diff --git a/rcl/include/rcl/expand_topic_name.h b/rcl/include/rcl/expand_topic_name.h
index 20ac860..48f6edb 100644
--- a/rcl/include/rcl/expand_topic_name.h
+++ b/rcl/include/rcl/expand_topic_name.h
@@ -64,7 +64,7 @@ extern "C"
  * if (ret != RCL_RET_OK) {
  *   // ... error handling
  * } else {
- *   RCUTILS_LOG_INFO("Expanded topic name: %s", expanded_topic_name)
+ *   RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "Expanded topic name: %s", expanded_topic_name)
  *   // ... when done the output topic name needs to be deallocated:
  *   allocator.deallocate(expanded_topic_name, allocator.state);
  * }
diff --git a/rcl/src/rcl/client.c b/rcl/src/rcl/client.c
index 1ffd254..26c2ef4 100644
--- a/rcl/src/rcl/client.c
+++ b/rcl/src/rcl/client.c
@@ -67,6 +67,8 @@ rcl_client_init(
   }
   RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator);
   RCL_CHECK_ARGUMENT_FOR_NULL(service_name, RCL_RET_INVALID_ARGUMENT, *allocator);
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Initializing client for service name '%s'", service_name)
   if (client->impl) {
     RCL_SET_ERROR_MSG("client already initialized, or memory was unintialized", *allocator);
     return RCL_RET_ALREADY_INIT;
@@ -87,7 +89,7 @@ rcl_client_init(
     rcutils_ret = rcutils_string_map_fini(&substitutions_map);
     if (rcutils_ret != RCUTILS_RET_OK) {
       RCUTILS_LOG_ERROR_NAMED(
-        "rcl",
+        ROS_PACKAGE_NAME,
         "failed to fini string_map (%d) during error handling: %s\n",
         rcutils_ret,
         rcutils_get_error_string_safe())
@@ -120,6 +122,7 @@ rcl_client_init(
       return RCL_RET_ERROR;
     }
   }
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expanded service name '%s'", expanded_service_name)
   // Validate the expanded service name.
   int validation_result;
   rmw_ret_t rmw_ret = rmw_validate_full_topic_name(expanded_service_name, &validation_result, NULL);
@@ -151,6 +154,7 @@ rcl_client_init(
   }
   // options
   client->impl->options = *options;
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client initialized")
   return RCL_RET_OK;
 fail:
   if (client->impl) {
@@ -163,6 +167,7 @@ rcl_ret_t
 rcl_client_fini(rcl_client_t * client, rcl_node_t * node)
 {
   (void)node;
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing client")
   rcl_ret_t result = RCL_RET_OK;
   RCL_CHECK_ARGUMENT_FOR_NULL(client, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
   RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
@@ -182,6 +187,7 @@ rcl_client_fini(rcl_client_t * client, rcl_node_t * node)
     }
     allocator.deallocate(client->impl, allocator.state);
   }
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client finalized")
   return result;
 }
 
@@ -232,6 +238,7 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_send_request(const rcl_client_t * client, const void * ros_request, int64_t * sequence_number)
 {
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client sending service request")
   if (!rcl_client_is_valid(client)) {
     return RCL_RET_CLIENT_INVALID;
   }
@@ -257,6 +264,7 @@ rcl_take_response(
   rmw_request_id_t * request_header,
   void * ros_response)
 {
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client taking service response")
   if (!rcl_client_is_valid(client)) {
     return RCL_RET_CLIENT_INVALID;
   }
@@ -272,6 +280,8 @@ rcl_take_response(
     RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), client->impl->options.allocator);
     return RCL_RET_ERROR;
   }
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Client take response succeeded: %s", taken ? "true" : "false")
   if (!taken) {
     return RCL_RET_CLIENT_TAKE_FAILED;
   }
diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
index 952afc9..a5c3376 100644
--- a/rcl/src/rcl/node.c
+++ b/rcl/src/rcl/node.c
@@ -108,6 +108,8 @@ rcl_node_init(
   RCL_CHECK_ARGUMENT_FOR_NULL(name, RCL_RET_INVALID_ARGUMENT, *allocator);
   RCL_CHECK_ARGUMENT_FOR_NULL(namespace_, RCL_RET_INVALID_ARGUMENT, *allocator);
   RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, *allocator);
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Initializing node '%s' in namespace '%s'", name, namespace_)
   if (node->impl) {
     RCL_SET_ERROR_MSG("node already initialized, or struct memory was unintialized", *allocator);
     return RCL_RET_ALREADY_INIT;
@@ -215,6 +217,7 @@ rcl_node_init(
   }
   // actual domain id
   node->impl->actual_domain_id = domain_id;
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Using domain ID of '%zu'", domain_id)
 
   const char * ros_security_enable = NULL;
   const char * ros_enforce_security = NULL;
@@ -230,6 +233,8 @@ rcl_node_init(
   }
 
   bool use_security = (0 == strcmp(ros_security_enable, "true"));
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Using security: %s", use_security ? "true" : "false")
 
   if (rcutils_get_env(ROS_SECURITY_STRATEGY_VAR_NAME, &ros_enforce_security)) {
     RCL_SET_ERROR_MSG(
@@ -301,6 +306,7 @@ rcl_node_init(
     // error message already set
     goto fail;
   }
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Node initialized")
   return RCL_RET_OK;
 fail:
   if (node->impl) {
@@ -308,7 +314,7 @@ fail:
       ret = rmw_destroy_node(node->impl->rmw_node_handle);
       if (ret != RMW_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
-          "rcl",
+          ROS_PACKAGE_NAME,
           "failed to fini rmw node in error recovery: %s", rmw_get_error_string_safe()
         )
       }
@@ -317,7 +323,7 @@ fail:
       ret = rcl_guard_condition_fini(node->impl->graph_guard_condition);
       if (ret != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
-          "rcl",
+          ROS_PACKAGE_NAME,
           "failed to fini guard condition in error recovery: %s", rcl_get_error_string_safe()
         )
       }
@@ -337,6 +343,7 @@ fail:
 rcl_ret_t
 rcl_node_fini(rcl_node_t * node)
 {
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing node")
   RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
   if (!node->impl) {
     // Repeat calls to fini or calling fini on a zero initialized node is ok.
@@ -358,6 +365,7 @@ rcl_node_fini(rcl_node_t * node)
   // assuming that allocate and deallocate are ok since they are checked in init
   allocator.deallocate(node->impl, allocator.state);
   node->impl = NULL;
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Node finalized")
   return result;
 }
 
diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
index d30ad2e..973147d 100644
--- a/rcl/src/rcl/publisher.c
+++ b/rcl/src/rcl/publisher.c
@@ -70,6 +70,8 @@ rcl_publisher_init(
   }
   RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator);
   RCL_CHECK_ARGUMENT_FOR_NULL(topic_name, RCL_RET_INVALID_ARGUMENT, *allocator);
+  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();
@@ -86,7 +88,7 @@ rcl_publisher_init(
     rcutils_ret = rcutils_string_map_fini(&substitutions_map);
     if (rcutils_ret != RCUTILS_RET_OK) {
       RCUTILS_LOG_ERROR_NAMED(
-        "rcl",
+        ROS_PACKAGE_NAME,
         "failed to fini string_map (%d) during error handling: %s",
         rcutils_ret,
         rcutils_get_error_string_safe())
@@ -119,6 +121,7 @@ rcl_publisher_init(
       return RCL_RET_ERROR;
     }
   }
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expanded topic name '%s'", expanded_topic_name)
   // Validate the expanded topic name.
   int validation_result;
   rmw_ret_t rmw_ret = rmw_validate_full_topic_name(expanded_topic_name, &validation_result, NULL);
@@ -148,6 +151,7 @@ rcl_publisher_init(
     rmw_get_error_string_safe(), goto fail, *allocator);
   // options
   publisher->impl->options = *options;
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Publisher initialized")
   return RCL_RET_OK;
 fail:
   if (publisher->impl) {
@@ -165,6 +169,7 @@ rcl_publisher_fini(rcl_publisher_t * publisher, rcl_node_t * node)
   if (!rcl_node_is_valid(node, NULL)) {
     return RCL_RET_NODE_INVALID;
   }
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing publisher")
   if (publisher->impl) {
     rcl_allocator_t allocator = publisher->impl->options.allocator;
     rmw_node_t * rmw_node = rcl_node_get_rmw_handle(node);
@@ -179,6 +184,7 @@ rcl_publisher_fini(rcl_publisher_t * publisher, rcl_node_t * node)
     }
     allocator.deallocate(publisher->impl, allocator.state);
   }
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Publisher finalized")
   return result;
 }
 
@@ -196,6 +202,7 @@ rcl_publisher_get_default_options()
 rcl_ret_t
 rcl_publish(const rcl_publisher_t * publisher, const void * ros_message)
 {
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Publisher publishing message")
   if (!rcl_publisher_is_valid(publisher)) {
     return RCL_RET_PUBLISHER_INVALID;
   }
diff --git a/rcl/src/rcl/rcl.c b/rcl/src/rcl/rcl.c
index c91717d..c0cb873 100644
--- a/rcl/src/rcl/rcl.c
+++ b/rcl/src/rcl/rcl.c
@@ -23,6 +23,7 @@ extern "C"
 
 #include "./stdatomic_helper.h"
 #include "rcl/error_handling.h"
+#include "rcutils/logging_macros.h"
 #include "rmw/error_handling.h"
 
 static atomic_bool __rcl_is_initialized = ATOMIC_VAR_INIT(false);
@@ -116,6 +117,7 @@ fail:
 rcl_ret_t
 rcl_shutdown()
 {
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Shutting down")
   if (!rcl_ok()) {
     // must use default allocator here because __rcl_allocator may not be set yet
     RCL_SET_ERROR_MSG("rcl_shutdown called before rcl_init", rcl_get_default_allocator());
diff --git a/rcl/src/rcl/rmw_implementation_identifier_check.c b/rcl/src/rcl/rmw_implementation_identifier_check.c
index f7e7a18..49479c4 100644
--- a/rcl/src/rcl/rmw_implementation_identifier_check.c
+++ b/rcl/src/rcl/rmw_implementation_identifier_check.c
@@ -57,7 +57,7 @@ INITIALIZER(initialize) {
   rcl_ret_t ret = rcl_impl_getenv("RCL_ASSERT_RMW_ID_MATCHES", &expected);
   if (ret != RCL_RET_OK) {
     RCUTILS_LOG_ERROR_NAMED(
-      "rcl",
+      ROS_PACKAGE_NAME,
       "Error getting environement variable 'RCL_ASSERT_RMW_ID_MATCHES': %s",
       rcl_get_error_string_safe()
     )
@@ -66,7 +66,7 @@ INITIALIZER(initialize) {
   // If the environment variable is set, and it does not match, print a warning and exit.
   if (strlen(expected) > 0 && strcmp(rmw_get_implementation_identifier(), expected) != 0) {
     RCUTILS_LOG_ERROR_NAMED(
-      "rcl",
+      ROS_PACKAGE_NAME,
       "Expected RMW implementation identifier of '%s' but instead found '%s', exiting with %d.",
       expected,
       rmw_get_implementation_identifier(),
diff --git a/rcl/src/rcl/service.c b/rcl/src/rcl/service.c
index 9b58529..d8f33f0 100644
--- a/rcl/src/rcl/service.c
+++ b/rcl/src/rcl/service.c
@@ -64,6 +64,8 @@ rcl_service_init(
   }
   RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator);
   RCL_CHECK_ARGUMENT_FOR_NULL(service_name, RCL_RET_INVALID_ARGUMENT, *allocator);
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Initializing service for service name '%s'", service_name)
   if (service->impl) {
     RCL_SET_ERROR_MSG("service already initialized, or memory was unintialized", *allocator);
     return RCL_RET_ALREADY_INIT;
@@ -84,7 +86,7 @@ rcl_service_init(
     rcutils_ret = rcutils_string_map_fini(&substitutions_map);
     if (rcutils_ret != RCUTILS_RET_OK) {
       RCUTILS_LOG_ERROR_NAMED(
-        "rcl",
+        ROS_PACKAGE_NAME,
         "failed to fini string_map (%d) during error handling: %s",
         rcutils_ret,
         rcutils_get_error_string_safe())
@@ -117,6 +119,7 @@ rcl_service_init(
       return RCL_RET_ERROR;
     }
   }
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expanded service name '%s'", expanded_service_name)
   // Validate the expanded service name.
   int validation_result;
   rmw_ret_t rmw_ret = rmw_validate_full_topic_name(expanded_service_name, &validation_result, NULL);
@@ -136,7 +139,7 @@ rcl_service_init(
 
