diff --git a/rcl/test/rcl/test_arguments.cpp b/rcl/test/rcl/test_arguments.cpp
index e86d215ed..cbff38e3d 100644
--- a/rcl/test/rcl/test_arguments.cpp
+++ b/rcl/test/rcl/test_arguments.cpp
@@ -210,7 +210,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_known_vs_unkno
   EXPECT_TRUE(
     are_known_ros_args(
       {"--ros-args", "--thread-attrs-value",
-        "[{priority: 10, scheduling_policy: FIFO, name: thread-1, core_affinity: [1,2,3]}]"}));
+        "[{priority: 10, scheduling_policy: FIFO, tag: attr-1, core_affinity: [1,2,3]}]"}));
 }
 
 bool
@@ -238,7 +238,7 @@ TEST_F(CLASSNAME(TestArgumentsFixture, RMW_IMPLEMENTATION), check_valid_vs_inval
     "--params-file", parameters_filepath.c_str(), "--log-level", "INFO",
     "--log-config-file", "file.config",
     "--thread-attrs-value",
-    "[{priority: 10, scheduling_policy: IDLE, name: thread-1, core_affinity: [1]}]"
+    "[{priority: 10, scheduling_policy: IDLE, tag: attr-1, core_affinity: [1]}]"
   }));
 
   // ROS args unknown to rcl are not (necessarily) invalid
diff --git a/rcl/test/resources/test_arguments/test_thread_attrs.yaml b/rcl/test/resources/test_arguments/test_thread_attrs.yaml
index af9e89cb8..b1096dcc2 100644
--- a/rcl/test/resources/test_arguments/test_thread_attrs.yaml
+++ b/rcl/test/resources/test_arguments/test_thread_attrs.yaml
@@ -1,8 +1,8 @@
-- name: thread-1
+- tag: attr-1
   priority: 10
   scheduling_policy: FIFO
   core_affinity: [1]
-- name: thread-2
+- tag: attr-2
   priority: 20
   scheduling_policy: RR
   core_affinity: [2]
diff --git a/rcl_yaml_param_parser/src/impl/types.h b/rcl_yaml_param_parser/src/impl/types.h
index f7f0c27ee..aae3e384b 100644
--- a/rcl_yaml_param_parser/src/impl/types.h
+++ b/rcl_yaml_param_parser/src/impl/types.h
@@ -68,7 +68,7 @@ typedef enum thread_attr_key_type_e
   THREAD_ATTR_KEY_CORE_AFFINITY = 1,
   THREAD_ATTR_KEY_SCHEDULING_POLICY = 2,
   THREAD_ATTR_KEY_PRIORITY = 4,
-  THREAD_ATTR_KEY_NAME = 8
+  THREAD_ATTR_KEY_TAG = 8
 } thread_attr_key_type_t;
 
 typedef enum thread_attr_key_bits_e
@@ -78,7 +78,7 @@ typedef enum thread_attr_key_bits_e
     THREAD_ATTR_KEY_CORE_AFFINITY |
     THREAD_ATTR_KEY_SCHEDULING_POLICY |
     THREAD_ATTR_KEY_PRIORITY |
-    THREAD_ATTR_KEY_NAME
+    THREAD_ATTR_KEY_TAG
 } thread_attr_key_bits_t;
 
 #ifdef __cplusplus
diff --git a/rcl_yaml_param_parser/src/parse_thread_attr.c b/rcl_yaml_param_parser/src/parse_thread_attr.c
index a659d2f4e..88eca2bb6 100644
--- a/rcl_yaml_param_parser/src/parse_thread_attr.c
+++ b/rcl_yaml_param_parser/src/parse_thread_attr.c
@@ -64,10 +64,10 @@ parse_thread_attr_key(
     *key_type = THREAD_ATTR_KEY_PRIORITY;
   } else if (strcmp(str, "scheduling_policy") == 0) {
     *key_type = THREAD_ATTR_KEY_SCHEDULING_POLICY;
-  } else if (strcmp(str, "name") == 0) {
-    *key_type = THREAD_ATTR_KEY_NAME;
+  } else if (strcmp(str, "tag") == 0) {
+    *key_type = THREAD_ATTR_KEY_TAG;
   } else if (*str == '\0') {
-    RCUTILS_SET_ERROR_MSG("empty name for a thread attribute");
+    RCUTILS_SET_ERROR_MSG("empty tag for a thread attribute");
     ret = RCUTILS_RET_ERROR;
     goto error;
   } else {
@@ -122,7 +122,7 @@ rcutils_ret_t parse_thread_attr(
   rcutils_thread_core_affinity_t core_affinity =
     rcutils_get_zero_initialized_thread_core_affinity();
   int priority;
-  char const * name = NULL;
+  char const * tag = NULL;
   rcutils_allocator_t allocator = attrs->allocator;
   void * ret_val = NULL;
 
