diff --git a/rclcpp/test/test_node.cpp b/rclcpp/test/test_node.cpp
index 8b44f89e5c..a1a61ccdd4 100644
--- a/rclcpp/test/test_node.cpp
+++ b/rclcpp/test/test_node.cpp
@@ -66,7 +66,7 @@ TEST_F(TestNode, get_name_and_namespace) {
   }
   {
     auto options = rclcpp::NodeOptions()
-      .arguments({"__ns:=/another_ns"});
+      .arguments({"-r", "__ns:=/another_ns"});
     auto node = std::make_shared<rclcpp::Node>("my_node", "/ns", options);
     EXPECT_STREQ("my_node", node->get_name());
     EXPECT_STREQ("/another_ns", node->get_namespace());
diff --git a/rclcpp/test/test_node_global_args.cpp b/rclcpp/test/test_node_global_args.cpp
index 19d5d7e060..998bf5df7e 100644
--- a/rclcpp/test/test_node_global_args.cpp
+++ b/rclcpp/test/test_node_global_args.cpp
@@ -28,14 +28,15 @@ class TestNodeWithGlobalArgs : public ::testing::Test
 protected:
   static void SetUpTestCase()
   {
-    const char * const args[] = {"proc", "--ros-args", "__node:=global_node_name"};
-    rclcpp::init(3, args);
+    const char * const args[] = {"proc", "--ros-args", "-r", "__node:=global_node_name"};
+    const int argc = sizeof(args) / sizeof(const char *);
+    rclcpp::init(argc, args);
   }
 };
 
 TEST_F(TestNodeWithGlobalArgs, local_arguments_before_global) {
   auto options = rclcpp::NodeOptions()
-    .arguments({"__node:=local_arguments_test"});
+    .arguments({"-r", "__node:=local_arguments_test"});
 
   auto node = rclcpp::Node::make_shared("orig_name", options);
   EXPECT_STREQ("local_arguments_test", node->get_name());
diff --git a/rclcpp/test/test_node_options.cpp b/rclcpp/test/test_node_options.cpp
index cefe2be45e..3d66d034f7 100644
--- a/rclcpp/test/test_node_options.cpp
+++ b/rclcpp/test/test_node_options.cpp
@@ -27,7 +27,7 @@
 TEST(TestNodeOptions, implicit_ros_args) {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   auto options = rclcpp::NodeOptions(allocator)
-    .arguments({"__node:=some_node", "__ns:=/some_ns"});
+    .arguments({"-r", "__node:=some_node", "-r", "__ns:=/some_ns"});
 
   const rcl_node_options_t * rcl_options = options.get_rcl_node_options();
   ASSERT_TRUE(rcl_options != nullptr);
@@ -52,7 +52,7 @@ TEST(TestNodeOptions, implicit_ros_args) {
 TEST(TestNodeOptions, explicit_ros_args) {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   auto options = rclcpp::NodeOptions(allocator)
-    .arguments({"--ros-args", "__node:=some_node", "__ns:=/some_ns"});
+    .arguments({"--ros-args", "-r", "__node:=some_node", "-r", "__ns:=/some_ns"});
 
   const rcl_node_options_t * rcl_options = options.get_rcl_node_options();
   ASSERT_TRUE(rcl_options != nullptr);
@@ -77,8 +77,8 @@ TEST(TestNodeOptions, explicit_ros_args) {
 TEST(TestNodeOptions, explicit_ros_args_and_non_ros_args) {
   rcl_allocator_t allocator = rcl_get_default_allocator();
   auto options = rclcpp::NodeOptions(allocator).arguments({
-    "--non-ros-flag", "--ros-args", "__node:=some_node",
-    "__ns:=/some_ns", "--", "non-ros-arg"});
+    "--non-ros-flag", "--ros-args", "-r", "__node:=some_node",
+    "-r", "__ns:=/some_ns", "--", "non-ros-arg"});
 
   const rcl_node_options_t * rcl_options = options.get_rcl_node_options();
   ASSERT_TRUE(rcl_options != nullptr);
diff --git a/rclcpp/test/test_utilities.cpp b/rclcpp/test/test_utilities.cpp
index 7f4d336e2e..dc0a301976 100644
--- a/rclcpp/test/test_utilities.cpp
+++ b/rclcpp/test/test_utilities.cpp
@@ -23,8 +23,11 @@
 
 TEST(TestUtilities, remove_ros_arguments) {
   const char * const argv[] = {
-    "process_name", "-d", "--ros-args", "__ns:=/foo/bar", "__ns:=/fiz/buz", "--",
-    "--foo=bar", "--baz"
+    "process_name",
+    "-d", "--ros-args",
+    "-r", "__ns:=/foo/bar",
+    "-r", "__ns:=/fiz/buz",
+    "--", "--foo=bar", "--baz"
   };
   int argc = sizeof(argv) / sizeof(const char *);
   auto args = rclcpp::remove_ros_arguments(argc, argv);
diff --git a/rclcpp_components/src/component_manager.cpp b/rclcpp_components/src/component_manager.cpp
index 43d18fa084..a19c26407b 100644
--- a/rclcpp_components/src/component_manager.cpp
+++ b/rclcpp_components/src/component_manager.cpp
@@ -142,13 +142,20 @@ ComponentManager::OnLoadNode(
         parameters.push_back(rclcpp::Parameter::from_parameter_msg(p));
       }
 
-      std::vector<std::string> remap_rules {request->remap_rules};
+      std::vector<std::string> remap_rules;
+      remap_rules.reserve(request->remap_rules.size() * 2);
+      for (const std::string & rule : request->remap_rules) {
+        remap_rules.push_back("-r");
+        remap_rules.push_back(rule);
+      }
 
       if (!request->node_name.empty()) {
+        remap_rules.push_back("-r");
         remap_rules.push_back("__node:=" + request->node_name);
       }
 
       if (!request->node_namespace.empty()) {
+        remap_rules.push_back("-r");
         remap_rules.push_back("__ns:=" + request->node_namespace);
       }