diff --git a/rcl_yaml_param_parser/src/parser.c b/rcl_yaml_param_parser/src/parser.c
index 4dff023..48bc286 100644
--- a/rcl_yaml_param_parser/src/parser.c
+++ b/rcl_yaml_param_parser/src/parser.c
@@ -1129,6 +1129,15 @@ static rcl_ret_t parse_key(
           }
           *is_new_map = false;
         }
+
+        // Guard against adding more than the maximum allowed parameters
+        if (params_st->params[node_idx].num_params >= MAX_NUM_PARAMS_PER_NODE) {
+          RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
+            "Exceeded maximum allowed number of parameters for a node (%d)",
+            MAX_NUM_PARAMS_PER_NODE);
+          return RCL_RET_ERROR;
+        }
+
         /// Add a parameter name into the node parameters
         parameter_idx = params_st->params[node_idx].num_params;
         parameter_ns = ns_tracker->parameter_ns;
diff --git a/rcl_yaml_param_parser/test/max_num_params.yaml b/rcl_yaml_param_parser/test/max_num_params.yaml
new file mode 100644
index 0000000..2e50c84
--- /dev/null
+++ b/rcl_yaml_param_parser/test/max_num_params.yaml
@@ -0,0 +1,519 @@
+# config/test_yaml
+---
+
+foo_ns:
+  foo_name:
+    ros__parameters:
+        param1: 1
+        param2: 2
+        param3: 3
+        param4: 4
+        param5: 5
+        param6: 6
+        param7: 7
+        param8: 8
+        param9: 9
+        param10: 10
+        param11: 11
+        param12: 12
+        param13: 13
+        param14: 14
+        param15: 15
+        param16: 16
+        param17: 17
+        param18: 18
+        param19: 19
+        param20: 20
+        param21: 21
+        param22: 22
+        param23: 23
+        param24: 24
+        param25: 25
+        param26: 26
+        param27: 27
+        param28: 28
+        param29: 29
+        param30: 30
+        param31: 31
+        param32: 32
+        param33: 33
+        param34: 34
+        param35: 35
+        param36: 36
+        param37: 37
+        param38: 38
+        param39: 39
+        param40: 40
+        param41: 41
+        param42: 42
+        param43: 43
+        param44: 44
+        param45: 45
+        param46: 46
+        param47: 47
+        param48: 48
+        param49: 49
+        param50: 50
+        param51: 51
+        param52: 52
+        param53: 53
+        param54: 54
+        param55: 55
+        param56: 56
+        param57: 57
+        param58: 58
+        param59: 59
+        param60: 60
+        param61: 61
+        param62: 62
+        param63: 63
+        param64: 64
+        param65: 65
+        param66: 66
+        param67: 67
+        param68: 68
+        param69: 69
+        param70: 70
+        param71: 71
+        param72: 72
+        param73: 73
+        param74: 74
+        param75: 75
+        param76: 76
+        param77: 77
+        param78: 78
+        param79: 79
+        param80: 80
+        param81: 81
+        param82: 82
+        param83: 83
+        param84: 84
+        param85: 85
+        param86: 86
+        param87: 87
+        param88: 88
+        param89: 89
+        param90: 90
+        param91: 91
+        param92: 92
+        param93: 93
+        param94: 94
+        param95: 95
+        param96: 96
+        param97: 97
+        param98: 98
+        param99: 99
+        param100: 100
+        param101: 101
+        param102: 102
+        param103: 103
+        param104: 104
+        param105: 105
+        param106: 106
+        param107: 107
+        param108: 108
+        param109: 109
+        param110: 110
+        param111: 111
+        param112: 112
+        param113: 113
+        param114: 114
+        param115: 115
+        param116: 116
+        param117: 117
+        param118: 118
+        param119: 119
+        param120: 120
+        param121: 121
+        param122: 122
+        param123: 123
+        param124: 124
+        param125: 125
+        param126: 126
+        param127: 127
+        param128: 128
+        param129: 129
+        param130: 130
+        param131: 131
+        param132: 132
+        param133: 133
+        param134: 134
+        param135: 135
+        param136: 136
+        param137: 137
+        param138: 138
+        param139: 139
+        param140: 140
+        param141: 141
+        param142: 142
+        param143: 143
+        param144: 144
+        param145: 145
+        param146: 146
+        param147: 147
+        param148: 148
+        param149: 149
+        param150: 150
+        param151: 151
+        param152: 152
+        param153: 153
+        param154: 154
+        param155: 155
+        param156: 156
+        param157: 157
+        param158: 158
+        param159: 159
