diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
index 6f0df5c83..7f60c0a59 100644
--- a/rcl/src/rcl/node.c
+++ b/rcl/src/rcl/node.c
@@ -264,7 +264,14 @@ rcl_node_init(
     node->impl->logger_name, "creating logger name failed", goto fail);
 #endif // RCL_LOGGING_ENABLED
 
-  domain_id = node->impl->options.domain_id;
+  if (RCL_DEFAULT_DOMAIN_ID != node->impl->options.domain_id) {
+    domain_id = node->impl->options.domain_id;
+  } else {
+    if (RCL_RET_OK != rcl_init_options_get_domain_id(&context->impl->init_options, &domain_id)) {
+      goto fail;
+    }
+  }
+
   if (RCL_DEFAULT_DOMAIN_ID == domain_id) {
     if (RCL_RET_OK != rcl_get_default_domain_id(&domain_id)) {
       goto fail;
@@ -273,6 +280,7 @@ rcl_node_init(
   if (RMW_DEFAULT_DOMAIN_ID == domain_id) {
     domain_id = 0u;
   }
+
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Using domain ID of '%zu'", domain_id);
   node->impl->actual_domain_id = domain_id;