diff --git a/rcl/include/rcl/lexer_lookahead.h b/rcl/include/rcl/lexer_lookahead.h
index d50166e3f..142c69b8b 100644
--- a/rcl/include/rcl/lexer_lookahead.h
+++ b/rcl/include/rcl/lexer_lookahead.h
@@ -170,6 +170,28 @@ rcl_lexer_lookahead2_peek2(
   rcl_lexeme_t * next_type1,
   rcl_lexeme_t * next_type2);
 
+/// Look ahead to check if buffer contains colon prefix.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes [1]
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ * <i>[1] Only allocates if an argument is invalid or an internal bug is detected.</i>
+ *
+ * \param[in] buffer the lookahead2 buffer being used to analyze a string.
+ * \return `RCL_RET_OK` if peeking was successfull, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any function arguments are invalid, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_lexer_lookahead2_peek_colon_prefix(
+  rcl_lexer_lookahead2_t * buffer);
+
 /// Accept a lexeme and advance analysis.
 /**
  * A token must have been peeked before it can be accepted.
diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
index 58a74f1e5..aaf0d5a76 100644
--- a/rcl/src/rcl/arguments.c
+++ b/rcl/src/rcl/arguments.c
@@ -1504,7 +1504,7 @@ _rcl_parse_remap_nodename_replacement(
   return RCL_RET_OK;
 }
 
-/// Parse a nodename prefix including trailing colon (ex: `node_name:`).
+/// Parse a nodename prefix including trailing colon (ex: `node_name:` or `/ns/node_name:`).
 RCL_LOCAL
 rcl_ret_t
 _rcl_parse_nodename_prefix(
@@ -1512,28 +1512,66 @@ _rcl_parse_nodename_prefix(
   rcl_allocator_t allocator,
   char ** node_name)
 {
-  size_t length = 0;
-  const char * token = NULL;
-
   // Check arguments sanity
   assert(NULL != lex_lookahead);
   assert(rcutils_allocator_is_valid(&allocator));
   assert(NULL != node_name);
   assert(NULL == *node_name);
 
-  // Expect a token and a colon
-  rcl_ret_t ret =
-    rcl_lexer_lookahead2_expect(lex_lookahead, RCL_LEXEME_TOKEN, &token, &length);
+  rcl_ret_t ret;
+  const char * name_start = rcl_lexer_lookahead2_get_text(lex_lookahead);
+  if (NULL == name_start) {
+    RCL_SET_ERROR_MSG("failed to get start of node name");
+    return RCL_RET_ERROR;
+  }
+
+  rcl_lexeme_t next_type;
+  ret = rcl_lexer_lookahead2_peek(lex_lookahead, &next_type);
   if (RCL_RET_OK != ret) {
     return ret;
   }
+
+  if (RCL_LEXEME_FORWARD_SLASH == next_type) {
+    // repeated slashes and tokens until a colon
+    do {
+      ret = rcl_lexer_lookahead2_expect(lex_lookahead, RCL_LEXEME_FORWARD_SLASH, NULL, NULL);
+      if (RCL_RET_WRONG_LEXEME == ret) {
+        rcl_reset_error();
+        break;
+      }
+
+      ret = rcl_lexer_lookahead2_expect(lex_lookahead, RCL_LEXEME_TOKEN, NULL, NULL);
+      if (RCL_RET_WRONG_LEXEME == ret) {
+        if (RCL_RET_OK == ret) {
+          rcl_reset_error();
+          break;
+        }
+      }
+
+      ret = rcl_lexer_lookahead2_peek(lex_lookahead, &next_type);
+      if (RCL_RET_OK != ret) {
+        return ret;
+      }
+      if (RCL_LEXEME_COLON == next_type) {
+        break;
+      }
+    } while (true);
+  } else {
+    ret =
+      rcl_lexer_lookahead2_expect(lex_lookahead, RCL_LEXEME_TOKEN, NULL, NULL);
+    if (RCL_RET_OK != ret) {
+      return ret;
+    }
+  }
+
+  const char * name_end = rcl_lexer_lookahead2_get_text(lex_lookahead);
   ret = rcl_lexer_lookahead2_expect(lex_lookahead, RCL_LEXEME_COLON, NULL, NULL);
   if (RCL_RET_OK != ret) {
     return ret;
   }
-
+  const size_t length = (size_t)(name_end - name_start);
   // Copy the node name
-  *node_name = rcutils_strndup(token, length, allocator);
+  *node_name = rcutils_strndup(name_start, length, allocator);
   if (NULL == *node_name) {
     RCL_SET_ERROR_MSG("failed to allocate node name");
     return RCL_RET_BAD_ALLOC;
@@ -1582,18 +1620,14 @@ _rcl_parse_remap_begin_remap_rule(
 {
   rcl_ret_t ret;
   rcl_lexeme_t lexeme1;
-  rcl_lexeme_t lexeme2;
 
