cannot use QoS override parameters via `NodeParameter` callbacks

Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04
• Installation type:
  • source build
• Version or commit hash:
  • https://github.com/ros2/ros2/commit/1f5bd8ed43beea199dabe48bc8023af3aba9806c
• DDS implementation:
  • Any
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

• register callback that creates the subscription with QosOverridingOptions via add_post_set_parameters_callback.
• update parameter successfully, the gets ParameterModifiedInCallbackException exception.

cd colcon_ws/src
git clone https://github.com/fujitatomoya/ros2_test_prover
cd colcon_ws
colcon build --symlink-install --packages-select prover_interfaces prover_rclcpp
ros2 run prover_rclcpp rclcpp_237

and, with another terminal

root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 param get /test_params switch
Boolean value is: False
root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 param set /test_params switch true
Set parameter successful
root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 param set /test_params switch false
Set parameter successful

this will generate the exception below,

root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 run prover_rclcpp rclcpp_2379
[INFO] [1701396695.327098876] [test_params]: Parameter switch changed: 1
[INFO] [1701396695.327206255] [test_params]: Creating Subscription
[ERROR] [1701396695.327343914] [test_params]: Caught Exception with cannot set or declare a parameter, or change the callback from within set callback
[INFO] [1701396699.343136018] [test_params]: Parameter switch changed: 0
[INFO] [1701396699.343206436] [test_params]: Destroying Subscription
^C[INFO] [1701396701.596623929] [rclcpp]: signal_handler(signum=2)

Expected behavior

No exception received.

Actual behavior

ParameterModifiedInCallbackException

Additional information

This behavior blocks https://github.com/ros2/rclcpp/pull/2378