diff --git a/rcl/include/rcl/remap.h b/rcl/include/rcl/remap.h
index 82f0b0e04..add0c5ec6 100644
--- a/rcl/include/rcl/remap.h
+++ b/rcl/include/rcl/remap.h
@@ -187,6 +187,7 @@ rcl_remap_service_name(
  * \param[in] global_arguments Command line arguments to use if no local rules matched, or
  *   `NULL` or zero-initialized to ignore global arguments.
  * \param[in] node_name The current name of the node.
+ * \param[in] node_namespace The namespace of a node to which name belongs.
  * \param[in] allocator A valid allocator to use.
  * \param[out] output_name Either an allocated string with the remapped name, or
  *   `NULL` if no remap rules matched the name.
@@ -203,6 +204,7 @@ rcl_remap_node_name(
   const rcl_arguments_t * local_arguments,
   const rcl_arguments_t * global_arguments,
   const char * node_name,
+  const char * node_namespace,
   rcl_allocator_t allocator,
   char ** output_name);
 
@@ -228,6 +230,7 @@ rcl_remap_node_name(
  * \param[in] global_arguments Command line arguments to use if no local rules matched, or
  *   `NULL` or zero-initialized to ignore global arguments.
  * \param[in] node_name The name of the node whose namespace is being remapped.
+ * \param[in] node_namespace The namespace of a node to which name belongs.
  * \param[in] allocator A valid allocator to be used.
  * \param[out] output_namespace Either an allocated string with the remapped namespace, or
  *   `NULL` if no remap rules matched the name.
@@ -244,6 +247,7 @@ rcl_remap_node_namespace(
   const rcl_arguments_t * local_arguments,
   const rcl_arguments_t * global_arguments,
   const char * node_name,
+  const char * node_namespace,
   rcl_allocator_t allocator,
   char ** output_namespace);
 
diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
index fe8a947fb..228e2205f 100644
--- a/rcl/src/rcl/node.c
+++ b/rcl/src/rcl/node.c
@@ -218,7 +218,7 @@ rcl_node_init(
     global_args = &(node->context->global_arguments);
   }
   ret = rcl_remap_node_name(
-    &(node->impl->options.arguments), global_args, name, *allocator,
+    &(node->impl->options.arguments), global_args, name, local_namespace_, *allocator,
     &remapped_node_name);
   if (RCL_RET_OK != ret) {
     goto fail;
@@ -227,7 +227,7 @@ rcl_node_init(
   }
   char * remapped_namespace = NULL;
   ret = rcl_remap_node_namespace(
-    &(node->impl->options.arguments), global_args, name,
+    &(node->impl->options.arguments), global_args, name, local_namespace_,
     *allocator, &remapped_namespace);
   if (RCL_RET_OK != ret) {
     goto fail;
diff --git a/rcl/src/rcl/remap.c b/rcl/src/rcl/remap.c
index 1af77be74..ea90405bb 100644
--- a/rcl/src/rcl/remap.c
+++ b/rcl/src/rcl/remap.c
@@ -312,6 +312,7 @@ rcl_remap_node_name(
   const rcl_arguments_t * local_arguments,
   const rcl_arguments_t * global_arguments,
   const char * node_name,
+  const char * node_namespace,
   rcl_allocator_t allocator,
   char ** output_name)
 {
@@ -322,7 +323,7 @@ rcl_remap_node_name(
 
   RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_INVALID_ARGUMENT);
   return _rcl_remap_name(
-    local_arguments, global_arguments, RCL_NODENAME_REMAP, NULL, node_name, NULL, NULL,
+    local_arguments, global_arguments, RCL_NODENAME_REMAP, NULL, node_name, node_namespace, NULL,
     allocator, output_name);
 }
 
@@ -331,6 +332,7 @@ rcl_remap_node_namespace(
   const rcl_arguments_t * local_arguments,
   const rcl_arguments_t * global_arguments,
   const char * node_name,
+  const char * node_namespace,
   rcl_allocator_t allocator,
   char ** output_namespace)
 {
@@ -341,7 +343,7 @@ rcl_remap_node_namespace(
 
   RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_INVALID_ARGUMENT);
   return _rcl_remap_name(
-    local_arguments, global_arguments, RCL_NAMESPACE_REMAP, NULL, node_name, NULL, NULL,
+    local_arguments, global_arguments, RCL_NAMESPACE_REMAP, NULL, node_name, node_namespace, NULL,
     allocator, output_namespace);
 }
 
diff --git a/rcl/test/rcl/test_remap.cpp b/rcl/test/rcl/test_remap.cpp
index 2a8209b46..e146ded7e 100644
--- a/rcl/test/rcl/test_remap.cpp
+++ b/rcl/test/rcl/test_remap.cpp
@@ -49,7 +49,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_namespace_replace
 
   char * output = NULL;
   ret = rcl_remap_node_namespace(
-    NULL, &global_arguments, "NodeName", rcl_get_default_allocator(), &output);
+    NULL, &global_arguments, "NodeName", "/", rcl_get_default_allocator(), &output);
   EXPECT_EQ(RCL_RET_OK, ret);
   EXPECT_STREQ("/foo/bar", output);
   rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
@@ -64,12 +64,14 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_namespac
     "--ros-args",
     "-r", "Node1:__ns:=/foo/bar",
     "-r", "Node2:__ns:=/this_one",
-    "-r", "Node3:__ns:=/bar/foo");
+    "-r", "Node3:__ns:=/bar/foo",
+    "-r", "/Node4:__ns:=/bar/foo",
+    "-r", "/ns1/Node5:__ns:=/bar/foo");
 
   {
     char * output = NULL;
     ret = rcl_remap_node_namespace(
-      NULL, &global_arguments, "Node1", rcl_get_default_allocator(), &output);
+      NULL, &global_arguments, "Node1", "/", rcl_get_default_allocator(), &output);
     EXPECT_EQ(RCL_RET_OK, ret);
     EXPECT_STREQ("/foo/bar", output);
     rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
@@ -77,7 +79,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_namespac
   {
     char * output = NULL;
     ret = rcl_remap_node_namespace(
-      NULL, &global_arguments, "Node2", rcl_get_default_allocator(), &output);
+      NULL, &global_arguments, "Node2", "/", rcl_get_default_allocator(), &output);
     EXPECT_EQ(RCL_RET_OK, ret);
     EXPECT_STREQ("/this_one", output);
     rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
@@ -85,7 +87,23 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_namespac
   {
     char * output = NULL;
     ret = rcl_remap_node_namespace(
-      NULL, &global_arguments, "Node3", rcl_get_default_allocator(), &output);
+      NULL, &global_arguments, "Node3", "/", rcl_get_default_allocator(), &output);
+    EXPECT_EQ(RCL_RET_OK, ret);
+    EXPECT_STREQ("/bar/foo", output);
+    rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
+  }
+  {
+    char * output = NULL;
+    ret = rcl_remap_node_namespace(
+      NULL, &global_arguments, "Node4", "/", rcl_get_default_allocator(), &output);
+    EXPECT_EQ(RCL_RET_OK, ret);
+    EXPECT_STREQ("/bar/foo", output);
+    rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
+  }
+  {
+    char * output = NULL;
+    ret = rcl_remap_node_namespace(
+      NULL, &global_arguments, "Node5", "/ns1", rcl_get_default_allocator(), &output);
     EXPECT_EQ(RCL_RET_OK, ret);
     EXPECT_STREQ("/bar/foo", output);
     rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
@@ -99,7 +117,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_namespace_replacement
 
   char * output = NULL;
   ret = rcl_remap_node_namespace(
-    NULL, &global_arguments, "NodeName", rcl_get_default_allocator(), &output);
+    NULL, &global_arguments, "NodeName", "/", rcl_get_default_allocator(), &output);
   EXPECT_EQ(RCL_RET_OK, ret);
   EXPECT_EQ(NULL, output);
 }
@@ -113,7 +131,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_namespace_replacem
 
