How to set COM_OBS_AVOID using ROS2 without MAVROS?

I am working on a PX4 based custom drone. At this stage of the design, I intend to use VehicleTrajectoryBezier messages for path planning. However, I cannot find the programmatic way of setting parameters with ROS2 and uXRCE-DDS.

Latest mention of this seems to be 3 years ago: How to set and get parameter values using the PX4-ROS 2 Bridge

Has there been any changes since then?