diff --git a/rmw_fastrtps_shared_cpp/test/CMakeLists.txt b/rmw_fastrtps_shared_cpp/test/CMakeLists.txt
index fd7d467d2..d434ea6e4 100644
--- a/rmw_fastrtps_shared_cpp/test/CMakeLists.txt
+++ b/rmw_fastrtps_shared_cpp/test/CMakeLists.txt
@@ -18,3 +18,8 @@ if(TARGET test_rmw_init_options)
   ament_target_dependencies(test_rmw_init_options osrf_testing_tools_cpp rcutils rmw)
   target_link_libraries(test_rmw_init_options ${PROJECT_NAME})
 endif()
+
+ament_add_gtest(test_guid_utils test_guid_utils.cpp)
+if(TARGET test_guid_utils)
+  target_link_libraries(test_guid_utils ${PROJECT_NAME})
+endif()
diff --git a/rmw_fastrtps_shared_cpp/test/test_guid_utils.cpp b/rmw_fastrtps_shared_cpp/test/test_guid_utils.cpp
new file mode 100644
index 000000000..5e45b17a8
--- /dev/null
+++ b/rmw_fastrtps_shared_cpp/test/test_guid_utils.cpp
@@ -0,0 +1,58 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "gtest/gtest.h"
+
+#include "fastrtps/rtps/common/Guid.h"
+
+#include "rmw_fastrtps_shared_cpp/guid_utils.hpp"
+
+using rmw_fastrtps_shared_cpp::copy_from_byte_array_to_fastrtps_guid;
+using rmw_fastrtps_shared_cpp::copy_from_fastrtps_guid_to_byte_array;
+
+static constexpr size_t byte_array_size =
+  eprosima::fastrtps::rtps::GuidPrefix_t::size +
+  eprosima::fastrtps::rtps::EntityId_t::size;
+
+TEST(GUIDUtilsTest, bad_arguments) {
+  eprosima::fastrtps::rtps::GUID_t guid;
+  uint8_t byte_array[byte_array_size] = {0};
+  uint8_t * null_byte_array = nullptr;
+  EXPECT_DEATH(copy_from_byte_array_to_fastrtps_guid(byte_array, nullptr), "");
+  EXPECT_DEATH(copy_from_byte_array_to_fastrtps_guid(null_byte_array, &guid), "");
+  EXPECT_DEATH(copy_from_fastrtps_guid_to_byte_array(guid, null_byte_array), "");
+}
+
+TEST(GUIDUtilsTest, byte_array_to_guid_and_back) {
+  uint8_t input_byte_array[byte_array_size] = {0};
+  input_byte_array[0] = 0xA5;
+  input_byte_array[byte_array_size - 1] = 0x4B;
+  eprosima::fastrtps::rtps::GUID_t guid;
+  copy_from_byte_array_to_fastrtps_guid(input_byte_array, &guid);
+  uint8_t output_byte_array[byte_array_size] = {0};
+  copy_from_fastrtps_guid_to_byte_array(guid, output_byte_array);
+  EXPECT_EQ(0, memcmp(input_byte_array, output_byte_array, byte_array_size));
+}
+
+TEST(GUIDUtilsTest, guid_to_byte_array_and_back) {
+  eprosima::fastrtps::rtps::GuidPrefix_t prefix;
+  prefix.value[0] = 0xD2;
+  prefix.value[eprosima::fastrtps::rtps::GuidPrefix_t::size - 1] = 0x3E;
+  eprosima::fastrtps::rtps::GUID_t input_guid{prefix, 1234};
+  uint8_t byte_array[byte_array_size] = {0};
+  copy_from_fastrtps_guid_to_byte_array(input_guid, byte_array);
+  eprosima::fastrtps::rtps::GUID_t output_guid;
+  copy_from_byte_array_to_fastrtps_guid(byte_array, &output_guid);
+  EXPECT_EQ(input_guid, output_guid);
+}