@@ -154,7 +154,7 @@ rcutils_ret_t parse_thread_attr(
 
     const char * value = (char *)event.data.scalar.value;
     yaml_scalar_style_t style = event.data.scalar.style;
-    const yaml_char_t * tag = event.data.scalar.tag;
+    const yaml_char_t * yaml_tag = event.data.scalar.tag;
     data_types_t val_type;
 
     switch (key_type) {
@@ -174,8 +174,8 @@ rcutils_ret_t parse_thread_attr(
           }
           value = (char *)event.data.scalar.value;
           style = event.data.scalar.style;
-          tag = event.data.scalar.tag;
-          ret_val = get_value(value, style, tag, &val_type, allocator);
+          yaml_tag = event.data.scalar.tag;
+          ret_val = get_value(value, style, yaml_tag, &val_type, allocator);
           if (DATA_TYPE_INT64 != val_type) {
             RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
               "Unrecognized value for thread core affinity: %s", value);
@@ -195,7 +195,7 @@ rcutils_ret_t parse_thread_attr(
         if (event.type != YAML_SCALAR_EVENT) {
           goto error;
         }
-        ret_val = get_value(value, style, tag, &val_type, allocator);
+        ret_val = get_value(value, style, yaml_tag, &val_type, allocator);
         if (DATA_TYPE_INT64 != val_type) {
           RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
             "Unrecognized value for thread priority: %s", value);
@@ -210,17 +210,17 @@ rcutils_ret_t parse_thread_attr(
         }
         sched_policy = parse_thread_attr_scheduling_policy(value);
         break;
-      case THREAD_ATTR_KEY_NAME:
+      case THREAD_ATTR_KEY_TAG:
         if (event.type != YAML_SCALAR_EVENT) {
           goto error;
         }
         if (*value == '\0') {
-          RCUTILS_SET_ERROR_MSG("Empty thread name");
+          RCUTILS_SET_ERROR_MSG("Empty thread attribute tag");
           ret = RCUTILS_RET_ERROR;
           goto error;
         }
-        name = rcutils_strdup(value, allocator);
-        if (NULL == name) {
+        tag = rcutils_strdup(value, allocator);
+        if (NULL == tag) {
           ret = RCUTILS_RET_BAD_ALLOC;
           goto error;
         }
@@ -241,18 +241,18 @@ rcutils_ret_t parse_thread_attr(
     goto error;
   }
 
-  ret = rcutils_thread_attrs_add_attr(attrs, sched_policy, &core_affinity, priority, name);
+  ret = rcutils_thread_attrs_add_attr(attrs, sched_policy, &core_affinity, priority, tag);
   if (RCUTILS_RET_OK != ret) {
     goto error;
   }
 
-  allocator.deallocate((char *)name, allocator.state);
+  allocator.deallocate((char *)tag, allocator.state);
 
   return RCUTILS_RET_OK;
 
 error:
-  if (NULL != name) {
-    allocator.deallocate((char *)name, allocator.state);
+  if (NULL != tag) {
+    allocator.deallocate((char *)tag, allocator.state);
   }
   if (NULL != ret_val) {
     allocator.deallocate(ret_val, allocator.state);
diff --git a/rcl_yaml_param_parser/test/test_parse_thread_attr.cpp b/rcl_yaml_param_parser/test/test_parse_thread_attr.cpp
index 1251066c4..058c09ffa 100644
--- a/rcl_yaml_param_parser/test/test_parse_thread_attr.cpp
+++ b/rcl_yaml_param_parser/test/test_parse_thread_attr.cpp
@@ -78,14 +78,14 @@ TEST_F(TestParseThreadAttr, success) {
   yaml_event_t event;
 
   prepare_yaml_parser(
-    "{ priority: 10, name: thread-1, core_affinity: [1], scheduling_policy: FIFO }");
+    "{ priority: 10, tag: attr-1, core_affinity: [1], scheduling_policy: FIFO }");
 
   ret = parse_thread_attr(&parser, &attrs);
   EXPECT_EQ(RCUTILS_RET_OK, ret);
 
