diff --git a/tools/topic_tools/CMakeLists.txt b/tools/topic_tools/CMakeLists.txt
index 50c8a4e44b..ea24099059 100644
--- a/tools/topic_tools/CMakeLists.txt
+++ b/tools/topic_tools/CMakeLists.txt
@@ -103,6 +103,8 @@ if(CATKIN_ENABLE_TESTING)
   add_rostest(test/relay.test)
   add_rostest(test/relay_stealth.test)
   add_rostest(test/lazy_transport.test)
+  add_rostest(test/mux_initial_none.test)
+  add_rostest(test/mux_initial_other.test)
   ## Latched test disabled until underlying issue in roscpp is resolved,
   ## #3385, #3434.
   #rosbuild_add_rostest(test/relay_latched.test)
diff --git a/tools/topic_tools/test/mux_initial_none.test b/tools/topic_tools/test/mux_initial_none.test
new file mode 100644
index 0000000000..2b56c02175
--- /dev/null
+++ b/tools/topic_tools/test/mux_initial_none.test
@@ -0,0 +1,20 @@
+<launch>
+  <node pkg="rostopic" type="rostopic" name="rostopic_pub1"
+        args="pub -r 10 input1 std_msgs/String input1"/>
+  <node pkg="rostopic" type="rostopic" name="rostopic_pub2"
+        args="pub -r 5 input2 std_msgs/String input2"/>
+
+  <!-- Initial topic is __none -->
+  <node pkg="topic_tools" type="mux" name="mux_initial_none" output="screen"
+        args="output input1 input2">
+    <param name="initial_topic" value="__none" />
+  </node>
+
+  <!-- Test that mux initially has no input because initial_topic param is set to __none -->
+  <test test-name="mux_initial_topic_none_test" pkg="rostest" type="hztest">
+    <param name="topic" value="output"/>
+    <param name="hz" value="0"/>
+    <param name="hzerror" value="0"/>
+    <param name="test_duration" value="1.0" />
+  </test>
+</launch>
diff --git a/tools/topic_tools/test/mux_initial_other.test b/tools/topic_tools/test/mux_initial_other.test
new file mode 100644
index 0000000000..c9f1ac0b10
--- /dev/null
+++ b/tools/topic_tools/test/mux_initial_other.test
@@ -0,0 +1,21 @@
+<launch>
+  <node pkg="rostopic" type="rostopic" name="rostopic_pub1"
+        args="pub -r 10 input1 std_msgs/String input1"/>
+  <node pkg="rostopic" type="rostopic" name="rostopic_pub2"
+        args="pub -r 5 input2 std_msgs/String input2"/>
+
+  <!-- Initial topic non default -->
+  <node pkg="topic_tools" type="mux" name="mux_explicit" output="screen"
+        args="output input1 input2">
+    <param name="initial_topic" value="input2" />
+  </node>
+
+  <!-- Test that initialy mux chooses input2 as specified in param -->
+  <test test-name="mux_hztest_explicit" pkg="rostest" type="hztest">
+    <param name="topic" value="output"/>
+    <param name="hz" value="5.0"/>
+    <param name="hzerror" value="0.5"/>
+    <param name="test_duration" value="1.0" />
+  </test>
+
+</launch>