Runtime configuration of kinematics plugins via ROS parameters

[galou]

I have a kinematics plugin that has some ROS parameters. When I create an instance of the plugin directly in my control node, I can change the parameters during runtime. I didn't manage to change the parameter of the instance created by moveit_simple_controller_manager. I can read it with

$ ros2 param get /moveit_simple_controller_manager with_experimental_joint_limits 
Boolean value is: False

but when I attempt to change it, I get

$ ros2 param set /moveit_simple_controller_manager with_experimental_joint_limits false
Setting parameter failed

Is this a feature? How can I change the behavior of my kinematics plugin in runtime then?

[galou]

Anyone to help on this, please?