diff --git a/test/test_rosbag_storage/CMakeLists.txt b/test/test_rosbag_storage/CMakeLists.txt
index 0ced5bf4ea..fa2438d452 100644
--- a/test/test_rosbag_storage/CMakeLists.txt
+++ b/test/test_rosbag_storage/CMakeLists.txt
@@ -15,4 +15,8 @@ if(CATKIN_ENABLE_TESTING)
   if(TARGET create_and_iterate_bag)
     target_link_libraries(create_and_iterate_bag ${catkin_LIBRARIES})
   endif()
+  catkin_add_gtest(swap_bags src/swap_bags.cpp)
+  if(TARGET swap_bags)
+    target_link_libraries(swap_bags ${catkin_LIBRARIES})
+  endif()
 endif()
diff --git a/test/test_rosbag_storage/src/swap_bags.cpp b/test/test_rosbag_storage/src/swap_bags.cpp
new file mode 100644
index 0000000000..3940f18711
--- /dev/null
+++ b/test/test_rosbag_storage/src/swap_bags.cpp
@@ -0,0 +1,101 @@
+#include "ros/time.h"
+#include "rosbag/bag.h"
+#include "rosbag/view.h"
+#include "std_msgs/Int32.h"
+
+#include "boost/foreach.hpp"
+#include <gtest/gtest.h>
+
+void writeBags(rosbag::CompressionType a, rosbag::CompressionType b) {
+    using std::swap;
+    rosbag::Bag bag1("/tmp/swap1.bag", rosbag::bagmode::Write);
+    rosbag::Bag bag2("/tmp/swap2.bag", rosbag::bagmode::Write);
+
+    // In the end "/tmp/swap1.bag" should have CompressionType a and contain two messages of value a.
+    // "/tmp/swap2.bag" should have CompressionType b and contain two messages of value b.
+    // We use these pointers to track the bags accordingly.
+
+    rosbag::Bag* a_bag = &bag1;
+    rosbag::Bag* b_bag = &bag2;
+
+    std_msgs::Int32 a_msg, b_msg;
+    a_msg.data = a;
+    b_msg.data = b;
+
+    swap(bag1, bag2);
+    swap(a_bag, b_bag);
+
+    a_bag->setCompression(a);
+    b_bag->setCompression(b);
+
+    swap(bag1, bag2);
+    swap(a_bag, b_bag);
+
+    a_bag->write("/data", ros::Time::now(), a_msg);
+    b_bag->write("/data", ros::Time::now(), b_msg);
+
+    swap(bag1, bag2);
+    swap(a_bag, b_bag);
+
+    a_bag->write("/data", ros::Time::now(), a_msg);
+    b_bag->write("/data", ros::Time::now(), b_msg);
+
+    swap(bag1, bag2);
+
+    bag1.close();
+    bag2.close();
+
+    swap(bag1, bag2);
+}
+
+void readBags(rosbag::CompressionType a, rosbag::CompressionType b) {
+    using std::swap;
+    rosbag::Bag bag1("/tmp/swap1.bag", rosbag::bagmode::Read);
+    rosbag::Bag bag2("/tmp/swap2.bag", rosbag::bagmode::Read);
+
+    rosbag::Bag* a_bag = &bag1;
+    rosbag::Bag* b_bag = &bag2;
+
+    swap(bag1, bag2);
+    swap(a_bag, b_bag);
+
+    // only valid when writing
+    //EXPECT_EQ(a_bag->getCompression(), a);
+    //EXPECT_EQ(b_bag->getCompression(), b);
+
+    std::vector<std::string> topics;
+    topics.push_back("data");
+
+    rosbag::View a_view(*a_bag, rosbag::TopicQuery(topics));
+    rosbag::View b_view(*b_bag, rosbag::TopicQuery(topics));
+
+    BOOST_FOREACH(rosbag::MessageInstance const m, a_view)
+    {
+        std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();
+        ASSERT_TRUE(i);
+        EXPECT_EQ(i->data, a);
+    }
+    BOOST_FOREACH(rosbag::MessageInstance const m, b_view)
+    {
+        std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();
+        ASSERT_TRUE(i);
+        EXPECT_EQ(i->data, b);
+    }
+}
+
+TEST(rosbag_storage, swap_bags)
+{
+    for (int i = 0; i < 3; ++i) {
+        for (int j = 0; j < 3; ++j) {
+            writeBags(rosbag::CompressionType(i), rosbag::CompressionType(j));
+            readBags(rosbag::CompressionType(i), rosbag::CompressionType(j));
+        }
+    }
+}
+
+int main(int argc, char **argv) {
+    ros::Time::init();
+
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}