diff --git a/admittance_controller/src/admittance_controller_parameters.yaml b/admittance_controller/src/admittance_controller_parameters.yaml
index 315d0e70d2..c5c9297e84 100644
--- a/admittance_controller/src/admittance_controller_parameters.yaml
+++ b/admittance_controller/src/admittance_controller_parameters.yaml
@@ -2,33 +2,33 @@ admittance_controller:
   joints: {
     type: string_array,
     description: "Specifies which joints will be used by the controller. ",
-    read_only: true
+    read_only: false
   }
   command_joints: {
     type: string_array,
     default_value: [],
     description: "(optional) Specifies the joints for writing into another controllers reference. This parameter is only relevant when chaining the output of this controller to the input of another controller.",
-    read_only: true
+    read_only: false
   }
   command_interfaces:
     {
       type: string_array,
       description: "Specifies which command interfaces the controller will claim.",
-      read_only: true
+      read_only: false
     }
 
   state_interfaces:
     {
       type: string_array,
       description: "Specifies which state interfaces the controller will claim.",
-      read_only: true
+      read_only: false
     }
 
   chainable_command_interfaces:
     {
       type: string_array,
       description: "Specifies which reference interfaces the controller will export. Normally, the position and velocity are used.",
-      read_only: true
+      read_only: false
     }
 
   kinematics:
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
index a6358d1015..5c888ea3e5 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
+++ b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
@@ -11,7 +11,7 @@ joint_trajectory_controller:
     type: string_array,
     default_value: [],
     description: "Names of the commanding joints used by the controller",
-    read_only: true,
+    read_only: false,
     validation: {
       unique<>: null,
     }
@@ -45,7 +45,7 @@ joint_trajectory_controller:
     type: bool,
     default_value: false,
     description: "Run the controller in open-loop, i.e., read hardware states only when starting controller. This is useful when robot is not exactly following the commanded trajectory.",
-    read_only: true,
+    read_only: false,
   }
   allow_integration_in_goal_trajectories: {
     type: bool,
@@ -56,7 +56,7 @@ joint_trajectory_controller:
     type: double,
     default_value: 20.0,
     description: "Rate status changes will be monitored",
-    read_only: true,
+    read_only: false,
     validation: {
       gt_eq: [0.1]
     }
@@ -65,7 +65,7 @@ joint_trajectory_controller:
     type: string,
     default_value: "splines",
     description: "The type of interpolation to use, if any",
-    read_only: true,
+    read_only: false,
     validation: {
       one_of<>: [["splines", "none"]],
     }
diff --git a/pid_controller/src/pid_controller.yaml b/pid_controller/src/pid_controller.yaml
index f645738862..722440304e 100644
--- a/pid_controller/src/pid_controller.yaml
+++ b/pid_controller/src/pid_controller.yaml
@@ -3,7 +3,7 @@ pid_controller:
     type: string_array,
     default_value: [],
     description: "Specifies dof_names or axes used by the controller. If 'reference_and_state_dof_names' parameter is defined, then only command dof names are defined with this parameter.",
-    read_only: true,
+    read_only: false,
     validation: {
       unique<>: null,
       not_empty<>: null,
@@ -13,7 +13,7 @@ pid_controller:
     type: string_array,
     default_value: [],
     description: "(optional) Specifies dof_names or axes for getting reference and reading states. This parameter is only relevant when state dof names are different then command dof names, i.e., when a following controller is used.",
-    read_only: true,
+    read_only: false,
     validation: {
       unique<>: null,
     }
@@ -22,7 +22,7 @@ pid_controller:
     type: string,
     default_value: "",
     description: "Name of the interface used by the controller for writing commands to the hardware.",
-    read_only: true,
+    read_only: false,
     validation: {
       not_empty<>: null,
     }
@@ -31,7 +31,7 @@ pid_controller:
     type: string_array,
     default_value: [],
     description: "Name of the interfaces used by the controller getting hardware states and reference commands. The second interface should be the derivative of the first.",
-    read_only: true,
+    read_only: false,
     validation: {
       not_empty<>: null,
       size_lt<>: 3,
diff --git a/steering_controllers_library/src/steering_controllers_library.yaml b/steering_controllers_library/src/steering_controllers_library.yaml
index a9f7fa75fb..610b5360a8 100644
--- a/steering_controllers_library/src/steering_controllers_library.yaml
+++ b/steering_controllers_library/src/steering_controllers_library.yaml
@@ -9,13 +9,13 @@ steering_controllers_library:
     type: bool,
     default_value: true,
     description: "Is the steering on the front of the robot?",
-    read_only: true,
+    read_only: false,
   }
 
   rear_wheels_names: {
     type: string_array,
     description: "Names of rear wheel joints.",
-    read_only: true,
+    read_only: false,
     validation: {
       size_lt<>: [5],
       unique<>: null,
@@ -26,7 +26,7 @@ steering_controllers_library:
   front_wheels_names: {
     type: string_array,
     description: "Names of front wheel joints.",
-    read_only: true,
+    read_only: false,
     validation: {
       size_lt<>: [5],
       unique<>: null,
@@ -38,7 +38,7 @@ steering_controllers_library:
     type: string_array,
     description: "(Optional) Names of rear wheel joints to read states from. If not set joint names from 'rear_wheels_names' will be used.",
     default_value: [],
-    read_only: true,
+    read_only: false,
     validation: {
       size_lt<>: [5],
       unique<>: null,
@@ -49,7 +49,7 @@ steering_controllers_library:
     type: string_array,
     description: "(Optional) Names of front wheel joints to read states from. If not set joint names from 'front_wheels_names' will be used.",
     default_value: [],
-    read_only: true,
+    read_only: false,
     validation: {
       size_lt<>: [5],
       unique<>: null,