diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/names.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/names.hpp
index f4aff1c16..b19e95706 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/names.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/names.hpp
@@ -60,6 +60,8 @@ _create_topic_name(
   const char * base,
   const char * suffix = nullptr)
 {
+  assert(qos_profile);
+  assert(base);
   if (qos_profile->avoid_ros_namespace_conventions) {
     prefix = nullptr;
   }
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/namespace_prefix.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/namespace_prefix.hpp
index 08bb3a787..a2063a0ab 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/namespace_prefix.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/namespace_prefix.hpp
@@ -36,18 +36,22 @@ RMW_FASTRTPS_SHARED_CPP_PUBLIC extern const std::vector<std::string> _ros_prefix
  * \return name stripped of prefix, or
  * \return "" if name doesn't start with prefix
  */
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
 std::string
 _resolve_prefix(const std::string & name, const std::string & prefix);
 
 /// Return the ROS specific prefix if it exists, otherwise "".
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
 std::string
 _get_ros_prefix_if_exists(const std::string & topic_name);
 
 /// Returns the topic name stripped of and ROS specific prefix if exists.
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
 std::string
 _strip_ros_prefix_if_exists(const std::string & topic_name);
 
 /// Returns the list of ros prefixes
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
 const std::vector<std::string> &
 _get_all_ros_prefixes();
 #endif  // RMW_FASTRTPS_SHARED_CPP__NAMESPACE_PREFIX_HPP_
diff --git a/rmw_fastrtps_shared_cpp/src/namespace_prefix.cpp b/rmw_fastrtps_shared_cpp/src/namespace_prefix.cpp
index f42b689e1..d02fd0d51 100644
--- a/rmw_fastrtps_shared_cpp/src/namespace_prefix.cpp
+++ b/rmw_fastrtps_shared_cpp/src/namespace_prefix.cpp
@@ -31,7 +31,7 @@ const std::vector<std::string> _ros_prefixes =
 std::string
 _resolve_prefix(const std::string & name, const std::string & prefix)
 {
-  if (name.rfind(prefix, 0) == 0 && name.at(prefix.length()) == '/') {
+  if (name.rfind(prefix + "/", 0) == 0) {
     return name.substr(prefix.length());
   }
   return "";
@@ -42,7 +42,7 @@ std::string
 _get_ros_prefix_if_exists(const std::string & topic_name)
 {
   for (const auto & prefix : _ros_prefixes) {
-    if (topic_name.rfind(prefix, 0) == 0 && topic_name.at(prefix.length()) == '/') {
+    if (topic_name.rfind(prefix + "/", 0) == 0) {
       return prefix;
     }
   }
@@ -54,7 +54,7 @@ std::string
 _strip_ros_prefix_if_exists(const std::string & topic_name)
 {
   for (const auto & prefix : _ros_prefixes) {
-    if (topic_name.rfind(prefix, 0) == 0 && topic_name.at(prefix.length()) == '/') {
+    if (topic_name.rfind(prefix + "/", 0) == 0) {
       return topic_name.substr(prefix.length());
     }
   }
diff --git a/rmw_fastrtps_shared_cpp/test/CMakeLists.txt b/rmw_fastrtps_shared_cpp/test/CMakeLists.txt
index d434ea6e4..3db9b12e6 100644
--- a/rmw_fastrtps_shared_cpp/test/CMakeLists.txt
+++ b/rmw_fastrtps_shared_cpp/test/CMakeLists.txt
@@ -23,3 +23,9 @@ ament_add_gtest(test_guid_utils test_guid_utils.cpp)
 if(TARGET test_guid_utils)
   target_link_libraries(test_guid_utils ${PROJECT_NAME})
 endif()
+
+ament_add_gtest(test_names test_names.cpp)
+if(TARGET test_names)
