diff --git a/rcl/src/rcl/init.c b/rcl/src/rcl/init.c
index 0cb92bb2f..94a874cf6 100644
--- a/rcl/src/rcl/init.c
+++ b/rcl/src/rcl/init.c
@@ -152,6 +152,9 @@ rcl_init(
       goto fail;
     }
   }
+  if (RMW_DEFAULT_DOMAIN_ID == *domain_id) {
+    *domain_id = 0u;
+  }
 
   rmw_localhost_only_t * localhost_only =
     &context->impl->init_options.impl->rmw_init_options.localhost_only;
diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
index 46d248026..42ec35d9f 100644
--- a/rcl/src/rcl/node.c
+++ b/rcl/src/rcl/node.c
@@ -260,6 +260,9 @@ rcl_node_init(
       goto fail;
     }
   }
+  if (RMW_DEFAULT_DOMAIN_ID == domain_id) {
+    domain_id = 0u;
+  }
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Using domain ID of '%zu'", domain_id);
   node->impl->actual_domain_id = domain_id;