   char * output = NULL;
   ret = rcl_remap_node_namespace(
-    &local_arguments, &global_arguments, "NodeName", rcl_get_default_allocator(), &output);
+    &local_arguments, &global_arguments, "NodeName", "/", rcl_get_default_allocator(), &output);
   EXPECT_EQ(RCL_RET_OK, ret);
   EXPECT_STREQ("/local_args", output);
   rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
@@ -126,7 +144,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_use_global_namespace_
 
   char * output = NULL;
   ret = rcl_remap_node_namespace(
-    &local_arguments, NULL, "NodeName", rcl_get_default_allocator(), &output);
+    &local_arguments, NULL, "NodeName", "/", rcl_get_default_allocator(), &output);
   EXPECT_EQ(RCL_RET_OK, ret);
   EXPECT_EQ(NULL, output);
 }
@@ -144,12 +162,67 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_names
 
   rcl_allocator_t allocator = rcl_get_default_allocator();
   char * output = NULL;
-  ret = rcl_remap_node_namespace(NULL, &global_arguments, "NodeName", allocator, &output);
+  ret = rcl_remap_node_namespace(NULL, &global_arguments, "NodeName", "/", allocator, &output);
   EXPECT_EQ(RCL_RET_OK, ret);
   EXPECT_STREQ("/namespace", output);
   allocator.deallocate(output, allocator.state);
 }
 
+TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_nodename_remap) {
+  rcl_ret_t ret;
+  rcl_arguments_t global_arguments;
+  SCOPE_ARGS(
+    global_arguments,
+    "process_name",
+    "--ros-args",
+    "-r", "Node1:__node:=foo_bar",
+    "-r", "Node2:__node:=this_one",
+    "-r", "Node3:__node:=bar_foo",
+    "-r", "/Node4:__node:=bar_foo",
+    "-r", "/ns1/Node5:__node:=bar_foo");
+
+  {
+    char * output = NULL;
+    ret = rcl_remap_node_name(
+      NULL, &global_arguments, "Node1", "/", rcl_get_default_allocator(), &output);
+    EXPECT_EQ(RCL_RET_OK, ret);
+    EXPECT_STREQ("foo_bar", output);
+    rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
+  }
+  {
+    char * output = NULL;
+    ret = rcl_remap_node_name(
+      NULL, &global_arguments, "Node2", "/", rcl_get_default_allocator(), &output);
+    EXPECT_EQ(RCL_RET_OK, ret);
+    EXPECT_STREQ("this_one", output);
+    rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
+  }
+  {
+    char * output = NULL;
+    ret = rcl_remap_node_name(
+      NULL, &global_arguments, "Node3", "/", rcl_get_default_allocator(), &output);
+    EXPECT_EQ(RCL_RET_OK, ret);
+    EXPECT_STREQ("bar_foo", output);
+    rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
+  }
+  {
+    char * output = NULL;
+    ret = rcl_remap_node_name(
+      NULL, &global_arguments, "Node4", "/", rcl_get_default_allocator(), &output);
+    EXPECT_EQ(RCL_RET_OK, ret);
+    EXPECT_STREQ("bar_foo", output);
+    rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
+  }
+  {
+    char * output = NULL;
+    ret = rcl_remap_node_name(
+      NULL, &global_arguments, "Node5", "/ns1", rcl_get_default_allocator(), &output);
+    EXPECT_EQ(RCL_RET_OK, ret);
+    EXPECT_STREQ("bar_foo", output);
+    rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
+  }
+}
+
 TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_topic_name_replacement) {
   rcl_ret_t ret;
   rcl_arguments_t global_arguments;
@@ -458,7 +531,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), global_nodename_replacem
 
   rcl_allocator_t allocator = rcl_get_default_allocator();
   char * output = NULL;
-  ret = rcl_remap_node_name(NULL, &global_arguments, "NodeName", allocator, &output);
+  ret = rcl_remap_node_name(NULL, &global_arguments, "NodeName", "/", allocator, &output);
   EXPECT_EQ(RCL_RET_OK, ret);
   EXPECT_STREQ("globalname", output);
   allocator.deallocate(output, allocator.state);
@@ -471,7 +544,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_nodename_replacement)
 
