diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
index e9e0b4c50..273c8315d 100644
--- a/rcl/CMakeLists.txt
+++ b/rcl/CMakeLists.txt
@@ -53,6 +53,7 @@ set(${PROJECT_NAME}_sources
   src/rcl/node_options.c
   src/rcl/publisher.c
   src/rcl/remap.c
+  src/rcl/node_resolve_name.c
   src/rcl/rmw_implementation_identifier_check.c
   src/rcl/security.c
   src/rcl/service.c
diff --git a/rcl/include/rcl/expand_topic_name.h b/rcl/include/rcl/expand_topic_name.h
index bfcc288de..4816cbfbe 100644
--- a/rcl/include/rcl/expand_topic_name.h
+++ b/rcl/include/rcl/expand_topic_name.h
@@ -29,7 +29,7 @@ extern "C"
 /// Expand a given topic name into a fully-qualified topic name.
 /**
  * The input_topic_name, node_name, and node_namespace arguments must all be
- * vaid, null terminated c strings.
+ * valid, null terminated c strings.
  * The output_topic_name will not be assigned a value in the event of an error.
  *
  * The output_topic_name will be null terminated.
diff --git a/rcl/include/rcl/node.h b/rcl/include/rcl/node.h
index 900edb50e..011347fd3 100644
--- a/rcl/include/rcl/node.h
+++ b/rcl/include/rcl/node.h
@@ -490,6 +490,47 @@ RCL_WARN_UNUSED
 const char *
 rcl_node_get_logger_name(const rcl_node_t * node);
 
+/// Expand a given name into a fully-qualified topic name and apply remapping rules.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] node Node object. Its name, namespace, local/global command line arguments are used.
+ * \param[in] input_name Topic name to be expanded and remapped.
+ * \param[in] allocator The allocator to be used when creating the output topic.
+ * \param[in] is_service For services use `true`, for topics use `false`.
+ * \param[in] only_expand When `true`, remapping rules are ignored.
+ * \param[out] output_name Output char * pointer.
+ * \return `RCL_RET_OK` if the topic name was expanded successfully, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any of input_name, node_name, node_namespace
+ *  or output_name are NULL, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if both local_args and global_args are NULL, or
+ * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
+ * \return `RCL_RET_TOPIC_NAME_INVALID` if the given topic name is invalid
+ *  (see \ref rcl_validate_topic_name()), or
+ * \return `RCL_RET_NODE_INVALID_NAME` if the given node name is invalid
+ *  (see \ref rmw_validate_node_name()), or
+ * \return `RCL_RET_NODE_INVALID_NAMESPACE` if the given node namespace is invalid
+ *  (see \ref rmw_validate_namespace()), or
+ * \return `RCL_RET_UNKNOWN_SUBSTITUTION` for unknown substitutions in name, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_node_resolve_name(
+  const rcl_node_t * node,
+  const char * input_name,
+  rcl_allocator_t allocator,
+  bool is_service,
+  bool only_expand,
+  char ** output_name);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/rcl/src/rcl/client.c b/rcl/src/rcl/client.c
index 875236390..53dc77ca1 100644
--- a/rcl/src/rcl/client.c
+++ b/rcl/src/rcl/client.c
@@ -23,14 +23,12 @@ extern "C"
 #include <string.h>
 
 #include "rcl/error_handling.h"
-#include "rcl/expand_topic_name.h"
-#include "rcl/remap.h"
+#include "rcl/node.h"
 #include "rcutils/logging_macros.h"
 #include "rcutils/macros.h"
 #include "rcutils/stdatomic_helper.h"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
-#include "rmw/validate_full_topic_name.h"
 #include "tracetools/tracetools.h"
 