   if (RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL == options->qos.durability) {
     RCUTILS_LOG_WARN_NAMED(
-      "rcl",
+      ROS_PACKAGE_NAME,
       "Warning: Setting QoS durability to 'transient local' for service servers "
       "can cause them to receive requests from clients that have since terminated.")
   }
@@ -155,6 +158,7 @@ rcl_service_init(
   }
   // options
   service->impl->options = *options;
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service initialized")
   return RCL_RET_OK;
 fail:
   if (service->impl) {
@@ -166,6 +170,7 @@ fail:
 rcl_ret_t
 rcl_service_fini(rcl_service_t * service, rcl_node_t * node)
 {
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing service")
   rcl_ret_t result = RCL_RET_OK;
   RCL_CHECK_ARGUMENT_FOR_NULL(service, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
   RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
@@ -185,6 +190,7 @@ rcl_service_fini(rcl_service_t * service, rcl_node_t * node)
     }
     allocator.deallocate(service->impl, allocator.state);
   }
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service finalized")
   return result;
 }
 
@@ -239,6 +245,7 @@ rcl_take_request(
   rmw_request_id_t * request_header,
   void * ros_request)
 {
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service server taking service request")
   const rcl_service_options_t * options = rcl_service_get_options(service);
   RCL_CHECK_ARGUMENT_FOR_NULL(request_header, RCL_RET_INVALID_ARGUMENT, options->allocator);
   RCL_CHECK_ARGUMENT_FOR_NULL(ros_request, RCL_RET_INVALID_ARGUMENT, options->allocator);
@@ -250,6 +257,8 @@ rcl_take_request(
     RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), options->allocator);
     return RCL_RET_ERROR;
   }
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Service take request succeeded: %s", taken ? "true" : "false")
   if (!taken) {
     return RCL_RET_SERVICE_TAKE_FAILED;
   }
@@ -262,6 +271,7 @@ rcl_send_response(
   rmw_request_id_t * request_header,
   void * ros_response)
 {
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending service response")
   const rcl_service_options_t * options = rcl_service_get_options(service);
   RCL_CHECK_ARGUMENT_FOR_NULL(request_header, RCL_RET_INVALID_ARGUMENT, options->allocator);
   RCL_CHECK_ARGUMENT_FOR_NULL(ros_response, RCL_RET_INVALID_ARGUMENT, options->allocator);
@@ -272,7 +282,6 @@ rcl_send_response(
     RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), options->allocator);
     return RCL_RET_ERROR;
   }
-
   return RCL_RET_OK;
 }
 
diff --git a/rcl/src/rcl/stdatomic_helper/win32/stdatomic.h b/rcl/src/rcl/stdatomic_helper/win32/stdatomic.h
index 85ee9ba..e821fd2 100644
--- a/rcl/src/rcl/stdatomic_helper/win32/stdatomic.h
+++ b/rcl/src/rcl/stdatomic_helper/win32/stdatomic.h
@@ -209,7 +209,7 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
         break; \
       default: \
         RCUTILS_LOG_ERROR_NAMED( \
-          "rcl", "Unsupported integer type in atomic_compare_exchange_strong") \
+          ROS_PACKAGE_NAME, "Unsupported integer type in atomic_compare_exchange_strong") \
         exit(-1); \
         break; \
     } \
@@ -238,7 +238,7 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
         break; \
       default: \
         RCUTILS_LOG_ERROR_NAMED( \
-          "rcl", "Unsupported integer type in atomic_exchange_strong") \
+          ROS_PACKAGE_NAME, "Unsupported integer type in atomic_exchange_strong") \
         exit(-1); \
         break; \
     } \
@@ -264,7 +264,7 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
         break; \
       default: \
         RCUTILS_LOG_ERROR_NAMED( \
-          "rcl", "Unsupported integer type in atomic_fetch_add") \
+          ROS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_add") \
         exit(-1); \
         break; \
     } \
@@ -290,7 +290,7 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
         break; \
       default: \
         RCUTILS_LOG_ERROR_NAMED( \
-          "rcl", "Unsupported integer type in atomic_fetch_and") \
+          ROS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_and") \
         exit(-1); \
         break; \
     } \
@@ -316,7 +316,7 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
         break; \
       default: \
         RCUTILS_LOG_ERROR_NAMED( \
-          "rcl", "Unsupported integer type in atomic_fetch_or") \
+          ROS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_or") \
         exit(-1); \
         break; \
     } \
@@ -345,7 +345,7 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
         break; \
       default: \
         RCUTILS_LOG_ERROR_NAMED( \
-          "rcl", "Unsupported integer type in atomic_fetch_xor") \
+          ROS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_xor") \
         exit(-1); \
         break; \
     } \
@@ -371,7 +371,7 @@ typedef _Atomic (uintmax_t) atomic_uintmax_t;
         break; \
       default: \
         RCUTILS_LOG_ERROR_NAMED( \
-          "rcl", "Unsupported integer type in atomic_load") \
+          ROS_PACKAGE_NAME, "Unsupported integer type in atomic_load") \
         exit(-1); \
         break; \
     } \
diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
index eba950b..6f40c79 100644
--- a/rcl/src/rcl/subscription.c
+++ b/rcl/src/rcl/subscription.c
@@ -63,6 +63,8 @@ rcl_subscription_init(
   RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_INVALID_ARGUMENT, *allocator);
   RCL_CHECK_ARGUMENT_FOR_NULL(type_support, RCL_RET_INVALID_ARGUMENT, *allocator);
   RCL_CHECK_ARGUMENT_FOR_NULL(topic_name, RCL_RET_INVALID_ARGUMENT, *allocator);
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Initializing subscription for topic name '%s'", topic_name)
   if (subscription->impl) {
     RCL_SET_ERROR_MSG("subscription already initialized, or memory was uninitialized", *allocator);
     return RCL_RET_ALREADY_INIT;
@@ -83,7 +85,7 @@ rcl_subscription_init(
     rcutils_ret = rcutils_string_map_fini(&substitutions_map);
     if (rcutils_ret != RCUTILS_RET_OK) {
       RCUTILS_LOG_ERROR_NAMED(
-        "rcl",
+        ROS_PACKAGE_NAME,
         "failed to fini string_map (%d) during error handling: %s",
         rcutils_ret,
         rcutils_get_error_string_safe())
@@ -116,6 +118,7 @@ rcl_subscription_init(
       return RCL_RET_ERROR;
     }
   }
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Expanded topic name '%s'", expanded_topic_name)
   // Validate the expanded topic name.
   int validation_result;
   rmw_ret_t rmw_ret = rmw_validate_full_topic_name(expanded_topic_name, &validation_result, NULL);
@@ -148,6 +151,7 @@ rcl_subscription_init(
   }
   // options
   subscription->impl->options = *options;
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription initialized")
   return RCL_RET_OK;
 fail:
   if (subscription->impl) {
@@ -159,6 +163,7 @@ fail:
 rcl_ret_t
 rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
 {
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Finalizing subscription")
   rcl_ret_t result = RCL_RET_OK;
   RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
   RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
@@ -179,6 +184,7 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
     }
     allocator.deallocate(subscription->impl, allocator.state);
   }
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription finalized")
   return result;
 }
 
