diff --git a/README.md b/README.md
index 22b3dde14d..b35c35d85f 100644
--- a/README.md
+++ b/README.md
@@ -174,6 +174,97 @@ Topic information: Topic: /chatter | Type: std_msgs/String | Count: 9 | Serializ
                    Topic: /my_chatter | Type: std_msgs/String | Count: 18 | Serialization Format: cdr
 ```
 
+### Converting bags
+
+Rosbag2 provides a tool `ros2 bag convert` (or, `rosbag2_transport::bag_rewrite` in the C++ API).
+This allows the user to take one or more input bags, and write them out to one or more output bags with new settings.
+This flexible feature enables the following features:
+* Merge (multiple input bags, one output bag)
+* Split top-level bags (one input bag, multiple output bags)
+* Split internal files (by time or size - one input bag with fewer internal files, one output bag with more, smaller, internal files)
+* Compress/Decompress (output bag(s) with different compression settings than the input(s))
+* Serialization format conversion
+* ... and more!
+
+Here is an example command:
+
+```
+ros2 bag convert --input /path/to/bag1 --input /path/to/bag2 storage_id --output-options output_options.yaml
+```
+
+The `--input` argument may be specified any number of times, and takes 1 or 2 values.
+The first value is the URI of the input bag.
+If a second value is supplied, it specifies the storage implementation of the bag.
+If no storage implementation is specified, rosbag2 will try to determine it automatically from the bag.
+
+The `--output-options` argument must point to the URI of a YAML file specifying the full recording configuration for each bag to output (`StorageOptions` + `RecordOptions`).
+This file must contain a top-level key `output_bags`, which contains a list of these objects.
+
+The only required value in the output bags is `uri` and `storage_id`. All other values are options (however, if no topic selection is specified, this output bag will be empty!).
+
+This example notes all fields that can have an effect, with a comment on the required ones.
+
+```
+output_bags
+- uri: /output/bag1  # required
+  storage_id: sqlite3  # required
+  max_bagfile_size: 0
+  max_bagfile_duration: 0
+  storage_preset_profile: ""
+  storage_config_uri: ""
+  all: false
+  topics: []
+  rmw_serialization_format: ""  # defaults to using the format of the input topic
+  regex: ""
+  exclude: ""
+  compression_mode: ""
+  compression_format: ""
+  compression_queue_size: 1
+  compression_threads: 0
+  include_hidden_topics: false
+```
+
+Example merge:
+
+```
+$ ros2 bag convert -i bag1 -i bag2 -o out.yaml
+
+# out.yaml
+output_bags:
+- uri: merged_bag
+  storage_id: sqlite3
+  all: true
+```
+
+Example split:
+
+```
+$ ros2 bag convert -i bag1 -o out.yaml
+
+# out.yaml
+output_bags:
+- uri: split1
+  storage_id: sqlite3
+  topics: [/topic1, /topic2]
+- uri: split2
+  storage_id: sqlite3
+  topics: [/topic3]
+```
+
+Example compress:
+
+```
+$ ros2 bag convert -i bag1 -o out.yaml
+
+# out.yaml
+output_bags:
+- uri: compressed
+  storage_id: sqlite3
+  all: true
+  compression_mode: file
+  compression_format: zstd
+```
+
 ### Overriding QoS Profiles
 
 When starting a recording or playback workflow, you can pass a YAML file that contains QoS profile settings for a specific topic.
diff --git a/ros2bag/ros2bag/verb/convert.py b/ros2bag/ros2bag/verb/convert.py
new file mode 100644
index 0000000000..080bb80c9d
--- /dev/null
+++ b/ros2bag/ros2bag/verb/convert.py
@@ -0,0 +1,50 @@
+# Copyright 2021 Amazon.com Inc or its Affiliates
+#
+# 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.
+
+import argparse
+
+from ros2bag.verb import VerbExtension
+from rosbag2_py import bag_rewrite
+from rosbag2_py import StorageOptions
+
+
+class ConvertVerb(VerbExtension):
+    """Given an input bag, write out a new bag with different settings."""
+
+    def add_arguments(self, parser, cli_name):
+        parser.add_argument(
+            '-i', '--input',
+            required=True,
+            action='append', nargs='+',
+            metavar=('uri', 'storage_id'),
+            help='URI (and optional storage ID) of an input bag. May be provided more than once')
+        parser.add_argument(
+            '-o', '--output-options',
+            type=str, required=True,
+            help='YAML file with options for output bags. Must have one top-level key '
+                 '"output_bags", which contains a sequence of StorageOptions/RecordOptions '
+                 'objects. See README.md for some examples.')
+
+    def main(self, *, args):
+        input_options = []
+        for input_bag in args.input:
+            if len(input_bag) > 2:
+                raise argparse.ArgumentTypeError(
+                    f'--input expects 1 or 2 arguments, {len(input_bag)} provided')
+            storage_options = StorageOptions(uri=input_bag[0])
+            if len(input_bag) > 1:
+                storage_options.storage_id = input_bag[1]
+            input_options.append(storage_options)
+
+        bag_rewrite(input_options, args.output_options)
diff --git a/ros2bag/setup.py b/ros2bag/setup.py
index 0cc3b672fb..49db1a453f 100644
--- a/ros2bag/setup.py
+++ b/ros2bag/setup.py
@@ -38,6 +38,7 @@
             'ros2bag.verb = ros2bag.verb:VerbExtension',
         ],
         'ros2bag.verb': [
+            'convert = ros2bag.verb.convert:ConvertVerb',
             'info = ros2bag.verb.info:InfoVerb',
             'list = ros2bag.verb.list:ListVerb',
             'play = ros2bag.verb.play:PlayVerb',
diff --git a/rosbag2_py/CMakeLists.txt b/rosbag2_py/CMakeLists.txt
index 7646b8ea75..0f6e1bada0 100644
--- a/rosbag2_py/CMakeLists.txt
+++ b/rosbag2_py/CMakeLists.txt
@@ -148,38 +148,48 @@ if(BUILD_TESTING)
   if(WIN32 AND "${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
     set(_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE_DEBUG}")
   endif()
-  set(other_environment_vars)
+  set(append_env_vars "PYTHONPATH=${CMAKE_CURRENT_SOURCE_DIR}")
+  set(set_env_vars "ROSBAG2_PY_TEST_RESOURCES_DIR=${CMAKE_CURRENT_SOURCE_DIR}/test/resources")
   if(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     # Work around a rtti bug when using class_loader from a
     # python extension built with libc++.
-    set(other_environment_vars "ROSBAG2_PY_TEST_WITH_RTLD_GLOBAL=True")
+    set(set_env_vars "${set_env_vars} ROSBAG2_PY_TEST_WITH_RTLD_GLOBAL=True")
   endif()
+
+  # message(FATAL_ERROR "HELP I AM THE PATH ${CMAKE_CURRENT_SOURCE_DIR}")
   ament_add_pytest_test(test_sequential_reader_py "test/test_sequential_reader.py"
     PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}"
-    APPEND_ENV
-      PYTHONPATH=${CMAKE_CURRENT_SOURCE_DIR}
-      ${other_environment_vars}
+    APPEND_ENV "${append_env_vars}"
+    ENV "${set_env_vars}"
   )
   ament_add_pytest_test(test_sequential_reader_multiple_files_py "test/test_sequential_reader_multiple_files.py"
     PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}"
-    APPEND_ENV
-      PYTHONPATH=${CMAKE_CURRENT_SOURCE_DIR}
-      ${other_environment_vars}
+    APPEND_ENV "${append_env_vars}"
+    ENV "${set_env_vars}"
   )
   ament_add_pytest_test(test_sequential_writer_py
     "test/test_sequential_writer.py"
     PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}"
-    APPEND_ENV "PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}" ${other_environment_vars}
+    APPEND_ENV "${append_env_vars}"
+    ENV "${set_env_vars}"
   )
   ament_add_pytest_test(test_transport_py
     "test/test_transport.py"
     PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}"
-    APPEND_ENV "PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}" ${other_environment_vars}
+    APPEND_ENV "${append_env_vars}"
+    ENV "${set_env_vars}"
   )
   ament_add_pytest_test(test_reindexer_py
     "test/test_reindexer.py"
     PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}"
-    APPEND_ENV "PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}" ${other_environment_vars}
+    APPEND_ENV "${append_env_vars}"
+    ENV "${set_env_vars}"
+  )
+  ament_add_pytest_test(test_convert_py
+    "test/test_convert.py"
+    PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}"
+    APPEND_ENV "${append_env_vars}"
+    ENV "${set_env_vars}"
   )
 endif()
 
