diff --git a/test_rclcpp/CMakeLists.txt b/test_rclcpp/CMakeLists.txt
index a943c878..5a5502d8 100644
--- a/test_rclcpp/CMakeLists.txt
+++ b/test_rclcpp/CMakeLists.txt
@@ -72,11 +72,16 @@ if(BUILD_TESTING)
   endfunction()
 
   macro(custom_launch_test_two_executables test_name executable1 executable2)
+    cmake_parse_arguments(_ARG "" "ARGS1;ARGS2;RMW1;RMW2" "" ${ARGN})
     set(TEST_NAME "${test_name}")
     set(TEST_EXECUTABLE1 "$<TARGET_FILE:${executable1}>")
+    set(TEST_EXECUTABLE1_ARGS "${_ARG_ARGS1}")
     set(TEST_EXECUTABLE1_NAME "${executable1}")
+    set(TEST_RMW_IMPLEMENTATION1 "${_ARG_RMW1}")
     set(TEST_EXECUTABLE2 "$<TARGET_FILE:${executable2}>")
+    set(TEST_EXECUTABLE2_ARGS "${_ARG_ARGS2}")
     set(TEST_EXECUTABLE2_NAME "${executable2}")
+    set(TEST_RMW_IMPLEMENTATION2 "${_ARG_RMW2}")
     configure_file(
       test/test_two_executables.py.in
       ${test_name}${target_suffix}.py.configure
@@ -88,11 +93,8 @@ if(BUILD_TESTING)
     )
     ament_add_pytest_test(${test_name}${target_suffix}
       "${CMAKE_CURRENT_BINARY_DIR}/${test_name}${target_suffix}_$<CONFIG>.py"
-      ${ARGN}
       APPEND_LIBRARY_DIRS "${append_library_dirs}"
-      ENV
-      RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
-      RMW_IMPLEMENTATION=${rmw_implementation}
+      ${_ARG_UNPARSED_ARGUMENTS}
     )
     if(TEST ${test_name}${target_suffix})
       set_tests_properties(${test_name}${target_suffix}
@@ -136,6 +138,20 @@ if(BUILD_TESTING)
     endif()
   endmacro()
 
+  macro(cross_rmw_tests)
+    # test node names cross rmw
+    if(rmw_implementation1 STREQUAL rmw_implementation2)
+      set(target_suffix "__${rmw_implementation1}")
+    else()
+      set(target_suffix "__${rmw_implementation1}__${rmw_implementation2}")
+    endif()
+    custom_launch_test_two_executables(test_node_name
+      node_with_name node_name_list
+      ARGS1 "${rmw_implementation1}" ARGS2 "node_with_name_${rmw_implementation1}"
+      RMW1 ${rmw_implementation1} RMW2 ${rmw_implementation2}
+      TIMEOUT 15)
+  endmacro()
+
   macro(targets)
     custom_gtest(gtest_publisher
       "test/test_publisher.cpp"
@@ -183,19 +199,31 @@ if(BUILD_TESTING)
     # Parameter tests single implementation
     custom_launch_test_two_executables(test_parameter_server_cpp
       test_parameters_server_cpp test_remote_parameters_cpp
+      ENV
+      RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
+      RMW_IMPLEMENTATION=${rmw_implementation}
       TIMEOUT 60)
 
     # Service tests single implementation
     custom_launch_test_two_executables(test_services_cpp
       test_services_server_cpp test_services_client_cpp
+      ENV
+      RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
+      RMW_IMPLEMENTATION=${rmw_implementation}
       TIMEOUT 60)
 
     custom_launch_test_two_executables(test_client_scope_cpp
       test_client_scope_server_cpp test_client_scope_client_cpp
+      ENV
+      RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
+      RMW_IMPLEMENTATION=${rmw_implementation}
       TIMEOUT 60)
 
     custom_launch_test_two_executables(test_client_scope_consistency_cpp
       test_client_scope_consistency_server_cpp test_client_scope_consistency_client_cpp
+      ENV
+      RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
+      RMW_IMPLEMENTATION=${rmw_implementation}
       TIMEOUT 60)
 
     # Note (dhood): signal handler tests will be skipped on Windows because there is no opportunity
@@ -217,6 +245,12 @@ if(BUILD_TESTING)
       test_signal_handler
       TIMEOUT 30
       ${SKIP_TEST})
+
+    # Test node names
+    set(rmw_implementation1 "${rmw_implementation}")
+    foreach(rmw_implementation2 ${rmw_implementations})
+      cross_rmw_tests()
+    endforeach()
   endmacro()
 
   set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
@@ -224,6 +258,14 @@ if(BUILD_TESTING)
     set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
   endif()
 