   EXPECT_EQ(1, attrs.num_attributes);
   EXPECT_EQ(10, attrs.attributes[0].priority);
-  EXPECT_STREQ("thread-1", attrs.attributes[0].name);
+  EXPECT_STREQ("attr-1", attrs.attributes[0].tag);
   EXPECT_TRUE(rcutils_thread_core_affinity_is_set(&attrs.attributes[0].core_affinity, 1));
   EXPECT_EQ(RCUTILS_THREAD_SCHEDULING_POLICY_FIFO, attrs.attributes[0].scheduling_policy);
 
@@ -102,7 +102,7 @@ TEST_F(TestParseThreadAttr, unknown_key) {
   rcutils_ret_t ret;
 
   prepare_yaml_parser(
-    "{ priority: 10, name: thread-1, core_affinity: [1], unknown_key: FIFO }");
+    "{ priority: 10, tag: attr-1, core_affinity: [1], unknown_key: FIFO }");
 
   ret = parse_thread_attr(&parser, &attrs);
   EXPECT_EQ(RCUTILS_RET_ERROR, ret);
@@ -112,7 +112,7 @@ TEST_F(TestParseThreadAttr, all_valid_keys_with_unknown_key) {
   rcutils_ret_t ret;
 
   prepare_yaml_parser(
-    "{ priority: 10, name: thread-1, core_affinity: [1], "
+    "{ priority: 10, tag: attr-1, core_affinity: [1], "
     "scheduling_policy: FIFO, unknown_key: RR }");
 
   ret = parse_thread_attr(&parser, &attrs);
@@ -122,7 +122,7 @@ TEST_F(TestParseThreadAttr, all_valid_keys_with_unknown_key) {
 TEST_F(TestParseThreadAttr, missing_key_value) {
   rcutils_ret_t ret;
   prepare_yaml_parser(
-    "{ priority: 10, name: thread-1 }");
+    "{ priority: 10, tag: attr-1 }");
 
   ret = parse_thread_attr(&parser, &attrs);
   EXPECT_EQ(RCUTILS_RET_ERROR, ret);
@@ -135,7 +135,7 @@ TEST_F(TestParseThreadAttrs, success) {
   ss << "[";
   for (std::size_t i = 0; i < 100; ++i) {
     ss << "{ priority: " << i * 10;
-    ss << ", name: thread-" << i;
+    ss << ", tag: attr-" << i;
     ss << ", core_affinity: [" << i << "]";
     ss << ", scheduling_policy: FIFO },";
   }
@@ -151,9 +151,9 @@ TEST_F(TestParseThreadAttrs, success) {
   for (std::size_t i = 0; i < 100; ++i) {
     EXPECT_EQ(i * 10, attrs.attributes[i].priority);
     ss.str("");
-    ss << "thread-" << i;
+    ss << "attr-" << i;
     buf = ss.str();
-    EXPECT_STREQ(buf.c_str(), attrs.attributes[i].name);
+    EXPECT_STREQ(buf.c_str(), attrs.attributes[i].tag);
     EXPECT_TRUE(rcutils_thread_core_affinity_is_set(&attrs.attributes[i].core_affinity, i));
     EXPECT_EQ(RCUTILS_THREAD_SCHEDULING_POLICY_FIFO, attrs.attributes[i].scheduling_policy);
   }
@@ -162,7 +162,7 @@ TEST_F(TestParseThreadAttrs, success) {
 TEST_F(TestParseThreadAttr, affinity_multiple_core) {
   rcutils_ret_t ret;
   prepare_yaml_parser(
-    "{ priority: 10, name: thread-1, core_affinity: [1,2,3], scheduling_policy: FIFO }");
+    "{ priority: 10, tag: attr-1, core_affinity: [1,2,3], scheduling_policy: FIFO }");
 
