diff --git a/include/cv_camera/driver.h b/include/cv_camera/driver.h
index d7668f1..50316df 100644
--- a/include/cv_camera/driver.h
+++ b/include/cv_camera/driver.h
@@ -83,6 +83,11 @@ class Driver : public rclcpp::Node
   */
   void RestartNodeCb(shared_ptr_request_id const request_header, shared_ptr_trigger_request const request,
                      shared_ptr_trigger_response response);
+
+  /**
+   * @brief Update resolution of the camera when parameter is updated in runtime
+  */
+  void update_resolution();
   /**
    * @brief callback for pause/resume image publishing
    *        1 -> pause
@@ -115,6 +120,10 @@ class Driver : public rclcpp::Node
    * @brief ROS private timer for publishing images.
    */
   rclcpp::TimerBase::SharedPtr publish_tmr_;
+  /**
+   * @brief ROS private timer for updating resolution.
+   */
+  rclcpp::TimerBase::SharedPtr update_resolution_tmr_;
   /**
    * @brief ROS Service for triggering re setup of the node.
    */
diff --git a/src/driver.cpp b/src/driver.cpp
index ac1774b..4db8d13 100644
--- a/src/driver.cpp
+++ b/src/driver.cpp
@@ -157,6 +157,9 @@ bool Driver::setup()
     this->create_wall_timer(std::chrono::milliseconds(int(1000.0 / read_rate_)), std::bind(&Driver::read, this));
   publish_tmr_ =
     this->create_wall_timer(std::chrono::milliseconds(int(1000.0 / publish_rate_)), std::bind(&Driver::proceed, this));
+  update_resolution_tmr_ =
+    this->create_wall_timer(std::chrono::milliseconds(200), std::bind(&Driver::update_resolution, this));
+  update_resolution_tmr_->cancel();
 
   cam_status_ = std::make_shared<std_msgs::msg::UInt8>();
   cam_status_->data = ONLINE;
@@ -368,14 +371,20 @@ rcl_interfaces::msg::SetParametersResult Driver::parameters_cb(const std::vector
     {
       if (name == "width")
       {
+        RCLCPP_INFO(get_logger(), "Setting new width to %ld", parameter.as_int());
         width_ = parameter.as_int();
-        this->set_parameter(rclcpp::Parameter("cv_cap_prop_frame_width", (double)width_));
+        // To set the underlying OpenCV parameter we cant set a parameter inside the setParameters callback
+        // so we need to reset the timer to update the resolution
+        update_resolution_tmr_->reset();
         camera_->setPropertyFromParam(cv::CAP_PROP_FRAME_WIDTH, "cv_cap_prop_frame_width");
       }
       else if (name == "height")
       {
+        RCLCPP_INFO(get_logger(), "Setting new height to %ld", parameter.as_int());
         height_ = parameter.as_int();
-        this->set_parameter(rclcpp::Parameter("cv_cap_prop_frame_height", (double)height_));
+        // To set the underlying OpenCV parameter we cant set a parameter inside the setParameters callback
+        // so we need to reset the timer to update the resolution
+        update_resolution_tmr_->reset();
         camera_->setPropertyFromParam(cv::CAP_PROP_FRAME_HEIGHT, "cv_cap_prop_frame_height");
       }
     }
@@ -420,6 +429,23 @@ void Driver::RestartNodeCb(shared_ptr_request_id const, shared_ptr_trigger_reque
   response->message = "Camera setup will be restarted";
 }
 
+void Driver::update_resolution()
+{
+  update_resolution_tmr_->cancel();
+  if (width_ != camera_->getProperty(cv::CAP_PROP_FRAME_WIDTH))
+  {
+    this->set_parameter(rclcpp::Parameter("cv_cap_prop_frame_width", (double)width_));
+  }
+  else if (height_ != camera_->getProperty(cv::CAP_PROP_FRAME_HEIGHT))
+  {
+    this->set_parameter(rclcpp::Parameter("cv_cap_prop_frame_height", (double)height_));
+  }
+  else
+  {
+    RCLCPP_WARN(get_logger(), "Resolution already set");
+  }
+}
+
 void Driver::GrabFrameCb(shared_ptr_request_id const, shared_ptr_grab_frame_request const,
                           shared_ptr_grab_frame_response response)
 {