diff --git a/rcl/test/rcl/test_publisher.cpp b/rcl/test/rcl/test_publisher.cpp
index f40f722c7..0c4a48431 100644
--- a/rcl/test/rcl/test_publisher.cpp
+++ b/rcl/test/rcl/test_publisher.cpp
@@ -115,6 +115,55 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
 }
 
+/* Test two publishers using different message types with the same basename.
+ *
+ * Regression test for https://github.com/ros2/rmw_connext/issues/234, where rmw_connext_cpp could
+ * not support publishers on topics with the same basename (but different namespaces) using
+ * different message types, because at the time partitions were used for implementing namespaces.
+ */
+TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publishers_different_types) {
+  rcl_ret_t ret;
+  rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
+  const rosidl_message_type_support_t * ts_int = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int64);
+  const char * topic_name = "basename";
+  const char * expected_topic_name = "/basename";
+  rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
+  ret = rcl_publisher_init(&publisher, this->node_ptr, ts_int, topic_name, &publisher_options);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+  });
+  EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher), expected_topic_name), 0);
+
+  rcl_publisher_t publisher_in_namespace = rcl_get_zero_initialized_publisher();
+  const rosidl_message_type_support_t * ts_string = ROSIDL_GET_MSG_TYPE_SUPPORT(
+    std_msgs, msg, String);
+  topic_name = "namespace/basename";
+  expected_topic_name = "/namespace/basename";
+  ret = rcl_publisher_init(
+    &publisher_in_namespace, this->node_ptr, ts_string, topic_name, &publisher_options);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    rcl_ret_t ret = rcl_publisher_fini(&publisher_in_namespace, this->node_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+  });
+  EXPECT_EQ(strcmp(rcl_publisher_get_topic_name(&publisher_in_namespace), expected_topic_name), 0);
+
+  std_msgs__msg__Int64 msg_int;
+  std_msgs__msg__Int64__init(&msg_int);
+  msg_int.data = 42;
+  ret = rcl_publish(&publisher, &msg_int);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+  std_msgs__msg__Int64__fini(&msg_int);
+
+  std_msgs__msg__String msg_string;
+  std_msgs__msg__String__init(&msg_string);
+  ASSERT_TRUE(rosidl_generator_c__String__assign(&msg_string.data, "testing"));
+  ret = rcl_publish(&publisher_in_namespace, &msg_string);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
+}
+
 /* Testing the publisher init and fini functions.
  */
 TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_init_fini) {