   char * output = NULL;
   ret = rcl_remap_node_name(
-    NULL, &global_arguments, "NodeName", rcl_get_default_allocator(), &output);
+    NULL, &global_arguments, "NodeName", NULL, rcl_get_default_allocator(), &output);
   EXPECT_EQ(RCL_RET_OK, ret);
   EXPECT_EQ(NULL, output);
 }
@@ -485,7 +558,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), local_nodename_replaceme
 
   char * output = NULL;
   ret = rcl_remap_node_name(
-    &local_arguments, &global_arguments, "NodeName", rcl_get_default_allocator(), &output);
+    &local_arguments, &global_arguments, "NodeName", "/", rcl_get_default_allocator(), &output);
   EXPECT_EQ(RCL_RET_OK, ret);
   EXPECT_STREQ("local_name", output);
   rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
@@ -498,7 +571,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), no_use_global_nodename_r
 
   char * output = NULL;
   ret = rcl_remap_node_name(
-    &local_arguments, NULL, "NodeName", rcl_get_default_allocator(), &output);
+    &local_arguments, NULL, "NodeName", "/", rcl_get_default_allocator(), &output);
   EXPECT_EQ(RCL_RET_OK, ret);
   EXPECT_EQ(NULL, output);
 }
@@ -515,7 +588,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), use_first_nodename_rule)
 
   rcl_allocator_t allocator = rcl_get_default_allocator();
   char * output = NULL;
-  ret = rcl_remap_node_name(NULL, &global_arguments, "NodeName", allocator, &output);
+  ret = rcl_remap_node_name(NULL, &global_arguments, "NodeName", "/", allocator, &output);
   EXPECT_EQ(RCL_RET_OK, ret);
   EXPECT_STREQ("firstname", output);
   allocator.deallocate(output, allocator.state);
@@ -534,7 +607,7 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), other_rules_before_noden
 
   rcl_allocator_t allocator = rcl_get_default_allocator();
   char * output = NULL;
-  ret = rcl_remap_node_name(NULL, &global_arguments, "NodeName", allocator, &output);
+  ret = rcl_remap_node_name(NULL, &global_arguments, "NodeName", "/", allocator, &output);
   EXPECT_EQ(RCL_RET_OK, ret);
   EXPECT_STREQ("remap_name", output);
   allocator.deallocate(output, allocator.state);
@@ -588,24 +661,24 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), _rcl_remap_name_bad_arg)
 
   // Expected usage local_args, global not init is OK
   rcl_ret_t ret = rcl_remap_node_name(
-    &local_arguments, &zero_init_global_arguments, "NodeName", allocator, &output);
+    &local_arguments, &zero_init_global_arguments, "NodeName", "/", allocator, &output);
   EXPECT_EQ(RCL_RET_OK, ret);
   EXPECT_STREQ("local_name", output);
   allocator.deallocate(output, allocator.state);
 
   // Expected usage global_args, local not null is OK
-  ret = rcl_remap_node_name(nullptr, &global_arguments, "NodeName", allocator, &output);
+  ret = rcl_remap_node_name(nullptr, &global_arguments, "NodeName", "/", allocator, &output);
   EXPECT_EQ(RCL_RET_OK, ret);
   EXPECT_STREQ("global_name", output);
   allocator.deallocate(output, allocator.state);
 
   // Both local and global arguments, not valid
-  ret = rcl_remap_node_name(nullptr, nullptr, "NodeName", allocator, &output);
+  ret = rcl_remap_node_name(nullptr, nullptr, "NodeName", "/", allocator, &output);
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
   rcl_reset_error();
 
   // Bad allocator
-  ret = rcl_remap_node_name(nullptr, &global_arguments, "NodeName", bad_allocator, &output);
+  ret = rcl_remap_node_name(nullptr, &global_arguments, "NodeName", NULL, bad_allocator, &output);
   EXPECT_EQ(RCL_RET_ERROR, ret);
   rcl_reset_error();
 }