diff --git a/README.md b/README.md
index ee99a27473..a77621972e 100644
--- a/README.md
+++ b/README.md
@@ -505,7 +505,7 @@ The following post processing filters are available:
   - `depth_module.hdr_enabled`: to enable/disable HDR
   - The way to set exposure and gain values for each sequence in runtime is by first selecting the sequence id, using the `depth_module.sequence_id` parameter and then modifying the `depth_module.gain`, and `depth_module.exposure`.
     - From FW versions 5.14.x.x and above, if HDR is enabled, the preset configs (like exposure, gain, etc.,) cannot be updated.
-    - The user should disable the HDR first using `depth_module.hdr_enabled` parameter and then, update the required presets.
+      - Disable the HDR first using `depth_module.hdr_enabled` parameter and then, update the required presets.
   - To view the effect on the infrared image for each sequence id use the `filter_by_sequence_id.sequence_id` parameter.
   - To initialize these parameters in start time use the following parameters:
     - `depth_module.exposure.1`
diff --git a/realsense2_camera/src/dynamic_params.cpp b/realsense2_camera/src/dynamic_params.cpp
index acce9038ca..e51dfb1818 100644
--- a/realsense2_camera/src/dynamic_params.cpp
+++ b/realsense2_camera/src/dynamic_params.cpp
@@ -25,6 +25,8 @@ namespace realsense2_camera
         _params_backend.add_on_set_parameters_callback(
             [this](const std::vector<rclcpp::Parameter> & parameters) 
                 { 
+                    rcl_interfaces::msg::SetParametersResult result;
+                    result.successful = true;
                     for (const auto & parameter : parameters) 
                     {
                         try
@@ -43,15 +45,15 @@ namespace realsense2_camera
                                 }
                             }
                         }
-                        catch(const std::out_of_range& e)
-                        {}
                         catch(const std::exception& e)
                         {
-                            std::cerr << e.what() << ":" << parameter.get_name() << '\n';
+                            result.successful = false;
+                            result.reason = e.what();
+                            ROS_WARN_STREAM("Set parameter {" << parameter.get_name()
+                                                            << "} failed: " << e.what());
                         }                            
                     }
-                    rcl_interfaces::msg::SetParametersResult result;
-                    result.successful = true;
+
                     return result;
                 });
         monitor_update_functions(); // Start parameters update thread
diff --git a/realsense2_camera/src/sensor_params.cpp b/realsense2_camera/src/sensor_params.cpp
index ff0cf151e9..c347a1d979 100644
--- a/realsense2_camera/src/sensor_params.cpp
+++ b/realsense2_camera/src/sensor_params.cpp
@@ -70,14 +70,7 @@ std::map<std::string, int> get_enum_method(rs2::options sensor, rs2_option optio
 template<class T>
 void param_set_option(rs2::options sensor, rs2_option option, const rclcpp::Parameter& parameter)
 { 
-    try
-    {
-        sensor.set_option(option, parameter.get_value<T>());
-    }
-    catch(const std::exception& e)
-    {
-        std::cout << "Failed to set value: " << e.what() << std::endl;
-    }
+    sensor.set_option(option, parameter.get_value<T>());
 }
 
 void SensorParams::clearParameters()