diff --git a/rcl/include/rcl/graph.h b/rcl/include/rcl/graph.h
index 5053d5d3a..28b13a4f7 100644
--- a/rcl/include/rcl/graph.h
+++ b/rcl/include/rcl/graph.h
@@ -77,6 +77,7 @@ typedef rmw_names_and_types_t rcl_names_and_types_t;
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_NODE_INVALID_NAME` if the node name is invalid, or
  * \return `RCL_RET_NODE_INVALID_NAMESPACE` if the node namespace is invalid, or
+ * \return `RCL_RET_NODE_NAME_NON_EXISTENT` if the node name wasn't found, or
  * \return `RCL_RET_ERROR` if an unspecified error occurs.
  */
 RCL_PUBLIC
@@ -126,6 +127,7 @@ rcl_get_publisher_names_and_types_by_node(
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_NODE_INVALID_NAME` if the node name is invalid, or
  * \return `RCL_RET_NODE_INVALID_NAMESPACE` if the node namespace is invalid, or
+ * \return `RCL_RET_NODE_NAME_NON_EXISTENT` if the node name wasn't found, or
  * \return `RCL_RET_ERROR` if an unspecified error occurs.
  */
 RCL_PUBLIC
@@ -174,6 +176,7 @@ rcl_get_subscriber_names_and_types_by_node(
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_NODE_INVALID_NAME` if the node name is invalid, or
  * \return `RCL_RET_NODE_INVALID_NAMESPACE` if the node namespace is invalid, or
+ * \return `RCL_RET_NODE_NAME_NON_EXISTENT` if the node name wasn't found, or
  * \return `RCL_RET_ERROR` if an unspecified error occurs.
  */
 RCL_PUBLIC
@@ -221,6 +224,7 @@ rcl_get_service_names_and_types_by_node(
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_NODE_INVALID_NAME` if the node name is invalid, or
  * \return `RCL_RET_NODE_INVALID_NAMESPACE` if the node namespace is invalid, or
+ * \return `RCL_RET_NODE_NAME_NON_EXISTENT` if the node name wasn't found, or
  * \return `RCL_RET_ERROR` if an unspecified error occurs.
  */
 RCL_PUBLIC
diff --git a/rcl/include/rcl/types.h b/rcl/include/rcl/types.h
index 86f988823..f837a9c2a 100644
--- a/rcl/include/rcl/types.h
+++ b/rcl/include/rcl/types.h
@@ -52,6 +52,8 @@ typedef rmw_ret_t rcl_ret_t;
 #define RCL_RET_NODE_INVALID 200
 #define RCL_RET_NODE_INVALID_NAME 201
 #define RCL_RET_NODE_INVALID_NAMESPACE 202
+/// Failed to find node name
+#define RCL_RET_NODE_NAME_NON_EXISTENT 203
 
 // rcl publisher specific ret codes in 3XX
 /// Invalid rcl_publisher_t given return code.
diff --git a/rcl/src/rcl/common.c b/rcl/src/rcl/common.c
index 9c1d6d96c..50307aea0 100644
--- a/rcl/src/rcl/common.c
+++ b/rcl/src/rcl/common.c
@@ -65,6 +65,8 @@ rcl_convert_rmw_ret_to_rcl_ret(rmw_ret_t rmw_ret)
       return RCL_RET_BAD_ALLOC;
     case RMW_RET_UNSUPPORTED:
       return RCL_RET_UNSUPPORTED;
+    case RMW_RET_NODE_NAME_NON_EXISTENT:
+      return RCL_RET_NODE_NAME_NON_EXISTENT;
     default:
       return RCL_RET_ERROR;
   }
diff --git a/rcl/test/rcl/test_graph.cpp b/rcl/test/rcl/test_graph.cpp
index f24ec6e7c..28f7cdae7 100644
--- a/rcl/test/rcl/test_graph.cpp
+++ b/rcl/test/rcl/test_graph.cpp
@@ -329,12 +329,12 @@ TEST_F(
   // unknown node name
   ret = rcl_get_publisher_names_and_types_by_node(
     this->node_ptr, &allocator, false, unknown_node_name, "", &nat);
-  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  EXPECT_EQ(RCL_RET_NODE_NAME_NON_EXISTENT, ret) << rcl_get_error_string().str;
   rcl_reset_error();
   // unknown node namespace
   ret = rcl_get_publisher_names_and_types_by_node(
     this->node_ptr, &allocator, false, this->test_graph_node_name, unknown_node_ns, &nat);
-  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  EXPECT_EQ(RCL_RET_NODE_NAME_NON_EXISTENT, ret) << rcl_get_error_string().str;
   rcl_reset_error();
   // valid call
   ret = rcl_get_publisher_names_and_types_by_node(
@@ -414,12 +414,12 @@ TEST_F(
   // unknown node name
   ret = rcl_get_subscriber_names_and_types_by_node(
     this->node_ptr, &allocator, false, unknown_node_name, "", &nat);
-  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  EXPECT_EQ(RCL_RET_NODE_NAME_NON_EXISTENT, ret) << rcl_get_error_string().str;
   rcl_reset_error();
   // unknown node namespace
   ret = rcl_get_subscriber_names_and_types_by_node(
     this->node_ptr, &allocator, false, this->test_graph_node_name, unknown_node_ns, &nat);
-  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  EXPECT_EQ(RCL_RET_NODE_NAME_NON_EXISTENT, ret) << rcl_get_error_string().str;
   rcl_reset_error();
   // valid call
   ret = rcl_get_subscriber_names_and_types_by_node(
@@ -496,12 +496,12 @@ TEST_F(
   // unknown node name
   ret = rcl_get_service_names_and_types_by_node(
     this->node_ptr, &allocator, unknown_node_name, "", &nat);
-  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  EXPECT_EQ(RCL_RET_NODE_NAME_NON_EXISTENT, ret) << rcl_get_error_string().str;
   rcl_reset_error();
   // unknown node namespace
   ret = rcl_get_service_names_and_types_by_node(
     this->node_ptr, &allocator, this->test_graph_node_name, unknown_node_ns, &nat);
-  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  EXPECT_EQ(RCL_RET_NODE_NAME_NON_EXISTENT, ret) << rcl_get_error_string().str;
   rcl_reset_error();
   // valid call
   ret = rcl_get_service_names_and_types_by_node(
@@ -525,6 +525,7 @@ TEST_F(
   rcl_node_t zero_node = rcl_get_zero_initialized_node();
   const char * unknown_node_name = "test_rcl_get_client_names_and_types_by_node";
   const char * unknown_node_ns = "/test/namespace";
+
   rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
   // invalid node
   ret = rcl_get_client_names_and_types_by_node(
@@ -578,12 +579,12 @@ TEST_F(
   // unknown node name
   ret = rcl_get_client_names_and_types_by_node(
     this->node_ptr, &allocator, unknown_node_name, "", &nat);
-  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  EXPECT_EQ(RCL_RET_NODE_NAME_NON_EXISTENT, ret) << rcl_get_error_string().str;
   rcl_reset_error();
   // unknown node namespace
   ret = rcl_get_client_names_and_types_by_node(
     this->node_ptr, &allocator, this->test_graph_node_name, unknown_node_ns, &nat);
-  EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
+  EXPECT_EQ(RCL_RET_NODE_NAME_NON_EXISTENT, ret) << rcl_get_error_string().str;
   rcl_reset_error();
   // valid call
   ret = rcl_get_client_names_and_types_by_node(