 #include "./common.h"
@@ -75,89 +73,27 @@ rcl_client_init(
     RCL_SET_ERROR_MSG("client already initialized, or memory was unintialized");
     return RCL_RET_ALREADY_INIT;
   }
+
   // Expand the given service name.
-  rcutils_allocator_t rcutils_allocator = *allocator;  // implicit conversion to rcutils version
-  rcutils_string_map_t substitutions_map = rcutils_get_zero_initialized_string_map();
-  rcutils_ret_t rcutils_ret = rcutils_string_map_init(&substitutions_map, 0, rcutils_allocator);
-  if (rcutils_ret != RCUTILS_RET_OK) {
-    RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
-    if (rcutils_ret == RCUTILS_RET_BAD_ALLOC) {
-      return RCL_RET_BAD_ALLOC;
-    }
-    return RCL_RET_ERROR;
-  }
-  rcl_ret_t ret = rcl_get_default_topic_name_substitutions(&substitutions_map);
-  if (ret != RCL_RET_OK) {
-    rcutils_ret = rcutils_string_map_fini(&substitutions_map);
-    if (rcutils_ret != RCUTILS_RET_OK) {
-      RCUTILS_LOG_ERROR_NAMED(
-        ROS_PACKAGE_NAME,
-        "failed to fini string_map (%d) during error handling: %s\n",
-        rcutils_ret,
-        rcutils_get_error_string().str);
-    }
-    if (ret == RCL_RET_BAD_ALLOC) {
-      return ret;
-    }
-    return RCL_RET_ERROR;
-  }
-  char * expanded_service_name = NULL;
   char * remapped_service_name = NULL;
-  ret = rcl_expand_topic_name(
+  rcl_ret_t ret = rcl_node_resolve_name(
+    node,
     service_name,
-    rcl_node_get_name(node),
-    rcl_node_get_namespace(node),
-    &substitutions_map,
     *allocator,
-    &expanded_service_name);
-  rcutils_ret = rcutils_string_map_fini(&substitutions_map);
-  if (rcutils_ret != RCUTILS_RET_OK) {
-    RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
-    allocator->deallocate(expanded_service_name, allocator->state);
-    return RCL_RET_ERROR;
-  }
+    true,
+    false,
+    &remapped_service_name);
   if (ret != RCL_RET_OK) {
-    if (ret == RCL_RET_TOPIC_NAME_INVALID || ret == RCL_RET_UNKNOWN_SUBSTITUTION) {
+    if (ret == RCL_RET_SERVICE_NAME_INVALID || ret == RCL_RET_UNKNOWN_SUBSTITUTION) {
       ret = RCL_RET_SERVICE_NAME_INVALID;
-    } else {
+    } else if (RCL_RET_BAD_ALLOC != ret) {
       ret = RCL_RET_ERROR;
     }
     goto cleanup;
   }
-  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expanded service name '%s'", expanded_service_name);
-
-  const rcl_node_options_t * node_options = rcl_node_get_options(node);
-  if (NULL == node_options) {
-    ret = RCL_RET_ERROR;
-    goto cleanup;
-  }
-  rcl_arguments_t * global_args = NULL;
-  if (node_options->use_global_arguments) {
-    global_args = &(node->context->global_arguments);
-  }
-  ret = rcl_remap_service_name(
-    &(node_options->arguments), global_args, expanded_service_name,
-    rcl_node_get_name(node), rcl_node_get_namespace(node), *allocator, &remapped_service_name);
-  if (RCL_RET_OK != ret) {
-    goto fail;
-  } else if (NULL == remapped_service_name) {
-    remapped_service_name = expanded_service_name;
-    expanded_service_name = NULL;
-  }
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Expanded and remapped service name '%s'", remapped_service_name);
 
-  // Validate the expanded service name.
-  int validation_result;
-  rmw_ret_t rmw_ret = rmw_validate_full_topic_name(remapped_service_name, &validation_result, NULL);
-  if (rmw_ret != RMW_RET_OK) {
-    RCL_SET_ERROR_MSG(rmw_get_error_string().str);
-    ret = RCL_RET_ERROR;
-    goto cleanup;
-  }
-  if (validation_result != RMW_TOPIC_VALID) {
-    RCL_SET_ERROR_MSG(rmw_full_topic_name_validation_result_string(validation_result));
-    ret = RCL_RET_SERVICE_NAME_INVALID;
-    goto cleanup;
-  }
   // Allocate space for the implementation struct.
   client->impl = (rcl_client_impl_t *)allocator->allocate(
     sizeof(rcl_client_impl_t), allocator->state);
@@ -195,12 +131,7 @@ rcl_client_init(
   ret = fail_ret;
   // Fall through to cleanup
 cleanup:
-  if (NULL != expanded_service_name) {
-    allocator->deallocate(expanded_service_name, allocator->state);
-  }
-  if (NULL != remapped_service_name) {
-    allocator->deallocate(remapped_service_name, allocator->state);
-  }
+  allocator->deallocate(remapped_service_name, allocator->state);
   return ret;
 }
 
