diff --git a/rmw/include/rmw/get_node_info_and_types.h b/rmw/include/rmw/get_node_info_and_types.h
index 6ea5301b..680596e4 100644
--- a/rmw/include/rmw/get_node_info_and_types.h
+++ b/rmw/include/rmw/get_node_info_and_types.h
@@ -47,6 +47,7 @@ extern "C"
  * \return `RMW_RET_OK` if the query was successful, or
  * \return `RMW_RET_INVALID_ARGUMENT` if the node is invalid, or
  * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RMW_RET_NODE_NAME_NON_EXISTENT` if the node name wasn't found, or
  * \return `RMW_RET_BAD_ALLOC` if memory allocation fails, or
  * \return `RMW_RET_ERROR` if an unspecified error occurs.
  */
@@ -83,6 +84,7 @@ rmw_get_subscriber_names_and_types_by_node(
  * \return `RMW_RET_OK` if the query was successful, or
  * \return `RMW_RET_INVALID_ARGUMENT` if the node is invalid, or
  * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RMW_RET_NODE_NAME_NON_EXISTENT` if the node name wasn't found, or
  * \return `RMW_RET_BAD_ALLOC` if memory allocation fails, or
  * \return `RMW_RET_ERROR` if an unspecified error occurs.
  */
@@ -118,6 +120,7 @@ rmw_get_publisher_names_and_types_by_node(
  * \return `RMW_RET_OK` if the query was successful, or
  * \return `RMW_RET_INVALID_ARGUMENT` if the node is invalid, or
  * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RMW_RET_NODE_NAME_NON_EXISTENT` if the node name wasn't found, or
  * \return `RMW_RET_BAD_ALLOC` if memory allocation fails, or
  * \return `RMW_RET_ERROR` if an unspecified error occurs.
  */
@@ -153,6 +156,7 @@ rmw_get_service_names_and_types_by_node(
  * \return `RMW_RET_OK` if the query was successful, or
  * \return `RMW_RET_INVALID_ARGUMENT` if the node is invalid, or
  * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RMW_RET_NODE_NAME_NON_EXISTENT` if the node name wasn't found, or
  * \return `RMW_RET_BAD_ALLOC` if memory allocation fails, or
  * \return `RMW_RET_ERROR` if an unspecified error occurs.
  */
diff --git a/rmw/include/rmw/ret_types.h b/rmw/include/rmw/ret_types.h
index 5b23a216..1a983864 100644
--- a/rmw/include/rmw/ret_types.h
+++ b/rmw/include/rmw/ret_types.h
@@ -36,6 +36,11 @@ typedef int32_t rmw_ret_t;
 /// Incorrect rmw implementation.
 #define RMW_RET_INCORRECT_RMW_IMPLEMENTATION 12
 
+// rmw node specific ret codes in 2XX
+/// Failed to find node name
+// Using same return code than in rcl
+#define RMW_RET_NODE_NAME_NON_EXISTENT 203
+
 #ifdef __cplusplus
 }
 #endif