diff --git a/launch_testing/launch_testing/junitxml.py b/launch_testing/launch_testing/junitxml.py
index 3a8117a48..d00e2b790 100644
--- a/launch_testing/launch_testing/junitxml.py
+++ b/launch_testing/launch_testing/junitxml.py
@@ -16,7 +16,7 @@
 import xml.etree.ElementTree as ET
 
 
-def unittestResultsToXml(*, name='launch_test', test_results={}):
+def unittestResultsToXml(*, name='launch_test', test_results={}, classname_prefix=None):
     """
     Serialize multiple unittest.TestResult objects into an XML document.
 
@@ -46,12 +46,12 @@ def unittestResultsToXml(*, name='launch_test', test_results={}):
     test_suites.set('time', str(round(time, 3)))
 
     for (name, test_result) in test_results.items():
-        test_suites.append(unittestResultToXml(str(name), test_result))
+        test_suites.append(unittestResultToXml(str(name), test_result, classname_prefix))
 
     return ET.ElementTree(test_suites)
 
 
-def unittestResultToXml(name, test_result):
+def unittestResultToXml(name, test_result, classname_prefix=None):
     """
     Serialize a single unittest.TestResult to an XML element.
 
@@ -68,12 +68,12 @@ def unittestResultToXml(name, test_result):
     test_suite.set('time', str(round(sum(test_result.testTimes.values()), 3)))
 
     for case in test_result.testCases:
-        test_suite.append(unittestCaseToXml(test_result, case))
+        test_suite.append(unittestCaseToXml(test_result, case, classname_prefix))
 
     return test_suite
 
 
-def unittestCaseToXml(test_result, test_case):
+def unittestCaseToXml(test_result, test_case, classname_prefix=None):
     """
     Serialize a unittest.TestCase into an XML element.
 
@@ -85,6 +85,8 @@ class needs to be a launch_testing.TestResult class
     case_xml = ET.Element('testcase')
     full_methodname, _, qualifiers = test_case.id().partition(' ')
     full_classname, _, methodname = full_methodname.rpartition('.')
+    if classname_prefix:
+        full_classname = '{}.{}'.format(classname_prefix, full_classname)
     case_xml.set('classname', full_classname)
     case_xml.set('name', (methodname + ' ' + qualifiers).strip())
     case_xml.set('time', str(round(test_result.testTimes[test_case], 3)))
diff --git a/launch_testing/launch_testing/launch_test.py b/launch_testing/launch_testing/launch_test.py
index 0a855f6bb..5d1b473ad 100644
--- a/launch_testing/launch_testing/launch_test.py
+++ b/launch_testing/launch_testing/launch_test.py
@@ -41,6 +41,10 @@ def add_arguments(parser):
         '--package-name', action='store', default=None,
         help='Name of the package the test is in. Useful to aggregate xUnit reports.'
     )
+    parser.add_argument(
+        '--test-name', action='store', default=None,
+        help='Unique test name to include in xUnit test case class names.'
+    )
     parser.add_argument(
         '-v', '--verbose', action='store_true', default=False, help='Run with verbose output'
     )
@@ -116,7 +120,7 @@ def run(parser, args, test_runner_cls=LaunchTestRunner):
         xml_report = unittestResultsToXml(
             test_results=results, name='{}.{}'.format(
                 args.package_name, launch_test_file_basename
-            )
+            ), classname_prefix=args.test_name
         )
         xml_report.write(args.xmlpath, encoding='utf-8', xml_declaration=True)
 
diff --git a/launch_testing/test/launch_testing/test_xml_output.py b/launch_testing/test/launch_testing/test_xml_output.py
index 6bcfae61e..7622dd285 100644
--- a/launch_testing/test/launch_testing/test_xml_output.py
+++ b/launch_testing/test/launch_testing/test_xml_output.py
@@ -19,6 +19,7 @@
 import xml.etree.ElementTree as ET
 
 import ament_index_python
+from launch_testing.junitxml import unittestResultToXml
 from launch_testing.junitxml import unittestResultsToXml
 from launch_testing.test_result import FailResult
 from launch_testing.test_result import SkipResult
@@ -47,7 +48,8 @@ def setUpClass(cls):
                 'launch_test',
                 path,
                 '--junit-xml', os.path.join(cls.tmpdir.name, 'junit.xml'),
-                '--package-name', 'test_xml_output'
+                '--package-name', 'test_xml_output',
+                '--test-name', 'unique_ctest_target'
             ],
         ).returncode
 
@@ -73,6 +75,10 @@ def test_pre_and_post(self):
         case_names = [case.attrib['name'] for case in test_suite]
         self.assertIn('test_count_to_four', case_names)
         self.assertIn('test_full_output', case_names)
+        self.assertTrue(all(
+            case.attrib['classname'].startswith('unique_ctest_target.')
+            for case in test_suite
+        ))
 
 
 @pytest.mark.usefixtures('source_test_loader_class_fixture')
@@ -199,6 +205,19 @@ def test_multiple_test_results(self):
         child_names = [chld.attrib['name'] for chld in xml_tree.getroot()]
         self.assertEqual(set(child_names), {'launch_1', 'launch_2', 'launch_3'})
 
+    def test_classname_prefix_keeps_same_cases_unique(self):
+        test_result = self.unit_test_result_factory([lambda self: None])
+        first = unittestResultToXml('launch_1', test_result, 'ctest_target_1')
+        second = unittestResultToXml('launch_2', test_result, 'ctest_target_2')
+        self.assertEqual(
+            'ctest_target_1.test_xml_output.TestHost',
+            first.find('testcase').attrib['classname'],
+        )
+        self.assertEqual(
+            'ctest_target_2.test_xml_output.TestHost',
+            second.find('testcase').attrib['classname'],
+        )
+
     def test_result_that_ran(self):
         """
         Test we have output as a result of a test being run.
diff --git a/launch_testing_ament_cmake/cmake/add_launch_test.cmake b/launch_testing_ament_cmake/cmake/add_launch_test.cmake
index f1aa6917d..9c85e5ce5 100644
--- a/launch_testing_ament_cmake/cmake/add_launch_test.cmake
+++ b/launch_testing_ament_cmake/cmake/add_launch_test.cmake
@@ -127,6 +127,7 @@ function(add_launch_test filename)
     "${_launch_test_ARGS}"
     "--junit-xml=${_launch_test_RESULT_FILE}"
     "--package-name=${PROJECT_NAME}"
+    "--test-name=${_launch_test_TARGET}"
   )
 
   ament_add_test(