diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index d31ad89..3324e97 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -24,6 +24,7 @@
 #include <rclcpp/client.hpp>
 #include <rclcpp/context.hpp>
 #include <rclcpp/macros.hpp>
+#include <rclcpp/parameter.hpp>
 #include <rclcpp/publisher.hpp>
 #include <rclcpp/service.hpp>
 #include <rclcpp/subscription.hpp>
@@ -154,7 +155,7 @@ public:
   {
     std::vector<rcl_interfaces::SetParametersResult> results;
     for (auto p : parameters) {
-//      parameters_[p.name] = ParameterVariant::from_parameter_value(p.value);
+      parameters_[p.name] = rclcpp::parameter::ParameterVariant::from_parameter(p);
       rcl_interfaces::SetParametersResult result;
       result.successful = true;
       // TODO: handle parameter constraints
@@ -185,7 +186,7 @@ private:
 
   std::mutex mutex_;
 
-//  std::map<std::string, ParameterVariant> parameters_;
+  std::map<std::string, rclcpp::parameter::ParameterVariant> parameters_;
 
   template<
     typename ServiceT,
diff --git a/rclcpp/include/rclcpp/parameter.hpp b/rclcpp/include/rclcpp/parameter.hpp
index bb27281..bc0a4b3 100644
--- a/rclcpp/include/rclcpp/parameter.hpp
+++ b/rclcpp/include/rclcpp/parameter.hpp
@@ -170,6 +170,24 @@ public:
     return get_value<ParameterType::PARAMETER_BYTES>();
   }
 
+  static ParameterVariant from_parameter(const rcl_interfaces::Parameter & parameter) {
+    switch(parameter.value.parameter_type) {
+      case PARAMETER_BOOL:
+        return ParameterVariant(parameter.name, parameter.value.bool_value);
+      case PARAMETER_INTEGER:
+        return ParameterVariant(parameter.name, parameter.value.integer_value);
+      case PARAMETER_DOUBLE:
+        return ParameterVariant(parameter.name, parameter.value.double_value);
+      case PARAMETER_STRING:
+        return ParameterVariant(parameter.name, parameter.value.string_value);
+      case PARAMETER_BYTES:
+        return ParameterVariant(parameter.name, parameter.value.bytes_value);
+      case PARAMETER_NOT_SET:
+      default:
+        // TODO: use custom exception
+        throw std::runtime_error("Invalid type from ParameterValue");
+    }
+  }
 private:
   std::string name_;
   rcl_interfaces::ParameterValue value_;