+  ament_target_dependencies(test_names rmw)
+  target_link_libraries(test_names ${PROJECT_NAME})
+endif()
diff --git a/rmw_fastrtps_shared_cpp/test/test_names.cpp b/rmw_fastrtps_shared_cpp/test/test_names.cpp
new file mode 100644
index 000000000..3d9a40bcc
--- /dev/null
+++ b/rmw_fastrtps_shared_cpp/test/test_names.cpp
@@ -0,0 +1,90 @@
+// 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 "gtest/gtest.h"
+
+#include "rmw/qos_profiles.h"
+
+#include "rmw_fastrtps_shared_cpp/names.hpp"
+#include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
+
+TEST(NamespaceTest, get_prefix) {
+  EXPECT_EQ("", _get_ros_prefix_if_exists(""));
+  EXPECT_EQ("", _get_ros_prefix_if_exists("not/a_ros_prefix"));
+  for (const auto & prefix : _get_all_ros_prefixes()) {
+    EXPECT_EQ("", _get_ros_prefix_if_exists(prefix));
+    EXPECT_EQ("", _get_ros_prefix_if_exists(prefix + "_should_not_match"));
+    EXPECT_EQ("", _get_ros_prefix_if_exists("th/is_should_not_match/" + prefix));
+    EXPECT_EQ(prefix, _get_ros_prefix_if_exists(prefix + "/"));
+    EXPECT_EQ(prefix, _get_ros_prefix_if_exists(prefix + "/should_match"));
+  }
+}
+
+TEST(NamespaceTest, strip_prefix) {
+  EXPECT_EQ("", _strip_ros_prefix_if_exists(""));
+  EXPECT_EQ("/no_ros_prefix/test", _strip_ros_prefix_if_exists("/no_ros_prefix/test"));
+  for (const auto & prefix : _get_all_ros_prefixes()) {
+    EXPECT_EQ(prefix, _strip_ros_prefix_if_exists(prefix));
+    EXPECT_EQ("/", _strip_ros_prefix_if_exists(prefix + "/"));
+    EXPECT_EQ(
+      prefix + "should_not_be_stripped",
+      _strip_ros_prefix_if_exists(prefix + "should_not_be_stripped"));
+    EXPECT_EQ(
+      "th/is_should_not_be_stripped/" + prefix,
+      _strip_ros_prefix_if_exists("th/is_should_not_be_stripped/" + prefix));
+    EXPECT_EQ("/should_be_stripped", _strip_ros_prefix_if_exists(prefix + "/should_be_stripped"));
+  }
+}
+
+TEST(NamespaceTest, resolve_prefix) {
+  EXPECT_EQ("", _resolve_prefix("", ""));
+  EXPECT_EQ("", _resolve_prefix("", "some_ros_prefix"));
+  EXPECT_EQ("", _resolve_prefix("/test", "some_ros_prefix"));
+  EXPECT_EQ("/test", _resolve_prefix("/test", ""));
+  EXPECT_EQ("", _resolve_prefix("some_ros_prefix", "some_ros_prefix"));
+  EXPECT_EQ("/", _resolve_prefix("some_ros_prefix/", "some_ros_prefix"));
+  EXPECT_EQ(
+    "/test_some_ros_prefix",
+    _resolve_prefix("some_ros_prefix/test_some_ros_prefix", "some_ros_prefix"));
+  EXPECT_EQ(
+    "", _resolve_prefix("some_ros_prefix_test", "some_ros_prefix"));
+  EXPECT_EQ(
+    "", _resolve_prefix("this_ros_prefix/test/some_ros_prefix", "some_ros_prefix"));
+}
+
+TEST(NamespaceTest, name_mangling) {
+  rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
+  qos_profile.avoid_ros_namespace_conventions = false;
+
+  EXPECT_DEATH(_create_topic_name(nullptr, "", "", ""), "");
+
+  EXPECT_DEATH(_create_topic_name(&qos_profile, "", nullptr, ""), "");
+
+  EXPECT_STREQ(
+    "some_ros_prefix/test__suffix", _create_topic_name(
+      &qos_profile, "some_ros_prefix", "/test", "__suffix").c_str());
+
+  EXPECT_STREQ(
+    "/test__suffix", _create_topic_name(
+      &qos_profile, nullptr, "/test", "__suffix").c_str());
+
+  EXPECT_STREQ(
+    "some_ros_prefix/test", _create_topic_name(
+      &qos_profile, "some_ros_prefix", "/test", nullptr).c_str());
+
+  qos_profile.avoid_ros_namespace_conventions = true;
+  EXPECT_STREQ(
+    "/test__suffix", _create_topic_name(
+      &qos_profile, "some_ros_prefix", "/test", "__suffix").c_str());
+}