diff --git a/point_cloud_transport/include/point_cloud_transport/simple_publisher_plugin.hpp b/point_cloud_transport/include/point_cloud_transport/simple_publisher_plugin.hpp
index 354c9d5..5e80e05 100644
--- a/point_cloud_transport/include/point_cloud_transport/simple_publisher_plugin.hpp
+++ b/point_cloud_transport/include/point_cloud_transport/simple_publisher_plugin.hpp
@@ -106,8 +106,15 @@ class SimplePublisherPlugin : public point_cloud_transport::PublisherPlugin
     rcl_interfaces::msg::ParameterDescriptor())
   {
     if (simple_impl_) {
+      // Declare Parameters
+      uint ns_len = simple_impl_->node_->get_effective_namespace().length();
+      std::string param_base_name = getTopic().substr(ns_len);
+      std::replace(param_base_name.begin(), param_base_name.end(), '/', '.');
+
+      std::string param_name = param_base_name + "." + parameter_name;
+
       simple_impl_->node_->template declare_parameter<T>(
-        parameter_name, value, parameter_descriptor);
+        param_name, value, parameter_descriptor);
       return true;
     }
     return false;