+  # Test node names
+  add_executable(node_with_name "test/node_with_name.cpp")
+  ament_target_dependencies(node_with_name
+    "rclcpp")
+  add_executable(node_name_list "test/node_name_list.cpp")
+  ament_target_dependencies(node_name_list
+    "rclcpp")
+
   call_for_each_rmw_implementation(targets)
 
   custom_executable(test_signal_handler "test/test_signal_handler.cpp")
diff --git a/test_rclcpp/test/node_name_list.cpp b/test_rclcpp/test/node_name_list.cpp
new file mode 100644
index 00000000..38055b48
--- /dev/null
+++ b/test_rclcpp/test/node_name_list.cpp
@@ -0,0 +1,65 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+
+using namespace std::chrono_literals;
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+
+  if (argc < 2) {
+    fprintf(
+      stderr, "Must pass at least one argument with the expected node name\n");
+    return 1;
+  }
+  printf("Waiting for node with name: %s\n", argv[1]);
+  std::cout.flush();
+
+  auto node_name = std::string("node_name_list");
+  auto node = rclcpp::Node::make_shared(node_name);
+
+  rclcpp::executors::SingleThreadedExecutor exec;
+  exec.add_node(node);
+
+  int rc = 1;
+  const std::chrono::steady_clock::time_point max_runtime =
+    std::chrono::steady_clock::now() + 10s;
+  while (rc && rclcpp::ok()) {
+    printf("\n");
+    auto names = node->get_node_graph_interface()->get_node_names();
+    for (auto it : names) {
+      printf("%s\n", it.c_str());
+      if (argc >= 2 && it == argv[1]) {
+        printf("  found expected node name\n");
+        rc = 0;
+      }
+    }
+    std::cout.flush();
+    if (std::chrono::steady_clock::now() >= max_runtime) {
+      break;
+    }
+    exec.spin_once(250ms);
+  }
+
+  exec.remove_node(node);
+  rclcpp::shutdown();
+  if (rc) {
+    fprintf(stderr, "not found expected node name\n");
+  }
+  return rc;
+}
diff --git a/test_rclcpp/test/node_with_name.cpp b/test_rclcpp/test/node_with_name.cpp
new file mode 100644
index 00000000..6906def9
--- /dev/null
+++ b/test_rclcpp/test/node_with_name.cpp
@@ -0,0 +1,35 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+
+  auto node_name = std::string("node_with_name");
+  if (argc >= 2) {
+    node_name += "_";
+    node_name += argv[1];
+  }
+  printf("Starting node with name: %s\n", node_name.c_str());
+  std::cout.flush();
+
+  auto node = rclcpp::Node::make_shared(node_name);
+  rclcpp::spin(node);
+  rclcpp::shutdown();
+  return 0;
+}
diff --git a/test_rclcpp/test/test_two_executables.py.in b/test_rclcpp/test/test_two_executables.py.in
index 424b50aa..8b2e7560 100644
--- a/test_rclcpp/test/test_two_executables.py.in
+++ b/test_rclcpp/test/test_two_executables.py.in
@@ -1,5 +1,7 @@
 # generated from test_rclcpp/test/test_two_executables.py.in
 
+import os
+
 from launch import LaunchDescriptor
 from launch.exit_handler import primary_exit_handler
 from launch.launcher import DefaultLauncher
@@ -8,14 +10,30 @@ from launch.launcher import DefaultLauncher
 def @TEST_NAME@():
     ld = LaunchDescriptor()
 
+    cmd = ['@TEST_EXECUTABLE1@']
+    if '@TEST_EXECUTABLE1_ARGS@':
+      cmd += '@TEST_EXECUTABLE1_ARGS@'.split(' ')
+    env = None
+    if '@TEST_RMW_IMPLEMENTATION1@':
+        env = dict(os.environ)
+        env['RMW_IMPLEMENTATION'] = '@TEST_RMW_IMPLEMENTATION1@'
     ld.add_process(
-        cmd=['@TEST_EXECUTABLE1@'],
+        cmd=cmd,
         name='@TEST_EXECUTABLE1_NAME@',
+        env=env,
     )
 
+    cmd = ['@TEST_EXECUTABLE2@']
+    if '@TEST_EXECUTABLE2_ARGS@':
+      cmd += '@TEST_EXECUTABLE2_ARGS@'.split(' ')
+    env = None
+    if '@TEST_RMW_IMPLEMENTATION2@':
+        env = dict(os.environ)
+        env['RMW_IMPLEMENTATION'] = '@TEST_RMW_IMPLEMENTATION2@'
     ld.add_process(
-        cmd=['@TEST_EXECUTABLE2@', '@TEST_EXECUTABLE1_NAME@'],
+        cmd=cmd,
         name='@TEST_EXECUTABLE2_NAME@',
+        env=env,
         exit_handler=primary_exit_handler,
     )