+#include "rcl_interfaces/msg/Parameter.h"
+#include "rcl_interfaces/msg/SetParametersResult.h"
+#include "rcl_interfaces/msg/ParameterValue.h"
+#include "rcl_interfaces/msg/ParameterType.h"
+#include "rcl_interfaces/srv/GetParameters.h"
+#endif //AP_DDS_PARAMETER_SERVER_ENABLED
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/Scheduler.h>
@@ -201,6 +209,14 @@ class AP_DDS_Client
 #endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED
     HAL_Semaphore csem;
 
+#if AP_DDS_PARAMETER_SERVER_ENABLED
+    static rcl_interfaces_srv_SetParameters_Request set_parameter_request;
+    static rcl_interfaces_srv_SetParameters_Response set_parameter_response;
+    static rcl_interfaces_srv_GetParameters_Request get_parameters_request;
+    static rcl_interfaces_srv_GetParameters_Response get_parameters_response;
+    static rcl_interfaces_msg_Parameter param;
+#endif
+
     // connection parametrics
     bool status_ok{false};
     bool connected{false};
diff --git a/libraries/AP_DDS/AP_DDS_Service_Table.h b/libraries/AP_DDS/AP_DDS_Service_Table.h
index 0e86496dd5777..667149d6aa756 100644
--- a/libraries/AP_DDS/AP_DDS_Service_Table.h
+++ b/libraries/AP_DDS/AP_DDS_Service_Table.h
@@ -6,8 +6,12 @@ enum class ServiceIndex: uint8_t {
     ARMING_MOTORS,
 #endif // #if AP_DDS_ARM_SERVER_ENABLED
 #if AP_DDS_MODE_SWITCH_SERVER_ENABLED
-    MODE_SWITCH
+    MODE_SWITCH,
 #endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED
+#if AP_DDS_PARAMETER_SERVER_ENABLED
+    SET_PARAMETERS,
+    GET_PARAMETERS
+#endif // AP_DDS_PARAMETER_SERVER_ENABLED
 };
 
 static inline constexpr uint8_t to_underlying(const ServiceIndex index)
@@ -47,4 +51,26 @@ constexpr struct AP_DDS_Client::Service_table AP_DDS_Client::services[] = {
         .reply_topic_name = "rr/ap/mode_switchReply",
     },
 #endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED
+#if AP_DDS_PARAMETER_SERVER_ENABLED
+    {
+        .req_id = to_underlying(ServiceIndex::SET_PARAMETERS),
+        .rep_id = to_underlying(ServiceIndex::SET_PARAMETERS),
+        .service_rr = Service_rr::Replier,
+        .service_name = "rs/ap/set_parametersService",
+        .request_type = "rcl_interfaces::srv::dds_::SetParameters_Request_",
+        .reply_type = "rcl_interfaces::srv::dds_::SetParameters_Response_",
+        .request_topic_name = "rq/ap/set_parametersRequest",
+        .reply_topic_name = "rr/ap/set_parametersReply",
+    },
+    {
+        .req_id = to_underlying(ServiceIndex::GET_PARAMETERS),
+        .rep_id = to_underlying(ServiceIndex::GET_PARAMETERS),
+        .service_rr = Service_rr::Replier,
+        .service_name = "rs/ap/get_parameterService",
+        .request_type = "rcl_interfaces::srv::dds_::GetParameters_Request_",
+        .reply_type = "rcl_interfaces::srv::dds_::GetParameters_Response_",
+        .request_topic_name = "rq/ap/get_parametersRequest",
+        .reply_topic_name = "rr/ap/get_parametersReply",
+    },
+#endif // AP_DDS_PARAMETER_SERVER_ENABLED
 };
diff --git a/libraries/AP_DDS/AP_DDS_config.h b/libraries/AP_DDS/AP_DDS_config.h
index b8f31e368c8a4..9bc3a5512656d 100644
--- a/libraries/AP_DDS/AP_DDS_config.h
+++ b/libraries/AP_DDS/AP_DDS_config.h
@@ -126,6 +126,10 @@
 #define AP_DDS_MODE_SWITCH_SERVER_ENABLED 1
 #endif
 
+#ifndef AP_DDS_PARAMETER_SERVER_ENABLED
+#define AP_DDS_PARAMETER_SERVER_ENABLED 1
+#endif
+
 // Whether to include Twist support
 #define AP_DDS_NEEDS_TWIST AP_DDS_VEL_CTRL_ENABLED || AP_DDS_LOCAL_VEL_PUB_ENABLED
 
@@ -139,3 +143,7 @@
 #define AP_DDS_DEFAULT_UDP_IP_ADDR "127.0.0.1"
 #endif
 #endif
+
+#ifndef AP_DDS_PARTICIPANT_NAME
+#define AP_DDS_PARTICIPANT_NAME "ap"
+#endif
diff --git a/libraries/AP_DDS/Idl/rcl_interfaces/msg/Parameter.idl b/libraries/AP_DDS/Idl/rcl_interfaces/msg/Parameter.idl
new file mode 100644
index 0000000000000..992213a287458
--- /dev/null
+++ b/libraries/AP_DDS/Idl/rcl_interfaces/msg/Parameter.idl
@@ -0,0 +1,23 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from rcl_interfaces/msg/Parameter.msg
+// generated code does not contain a copyright notice
+
+#include "rcl_interfaces/msg/ParameterValue.idl"
+
+module rcl_interfaces {
+  module msg {
+    @verbatim (language="comment", text=
+      "This is the message to communicate a parameter. It is an open struct with an enum in" "\n"
+      "the descriptor to select which value is active.")