@@ -201,6 +207,7 @@ rcl_take(
   void * ros_message,
   rmw_message_info_t * message_info)
 {
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking message")
   RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
   const rcl_subscription_options_t * options = rcl_subscription_get_options(subscription);
   if (!options) {
@@ -224,6 +231,8 @@ rcl_take(
     RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), options->allocator);
     return RCL_RET_ERROR;
   }
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Subscription take succeeded: %s", taken ? "true" : "false")
   if (!taken) {
     return RCL_RET_SUBSCRIPTION_TAKE_FAILED;
   }
diff --git a/rcl/src/rcl/timer.c b/rcl/src/rcl/timer.c
index 936890c..b79edb6 100644
--- a/rcl/src/rcl/timer.c
+++ b/rcl/src/rcl/timer.c
@@ -19,8 +19,11 @@ extern "C"
 
 #include "rcl/timer.h"
 
+#include <inttypes.h>
+
 #include "./stdatomic_helper.h"
 #include "rcl/error_handling.h"
+#include "rcutils/logging_macros.h"
 #include "rcutils/time.h"
 
 typedef struct rcl_timer_impl_t
@@ -53,6 +56,7 @@ rcl_timer_init(
 {
   RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT, allocator);
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Initializing timer with period: %" PRIu64 "ns", period)
   if (timer->impl) {
     RCL_SET_ERROR_MSG("timer already initailized, or memory was uninitialized", allocator);
     return RCL_RET_ALREADY_INIT;
@@ -91,6 +95,7 @@ rcl_timer_fini(rcl_timer_t * timer)
 rcl_ret_t
 rcl_timer_call(rcl_timer_t * timer)
 {
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Calling timer")
   RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
   const rcl_allocator_t * allocator = rcl_timer_get_allocator(timer);
   if (!allocator) {
@@ -199,6 +204,9 @@ rcl_timer_exchange_period(const rcl_timer_t * timer, uint64_t new_period, uint64
   }
   RCL_CHECK_ARGUMENT_FOR_NULL(old_period, RCL_RET_INVALID_ARGUMENT, *allocator);
   *old_period = rcl_atomic_exchange_uint64_t(&timer->impl->period, new_period);
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Updated timer period from '%" PRIu64 "ns' to '%" PRIu64 "ns'",
+    *old_period, new_period)
   return RCL_RET_OK;
 }
 
@@ -214,6 +222,7 @@ rcl_timer_get_callback(const rcl_timer_t * timer)
 rcl_timer_callback_t
 rcl_timer_exchange_callback(rcl_timer_t * timer, const rcl_timer_callback_t new_callback)
 {
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Updating timer callback")
   RCL_CHECK_ARGUMENT_FOR_NULL(timer, NULL, rcl_get_default_allocator());
   RCL_CHECK_FOR_NULL_WITH_MSG(
     timer->impl, "timer is invalid", return NULL, rcl_get_default_allocator());
@@ -228,6 +237,7 @@ rcl_timer_cancel(rcl_timer_t * timer)
   RCL_CHECK_FOR_NULL_WITH_MSG(
     timer->impl, "timer is invalid", return RCL_RET_TIMER_INVALID, rcl_get_default_allocator());
   rcl_atomic_store(&timer->impl->canceled, true);
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Timer canceled")
   return RCL_RET_OK;
 }
 
@@ -257,6 +267,7 @@ rcl_timer_reset(rcl_timer_t * timer)
   }
   rcl_atomic_store(&timer->impl->last_call_time, now);
   rcl_atomic_store(&timer->impl->canceled, false);
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Timer successfully reset")
   return RCL_RET_OK;
 }
 
diff --git a/rcl/src/rcl/wait.c b/rcl/src/rcl/wait.c
index a6c562c..f51f48e 100644
--- a/rcl/src/rcl/wait.c
+++ b/rcl/src/rcl/wait.c
@@ -20,12 +20,14 @@ extern "C"
 #include "rcl/wait.h"
 
 #include <assert.h>
+#include <inttypes.h>
 #include <stdbool.h>
 #include <string.h>
 
 #include "./stdatomic_helper.h"
 #include "rcl/error_handling.h"
 #include "rcl/time.h"
+#include "rcutils/logging_macros.h"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
@@ -113,6 +115,11 @@ rcl_wait_set_init(
   size_t number_of_services,
   rcl_allocator_t allocator)
 {
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Initializing wait set with "
+    "'%zu' subscriptions, '%zu' guard conditions, '%zu' timers, '%zu' clients, '%zu' services",
+    number_of_subscriptions, number_of_guard_conditions, number_of_timers, number_of_clients,
+    number_of_services)
   rcl_ret_t fail_ret = RCL_RET_ERROR;
 
   RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
@@ -575,6 +582,15 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
     temporary_timeout_storage.nsec = min_timeout % 1000000000;
     timeout_argument = &temporary_timeout_storage;
   }
+  RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(
+    !timeout_argument, ROS_PACKAGE_NAME, "Waiting without timeout")
+  RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(
+    timeout_argument, ROS_PACKAGE_NAME,
+    "Waiting with timeout: %" PRIu64 "s + %" PRIu64 "ns",
+    temporary_timeout_storage.sec, temporary_timeout_storage.nsec)
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Timeout calculated based on next scheduled timer: %s",
+    is_timer_timeout ? "true" : "false")
 
   // Wait.
   rmw_ret_t ret = rmw_wait(
@@ -584,7 +600,11 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
     &wait_set->impl->rmw_clients,
     wait_set->impl->rmw_waitset,
     timeout_argument);
-  // Check for ready timers next
+
+  // Items that are not ready will have been set to NULL by rmw_wait.
+  // We now update our handles accordingly.
+
+  // Check for ready timers
   // and set not ready timers (which includes canceled timers) to NULL.
   size_t i;
   for (i = 0; i < wait_set->impl->timer_index; ++i) {
@@ -596,6 +616,7 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
     if (ret != RCL_RET_OK) {
       return ret;  // The rcl error state should already be set.
     }
+    RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(is_ready, ROS_PACKAGE_NAME, "Timer in wait set is ready")
     if (!is_ready) {
       wait_set->timers[i] = NULL;
     }
@@ -623,25 +644,35 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
   }
   // Set corresponding rcl subscription handles NULL.
   for (i = 0; i < wait_set->size_of_subscriptions; ++i) {
-    if (!wait_set->impl->rmw_subscriptions.subscribers[i]) {
+    bool is_ready = wait_set->impl->rmw_subscriptions.subscribers[i] != NULL;
+    RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(
+      is_ready, ROS_PACKAGE_NAME, "Subscription in wait set is ready")
+    if (!is_ready) {
       wait_set->subscriptions[i] = NULL;
     }
   }
   // Set corresponding rcl guard_condition handles NULL.
   for (i = 0; i < wait_set->size_of_guard_conditions; ++i) {
-    if (!wait_set->impl->rmw_guard_conditions.guard_conditions[i]) {
+    bool is_ready = wait_set->impl->rmw_guard_conditions.guard_conditions[i] != NULL;
+    RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(
+      is_ready, ROS_PACKAGE_NAME, "Guard condition in wait set is ready")
+    if (!is_ready) {
       wait_set->guard_conditions[i] = NULL;
     }
   }
   // Set corresponding rcl client handles NULL.
   for (i = 0; i < wait_set->size_of_clients; ++i) {
-    if (!wait_set->impl->rmw_clients.clients[i]) {
+    bool is_ready = wait_set->impl->rmw_clients.clients[i] != NULL;
+    RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(is_ready, ROS_PACKAGE_NAME, "Client in wait set is ready")
+    if (!is_ready) {
       wait_set->clients[i] = NULL;
     }
   }
   // Set corresponding rcl service handles NULL.
   for (i = 0; i < wait_set->size_of_services; ++i) {
-    if (!wait_set->impl->rmw_services.services[i]) {
+    bool is_ready = wait_set->impl->rmw_services.services[i] != NULL;
+    RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(is_ready, ROS_PACKAGE_NAME, "Service in wait set is ready")
+    if (!is_ready) {
       wait_set->services[i] = NULL;
     }
   }
diff --git a/rcl/test/rcl/client_fixture.cpp b/rcl/test/rcl/client_fixture.cpp
index 999663f..4cfbef7 100644
--- a/rcl/test/rcl/client_fixture.cpp
+++ b/rcl/test/rcl/client_fixture.cpp
@@ -41,7 +41,8 @@ wait_for_server_to_be_available(
     bool is_ready;
     rcl_ret_t ret = rcl_service_server_is_available(node, client, &is_ready);
     if (ret != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR(
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME,
         "Error in rcl_service_server_is_available: %s",
         rcl_get_error_string_safe())
       return false;
@@ -63,13 +64,15 @@ wait_for_client_to_be_ready(
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 1, 0, rcl_get_default_allocator());
   if (ret != RCL_RET_OK) {
-    RCUTILS_LOG_ERROR("Error in wait set init: %s", rcl_get_error_string_safe())
+    RCUTILS_LOG_ERROR_NAMED(
+      ROS_PACKAGE_NAME, "Error in wait set init: %s", rcl_get_error_string_safe())
     return false;
   }
   auto wait_set_exit = make_scope_exit(
     [&wait_set]() {
       if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
-        RCUTILS_LOG_ERROR("Error in wait set fini: %s", rcl_get_error_string_safe())
+        RCUTILS_LOG_ERROR_NAMED(
+          ROS_PACKAGE_NAME, "Error in wait set fini: %s", rcl_get_error_string_safe())
         throw std::runtime_error("error while waiting for client");
       }
     });
@@ -77,11 +80,13 @@ wait_for_client_to_be_ready(
   do {
     ++iteration;
     if (rcl_wait_set_clear_clients(&wait_set) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in wait_set_clear_clients: %s", rcl_get_error_string_safe())
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Error in wait_set_clear_clients: %s", rcl_get_error_string_safe())
       return false;
     }
     if (rcl_wait_set_add_client(&wait_set, client) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in wait_set_add_client: %s", rcl_get_error_string_safe())
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Error in wait_set_add_client: %s", rcl_get_error_string_safe())
       return false;
     }
     ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms));
@@ -89,7 +94,7 @@ wait_for_client_to_be_ready(
       continue;
     }
     if (ret != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in wait: %s", rcl_get_error_string_safe())
+      RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Error in wait: %s", rcl_get_error_string_safe())
       return false;
     }
     for (size_t i = 0; i < wait_set.size_of_clients; ++i) {
@@ -106,20 +111,23 @@ int main(int argc, char ** argv)
   int main_ret = 0;
   {
     if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in rcl init: %s", rcl_get_error_string_safe())
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Error in rcl init: %s", rcl_get_error_string_safe())
       return -1;
     }
     rcl_node_t node = rcl_get_zero_initialized_node();
     const char * name = "client_fixture_node";
     rcl_node_options_t node_options = rcl_node_get_default_options();
     if (rcl_node_init(&node, name, "", &node_options) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in node init: %s", rcl_get_error_string_safe())
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Error in node init: %s", rcl_get_error_string_safe())
       return -1;
     }
     auto node_exit = make_scope_exit(
       [&main_ret, &node]() {
         if (rcl_node_fini(&node) != RCL_RET_OK) {
-          RCUTILS_LOG_ERROR("Error in node fini: %s", rcl_get_error_string_safe())
+          RCUTILS_LOG_ERROR_NAMED(
+            ROS_PACKAGE_NAME, "Error in node fini: %s", rcl_get_error_string_safe())
           main_ret = -1;
         }
       });
@@ -132,21 +140,23 @@ int main(int argc, char ** argv)
     rcl_client_options_t client_options = rcl_client_get_default_options();
     rcl_ret_t ret = rcl_client_init(&client, &node, ts, topic, &client_options);
     if (ret != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in client init: %s", rcl_get_error_string_safe())
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Error in client init: %s", rcl_get_error_string_safe())
       return -1;
     }
 
     auto client_exit = make_scope_exit(
       [&client, &main_ret, &node]() {
         if (rcl_client_fini(&client, &node)) {
-          RCUTILS_LOG_ERROR("Error in client fini: %s", rcl_get_error_string_safe())
+          RCUTILS_LOG_ERROR_NAMED(
+            ROS_PACKAGE_NAME, "Error in client fini: %s", rcl_get_error_string_safe())
           main_ret = -1;
         }
       });
 
     // Wait until server is available
     if (!wait_for_server_to_be_available(&node, &client, 1000, 100)) {
-      RCUTILS_LOG_ERROR("Server never became available")
+      RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Server never became available")
       return -1;
     }
 
@@ -158,12 +168,13 @@ int main(int argc, char ** argv)
     int64_t sequence_number;
 
     if (rcl_send_request(&client, &client_request, &sequence_number)) {
-      RCUTILS_LOG_ERROR("Error in send request: %s", rcl_get_error_string_safe())
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Error in send request: %s", rcl_get_error_string_safe())
       return -1;
     }
 
     if (sequence_number != 1) {
-      RCUTILS_LOG_ERROR("Got invalid sequence number")
+      RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Got invalid sequence number")
       return -1;
     }
 
@@ -174,12 +185,13 @@ int main(int argc, char ** argv)
     example_interfaces__srv__AddTwoInts_Response__init(&client_response);
 
     if (!wait_for_client_to_be_ready(&client, 1000, 100)) {
-      RCUTILS_LOG_ERROR("Client never became ready")
+      RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Client never became ready")
       return -1;
     }
     rmw_request_id_t header;
     if (rcl_take_response(&client, &header, &client_response) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in send response: %s", rcl_get_error_string_safe())
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Error in send response: %s", rcl_get_error_string_safe())
       return -1;
     }
 
diff --git a/rcl/test/rcl/service_fixture.cpp b/rcl/test/rcl/service_fixture.cpp
index 8512964..ae752c8 100644
--- a/rcl/test/rcl/service_fixture.cpp
+++ b/rcl/test/rcl/service_fixture.cpp
@@ -37,13 +37,15 @@ wait_for_service_to_be_ready(
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 1, rcl_get_default_allocator());
   if (ret != RCL_RET_OK) {
-    RCUTILS_LOG_ERROR("Error in wait set init: %s", rcl_get_error_string_safe())
+    RCUTILS_LOG_ERROR_NAMED(
+      ROS_PACKAGE_NAME, "Error in wait set init: %s", rcl_get_error_string_safe())
     return false;
   }
   auto wait_set_exit = make_scope_exit(
     [&wait_set]() {
       if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
-        RCUTILS_LOG_ERROR("Error in wait set fini: %s", rcl_get_error_string_safe())
+        RCUTILS_LOG_ERROR_NAMED(
+          ROS_PACKAGE_NAME, "Error in wait set fini: %s", rcl_get_error_string_safe())
         throw std::runtime_error("error waiting for service to be ready");
       }
     });
@@ -51,11 +53,13 @@ wait_for_service_to_be_ready(
   do {
     ++iteration;
     if (rcl_wait_set_clear_services(&wait_set) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in wait_set_clear_services: %s", rcl_get_error_string_safe())
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Error in wait_set_clear_services: %s", rcl_get_error_string_safe())
       return false;
     }
     if (rcl_wait_set_add_service(&wait_set, service) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in wait_set_add_service: %s", rcl_get_error_string_safe())
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Error in wait_set_add_service: %s", rcl_get_error_string_safe())
       return false;
     }
     ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms));
@@ -63,7 +67,7 @@ wait_for_service_to_be_ready(
       continue;
     }
     if (ret != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in wait: %s", rcl_get_error_string_safe())
+      RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Error in wait: %s", rcl_get_error_string_safe())
       return false;
     }
     for (size_t i = 0; i < wait_set.size_of_services; ++i) {
@@ -80,20 +84,23 @@ int main(int argc, char ** argv)
   int main_ret = 0;
   {
     if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in rcl init: %s", rcl_get_error_string_safe())
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Error in rcl init: %s", rcl_get_error_string_safe())
       return -1;
     }
     rcl_node_t node = rcl_get_zero_initialized_node();
     const char * name = "service_fixture_node";
     rcl_node_options_t node_options = rcl_node_get_default_options();
     if (rcl_node_init(&node, name, "", &node_options) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in node init: %s", rcl_get_error_string_safe())
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Error in node init: %s", rcl_get_error_string_safe())
       return -1;
     }
     auto node_exit = make_scope_exit(
       [&main_ret, &node]() {
         if (rcl_node_fini(&node) != RCL_RET_OK) {
-          RCUTILS_LOG_ERROR("Error in node fini: %s", rcl_get_error_string_safe())
+          RCUTILS_LOG_ERROR_NAMED(
+            ROS_PACKAGE_NAME, "Error in node fini: %s", rcl_get_error_string_safe())
           main_ret = -1;
         }
       });
@@ -106,14 +113,16 @@ int main(int argc, char ** argv)
     rcl_service_options_t service_options = rcl_service_get_default_options();
     rcl_ret_t ret = rcl_service_init(&service, &node, ts, topic, &service_options);
     if (ret != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in service init: %s", rcl_get_error_string_safe())
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Error in service init: %s", rcl_get_error_string_safe())
       return -1;
     }
 
     auto service_exit = make_scope_exit(
       [&main_ret, &service, &node]() {
         if (rcl_service_fini(&service, &node)) {
-          RCUTILS_LOG_ERROR("Error in service fini: %s", rcl_get_error_string_safe())
+          RCUTILS_LOG_ERROR_NAMED(
+            ROS_PACKAGE_NAME, "Error in service fini: %s", rcl_get_error_string_safe())
           main_ret = -1;
         }
       });
@@ -129,7 +138,7 @@ int main(int argc, char ** argv)
     // Block until a client request comes in.
 
     if (!wait_for_service_to_be_ready(&service, 1000, 100)) {
-      RCUTILS_LOG_ERROR("Service never became ready")
+      RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Service never became ready")
       return -1;
     }
 
@@ -143,14 +152,16 @@ int main(int argc, char ** argv)
     rmw_request_id_t header;
     // TODO(jacquelinekay) May have to check for timeout error codes
     if (rcl_take_request(&service, &header, &service_request) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in take_request: %s", rcl_get_error_string_safe())
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Error in take_request: %s", rcl_get_error_string_safe())
       return -1;
     }
 
     // Sum the request and send the response.
     service_response.sum = service_request.a + service_request.b;
     if (rcl_send_response(&service, &header, &service_response) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR("Error in send_response: %s", rcl_get_error_string_safe())
+      RCUTILS_LOG_ERROR_NAMED(
+        ROS_PACKAGE_NAME, "Error in send_response: %s", rcl_get_error_string_safe())
       return -1;
     }
     // Our scope exits should take care of fini for everything
diff --git a/rcl/test/rcl/test_graph.cpp b/rcl/test/rcl/test_graph.cpp
index 31ca8fd..0d75ef3 100644
--- a/rcl/test/rcl/test_graph.cpp
+++ b/rcl/test/rcl/test_graph.cpp
@@ -244,7 +244,7 @@ check_graph_state(
   bool expected_in_tnat,
   size_t number_of_tries)
 {
-  RCUTILS_LOG_INFO(
+  RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME,
     "Expecting %zu publishers, %zu subscribers, and that the topic is%s in the graph.",
     expected_publisher_count,
     expected_subscriber_count,
@@ -282,7 +282,7 @@ check_graph_state(
       rcl_reset_error();
     }
 
-    RCUTILS_LOG_INFO(
+    RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME,
       " Try %zu: %zu publishers, %zu subscribers, and that the topic is%s in the graph.",
       i + 1,
       publisher_count,
@@ -294,7 +294,7 @@ check_graph_state(
       expected_subscriber_count == subscriber_count &&
       expected_in_tnat == is_in_tnat)
     {
-      RCUTILS_LOG_INFO("  state correct!")
+      RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "  state correct!")
       break;
     }
     // Wait for graph change before trying again.
@@ -307,15 +307,15 @@ check_graph_state(
     ret = rcl_wait_set_add_guard_condition(wait_set_ptr, graph_guard_condition);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
     std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(200);
-    RCUTILS_LOG_INFO(
+    RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME,
       "  state wrong, waiting up to '%s' nanoseconds for graph changes... ",
       std::to_string(time_to_sleep.count()).c_str())
     ret = rcl_wait(wait_set_ptr, time_to_sleep.count());
     if (ret == RCL_RET_TIMEOUT) {
-      RCUTILS_LOG_INFO("timeout")
+      RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "timeout")
       continue;
     }
-    RCUTILS_LOG_INFO("change occurred")
+    RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "change occurred")
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
   }
   EXPECT_EQ(expected_publisher_count, publisher_count);
@@ -334,7 +334,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_query_functio
   std::string topic_name("/test_graph_query_functions__");
   std::chrono::nanoseconds now = std::chrono::system_clock::now().time_since_epoch();
   topic_name += std::to_string(now.count());
-  RCUTILS_LOG_INFO("Using topic name: %s", topic_name.c_str())
+  RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "Using topic name: %s", topic_name.c_str())
   rcl_ret_t ret;
   const rcl_guard_condition_t * graph_guard_condition =
     rcl_node_get_graph_guard_condition(this->node_ptr);
@@ -468,7 +468,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
     ret = rcl_wait_set_add_guard_condition(this->wait_set_ptr, graph_guard_condition);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
     std::chrono::nanoseconds time_to_sleep = std::chrono::milliseconds(200);
-    RCUTILS_LOG_INFO(
+    RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME,
       "waiting up to '%s' nanoseconds for graph changes",
       std::to_string(time_to_sleep.count()).c_str())
     ret = rcl_wait(this->wait_set_ptr, time_to_sleep.count());
@@ -528,7 +528,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
         ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
         ret = rcl_wait_set_add_guard_condition(this->wait_set_ptr, graph_guard_condition);
         ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-        RCUTILS_LOG_INFO(
+        RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME,
           "waiting up to '%s' nanoseconds for graph changes",
           std::to_string(time_to_sleep.count()).c_str())
         ret = rcl_wait(this->wait_set_ptr, time_to_sleep.count());
diff --git a/rcl/test/rcl/test_wait.cpp b/rcl/test/rcl/test_wait.cpp
index f853df9..99d8be4 100644
--- a/rcl/test/rcl/test_wait.cpp
+++ b/rcl/test/rcl/test_wait.cpp
@@ -298,7 +298,7 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
                 ss << "[thread " << test_set.thread_id << "] Timeout (try #" << wake_try_count <<
                   ")";
                 // TODO(mikaelarguedas) replace this with stream logging once they exist
-                RCUTILS_LOG_INFO("%s", ss.str().c_str())
+                RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "%s", ss.str().c_str())
               }
             }
             if (!change_detected) {
diff --git a/rcl_lifecycle/src/com_interface.c b/rcl_lifecycle/src/com_interface.c
index 6b21d12..f118b4a 100644
--- a/rcl_lifecycle/src/com_interface.c
+++ b/rcl_lifecycle/src/com_interface.c
@@ -228,19 +228,20 @@ rcl_lifecycle_com_interface_init(
 