   // Check arguments sanity
   assert(NULL != lex_lookahead);
   assert(NULL != rule);
 
   // Check for optional nodename prefix
-  ret = rcl_lexer_lookahead2_peek2(lex_lookahead, &lexeme1, &lexeme2);
-  if (RCL_RET_OK != ret) {
-    return ret;
-  }
-  if (RCL_LEXEME_TOKEN == lexeme1 && RCL_LEXEME_COLON == lexeme2) {
+  ret = rcl_lexer_lookahead2_peek_colon_prefix(lex_lookahead);
+  if (RCL_RET_OK == ret) {
     ret = _rcl_parse_remap_nodename_prefix(lex_lookahead, rule);
     if (RCL_RET_OK != ret) {
       return ret;
diff --git a/rcl/src/rcl/lexer_lookahead.c b/rcl/src/rcl/lexer_lookahead.c
index a5b258957..8324d5ed9 100644
--- a/rcl/src/rcl/lexer_lookahead.c
+++ b/rcl/src/rcl/lexer_lookahead.c
@@ -162,6 +162,42 @@ rcl_lexer_lookahead2_peek2(
   return RCL_RET_OK;
 }
 
+rcl_ret_t
+rcl_lexer_lookahead2_peek_colon_prefix(
+  rcl_lexer_lookahead2_t * buffer)
+{
+  RCUTILS_CAN_SET_MSG_AND_RETURN_WITH_ERROR_OF(RCL_RET_INVALID_ARGUMENT);
+
+  RCL_CHECK_ARGUMENT_FOR_NULL(buffer, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_FOR_NULL_WITH_MSG(
+    buffer->impl, "buffer not initialized", return RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_FOR_NULL_WITH_MSG(
+    buffer->impl->text, "buffer text not initialized", return RCL_RET_INVALID_ARGUMENT);
+
+  rcl_lexeme_t lexeme = RCL_LEXEME_NONE;
+  rcl_ret_t ret;
+  size_t length;
+  const char * ptext = buffer->impl->text;
+  while (ptext) {
+    if (*ptext == '\0') {
+      ret = RCL_RET_ERROR;
+      break;
+    }
+    ret = rcl_lexer_analyze(ptext, &lexeme, &length);
+    if (RCL_RET_OK != ret) {
+      break;
+    }
+
+    if (lexeme == RCL_LEXEME_COLON) {
+      ret = RCL_RET_OK;
+      break;
+    }
+
+    ptext += length;
+  }
+  return ret;
+}
+
 rcl_ret_t
 rcl_lexer_lookahead2_accept(
   rcl_lexer_lookahead2_t * buffer,
diff --git a/rcl/src/rcl/remap.c b/rcl/src/rcl/remap.c
index 5db08623c..a6ec2ccc8 100644
--- a/rcl/src/rcl/remap.c
+++ b/rcl/src/rcl/remap.c
@@ -19,6 +19,7 @@
 #include "rcl/error_handling.h"
 #include "rcl/expand_topic_name.h"
 #include "rcutils/allocator.h"
+#include "rcutils/format_string.h"
 #include "rcutils/macros.h"
 #include "rcutils/strdup.h"
 #include "rcutils/types/string_map.h"
@@ -113,15 +114,34 @@ rcl_remap_first_match(
   rcl_remap_t ** output_rule)
 {
   *output_rule = NULL;
+
+  char * full_qualified_name = NULL;
+  if (node_namespace && node_name) {
+    const char * fmt = (strlen(node_namespace) == 1) ? "%s%s" : "%s/%s";
+    full_qualified_name =
+      rcutils_format_string(allocator, fmt, node_namespace, node_name);
+    if (NULL == full_qualified_name) {
+      RCL_SET_ERROR_MSG("failed to allocate memory for full node name");
+      return RCL_RET_BAD_ALLOC;
+    }
+  }
+
   for (int i = 0; i < num_rules; ++i) {
     rcl_remap_t * rule = &(remap_rules[i]);
     if (!(rule->impl->type & type_bitmask)) {
       // Not the type of remap rule we're looking fore
       continue;
     }
-    if (rule->impl->node_name != NULL && 0 != strcmp(rule->impl->node_name, node_name)) {
-      // Rule has a node name prefix and the supplied node name didn't match
-      continue;
+    if (rule->impl->node_name != NULL) {
+      if (rule->impl->node_name[0] == '/' && full_qualified_name) {
+        if (0 != strcmp(rule->impl->node_name, full_qualified_name)) {
+          // Rule has a full qualified name and the supplied node name didn't match
+          continue;
+        }
+      } else if (0 != strcmp(rule->impl->node_name, node_name)) {
+        // Rule has a node name prefix and the supplied node name didn't match
+        continue;
+      }
     }
     bool matched = false;
     if (rule->impl->type & (RCL_TOPIC_REMAP | RCL_SERVICE_REMAP)) {
@@ -138,6 +158,7 @@ rcl_remap_first_match(
           RCL_RET_BAD_ALLOC == ret)
         {
           // these are probably going to happen again. Stop processing rules
+          allocator.deallocate(full_qualified_name, allocator.state);
           return ret;
         }
         continue;
@@ -153,6 +174,7 @@ rcl_remap_first_match(
       break;
     }
   }
+  allocator.deallocate(full_qualified_name, allocator.state);
   return RCL_RET_OK;
 }
 
