diff --git a/bondpy/bondpy/bondpy.py b/bondpy/bondpy/bondpy.py
index e7e53cd..7612b0b 100644
--- a/bondpy/bondpy/bondpy.py
+++ b/bondpy/bondpy/bondpy.py
@@ -37,6 +37,7 @@
 
 import rclpy
 from rclpy.duration import Duration
+from rclpy.exceptions import ParameterAlreadyDeclaredException
 
 
 def duration_to_sec(duration):
@@ -184,7 +185,11 @@ def _on_connect_timeout(self):
 
     def _on_heartbeat_timeout(self):
         # Checks that heartbeat timeouts haven't been disabled globally
-        self.node.declare_parameter(Constants.DISABLE_HEARTBEAT_TIMEOUT_PARAM, False)
+        try:
+            if not self.node.has_parameter(Constants.DISABLE_HEARTBEAT_TIMEOUT_PARAM):
+                self.node.declare_parameter(Constants.DISABLE_HEARTBEAT_TIMEOUT_PARAM, False)
+        except ParameterAlreadyDeclaredException:
+            pass
         disable_heartbeat_timeout = self.node.get_parameter(
             Constants.DISABLE_HEARTBEAT_TIMEOUT_PARAM).value
         if disable_heartbeat_timeout: