diff --git a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
index 40db54b..f5d0aa7 100644
--- a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
+++ b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
@@ -107,11 +107,14 @@ NodeParameters::NodeParameters(
           rcl_yaml_node_struct_fini(params);
         });
       rclcpp::ParameterMap initial_map = rclcpp::parameter_map_from(params);
-      for (auto iter = initial_map.begin(); initial_map.end() != iter; iter++) {
-        // TODO(cottsay) implement further wildcard matching
-        if (iter->first == "/**" || iter->first == combined_name_) {
+
+      // Enforce wildcard matching precedence
+      // TODO(cottsay) implement further wildcard matching
+      const std::vector<std::string> node_matching_names{"/**", combined_name_};
+      for (const auto & node_name : node_matching_names) {
+        if (initial_map.count(node_name) > 0) {
           // Combine parameter yaml files, overwriting values in older ones
-          for (auto & param : iter->second) {
+          for (const rclcpp::Parameter & param : initial_map.at(node_name)) {
             parameter_overrides_[param.get_name()] =
               rclcpp::ParameterValue(param.get_value_message());
           }
diff --git a/rclcpp/test/resources/test_node/test_parameters.yaml b/rclcpp/test/resources/test_node/test_parameters.yaml
index 2c4e307..449caa3 100644
--- a/rclcpp/test/resources/test_node/test_parameters.yaml
+++ b/rclcpp/test/resources/test_node/test_parameters.yaml
@@ -1,4 +1,8 @@
 /**:
   ros__parameters:
-    parameter_int: 21
+    parameter_bool: true
+    parameter_int: 42
     parameter_string_array: [baz, baz, baz]
+test_declare_parameter_node:
+  ros__parameters:
+    parameter_int: 21
diff --git a/rclcpp/test/test_node.cpp b/rclcpp/test/test_node.cpp
index c85954a..e4851e1 100644
--- a/rclcpp/test/test_node.cpp
+++ b/rclcpp/test/test_node.cpp
@@ -691,7 +691,7 @@ TEST_F(TestNode, declare_parameter_with_cli_overrides) {
   no.arguments(
   {
     "--ros-args",
-    "-p", "parameter_bool:=true",
+    "-p", "parameter_bool:=false",
     "-p", "parameter_int:=42",
     "-p", "parameter_double:=0.42",
     "-p", "parameter_string:=foo",
@@ -702,7 +702,8 @@ TEST_F(TestNode, declare_parameter_with_cli_overrides) {
     "-p", "parameter_string_array:=[foo, bar]"
   });
 
-  auto node = std::make_shared<rclcpp::Node>("test_declare_parameter_node"_unq, no);
+  // To match parameters YAML file content, use a well-known node name for this test only.
+  auto node = std::make_shared<rclcpp::Node>("test_declare_parameter_node", no);
   {
     rclcpp::ParameterValue value = node->declare_parameter("parameter_bool");
     EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_BOOL);