diff --git a/rclcpp/include/rclcpp/parameter_event_handler.hpp b/rclcpp/include/rclcpp/parameter_event_handler.hpp
index c2ee55a540..52a0233966 100644
--- a/rclcpp/include/rclcpp/parameter_event_handler.hpp
+++ b/rclcpp/include/rclcpp/parameter_event_handler.hpp
@@ -268,6 +268,7 @@ class ParameterEventHandler
    * \param[in] parameter_name Name of parameter.
    * \param[in] node_name Name of node which hosts the parameter.
    * \returns The resultant rclcpp::Parameter from the event.
+   * \throws std::runtime_error if input node name doesn't match the node name in parameter event.
    */
   RCLCPP_PUBLIC
   static rclcpp::Parameter
diff --git a/rclcpp/src/rclcpp/parameter_event_handler.cpp b/rclcpp/src/rclcpp/parameter_event_handler.cpp
index 6ba5266809..b1b36b663e 100644
--- a/rclcpp/src/rclcpp/parameter_event_handler.cpp
+++ b/rclcpp/src/rclcpp/parameter_event_handler.cpp
@@ -133,9 +133,13 @@ ParameterEventHandler::get_parameter_from_event(
 {
   rclcpp::Parameter p;
   if (!get_parameter_from_event(event, p, parameter_name, node_name)) {
-    throw std::runtime_error(
-            "Parameter '" + parameter_name + "' of node '" + node_name +
-            "' is not part of parameter event");
+    if (event.node == node_name) {
+      return rclcpp::Parameter(parameter_name, rclcpp::PARAMETER_NOT_SET);
+    } else {
+      throw std::runtime_error(
+              "The node name '" + node_name + "' of parameter '" + parameter_name +
+              +"' doesn't match the node name '" + event.node + "' in parameter event");
+    }
   }
   return p;
 }
diff --git a/rclcpp/test/rclcpp/test_parameter_event_handler.cpp b/rclcpp/test/rclcpp/test_parameter_event_handler.cpp
index 9bdd96eab4..c80ca2f6d5 100644
--- a/rclcpp/test/rclcpp/test_parameter_event_handler.cpp
+++ b/rclcpp/test/rclcpp/test_parameter_event_handler.cpp
@@ -202,9 +202,17 @@ TEST_F(TestNode, GetParameterFromEvent)
   EXPECT_THROW(
     ParameterEventHandler::get_parameter_from_event(*multiple, "my_int", wrong_name),
     std::runtime_error);
-  // Throws if parameter not part of event
+
+  // Parameter not part of event
+  // with correct node
+  rclcpp::Parameter expect_notset_ret("my_notset", rclcpp::PARAMETER_NOT_SET);
+  rclcpp::Parameter ret;
+  EXPECT_NO_THROW(
+    ret = ParameterEventHandler::get_parameter_from_event(*multiple, "my_notset", node_name););
+  EXPECT_EQ(ret, expect_notset_ret);
+  // with incorrect node
   EXPECT_THROW(
-    ParameterEventHandler::get_parameter_from_event(*diff_ns_bool, "my_int", node_name),
+    ParameterEventHandler::get_parameter_from_event(*multiple, "my_notset", wrong_name),
     std::runtime_error);
 }