diff --git a/rmw_fastrtps_shared_cpp/test/CMakeLists.txt b/rmw_fastrtps_shared_cpp/test/CMakeLists.txt
index fd7d467d2..e6225dea3 100644
--- a/rmw_fastrtps_shared_cpp/test/CMakeLists.txt
+++ b/rmw_fastrtps_shared_cpp/test/CMakeLists.txt
@@ -18,3 +18,9 @@ if(TARGET test_rmw_init_options)
   ament_target_dependencies(test_rmw_init_options osrf_testing_tools_cpp rcutils rmw)
   target_link_libraries(test_rmw_init_options ${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..9e7210699
--- /dev/null
+++ b/rmw_fastrtps_shared_cpp/test/test_names.cpp
@@ -0,0 +1,53 @@
+// 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(""));
+  for (const auto & prefix : _get_all_ros_prefixes()) {
+    EXPECT_EQ(prefix, _get_ros_prefix_if_exists(prefix + "/test"));
+  }
+}
+
+TEST(NamespaceTest, strip_prefix) {
+  EXPECT_EQ("/no_prefix/test", _strip_ros_prefix_if_exists("/no_prefix/test"));
+  for (const auto & prefix : _get_all_ros_prefixes()) {
+    EXPECT_EQ("/test", _strip_ros_prefix_if_exists(prefix + "/test"));
+  }
+}
+
+TEST(NamespaceTest, resolve_prefix) {
+  EXPECT_EQ("", _resolve_prefix("/test", "some_ros_prefix"));
+  EXPECT_EQ(
+    "/test_some_ros_prefix",
+    _resolve_prefix("some_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_STREQ(
+    "some_ros_prefix/test__suffix", _create_topic_name(
+      &qos_profile, "some_ros_prefix", "/test", "__suffix").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());
+}