diff --git a/rcl/src/rcl/node_resolve_name.c b/rcl/src/rcl/node_resolve_name.c
new file mode 100644
index 000000000..9c2667669
--- /dev/null
+++ b/rcl/src/rcl/node_resolve_name.c
@@ -0,0 +1,162 @@
+// Copyright 2020 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 "rcl/node.h"
+
+#include "rcutils/error_handling.h"
+#include "rcutils/logging_macros.h"
+#include "rcutils/types/string_map.h"
+
+#include "rmw/error_handling.h"
+#include "rmw/validate_full_topic_name.h"
+
+#include "rcl/error_handling.h"
+#include "rcl/expand_topic_name.h"
+#include "rcl/remap.h"
+
+#include "./remap_impl.h"
+
+static
+rcl_ret_t
+rcl_resolve_name(
+  const rcl_arguments_t * local_args,
+  const rcl_arguments_t * global_args,
+  const char * input_topic_name,
+  const char * node_name,
+  const char * node_namespace,
+  rcl_allocator_t allocator,
+  bool is_service,
+  bool only_expand,
+  char ** output_topic_name)
+{
+  // the other arguments are checked by rcl_expand_topic_name() and rcl_remap_name()
+  RCL_CHECK_ARGUMENT_FOR_NULL(output_topic_name, RCL_RET_INVALID_ARGUMENT);
+  // Create default topic name substitutions map
+  rcutils_string_map_t substitutions_map = rcutils_get_zero_initialized_string_map();
+  rcutils_ret_t rcutils_ret = rcutils_string_map_init(&substitutions_map, 0, allocator);
+  if (rcutils_ret != RCUTILS_RET_OK) {
+    rcutils_error_string_t error = rcutils_get_error_string();
+    rcutils_reset_error();
+    RCL_SET_ERROR_MSG(error.str);
+    if (RCUTILS_RET_BAD_ALLOC == rcutils_ret) {
+      return RCL_RET_BAD_ALLOC;
+    }
+    return RCL_RET_ERROR;
+  }
+  char * expanded_topic_name = NULL;
+  char * remapped_topic_name = NULL;
+  rcl_ret_t ret = rcl_get_default_topic_name_substitutions(&substitutions_map);
+  if (ret != RCL_RET_OK) {
+    if (RCL_RET_BAD_ALLOC != ret) {
+      ret = RCL_RET_ERROR;
+    }
+    goto cleanup;
+  }
+  // expand topic name
+  ret = rcl_expand_topic_name(
+    input_topic_name,
+    node_name,
+    node_namespace,
+    &substitutions_map,
+    allocator,
+    &expanded_topic_name);
+  if (RCL_RET_OK != ret) {
+    goto cleanup;
+  }
+  // remap topic name
+  if (!only_expand) {
+    ret = rcl_remap_name(
+      local_args, global_args, is_service ? RCL_SERVICE_REMAP : RCL_TOPIC_REMAP,
+      expanded_topic_name, node_name, node_namespace, &substitutions_map, allocator,
+      &remapped_topic_name);
+    if (RCL_RET_OK != ret) {
+      goto cleanup;
+    }
+  }
+  if (NULL == remapped_topic_name) {
+    remapped_topic_name = expanded_topic_name;
+    expanded_topic_name = NULL;
+  }
+  // validate the result
+  int validation_result;
+  rmw_ret_t rmw_ret = rmw_validate_full_topic_name(remapped_topic_name, &validation_result, NULL);
+  if (rmw_ret != RMW_RET_OK) {
+    const char * error = rmw_get_error_string().str;
+    rmw_reset_error();
+    RCL_SET_ERROR_MSG(error);
+    ret = RCL_RET_ERROR;
+    goto cleanup;
+  }
+  if (validation_result != RMW_TOPIC_VALID) {
+    RCL_SET_ERROR_MSG(rmw_full_topic_name_validation_result_string(validation_result));
+    ret = RCL_RET_TOPIC_NAME_INVALID;
+    goto cleanup;
+  }
+  *output_topic_name = remapped_topic_name;
+  remapped_topic_name = NULL;
+
+cleanup:
+  rcutils_ret = rcutils_string_map_fini(&substitutions_map);
+  if (rcutils_ret != RCUTILS_RET_OK) {
+    rcutils_error_string_t error = rcutils_get_error_string();
+    rcutils_reset_error();
+    if (RCL_RET_OK == ret) {
+      RCL_SET_ERROR_MSG(error.str);
+      ret = RCL_RET_ERROR;
+    } else {
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME,
+        "failed to fini string_map (%d) during error handling: %s",
+        rcutils_ret,
+        error.str);
+    }
+  }
+  allocator.deallocate(expanded_topic_name, allocator.state);
+  allocator.deallocate(remapped_topic_name, allocator.state);
+  if (is_service && RCL_RET_TOPIC_NAME_INVALID == ret) {
+    ret = RCL_RET_SERVICE_NAME_INVALID;
+  }
+  return ret;
+}
+
+rcl_ret_t
+rcl_node_resolve_name(
+  const rcl_node_t * node,
+  const char * input_topic_name,
+  rcl_allocator_t allocator,
+  bool is_service,
+  bool only_expand,
+  char ** output_topic_name)
+{
+  RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
+  const rcl_node_options_t * node_options = rcl_node_get_options(node);
+  if (NULL == node_options) {
+    return RCL_RET_ERROR;
+  }
+  rcl_arguments_t * global_args = NULL;
+  if (node_options->use_global_arguments) {
+    global_args = &(node->context->global_arguments);
+  }
+
+  return rcl_resolve_name(
+    &(node_options->arguments),
+    global_args,
+    input_topic_name,
+    rcl_node_get_name(node),
+    rcl_node_get_namespace(node),
+    allocator,
+    is_service,
+    only_expand,
+    output_topic_name);
+}
diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
index 6662aca0f..3046598a3 100644
--- a/rcl/src/rcl/publisher.c
+++ b/rcl/src/rcl/publisher.c
@@ -24,12 +24,10 @@ extern "C"
 
 #include "rcl/allocator.h"
 #include "rcl/error_handling.h"
-#include "rcl/expand_topic_name.h"
-#include "rcl/remap.h"
+#include "rcl/node.h"
 #include "rcutils/logging_macros.h"
 #include "rcutils/macros.h"
 #include "rmw/error_handling.h"
-#include "rmw/validate_full_topic_name.h"
 #include "tracetools/tracetools.h"
 
 #include "./common.h"
@@ -78,90 +76,26 @@ rcl_publisher_init(
   RCUTILS_LOG_DEBUG_NAMED(
     ROS_PACKAGE_NAME, "Initializing publisher for topic name '%s'", topic_name);
 
