Dynamically reconfigure the inflation radius

Hi y'all, I've been dealing with this issue for a while now and I just can't quite seem to get anywhere with it. I'd like to dynamically reconfigure the robot's inflation radius without using the rqt_reconfigure gui. I'd like to be able to send the robot a message if it's velocity drops below a certain limit, and lower the inflation radius. I understand that this will also make the robot more likely to bump into objects, so this is just in case the robot gets trapped. I'm using ROS Indigo, Thanks for reading!!