diff --git a/human_detector/human_detector/human_detector.py b/human_detector/human_detector/human_detector.py
index 54b60b3..4b65517 100644
--- a/human_detector/human_detector/human_detector.py
+++ b/human_detector/human_detector/human_detector.py
@@ -31,13 +31,13 @@ def __init__(self):
         self.model = PinholeCameraModel()
         self.tf_broadcaster = TransformBroadcaster(self)
         self.person_pose_estimator = None
-        self.time_approximation_slope = 0.05
         self.camera_info = None
 
     def on_configure(self, previous_state: LifecycleState):
         self.get_logger().info("IN on_configure")
         self.parameters = self.param_listener.get_params()
         self.log_parameters()
+        self.time_approximation_slope = self.parameters.time_approximation_slope
         self.person_pose_estimator = mp.solutions.pose.Pose(
             min_detection_confidence=self.parameters.min_detection_confidence,
             min_tracking_confidence=self.parameters.min_tracking_confidence,
diff --git a/human_detector/human_detector/human_detector_parameters.yaml b/human_detector/human_detector/human_detector_parameters.yaml
index 954c370..49dfa70 100644
--- a/human_detector/human_detector/human_detector_parameters.yaml
+++ b/human_detector/human_detector/human_detector_parameters.yaml
@@ -36,3 +36,8 @@ human_detector_parameters:
                   invoked automatically on the next input image."
     validation:
       bounds<>: [0.0, 1.0]
+  time_approximation_slope:
+    type: double
+    default_value: 0.05
+    read_only: true
+    description: "Timer approximation slope for the msgs synchronization."