-
-  // Expand the given topic name.
-  rcutils_allocator_t rcutils_allocator = *allocator;  // implicit conversion to rcutils version
-  rcutils_string_map_t substitutions_map = rcutils_get_zero_initialized_string_map();
-  rcutils_ret_t rcutils_ret = rcutils_string_map_init(&substitutions_map, 0, rcutils_allocator);
-  if (rcutils_ret != RCUTILS_RET_OK) {
-    RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
-    if (rcutils_ret == RCUTILS_RET_BAD_ALLOC) {
-      return RCL_RET_BAD_ALLOC;
-    }
-    return RCL_RET_ERROR;
-  }
-  rcl_ret_t ret = rcl_get_default_topic_name_substitutions(&substitutions_map);
-  if (ret != RCL_RET_OK) {
-    rcutils_ret = rcutils_string_map_fini(&substitutions_map);
-    if (rcutils_ret != RCUTILS_RET_OK) {
-      RCUTILS_LOG_ERROR_NAMED(
-        ROS_PACKAGE_NAME,
-        "failed to fini string_map (%d) during error handling: %s",
-        rcutils_ret,
-        rcutils_get_error_string().str);
-    }
-    if (ret == RCL_RET_BAD_ALLOC) {
-      return ret;
-    }
-    return RCL_RET_ERROR;
-  }
-  char * expanded_topic_name = NULL;
+  // Expand and remap the given topic name.
   char * remapped_topic_name = NULL;
-  ret = rcl_expand_topic_name(
+  rcl_ret_t ret = rcl_node_resolve_name(
+    node,
     topic_name,
-    rcl_node_get_name(node),
-    rcl_node_get_namespace(node),
-    &substitutions_map,
     *allocator,
-    &expanded_topic_name);
-  rcutils_ret = rcutils_string_map_fini(&substitutions_map);
-  if (rcutils_ret != RCUTILS_RET_OK) {
-    RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
-    ret = RCL_RET_ERROR;
-    goto cleanup;
-  }
+    false,
+    false,
+    &remapped_topic_name);
   if (ret != RCL_RET_OK) {
     if (ret == RCL_RET_TOPIC_NAME_INVALID || ret == RCL_RET_UNKNOWN_SUBSTITUTION) {
       ret = RCL_RET_TOPIC_NAME_INVALID;
-    } else {
+    } else if (ret != RCL_RET_BAD_ALLOC) {
       ret = RCL_RET_ERROR;
     }
     goto cleanup;
   }
-  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expanded topic name '%s'", expanded_topic_name);
-
-  const rcl_node_options_t * node_options = rcl_node_get_options(node);
-  if (NULL == node_options) {
-    ret = RCL_RET_ERROR;
-    goto cleanup;
-  }
-  rcl_arguments_t * global_args = NULL;
-  if (node_options->use_global_arguments) {
-    global_args = &(node->context->global_arguments);
-  }
-  ret = rcl_remap_topic_name(
-    &(node_options->arguments), global_args, expanded_topic_name,
-    rcl_node_get_name(node), rcl_node_get_namespace(node), *allocator, &remapped_topic_name);
-  if (RCL_RET_OK != ret) {
-    goto fail;
-  } else if (NULL == remapped_topic_name) {
-    remapped_topic_name = expanded_topic_name;
-    expanded_topic_name = NULL;
-  }
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Expanded and remapped topic name '%s'", remapped_topic_name);
 
-  // Validate the expanded topic name.
-  int validation_result;
-  rmw_ret_t rmw_ret = rmw_validate_full_topic_name(remapped_topic_name, &validation_result, NULL);
-  if (rmw_ret != RMW_RET_OK) {
-    RCL_SET_ERROR_MSG(rmw_get_error_string().str);
-    ret = RCL_RET_ERROR;
-    goto cleanup;
-  }
-  if (validation_result != RMW_TOPIC_VALID) {
-    RCL_SET_ERROR_MSG(rmw_full_topic_name_validation_result_string(validation_result));
-    ret = RCL_RET_TOPIC_NAME_INVALID;
-    goto cleanup;
-  }
   // Allocate space for the implementation struct.
   publisher->impl = (rcl_publisher_impl_t *)allocator->allocate(
     sizeof(rcl_publisher_impl_t), allocator->state);
@@ -180,7 +114,7 @@ rcl_publisher_init(
   RCL_CHECK_FOR_NULL_WITH_MSG(
     publisher->impl->rmw_handle, rmw_get_error_string().str, goto fail);
   // get actual qos, and store it
-  rmw_ret = rmw_publisher_get_actual_qos(
+  rmw_ret_t rmw_ret = rmw_publisher_get_actual_qos(
     publisher->impl->rmw_handle,
     &publisher->impl->actual_qos);
   if (RMW_RET_OK != rmw_ret) {
@@ -221,12 +155,7 @@ rcl_publisher_init(
   ret = fail_ret;
   // Fall through to cleanup
 cleanup:
-  if (NULL != expanded_topic_name) {
-    allocator->deallocate(expanded_topic_name, allocator->state);
-  }
-  if (NULL != remapped_topic_name) {
-    allocator->deallocate(remapped_topic_name, allocator->state);
-  }
+  allocator->deallocate(remapped_topic_name, allocator->state);
   return ret;
 }
 
diff --git a/rcl/src/rcl/remap.c b/rcl/src/rcl/remap.c
index d8af63f87..5db08623c 100644
--- a/rcl/src/rcl/remap.c
+++ b/rcl/src/rcl/remap.c
@@ -99,9 +99,9 @@ rcl_remap_copy(
 