+        param160: 160
+        param161: 161
+        param162: 162
+        param163: 163
+        param164: 164
+        param165: 165
+        param166: 166
+        param167: 167
+        param168: 168
+        param169: 169
+        param170: 170
+        param171: 171
+        param172: 172
+        param173: 173
+        param174: 174
+        param175: 175
+        param176: 176
+        param177: 177
+        param178: 178
+        param179: 179
+        param180: 180
+        param181: 181
+        param182: 182
+        param183: 183
+        param184: 184
+        param185: 185
+        param186: 186
+        param187: 187
+        param188: 188
+        param189: 189
+        param190: 190
+        param191: 191
+        param192: 192
+        param193: 193
+        param194: 194
+        param195: 195
+        param196: 196
+        param197: 197
+        param198: 198
+        param199: 199
+        param200: 200
+        param201: 201
+        param202: 202
+        param203: 203
+        param204: 204
+        param205: 205
+        param206: 206
+        param207: 207
+        param208: 208
+        param209: 209
+        param210: 210
+        param211: 211
+        param212: 212
+        param213: 213
+        param214: 214
+        param215: 215
+        param216: 216
+        param217: 217
+        param218: 218
+        param219: 219
+        param220: 220
+        param221: 221
+        param222: 222
+        param223: 223
+        param224: 224
+        param225: 225
+        param226: 226
+        param227: 227
+        param228: 228
+        param229: 229
+        param230: 230
+        param231: 231
+        param232: 232
+        param233: 233
+        param234: 234
+        param235: 235
+        param236: 236
+        param237: 237
+        param238: 238
+        param239: 239
+        param240: 240
+        param241: 241
+        param242: 242
+        param243: 243
+        param244: 244
+        param245: 245
+        param246: 246
+        param247: 247
+        param248: 248
+        param249: 249
+        param250: 250
+        param251: 251
+        param252: 252
+        param253: 253
+        param254: 254
+        param255: 255
+        param256: 256
+        param257: 257
+        param258: 258
+        param259: 259
+        param260: 260
+        param261: 261
+        param262: 262
+        param263: 263
+        param264: 264
+        param265: 265
+        param266: 266
+        param267: 267
+        param268: 268
+        param269: 269
+        param270: 270
+        param271: 271
+        param272: 272
+        param273: 273
+        param274: 274
+        param275: 275
+        param276: 276
+        param277: 277
+        param278: 278
+        param279: 279
+        param280: 280
+        param281: 281
+        param282: 282
+        param283: 283
+        param284: 284
+        param285: 285
+        param286: 286
+        param287: 287
+        param288: 288
+        param289: 289
+        param290: 290
+        param291: 291
+        param292: 292
+        param293: 293
+        param294: 294
+        param295: 295
+        param296: 296
+        param297: 297
+        param298: 298
+        param299: 299
+        param300: 300
+        param301: 301
+        param302: 302
+        param303: 303
+        param304: 304
+        param305: 305
+        param306: 306
+        param307: 307
+        param308: 308
+        param309: 309
+        param310: 310
+        param311: 311
+        param312: 312
+        param313: 313
+        param314: 314
+        param315: 315
+        param316: 316
+        param317: 317
+        param318: 318
+        param319: 319
+        param320: 320
+        param321: 321
+        param322: 322
+        param323: 323
+        param324: 324
+        param325: 325
+        param326: 326
+        param327: 327
+        param328: 328
+        param329: 329
+        param330: 330
+        param331: 331
+        param332: 332
+        param333: 333
+        param334: 334
+        param335: 335
+        param336: 336
+        param337: 337
+        param338: 338
+        param339: 339
+        param340: 340
+        param341: 341
+        param342: 342
+        param343: 343
+        param344: 344
+        param345: 345
+        param346: 346
+        param347: 347
+        param348: 348
+        param349: 349
+        param350: 350
+        param351: 351
+        param352: 352
+        param353: 353
+        param354: 354
+        param355: 355
+        param356: 356
+        param357: 357
+        param358: 358
+        param359: 359
