diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
index 8a0faaa93b8..63be7034428 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
@@ -85,7 +85,7 @@ bool BtActionServer<ActionT>::on_configure()
   // use suffix '_rclcpp_node' to keep parameter file consistency #1773
   auto options = rclcpp::NodeOptions().arguments(
     {"--ros-args",
-      "-r", std::string("__node:=") + node->get_name() + "_rclcpp_node",
+      "-r", std::string("__node:=") + std::string(node->get_name()) + action_name_ + "_rclcpp_node",
       "--"});
   // Support for handling the topic-based goal pose from rviz
   client_node_ = std::make_shared<rclcpp::Node>("_", options);