diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index 347d386..3af264f 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -341,6 +341,10 @@ public:
   void
   register_param_change_callback(CallbackT && callback);
 
+  RCLCPP_PUBLIC
+  std::vector<std::string>
+  get_node_names() const;
+
   RCLCPP_PUBLIC
   std::map<std::string, std::vector<std::string>>
   get_topic_names_and_types() const;
diff --git a/rclcpp/src/rclcpp/node.cpp b/rclcpp/src/rclcpp/node.cpp
index 67b187a..6934370 100644
--- a/rclcpp/src/rclcpp/node.cpp
+++ b/rclcpp/src/rclcpp/node.cpp
@@ -173,6 +173,12 @@ Node::list_parameters(
   return node_parameters_->list_parameters(prefixes, depth);
 }
 
+std::vector<std::string>
+Node::get_node_names() const
+{
+  return node_graph_->get_node_names();
+}
+
 std::map<std::string, std::vector<std::string>>
 Node::get_topic_names_and_types() const
 {
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
index e103aea..ba0f88d 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
@@ -300,6 +300,10 @@ public:
   void
   register_param_change_callback(CallbackT && callback);
 
+  RCLCPP_LIFECYCLE_PUBLIC
+  std::vector<std::string>
+  get_node_names() const;
+
   RCLCPP_LIFECYCLE_PUBLIC
   std::map<std::string, std::vector<std::string>>
   get_topic_names_and_types(bool no_demangle = false) const;
diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp
index cc86d5f..b62f74d 100644
--- a/rclcpp_lifecycle/src/lifecycle_node.cpp
+++ b/rclcpp_lifecycle/src/lifecycle_node.cpp
@@ -193,6 +193,12 @@ LifecycleNode::list_parameters(
   return node_parameters_->list_parameters(prefixes, depth);
 }
 
+std::vector<std::string>
+LifecycleNode::get_node_names() const
+{
+  return node_graph_->get_node_names();
+}
+
 std::map<std::string, std::vector<std::string>>
 LifecycleNode::get_topic_names_and_types(bool no_demangle) const
 {