 /// Get the first matching rule in a chain.
 /// \return RCL_RET_OK if no errors occurred while searching for a rule
-RCL_LOCAL
+static
 rcl_ret_t
-_rcl_remap_first_match(
+rcl_remap_first_match(
   rcl_remap_t * remap_rules,
   int num_rules,
   rcl_remap_type_t type_bitmask,
@@ -159,7 +159,7 @@ _rcl_remap_first_match(
 /// Remap from one name to another using rules matching a given type bitmask.
 RCL_LOCAL
 rcl_ret_t
-_rcl_remap_name(
+rcl_remap_name(
   const rcl_arguments_t * local_arguments,
   const rcl_arguments_t * global_arguments,
   rcl_remap_type_t type_bitmask,
@@ -188,7 +188,7 @@ _rcl_remap_name(
 
   // Look at local rules first
   if (NULL != local_arguments) {
-    rcl_ret_t ret = _rcl_remap_first_match(
+    rcl_ret_t ret = rcl_remap_first_match(
       local_arguments->impl->remap_rules, local_arguments->impl->num_remap_rules, type_bitmask,
       name, node_name, node_namespace, substitutions, allocator, &rule);
     if (ret != RCL_RET_OK) {
@@ -197,7 +197,7 @@ _rcl_remap_name(
   }
   // Check global rules if no local rule matched
   if (NULL == rule && NULL != global_arguments) {
-    rcl_ret_t ret = _rcl_remap_first_match(
+    rcl_ret_t ret = rcl_remap_first_match(
       global_arguments->impl->remap_rules, global_arguments->impl->num_remap_rules, type_bitmask,
       name, node_name, node_namespace, substitutions, allocator, &rule);
     if (ret != RCL_RET_OK) {
@@ -244,7 +244,7 @@ rcl_remap_topic_name(
   if (RCUTILS_RET_OK == rcutils_ret) {
     ret = rcl_get_default_topic_name_substitutions(&substitutions);
     if (RCL_RET_OK == ret) {
-      ret = _rcl_remap_name(
+      ret = rcl_remap_name(
         local_arguments, global_arguments, RCL_TOPIC_REMAP, topic_name, node_name,
         node_namespace, &substitutions, allocator, output_name);
     }
@@ -274,7 +274,7 @@ rcl_remap_service_name(
   if (rcutils_ret == RCUTILS_RET_OK) {
     ret = rcl_get_default_topic_name_substitutions(&substitutions);
     if (ret == RCL_RET_OK) {
-      ret = _rcl_remap_name(
+      ret = rcl_remap_name(
         local_arguments, global_arguments, RCL_SERVICE_REMAP, service_name, node_name,
         node_namespace, &substitutions, allocator, output_name);
     }
@@ -299,7 +299,7 @@ rcl_remap_node_name(
   RCUTILS_CAN_SET_MSG_AND_RETURN_WITH_ERROR_OF(RCL_RET_ERROR);
 
   RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_INVALID_ARGUMENT);
-  return _rcl_remap_name(
+  return rcl_remap_name(
     local_arguments, global_arguments, RCL_NODENAME_REMAP, NULL, node_name, NULL, NULL,
     allocator, output_name);
 }
@@ -318,7 +318,7 @@ rcl_remap_node_namespace(
   RCUTILS_CAN_SET_MSG_AND_RETURN_WITH_ERROR_OF(RCL_RET_ERROR);
 
   RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_INVALID_ARGUMENT);
-  return _rcl_remap_name(
+  return rcl_remap_name(
     local_arguments, global_arguments, RCL_NAMESPACE_REMAP, NULL, node_name, NULL, NULL,
     allocator, output_namespace);
 }
diff --git a/rcl/src/rcl/remap_impl.h b/rcl/src/rcl/remap_impl.h
index 898e58cb7..770672592 100644
--- a/rcl/src/rcl/remap_impl.h
+++ b/rcl/src/rcl/remap_impl.h
@@ -51,6 +51,19 @@ typedef struct rcl_remap_impl_t
   rcl_allocator_t allocator;
 } rcl_remap_impl_t;
 
+RCL_LOCAL
+rcl_ret_t
+rcl_remap_name(
+  const rcl_arguments_t * local_arguments,
+  const rcl_arguments_t * global_arguments,
+  rcl_remap_type_t type_bitmask,
+  const char * name,
+  const char * node_name,
+  const char * node_namespace,
+  const rcutils_string_map_t * substitutions,
+  rcl_allocator_t allocator,
+  char ** output_name);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/rcl/src/rcl/service.c b/rcl/src/rcl/service.c
index 196e4aab3..251ab66b1 100644
--- a/rcl/src/rcl/service.c
+++ b/rcl/src/rcl/service.c
@@ -23,13 +23,11 @@ extern "C"
 #include <string.h>
 
 #include "rcl/error_handling.h"
-#include "rcl/expand_topic_name.h"
-#include "rcl/remap.h"
+#include "rcl/node.h"
 #include "rcutils/logging_macros.h"
 #include "rcutils/macros.h"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
-#include "rmw/validate_full_topic_name.h"
 #include "tracetools/tracetools.h"
 
