diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index 6890cea55e..be46300ad3 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -137,9 +137,8 @@ controller_interface::return_type JointTrajectoryController::update(
 {
   auto logger = this->get_node()->get_logger();
   // update dynamic parameters
-  if (param_listener_->is_old(params_))
+  if (param_listener_->try_get_params(params_))
   {
-    params_ = param_listener_->get_params();
     default_tolerances_ = get_segment_tolerances(logger, params_);
     // update the PID gains
     // variable use_closed_loop_pid_adapter_ is updated in on_configure only
diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp
index e0ef70ffac..745cd6f93d 100644
--- a/pid_controller/src/pid_controller.cpp
+++ b/pid_controller/src/pid_controller.cpp
@@ -477,7 +477,7 @@ controller_interface::return_type PidController::update_and_write_commands(
   const rclcpp::Time & time, const rclcpp::Duration & period)
 {
   // check for any parameter updates
-  update_parameters();
+  param_listener_->try_get_params(params_);
 
   // Update feedback either from external measured state or from state interfaces
   if (params_.use_external_measured_states)