   ret = parse_thread_attr(&parser, &attrs);
   EXPECT_EQ(RCUTILS_RET_OK, ret);
diff --git a/rcl_yaml_param_parser/test/test_parser_thread_attr.cpp b/rcl_yaml_param_parser/test/test_parser_thread_attr.cpp
index c50ad9d1b..6d8668a0a 100644
--- a/rcl_yaml_param_parser/test/test_parser_thread_attr.cpp
+++ b/rcl_yaml_param_parser/test/test_parser_thread_attr.cpp
@@ -89,8 +89,8 @@ TEST_F(TestParserThreadAttr, success_file) {
   for (size_t i = 0; i < 10; ++i) {
     EXPECT_EQ(attrs.attributes[i].priority, i * 10);
     char buf[32];
-    snprintf(buf, sizeof(buf), "thread-%lu", i);
-    EXPECT_STREQ(buf, attrs.attributes[i].name);
+    snprintf(buf, sizeof(buf), "attr-%lu", i);
+    EXPECT_STREQ(buf, attrs.attributes[i].tag);
     EXPECT_TRUE(rcutils_thread_core_affinity_is_set(&attrs.attributes[i].core_affinity, i));
     EXPECT_TRUE(rcutils_thread_core_affinity_is_set(&attrs.attributes[i].core_affinity, i + 10));
     EXPECT_TRUE(rcutils_thread_core_affinity_is_set(&attrs.attributes[i].core_affinity, i * i));
@@ -114,8 +114,8 @@ TEST_F(TestParserThreadAttr, success_value) {
   for (size_t i = 0; i < 10; ++i) {
     EXPECT_EQ(attrs.attributes[i].priority, i * 10);
     char buf[32];
-    snprintf(buf, sizeof(buf), "thread-%lu", i);
-    EXPECT_STREQ(buf, attrs.attributes[i].name);
+    snprintf(buf, sizeof(buf), "attr-%lu", i);
+    EXPECT_STREQ(buf, attrs.attributes[i].tag);
     EXPECT_TRUE(rcutils_thread_core_affinity_is_set(&attrs.attributes[i].core_affinity, i));
     EXPECT_TRUE(rcutils_thread_core_affinity_is_set(&attrs.attributes[i].core_affinity, i + 10));
     EXPECT_TRUE(rcutils_thread_core_affinity_is_set(&attrs.attributes[i].core_affinity, i * i));
diff --git a/rcl_yaml_param_parser/test/thread_attr_success.yaml b/rcl_yaml_param_parser/test/thread_attr_success.yaml
index 5e9bdafa2..062c98a97 100644
--- a/rcl_yaml_param_parser/test/thread_attr_success.yaml
+++ b/rcl_yaml_param_parser/test/thread_attr_success.yaml
@@ -1,40 +1,40 @@
 - priority: 0
-  name: thread-0
+  tag: attr-0
   core_affinity: [0,10,0]
   scheduling_policy: BADSCHEDPOLICY1
 - priority: 10
-  name: thread-1
+  tag: attr-1
   core_affinity: [1,11,1]
   scheduling_policy: FIFO
 - priority: 20
-  name: thread-2
+  tag: attr-2
   core_affinity: [2,12,4]
   scheduling_policy: RR
 - priority: 30
-  name: thread-3
+  tag: attr-3
   core_affinity: [3,13,9]
   scheduling_policy: SPORADIC
 - priority: 40
-  name: thread-4
+  tag: attr-4
   core_affinity: [4,14,16]
   scheduling_policy: OTHER
 - priority: 50
-  name: thread-5
+  tag: attr-5
   core_affinity: [5,15,25]
   scheduling_policy: IDLE
 - priority: 60
-  name: thread-6
+  tag: attr-6
   core_affinity: [6,16,36]
   scheduling_policy: BATCH
 - priority: 70
-  name: thread-7
+  tag: attr-7
   core_affinity: [7,17,49]
   scheduling_policy: DEADLINE
 - priority: 80
-  name: thread-8
+  tag: attr-8
   core_affinity: [8,18,64]
   scheduling_policy: BADSCHEDPOLICY2
 - priority: 90
-  name: thread-9
+  tag: attr-9
   core_affinity: [9,19,81]
   scheduling_policy: FIFO