diff --git a/libuavcan_drivers/linux/apps/uavcan_dynamic_node_id_server.cpp b/libuavcan_drivers/linux/apps/uavcan_dynamic_node_id_server.cpp
index a46c398801..3fe3dac64c 100644
--- a/libuavcan_drivers/linux/apps/uavcan_dynamic_node_id_server.cpp
+++ b/libuavcan_drivers/linux/apps/uavcan_dynamic_node_id_server.cpp
@@ -39,10 +39,10 @@ uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, uavcan::N
     node->getLogger().setLevel(uavcan::protocol::debug::LogLevel::DEBUG);
 
     {
-        const auto machine_id = uavcan_linux::MachineIDReader().read();
+        const auto app_id = uavcan_linux::makeApplicationID(uavcan_linux::MachineIDReader().read(),  name,  nid.get());
 
         uavcan::protocol::HardwareVersion hwver;
-        std::copy(machine_id.begin(), machine_id.end(), hwver.unique_id.begin());
+        std::copy(app_id.begin(), app_id.end(), hwver.unique_id.begin());
         std::cout << hwver << std::endl;
 
         node->setHardwareVersion(hwver);
@@ -498,7 +498,6 @@ void runForever(const uavcan_linux::NodePtr& node,
      * Storage backend
      */
     uavcan_posix::dynamic_node_id_server::FileStorageBackend storage_backend;
-
     ENFORCE(0 <= storage_backend.init(persistent_storage_path.c_str()));
 
     /*
@@ -506,7 +505,16 @@ void runForever(const uavcan_linux::NodePtr& node,
      */
     uavcan::dynamic_node_id_server::DistributedServer server(*node, storage_backend, event_tracer);
 
-    ENFORCE(0 <= server.init(node->getNodeStatusProvider().getHardwareVersion().unique_id, cluster_size));
+    const int server_init_res = server.init(node->getNodeStatusProvider().getHardwareVersion().unique_id, cluster_size);
+    if (server_init_res < 0)
+    {
+        throw std::runtime_error("Failed to start the server; error " + std::to_string(server_init_res));
+    }
+
+    /*
+     * Preparing the CLI
+     */
+    std::printf("\x1b[2J"); // Clear entire screen; this will preserve initialization output in the scrollback
 
     /*
      * Spinning the node
diff --git a/libuavcan_drivers/linux/include/uavcan_linux/system_utils.hpp b/libuavcan_drivers/linux/include/uavcan_linux/system_utils.hpp
index 14aa91ad63..b4d6ce0a5c 100644
--- a/libuavcan_drivers/linux/include/uavcan_linux/system_utils.hpp
+++ b/libuavcan_drivers/linux/include/uavcan_linux/system_utils.hpp
@@ -14,6 +14,7 @@
 #include <algorithm>
 #include <utility>
 #include <uavcan_linux/exception.hpp>
+#include <uavcan/data_type.hpp>
 
 namespace uavcan_linux
 {
@@ -132,5 +133,45 @@ public:
     }
 };
 
+/**
+ * This class computes unique ID for a UAVCAN node in a Linux application.
+ * It takes the following inputs:
+ *  - Unique machine ID
+ *  - Node name string (e.g. "org.uavcan.linux_app.dynamic_node_id_server")
+ *  - Instance ID byte, e.g. node ID
+ */
+std::array<std::uint8_t, 16> makeApplicationID(const MachineIDReader::MachineID& machine_id,
+                                               const std::string& node_name,
+                                               const std::uint8_t instance_id)
+{
+    union HalfID
+    {
+        std::uint64_t num;
+        std::uint8_t bytes[8];
+
+        HalfID(std::uint64_t arg_num) : num(arg_num) { }
+    };
+
+    std::array<std::uint8_t, 16> out;
+
+    // First 8 bytes of the application ID are CRC64 of the machine ID in native byte order
+    {
+        uavcan::DataTypeSignatureCRC crc;
+        crc.add(machine_id.data(), static_cast<unsigned>(machine_id.size()));
+        HalfID half(crc.get());
+        std::copy_n(half.bytes, 8, out.begin());
+    }
+
+    // Last 8 bytes of the application ID are CRC64 of the node name and optionally node ID
+    {
+        uavcan::DataTypeSignatureCRC crc;
+        crc.add(reinterpret_cast<const std::uint8_t*>(node_name.c_str()), static_cast<unsigned>(node_name.length()));
+        crc.add(instance_id);
+        HalfID half(crc.get());
+        std::copy_n(half.bytes, 8, out.begin() + 8);
+    }
+
+    return out;
+}
 
 }