node->declare_parameter("name", rclcpp::ParameterValue(), rcl_interfaces::msg::ParameterDescriptor()
    .set__name("name")
    .set__type(rcl_interfaces::msg::ParameterType::PARAMETER_STRING)
    .set__description("the name of the quadcopter/frame, this client receives messages for")
    .set__additional_constraints("must be a valid tf2 frame name"));

node->declare_parameter("quad_speed", 3.0, rcl_interfaces::msg::ParameterDescriptor()
    .set__name("quad_speed")
    .set__type(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE)
    .set__description("max speed of the quadcopter")
    .set__floating_point_range({rcl_interfaces::msg::FloatingPointRange()
        .set__from_value(0.0)
        .set__to_value(10.0)
        .set__step(0.1)}));