+        param360: 360
+        param361: 361
+        param362: 362
+        param363: 363
+        param364: 364
+        param365: 365
+        param366: 366
+        param367: 367
+        param368: 368
+        param369: 369
+        param370: 370
+        param371: 371
+        param372: 372
+        param373: 373
+        param374: 374
+        param375: 375
+        param376: 376
+        param377: 377
+        param378: 378
+        param379: 379
+        param380: 380
+        param381: 381
+        param382: 382
+        param383: 383
+        param384: 384
+        param385: 385
+        param386: 386
+        param387: 387
+        param388: 388
+        param389: 389
+        param390: 390
+        param391: 391
+        param392: 392
+        param393: 393
+        param394: 394
+        param395: 395
+        param396: 396
+        param397: 397
+        param398: 398
+        param399: 399
+        param400: 400
+        param401: 401
+        param402: 402
+        param403: 403
+        param404: 404
+        param405: 405
+        param406: 406
+        param407: 407
+        param408: 408
+        param409: 409
+        param410: 410
+        param411: 411
+        param412: 412
+        param413: 413
+        param414: 414
+        param415: 415
+        param416: 416
+        param417: 417
+        param418: 418
+        param419: 419
+        param420: 420
+        param421: 421
+        param422: 422
+        param423: 423
+        param424: 424
+        param425: 425
+        param426: 426
+        param427: 427
+        param428: 428
+        param429: 429
+        param430: 430
+        param431: 431
+        param432: 432
+        param433: 433
+        param434: 434
+        param435: 435
+        param436: 436
+        param437: 437
+        param438: 438
+        param439: 439
+        param440: 440
+        param441: 441
+        param442: 442
+        param443: 443
+        param444: 444
+        param445: 445
+        param446: 446
+        param447: 447
+        param448: 448
+        param449: 449
+        param450: 450
+        param451: 451
+        param452: 452
+        param453: 453
+        param454: 454
+        param455: 455
+        param456: 456
+        param457: 457
+        param458: 458
+        param459: 459
+        param460: 460
+        param461: 461
+        param462: 462
+        param463: 463
+        param464: 464
+        param465: 465
+        param466: 466
+        param467: 467
+        param468: 468
+        param469: 469
+        param470: 470
+        param471: 471
+        param472: 472
+        param473: 473
+        param474: 474
+        param475: 475
+        param476: 476
+        param477: 477
+        param478: 478
+        param479: 479
+        param480: 480
+        param481: 481
+        param482: 482
+        param483: 483
+        param484: 484
+        param485: 485
+        param486: 486
+        param487: 487
+        param488: 488
+        param489: 489
+        param490: 490
+        param491: 491
+        param492: 492
+        param493: 493
+        param494: 494
+        param495: 495
+        param496: 496
+        param497: 497
+        param498: 498
+        param499: 499
+        param500: 500
+        param501: 501
+        param502: 502
+        param503: 503
+        param504: 504
+        param505: 505
+        param506: 506
+        param507: 507
+        param508: 508
+        param509: 509
+        param510: 510
+        param511: 511
+        param512: 512
+        param513: 513
diff --git a/rcl_yaml_param_parser/test/test_parse_yaml.cpp b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
index 03934a3..339de5e 100644
--- a/rcl_yaml_param_parser/test/test_parse_yaml.cpp
+++ b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
@@ -225,6 +225,24 @@ TEST(test_file_parser, indented_ns) {
   allocator.deallocate(path, allocator.state);
 }
 
+// Regression test for https://github.com/ros2/rcl/issues/419
+TEST(test_file_parser, maximum_number_parameters) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  char * path = rcutils_join_path(test_path, "max_num_params.yaml", allocator);
+  fprintf(stderr, "cur_path: %s\n", path);
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  EXPECT_FALSE(NULL == params_hdl);
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  fprintf(stderr, "%s\n", rcutils_get_error_string().str);
+  EXPECT_FALSE(res);
+  allocator.deallocate(test_path, allocator.state);
+  allocator.deallocate(path, allocator.state);
+}
+
 int32_t main(int32_t argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);