diff --git a/demo_nodes_cpp/src/parameters/parameter_events.cpp b/demo_nodes_cpp/src/parameters/parameter_events.cpp
index 971705c20..3981f1e1b 100644
--- a/demo_nodes_cpp/src/parameters/parameter_events.cpp
+++ b/demo_nodes_cpp/src/parameters/parameter_events.cpp
@@ -50,12 +50,6 @@ int main(int argc, char ** argv)
 
   auto node = rclcpp::Node::make_shared("parameter_events");
 
-  // Declare parameters that may be set on this node
-  node->declare_parameter("foo");
-  node->declare_parameter("bar");
-  node->declare_parameter("baz");
-  node->declare_parameter("foobar");
-
   auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
   while (!parameters_client->wait_for_service(1s)) {
     if (!rclcpp::ok()) {
@@ -72,6 +66,12 @@ int main(int argc, char ** argv)
       on_parameter_event(event, node->get_logger());
     });
 
+  // Declare parameters that may be set on this node
+  node->declare_parameter("foo");
+  node->declare_parameter("bar");
+  node->declare_parameter("baz");
+  node->declare_parameter("foobar");
+
   // Set several different types of parameters.
   auto set_parameters_results = parameters_client->set_parameters({
     rclcpp::Parameter("foo", 2),
@@ -88,7 +88,10 @@ int main(int argc, char ** argv)
 
   // TODO(wjwwood): Create and use delete_parameter
 
-  rclcpp::sleep_for(100ms);
+  // TODO(hidmic): Fast-RTPS takes a significant amount of time to deliver
+  //               requests and response, thus the rather long sleep. Reduce
+  //               once that's resolved.
+  rclcpp::sleep_for(3s);
 
   rclcpp::spin_some(node);
 
diff --git a/demo_nodes_cpp/src/parameters/parameter_events_async.cpp b/demo_nodes_cpp/src/parameters/parameter_events_async.cpp
index f7982dafa..5b71fb5ed 100644
--- a/demo_nodes_cpp/src/parameters/parameter_events_async.cpp
+++ b/demo_nodes_cpp/src/parameters/parameter_events_async.cpp
@@ -29,12 +29,6 @@ class ParameterEventsAsyncNode : public rclcpp::Node
   ParameterEventsAsyncNode()
   : Node("parameter_events")
   {
-    // Declare parameters that may be set on this node
-    this->declare_parameter("foo");
-    this->declare_parameter("bar");
-    this->declare_parameter("baz");
-    this->declare_parameter("foobar");
-
     // Typically a parameter client is created for a remote node by passing the name of the remote
     // node in the constructor; in this example we create a parameter client for this node itself.
     parameters_client_ = std::make_shared<rclcpp::AsyncParametersClient>(this);
@@ -63,9 +57,15 @@ class ParameterEventsAsyncNode : public rclcpp::Node
     // Setup callback for changes to parameters.
     parameter_event_sub_ = parameters_client_->on_parameter_event(on_parameter_event_callback);
 
+    // Declare parameters that may be set on this node
+    this->declare_parameter("foo");
+    this->declare_parameter("bar");
+    this->declare_parameter("baz");
+    this->declare_parameter("foobar");
+
     // Queue a `set_parameters` request as soon as `spin` is called on this node.
     // TODO(dhood): consider adding a "call soon" notion to Node to not require a timer for this.
-    timer_ = create_wall_timer(0s,
+    timer_ = create_wall_timer(200ms,
         [this]() {
           this->queue_first_set_parameter_request();
         });