diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 44cefeb..5bcd87e 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -19,10 +19,10 @@ jobs:
         env:
           - CI_NAME: clang-format
             CLANG_FORMAT_CHECK: file
-            CLANG_FORMAT_VERSION: 10
+            CLANG_FORMAT_VERSION: 12
           - CI_NAME: build-and-test rolling
-          - CI_NAME: build-and-test galactic
-            ROS_DISTRO: galactic
+          - CI_NAME: build-and-test humble
+            ROS_DISTRO: humble
           - CI_NAME: clang-tidy
             CLANG_TIDY: true
 
diff --git a/src/rosparam_shortcuts.cpp b/src/rosparam_shortcuts.cpp
index a56e648..33d83a7 100644
--- a/src/rosparam_shortcuts.cpp
+++ b/src/rosparam_shortcuts.cpp
@@ -37,20 +37,74 @@
 // this package
 #include <rosparam_shortcuts/rosparam_shortcuts.h>
 
+#include <rclcpp/parameter_value.hpp>
+
 // Eigen/TF conversion
-#if __has_include(<tf2_eigen/tf2_eigen.hpp>)
 #include <tf2_eigen/tf2_eigen.hpp>
-#else
-#include <tf2_eigen/tf2_eigen.h>
-#endif
 
 static const rclcpp::Logger LOGGER = rclcpp::get_logger("rosparam_shortcuts");
 
 namespace {
+// Convert standard types to rclcpp::ParameterType
+template <typename T>
+struct rclcpp_type_converter
+{};
+
+template <>
+struct rclcpp_type_converter<bool>
+{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_BOOL; };
+
+template <>
+struct rclcpp_type_converter<int>
+{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_INTEGER; };
+
+template <>
+struct rclcpp_type_converter<int64_t>
+{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_INTEGER; };
+
+template <>
+struct rclcpp_type_converter<double>
+{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_DOUBLE; };
+
+template <>
+struct rclcpp_type_converter<std::string>
+{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_STRING; };
+
+template <>
+struct rclcpp_type_converter<std::vector<uint8_t>>
+{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_BYTE_ARRAY; };
+
+template <>
+struct rclcpp_type_converter<std::vector<bool>>
+{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_BOOL_ARRAY; };
+
+template <>
+struct rclcpp_type_converter<std::vector<int>>
+{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY; };
+
+template <>
+struct rclcpp_type_converter<std::vector<int64_t>>
+{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY; };
+
+template <>
+struct rclcpp_type_converter<std::vector<double>>
+{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY; };
+
+template <>
+struct rclcpp_type_converter<std::vector<float>>
+{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY; };
+
+template <>
+struct rclcpp_type_converter<std::vector<std::string>>
+{ static constexpr rclcpp::ParameterType value = rclcpp::ParameterType::PARAMETER_STRING_ARRAY; };
+
+template <typename T>
+inline constexpr bool rclcpp_type_converter_v = rclcpp_type_converter<T>::value;
+
 template <typename T>
 void declare_parameter(const rclcpp::Node::SharedPtr& node, const std::string& param_name) {
 	if (!node->has_parameter(param_name))
-		node->declare_parameter<T>(param_name);
+		node->declare_parameter(param_name, rclcpp_type_converter_v<T>);
 }
 
 template <typename T>