 typedef struct rcl_service_impl_t
@@ -79,89 +77,27 @@ rcl_service_init(
     RCL_SET_ERROR_MSG("service already initialized, or memory was unintialized");
     return RCL_RET_ALREADY_INIT;
   }
-  // Expand the given service name.
-  rcutils_allocator_t rcutils_allocator = *allocator;  // implicit conversion to rcutils version
-  rcutils_string_map_t substitutions_map = rcutils_get_zero_initialized_string_map();
-  rcutils_ret_t rcutils_ret = rcutils_string_map_init(&substitutions_map, 0, rcutils_allocator);
-  if (rcutils_ret != RCUTILS_RET_OK) {
-    RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
-    if (RCUTILS_RET_BAD_ALLOC == rcutils_ret) {
-      return RCL_RET_BAD_ALLOC;
-    }
-    return RCL_RET_ERROR;
-  }
-  rcl_ret_t ret = rcl_get_default_topic_name_substitutions(&substitutions_map);
-  if (ret != RCL_RET_OK) {
-    rcutils_ret = rcutils_string_map_fini(&substitutions_map);
-    if (rcutils_ret != RCUTILS_RET_OK) {
-      RCUTILS_LOG_ERROR_NAMED(
-        ROS_PACKAGE_NAME,
-        "failed to fini string_map (%d) during error handling: %s",
-        rcutils_ret,
-        rcutils_get_error_string().str);
-    }
-    if (RCL_RET_BAD_ALLOC == ret) {
-      return ret;
-    }
-    return RCL_RET_ERROR;
-  }
-  char * expanded_service_name = NULL;
+
+  // Expand and remap the given service name.
   char * remapped_service_name = NULL;
-  ret = rcl_expand_topic_name(
+  rcl_ret_t ret = rcl_node_resolve_name(
+    node,
     service_name,
-    rcl_node_get_name(node),
-    rcl_node_get_namespace(node),
-    &substitutions_map,
     *allocator,
-    &expanded_service_name);
-  rcutils_ret = rcutils_string_map_fini(&substitutions_map);
-  if (rcutils_ret != RCUTILS_RET_OK) {
-    RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
-    ret = RCL_RET_ERROR;
-    goto cleanup;
-  }
+    true,
+    false,
+    &remapped_service_name);
   if (ret != RCL_RET_OK) {
-    if (ret == RCL_RET_TOPIC_NAME_INVALID || ret == RCL_RET_UNKNOWN_SUBSTITUTION) {
+    if (ret == RCL_RET_SERVICE_NAME_INVALID || ret == RCL_RET_UNKNOWN_SUBSTITUTION) {
       ret = RCL_RET_SERVICE_NAME_INVALID;
-    } else {
+    } else if (ret != RCL_RET_BAD_ALLOC) {
       ret = RCL_RET_ERROR;
     }
     goto cleanup;
   }
-  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expanded service name '%s'", expanded_service_name);
-
-  const rcl_node_options_t * node_options = rcl_node_get_options(node);
-  if (NULL == node_options) {
-    ret = RCL_RET_ERROR;
-    goto cleanup;
-  }
-  rcl_arguments_t * global_args = NULL;
-  if (node_options->use_global_arguments) {
-    global_args = &(node->context->global_arguments);
-  }
-  ret = rcl_remap_service_name(
-    &(node_options->arguments), global_args, expanded_service_name,
-    rcl_node_get_name(node), rcl_node_get_namespace(node), *allocator, &remapped_service_name);
-  if (RCL_RET_OK != ret) {
-    goto fail;
-  } else if (NULL == remapped_service_name) {
-    remapped_service_name = expanded_service_name;
-    expanded_service_name = NULL;
-  }
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Expanded and remapped service name '%s'", remapped_service_name);
 
-  // Validate the expanded service name.
-  int validation_result;
-  rmw_ret_t rmw_ret = rmw_validate_full_topic_name(remapped_service_name, &validation_result, NULL);
-  if (rmw_ret != RMW_RET_OK) {
-    RCL_SET_ERROR_MSG(rmw_get_error_string().str);
-    ret = RCL_RET_ERROR;
-    goto cleanup;
-  }
-  if (validation_result != RMW_TOPIC_VALID) {
-    RCL_SET_ERROR_MSG(rmw_full_topic_name_validation_result_string(validation_result));
-    ret = RCL_RET_SERVICE_NAME_INVALID;
-    goto cleanup;
-  }
   // Allocate space for the implementation struct.
   service->impl = (rcl_service_impl_t *)allocator->allocate(
     sizeof(rcl_service_impl_t), allocator->state);
@@ -205,12 +141,7 @@ rcl_service_init(
   ret = fail_ret;
   // Fall through to clean up
 cleanup:
-  if (NULL != expanded_service_name) {
-    allocator->deallocate(expanded_service_name, allocator->state);
-  }
-  if (NULL != remapped_service_name) {
-    allocator->deallocate(remapped_service_name, allocator->state);
-  }
+  allocator->deallocate(remapped_service_name, allocator->state);
   return ret;
 }
 
diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
index e9c2748aa..5b122e415 100644
--- a/rcl/src/rcl/subscription.c
+++ b/rcl/src/rcl/subscription.c
@@ -22,8 +22,7 @@ extern "C"
 #include <stdio.h>
 