diff --git a/rcl/test/rcl/test_arguments.cpp b/rcl/test/rcl/test_arguments.cpp
index 9e7bcecf4..526f72822 100644
--- a/rcl/test/rcl/test_arguments.cpp
+++ b/rcl/test/rcl/test_arguments.cpp
@@ -143,6 +143,9 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_known_vs_unkno
   EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "foo:=/bar"}));
   EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "/foo123:=/bar123"}));
   EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "node:/foo123:=/bar123"}));
+  EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "node:foo123:=/bar123"}));
+  EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "/node:foo123:=/bar123"}));
+  EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "/ns1/node:foo123:=/bar123"}));
   EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rostopic:=/foo/bar"}));
   EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rosservice:=baz"}));
   EXPECT_TRUE(are_known_ros_args({"--ros-args", "-r", "rostopic://rostopic:=rosservice"}));
diff --git a/rcl/test/rcl/test_remap.cpp b/rcl/test/rcl/test_remap.cpp
index 72016d867..e59613d4b 100644
--- a/rcl/test/rcl/test_remap.cpp
+++ b/rcl/test/rcl/test_remap.cpp
@@ -194,7 +194,9 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_topic_re
     "--ros-args",
     "-r", "Node1:/foo:=/foo/bar",
     "-r", "Node2:/foo:=/this_one",
-    "-r", "Node3:/foo:=/bar/foo");
+    "-r", "Node3:/foo:=/bar/foo",
+    "-r", "/Node4:/foo:=/bar/foo",
+    "-r", "/ns1/Node5:/foo:=/bar/foo");
 
   {
     char * output = NULL;
@@ -220,6 +222,22 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_topic_re
     EXPECT_STREQ("/bar/foo", output);
     rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
   }
+  {
+    char * output = NULL;
+    ret = rcl_remap_topic_name(
+      NULL, &global_arguments, "/foo", "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_topic_name(
+      NULL, &global_arguments, "/foo", "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), no_use_global_topic_name_replacement) {
@@ -326,7 +344,9 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_service_
     "--ros-args",
     "-r", "Node1:/foo:=/foo/bar",
     "-r", "Node2:/foo:=/this_one",
-    "-r", "Node3:/foo:=/bar/foo");
+    "-r", "Node3:/foo:=/bar/foo",
+    "-r", "/Node4:/foo:=/bar/foo",
+    "-r", "/ns1/Node5:/foo:=/bar/foo");
 
   {
     char * output = NULL;
@@ -352,6 +372,22 @@ TEST_F(CLASSNAME(TestRemapFixture, RMW_IMPLEMENTATION), nodename_prefix_service_
     EXPECT_STREQ("/bar/foo", output);
     rcl_get_default_allocator().deallocate(output, rcl_get_default_allocator().state);
   }
+  {
+    char * output = NULL;
+    ret = rcl_remap_service_name(
+      NULL, &global_arguments, "/foo", "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_service_name(
+      NULL, &global_arguments, "/foo", "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), no_use_global_service_name_replacement) {