+    struct Parameter {
+      @verbatim (language="comment", text=
+        "The full name of the parameter.")
+      string name;
+
+      @verbatim (language="comment", text=
+        "The parameter's value which can be one of several types, see" "\n"
+        "`ParameterValue.msg` and `ParameterType.msg`.")
+      rcl_interfaces::msg::ParameterValue value;
+    };
+  };
+};
diff --git a/libraries/AP_DDS/Idl/rcl_interfaces/msg/ParameterType.idl b/libraries/AP_DDS/Idl/rcl_interfaces/msg/ParameterType.idl
new file mode 100644
index 0000000000000..e6a6bfcca7da7
--- /dev/null
+++ b/libraries/AP_DDS/Idl/rcl_interfaces/msg/ParameterType.idl
@@ -0,0 +1,28 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from rcl_interfaces/msg/ParameterType.msg
+// generated code does not contain a copyright notice
+
+
+module rcl_interfaces {
+  module msg {
+    module ParameterType_Constants {
+      @verbatim (language="comment", text=
+        "Default value, which implies this is not a valid parameter.")
+      const uint8 PARAMETER_NOT_SET = 0;
+      const uint8 PARAMETER_BOOL = 1;
+      const uint8 PARAMETER_INTEGER = 2;
+      const uint8 PARAMETER_DOUBLE = 3;
+      const uint8 PARAMETER_STRING = 4;
+      const uint8 PARAMETER_BYTE_ARRAY = 5;
+      const uint8 PARAMETER_BOOL_ARRAY = 6;
+      const uint8 PARAMETER_INTEGER_ARRAY = 7;
+      const uint8 PARAMETER_DOUBLE_ARRAY = 8;
+      const uint8 PARAMETER_STRING_ARRAY = 9;
+    };
+    @verbatim (language="comment", text=
+      "These types correspond to the value that is set in the ParameterValue message.")
+    struct ParameterType {
+      uint8 structure_needs_at_least_one_member;
+    };
+  };
+};
diff --git a/libraries/AP_DDS/Idl/rcl_interfaces/msg/ParameterValue.idl b/libraries/AP_DDS/Idl/rcl_interfaces/msg/ParameterValue.idl
new file mode 100644
index 0000000000000..3adbc5233cac2
--- /dev/null
+++ b/libraries/AP_DDS/Idl/rcl_interfaces/msg/ParameterValue.idl
@@ -0,0 +1,58 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from rcl_interfaces/msg/ParameterValue.msg
+// generated code does not contain a copyright notice
+
+
+module rcl_interfaces {
+  module msg {
+    @verbatim (language="comment", text=
+      "Used to determine which of the next *_value fields are set." "\n"
+      "ParameterType.PARAMETER_NOT_SET indicates that the parameter was not set" "\n"
+      "(if gotten) or is uninitialized." "\n"
+      "Values are enumerated in `ParameterType.msg`.")
+    struct ParameterValue {
+      @verbatim (language="comment", text=
+        "The type of this parameter, which corresponds to the appropriate field below.")
+      uint8 type;
+
+      @verbatim (language="comment", text=
+        "\"Variant\" style storage of the parameter value. Only the value corresponding" "\n"
+        "the type field will have valid information." "\n"
+        "Boolean value, can be either true or false.")
+      boolean bool_value;
+
+      @verbatim (language="comment", text=
+        "Integer value ranging from -9,223,372,036,854,775,808 to" "\n"
+        "9,223,372,036,854,775,807.")
+      int64 integer_value;
+
+      @verbatim (language="comment", text=
+        "A double precision floating point value following IEEE 754.")