 #include "rcl/error_handling.h"
-#include "rcl/expand_topic_name.h"
-#include "rcl/remap.h"
+#include "rcl/node.h"
 #include "rcutils/logging_macros.h"
 #include "rmw/error_handling.h"
 #include "rmw/validate_full_topic_name.h"
@@ -67,89 +66,27 @@ rcl_subscription_init(
     RCL_SET_ERROR_MSG("subscription already initialized, or memory was uninitialized");
     return RCL_RET_ALREADY_INIT;
   }
-  // Expand the given topic name.
-  rcutils_allocator_t rcutils_allocator = *allocator;  // implicit conversion to rcutils version
-  rcutils_string_map_t substitutions_map = rcutils_get_zero_initialized_string_map();
-  rcutils_ret_t rcutils_ret = rcutils_string_map_init(&substitutions_map, 0, rcutils_allocator);
-  if (rcutils_ret != RCUTILS_RET_OK) {
-    RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
-    if (RCUTILS_RET_BAD_ALLOC == rcutils_ret) {
-      return RCL_RET_BAD_ALLOC;
-    }
-    return RCL_RET_ERROR;
-  }
-  rcl_ret_t ret = rcl_get_default_topic_name_substitutions(&substitutions_map);
-  if (ret != RCL_RET_OK) {
-    rcutils_ret = rcutils_string_map_fini(&substitutions_map);
-    if (rcutils_ret != RCUTILS_RET_OK) {
-      RCUTILS_LOG_ERROR_NAMED(
-        ROS_PACKAGE_NAME,
-        "failed to fini string_map (%d) during error handling: %s",
-        rcutils_ret,
-        rcutils_get_error_string().str);
-    }
-    if (RCL_RET_BAD_ALLOC == ret) {
-      return ret;
-    }
-    return RCL_RET_ERROR;
-  }
-  char * expanded_topic_name = NULL;
+
+  // Expand and remap the given topic name.
   char * remapped_topic_name = NULL;
-  ret = rcl_expand_topic_name(
+  rcl_ret_t ret = rcl_node_resolve_name(
+    node,
     topic_name,
-    rcl_node_get_name(node),
-    rcl_node_get_namespace(node),
-    &substitutions_map,
     *allocator,
-    &expanded_topic_name);
-  rcutils_ret = rcutils_string_map_fini(&substitutions_map);
-  if (rcutils_ret != RCUTILS_RET_OK) {
-    RCL_SET_ERROR_MSG(rcutils_get_error_string().str);
-    ret = RCL_RET_ERROR;
-    goto cleanup;
-  }
+    false,
+    false,
+    &remapped_topic_name);
   if (ret != RCL_RET_OK) {
     if (ret == RCL_RET_TOPIC_NAME_INVALID || ret == RCL_RET_UNKNOWN_SUBSTITUTION) {
       ret = RCL_RET_TOPIC_NAME_INVALID;
-    } else {
+    } else if (ret != RCL_RET_BAD_ALLOC) {
       ret = RCL_RET_ERROR;
     }
     goto cleanup;
   }
-  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expanded topic name '%s'", expanded_topic_name);
-
-  const rcl_node_options_t * node_options = rcl_node_get_options(node);
-  if (NULL == node_options) {
-    ret = RCL_RET_ERROR;
-    goto cleanup;
-  }
-  rcl_arguments_t * global_args = NULL;
-  if (node_options->use_global_arguments) {
-    global_args = &(node->context->global_arguments);
-  }
-  ret = rcl_remap_topic_name(
-    &(node_options->arguments), global_args, expanded_topic_name,
-    rcl_node_get_name(node), rcl_node_get_namespace(node), *allocator, &remapped_topic_name);
-  if (RCL_RET_OK != ret) {
-    goto fail;
-  } else if (NULL == remapped_topic_name) {
-    remapped_topic_name = expanded_topic_name;
-    expanded_topic_name = NULL;
-  }
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Expanded and remapped topic name '%s'", remapped_topic_name);
 
-  // Validate the expanded topic name.
-  int validation_result;
-  rmw_ret_t rmw_ret = rmw_validate_full_topic_name(remapped_topic_name, &validation_result, NULL);
-  if (rmw_ret != RMW_RET_OK) {
-    RCL_SET_ERROR_MSG(rmw_get_error_string().str);
-    ret = RCL_RET_ERROR;
-    goto cleanup;
-  }
-  if (validation_result != RMW_TOPIC_VALID) {
-    RCL_SET_ERROR_MSG(rmw_full_topic_name_validation_result_string(validation_result));
-    ret = RCL_RET_TOPIC_NAME_INVALID;
-    goto cleanup;
-  }
   // Allocate memory for the implementation struct.
   subscription->impl = (rcl_subscription_impl_t *)allocator->allocate(
     sizeof(rcl_subscription_impl_t), allocator->state);
@@ -169,7 +106,7 @@ rcl_subscription_init(
     goto fail;
   }
   // get actual qos, and store it
-  rmw_ret = rmw_subscription_get_actual_qos(
+  rmw_ret_t rmw_ret = rmw_subscription_get_actual_qos(
     subscription->impl->rmw_handle,
     &subscription->impl->actual_qos);
   if (RMW_RET_OK != rmw_ret) {
@@ -208,12 +145,7 @@ rcl_subscription_init(
   ret = fail_ret;
   // Fall through to cleanup
 cleanup:
-  if (NULL != expanded_topic_name) {
-    allocator->deallocate(expanded_topic_name, allocator->state);
-  }
-  if (NULL != remapped_topic_name) {
-    allocator->deallocate(remapped_topic_name, allocator->state);
-  }
+  allocator->deallocate(remapped_topic_name, allocator->state);
   return ret;
 }
 
diff --git a/rcl/test/rcl/test_node.cpp b/rcl/test/rcl/test_node.cpp
index 2d20306fd..c21576126 100644
--- a/rcl/test/rcl/test_node.cpp
+++ b/rcl/test/rcl/test_node.cpp
@@ -33,6 +33,7 @@
 #include "rcl/logging_rosout.h"
 
 #include "../mocking_utils/patch.hpp"
+#include "./arg_macros.hpp"
 
 #ifdef RMW_IMPLEMENTATION
 # define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
@@ -900,3 +901,99 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_options_fai
 
   EXPECT_EQ(RCL_RET_OK, rcl_arguments_fini(&prev_ini_options.arguments));
 }
+
+/* Tests special case node_options
+ */
+TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_resolve_name) {
+  rcl_allocator_t default_allocator = rcl_get_default_allocator();
+  char * final_name = NULL;
+  rcl_node_t node = rcl_get_zero_initialized_node();
+  // Invalid node
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_node_resolve_name(NULL, "my_topic", default_allocator, false, false, &final_name));
+  EXPECT_EQ(
+    RCL_RET_ERROR,
+    rcl_node_resolve_name(&node, "my_topic", default_allocator, false, false, &final_name));
+
+  // Initialize rcl with rcl_init().
+  rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+  rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
+  });
+  rcl_context_t context = rcl_get_zero_initialized_context();
+  ret = rcl_init(0, nullptr, &init_options, &context);
+  ASSERT_EQ(RCL_RET_OK, ret);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    ASSERT_EQ(RCL_RET_OK, rcl_shutdown(&context));
+    ASSERT_EQ(RCL_RET_OK, rcl_context_fini(&context));
+  });
+
+  // Initialize node with default options
+  rcl_node_options_t options = rcl_node_get_default_options();
+  rcl_arguments_t local_arguments = rcl_get_zero_initialized_arguments();
+  const char * argv[] = {"process_name", "--ros-args", "-r", "/bar/foo:=/foo/local_args"};
+  unsigned int argc = (sizeof(argv) / sizeof(const char *));
+  ret = rcl_parse_arguments(
+    argc, argv, default_allocator, &local_arguments);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  options.arguments = local_arguments;  // transfer ownership
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_node_options_fini(&options);
+  });
+  ret = rcl_node_init(&node, "node", "/ns", &context, &options);
+  ASSERT_EQ(RCL_RET_OK, ret);
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    ASSERT_EQ(RCL_RET_OK, rcl_node_fini(&node));
+  });
+
+  // Invalid arguments
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_node_resolve_name(&node, NULL, default_allocator, false, false, &final_name));
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_node_resolve_name(&node, "my_topic", default_allocator, false, false, NULL));
+
+  // Some valid options, test_remap and test_expand_topic_name already have good coverage
+  EXPECT_EQ(
+    RCL_RET_OK,
+    rcl_node_resolve_name(&node, "my_topic", default_allocator, false, false, &final_name));
+  ASSERT_TRUE(final_name);
+  EXPECT_STREQ("/ns/my_topic", final_name);
+  default_allocator.deallocate(final_name, default_allocator.state);
+
+  EXPECT_EQ(
+    RCL_RET_OK,
+    rcl_node_resolve_name(&node, "my_service", default_allocator, true, false, &final_name));
+  ASSERT_TRUE(final_name);
+  EXPECT_STREQ("/ns/my_service", final_name);
+  default_allocator.deallocate(final_name, default_allocator.state);
+
+  EXPECT_EQ(
+    RCL_RET_OK,
+    rcl_node_resolve_name(&node, "/bar/foo", default_allocator, false, false, &final_name));
+  ASSERT_TRUE(final_name);
+  EXPECT_STREQ("/foo/local_args", final_name);
+  default_allocator.deallocate(final_name, default_allocator.state);
+
+  EXPECT_EQ(
+    RCL_RET_OK,
+    rcl_node_resolve_name(&node, "/bar/foo", default_allocator, false, true, &final_name));
+  ASSERT_TRUE(final_name);
+  EXPECT_STREQ("/bar/foo", final_name);
+  default_allocator.deallocate(final_name, default_allocator.state);
+
+  EXPECT_EQ(
+    RCL_RET_OK,
+    rcl_node_resolve_name(&node, "relative_ns/foo", default_allocator, true, false, &final_name));
+  ASSERT_TRUE(final_name);
+  EXPECT_STREQ("/ns/relative_ns/foo", final_name);
+  default_allocator.deallocate(final_name, default_allocator.state);
+}
diff --git a/rcl/test/rcl/test_publisher.cpp b/rcl/test/rcl/test_publisher.cpp
index 3fcbe0227..cf28011f7 100644
--- a/rcl/test/rcl/test_publisher.cpp
+++ b/rcl/test/rcl/test_publisher.cpp
@@ -788,23 +788,6 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_mocks_fail_publ
     EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
     rcl_reset_error();
   }
-  {
-    // Internal failure when fini rcutils_string_map returns error, targets rcl_remap_topic_name
-    auto mock = mocking_utils::patch(
-      "lib:rcl", rcutils_string_map_init, [](auto...) {
-        static int counter = 1;
-        if (counter == 1) {
-          counter++;
-          return RCUTILS_RET_OK;
-        } else {
-          // This makes rcl_remap_topic_name fail
-          return RCUTILS_RET_ERROR;
-        }
-      });
-    ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
-    EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
-    rcl_reset_error();
-  }
   {
     // Internal rmw failure validating topic name
     auto mock = mocking_utils::patch_and_return(