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I found a solution in the ROS 2 nav stack where in the constructor of a node there is the following

Costmap2DROS::Costmap2DROS(
const std::string & name,
const std::string & parent_namespace,
const std::string & local_namespace)
  : nav2_util::LifecycleNode(name, "", true,
  // NodeOption arguments take precedence over the ones provided on the command line
  // use this to make sure the node is placed on the provided namespace
  rclcpp::NodeOptions().arguments({
  "--ros-args", "-r", std::string("__ns:=") +
  nav2_util::add_namespaces(parent_namespace, local_namespace),
  "--ros-args", "-r", name + ":" + std::string("__node:=") + name
})),

See https://github.com/ros-planning/navigation2/blob/main/nav2_costmap_2d/src/costmap_2d_ros.cpp#L61

this does not look the most elegant solution, but it's definitely working.

I found a solution in the ROS 2 nav stack where in the constructor of a node there is the following

Costmap2DROS::Costmap2DROS(
const std::string & name,
const std::string & parent_namespace,
const std::string & local_namespace)
  : nav2_util::LifecycleNode(name, "", true,
  // NodeOption arguments take precedence over the ones provided on the command line
  // use this to make sure the node is placed on the provided namespace
  rclcpp::NodeOptions().arguments({
  "--ros-args", "-r", std::string("__ns:=") +
  nav2_util::add_namespaces(parent_namespace, local_namespace),
  "--ros-args", "-r", name + ":" + std::string("__node:=") + name
})),

See https://github.com/ros-planning/navigation2/blob/main/nav2_costmap_2d/src/costmap_2d_ros.cpp#L61https://github.com/ros-planning/navigation2/blob/c337ac22e6af2b81f7b515a201a0e553084887e3/nav2_costmap_2d/src/costmap_2d_ros.cpp#L61-L74

this does not look the most elegant solution, but it's definitely working.