+      double double_value;
+
+      @verbatim (language="comment", text=
+        "A textual value with no practical length limit.")
+      string string_value;
+
+      @verbatim (language="comment", text=
+        "An array of bytes, used for non-textual information.")
+      sequence<octet> byte_array_value;
+
+      @verbatim (language="comment", text=
+        "An array of boolean values.")
+      sequence<boolean> bool_array_value;
+
+      @verbatim (language="comment", text=
+        "An array of 64-bit integer values.")
+      sequence<int64> integer_array_value;
+
+      @verbatim (language="comment", text=
+        "An array of 64-bit floating point values.")
+      sequence<double> double_array_value;
+
+      @verbatim (language="comment", text=
+        "An array of string values.")
+      sequence<string> string_array_value;
+    };
+  };
+};
diff --git a/libraries/AP_DDS/Idl/rcl_interfaces/msg/SetParametersResult.idl b/libraries/AP_DDS/Idl/rcl_interfaces/msg/SetParametersResult.idl
new file mode 100644
index 0000000000000..d1c68fe1200f1
--- /dev/null
+++ b/libraries/AP_DDS/Idl/rcl_interfaces/msg/SetParametersResult.idl
@@ -0,0 +1,20 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from rcl_interfaces/msg/SetParametersResult.msg
+// generated code does not contain a copyright notice
+
+
+module rcl_interfaces {
+  module msg {
+    @verbatim (language="comment", text=
+      "A true value of the same index indicates that the parameter was set" "\n"
+      "successfully. A false value indicates the change was rejected.")
+    struct SetParametersResult {
+      boolean successful;
+
+      @verbatim (language="comment", text=
+        "Reason why the setting was either successful or a failure. This should only be" "\n"
+        "used for logging and user interfaces.")
+      string reason;
+    };
+  };
+};
diff --git a/libraries/AP_DDS/Idl/rcl_interfaces/srv/GetParameters.idl b/libraries/AP_DDS/Idl/rcl_interfaces/srv/GetParameters.idl
new file mode 100644
index 0000000000000..d6579f51b2c12
--- /dev/null
+++ b/libraries/AP_DDS/Idl/rcl_interfaces/srv/GetParameters.idl
@@ -0,0 +1,29 @@
+// generated from rosidl_adapter/resource/srv.idl.em
+// with input from rcl_interfaces/srv/GetParameters.srv
+// generated code does not contain a copyright notice
+
+#include "rcl_interfaces/msg/ParameterValue.idl"
+
+module rcl_interfaces {
+  module srv {
+    @verbatim (language="comment", text=
+      "TODO(wjwwood): Decide on the rules for grouping, nodes, and parameter \"names\"" "\n"
+      "in general, then link to that." "\n"
+      "" "\n"
+      "For more information about parameters and naming rules, see:" "\n"
+      "https://design.ros2.org/articles/ros_parameters.html" "\n"
+      "https://github.com/ros2/design/pull/241")
+    struct GetParameters_Request {
+      @verbatim (language="comment", text=
+        "A list of parameter names to get.")
+      sequence<string> names;
+    };
+    @verbatim (language="comment", text=
+      "List of values which is the same length and order as the provided names. If a" "\n"
+      "parameter was not yet set, the value will have PARAMETER_NOT_SET as the" "\n"
+      "type.")
+    struct GetParameters_Response {
+      sequence<rcl_interfaces::msg::ParameterValue> values;
+    };
+  };
+};
diff --git a/libraries/AP_DDS/Idl/rcl_interfaces/srv/SetParameters.idl b/libraries/AP_DDS/Idl/rcl_interfaces/srv/SetParameters.idl
new file mode 100644
index 0000000000000..ade6df7994030
--- /dev/null
+++ b/libraries/AP_DDS/Idl/rcl_interfaces/srv/SetParameters.idl
@@ -0,0 +1,21 @@
+// generated from rosidl_adapter/resource/srv.idl.em
+// with input from rcl_interfaces/srv/SetParameters.srv
+// generated code does not contain a copyright notice
+
+#include "rcl_interfaces/msg/Parameter.idl"
+#include "rcl_interfaces/msg/SetParametersResult.idl"
+
+module rcl_interfaces {
+  module srv {
+    @verbatim (language="comment", text=
+      "A list of parameters to set.")
+    struct SetParameters_Request {
+      sequence<rcl_interfaces::msg::Parameter> parameters;
+    };
+    @verbatim (language="comment", text=
+      "Indicates whether setting each parameter succeeded or not and why.")
+    struct SetParameters_Response {
+      sequence<rcl_interfaces::msg::SetParametersResult> results;
+    };
+  };
+};