 fail:
   if (RCL_RET_OK != rcl_publisher_fini(&com_interface->pub_transition_event, node_handle)) {
-    RCUTILS_LOG_ERROR("Failed to destroy transition_event publisher")
+    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy transition_event publisher")
   }
   if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_change_state, node_handle)) {
-    RCUTILS_LOG_ERROR("Failed to destroy change_state service")
+    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy change_state service")
   }
   if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_state, node_handle)) {
-    RCUTILS_LOG_ERROR("Failed to destroy get_state service")
+    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy get_state service")
   }
   if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_available_states, node_handle)) {
-    RCUTILS_LOG_ERROR("Failed to destroy get_available_states service")
+    RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to destroy get_available_states service")
   }
   if (RCL_RET_OK != rcl_service_fini(&com_interface->srv_get_available_transitions, node_handle)) {
-    RCUTILS_LOG_ERROR("Failed to destroy get_available_transitions service")
+    RCUTILS_LOG_ERROR_NAMED(
+      ROS_PACKAGE_NAME, "Failed to destroy get_available_transitions service")
   }
 
   if (topic_name) {
diff --git a/rcl_lifecycle/src/rcl_lifecycle.c b/rcl_lifecycle/src/rcl_lifecycle.c
index afeec51..9a8f66d 100644
--- a/rcl_lifecycle/src/rcl_lifecycle.c
+++ b/rcl_lifecycle/src/rcl_lifecycle.c
@@ -152,7 +152,7 @@ rcl_lifecycle_is_valid_transition(
     }
   }
   RCUTILS_LOG_WARN_NAMED(
-    "rcl_lifecycle",
+    ROS_PACKAGE_NAME,
     "No callback transition matching %d found for current state %s",
     key, state_machine->current_state->label)
   return NULL;
@@ -169,7 +169,7 @@ rcl_lifecycle_trigger_transition(
   // If we have a faulty transition pointer
   if (!transition) {
     RCUTILS_LOG_ERROR_NAMED(
-      "rcl_lifecycle",
+      ROS_PACKAGE_NAME,
       "No transition found for node %s with key %d",
       state_machine->current_state->label, key)
     RCL_SET_ERROR_MSG("Transition is not registered.", rcl_get_default_allocator());
@@ -178,7 +178,7 @@ rcl_lifecycle_trigger_transition(
 
   if (!transition->goal) {
     RCUTILS_LOG_ERROR_NAMED(
-      "rcl_lifecycle", "No valid goal is set")
+      ROS_PACKAGE_NAME, "No valid goal is set")
   }
   state_machine->current_state = transition->goal;
   if (publish_notification) {
@@ -200,13 +200,15 @@ rcl_print_state_machine(const rcl_lifecycle_state_machine_t * state_machine)
   const rcl_lifecycle_transition_map_t * map = &state_machine->transition_map;
   for (size_t i = 0; i < map->states_size; ++i) {
     RCUTILS_LOG_INFO_NAMED(
-      "rcl_lifecycle",
+      ROS_PACKAGE_NAME,
       "Primary State: %s(%u)\n# of valid transitions: %u",
       map->states[i].label, map->states[i].id,
       map->states[i].valid_transition_size
     )
     for (size_t j = 0; j < map->states[i].valid_transition_size; ++j) {
-      RCUTILS_LOG_INFO("\tNode %s: Key %d: Transition: %s",
+      RCUTILS_LOG_INFO_NAMED(
+        ROS_PACKAGE_NAME,
+        "\tNode %s: Key %d: Transition: %s",
         map->states[i].label,
         map->states[i].valid_transition_keys[j],
         map->states[i].valid_transitions[j].label)
diff --git a/rcl_lifecycle/test/test_default_state_machine.cpp b/rcl_lifecycle/test/test_default_state_machine.cpp
index a8e0d8f..37b743b 100644
--- a/rcl_lifecycle/test/test_default_state_machine.cpp
+++ b/rcl_lifecycle/test/test_default_state_machine.cpp
@@ -229,7 +229,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
         *it == lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE ||
         *it == lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN) {continue;}
 
-      RCUTILS_LOG_INFO("applying key %u", *it)
+      RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "applying key %u", *it)
       EXPECT_EQ(
         RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
       rcl_reset_error();