diff --git a/rosbag2_py/rosbag2_py/__init__.py b/rosbag2_py/rosbag2_py/__init__.py
index 72ef3de376..82da7d3147 100644
--- a/rosbag2_py/rosbag2_py/__init__.py
+++ b/rosbag2_py/rosbag2_py/__init__.py
@@ -42,6 +42,7 @@
         Info,
     )
     from rosbag2_py._transport import (
+        bag_rewrite,
         Player,
         PlayOptions,
         Recorder,
@@ -52,6 +53,7 @@
     )
 
 __all__ = [
+    'bag_rewrite',
     'ConverterOptions',
     'get_registered_readers',
     'get_registered_writers',
diff --git a/rosbag2_py/src/rosbag2_py/_storage.cpp b/rosbag2_py/src/rosbag2_py/_storage.cpp
index e2807699b6..48d04e619e 100644
--- a/rosbag2_py/src/rosbag2_py/_storage.cpp
+++ b/rosbag2_py/src/rosbag2_py/_storage.cpp
@@ -45,7 +45,7 @@ PYBIND11_MODULE(_storage, m) {
     pybind11::init<
       std::string, std::string, uint64_t, uint64_t, uint64_t, std::string, std::string, bool>(),
     pybind11::arg("uri"),
-    pybind11::arg("storage_id"),
+    pybind11::arg("storage_id") = "",
     pybind11::arg("max_bagfile_size") = 0,
     pybind11::arg("max_bagfile_duration") = 0,
     pybind11::arg("max_cache_size") = 0,
diff --git a/rosbag2_py/src/rosbag2_py/_transport.cpp b/rosbag2_py/src/rosbag2_py/_transport.cpp
index 91beec78aa..c8ab6f38f5 100644
--- a/rosbag2_py/src/rosbag2_py/_transport.cpp
+++ b/rosbag2_py/src/rosbag2_py/_transport.cpp
@@ -21,6 +21,8 @@
 #include <vector>
 
 #include "rosbag2_storage/storage_options.hpp"
+#include "rosbag2_storage/yaml.hpp"
+#include "rosbag2_transport/bag_rewrite.hpp"
 #include "rosbag2_transport/play_options.hpp"
 #include "rosbag2_transport/player.hpp"
 #include "rosbag2_transport/reader_writer_factory.hpp"
@@ -175,6 +177,32 @@ class Recorder
   }
 };
 
+// Simple wrapper to read the output config YAML into structs
+void bag_rewrite(
+  const std::vector<rosbag2_storage::StorageOptions> & input_options,
+  std::string output_config_file)
+{
+  YAML::Node yaml_file = YAML::LoadFile(output_config_file);
+  auto bag_nodes = yaml_file["output_bags"];
+  if (!bag_nodes) {
+    throw std::runtime_error("Output bag config YAML file must have top-level key 'output_bags'");
+  }
+  if (!bag_nodes.IsSequence()) {
+    throw std::runtime_error(
+            "Top-level key 'output_bags' must contain a list of "
+            "StorageOptions/RecordOptions dicts.");
+  }
+
+  std::vector<
+    std::pair<rosbag2_storage::StorageOptions, rosbag2_transport::RecordOptions>> output_options;
+  for (const auto & bag_node : bag_nodes) {
+    auto storage_options = bag_node.as<rosbag2_storage::StorageOptions>();
+    auto record_options = bag_node.as<rosbag2_transport::RecordOptions>();
+    output_options.push_back(std::make_pair(storage_options, record_options));
+  }
+  rosbag2_transport::bag_rewrite(input_options, output_options);
+}
+
 }  // namespace rosbag2_py
 
 PYBIND11_MODULE(_transport, m) {
@@ -240,4 +268,9 @@ PYBIND11_MODULE(_transport, m) {
   .def("record", &rosbag2_py::Recorder::record)
   .def("cancel", &rosbag2_py::Recorder::cancel)
   ;
+
+  m.def(
+    "bag_rewrite",
+    &rosbag2_py::bag_rewrite,
+    "Given one or more input bags, output one or more bags with new settings.");
 }
diff --git a/rosbag2_py/test/resources/convert_a/metadata.yaml b/rosbag2_py/test/resources/convert_a/metadata.yaml
new file mode 100644
index 0000000000..3c0b8ae7c8
--- /dev/null
+++ b/rosbag2_py/test/resources/convert_a/metadata.yaml
@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 100000000
+  starting_time:
+    nanoseconds_since_epoch: 0
+  message_count: 150
+  topics_with_message_count:
+    - topic_metadata:
+        name: a_empty
+        type: test_msgs/msg/Empty
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 1\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false\n- history: 1\n  depth: 2\n  reliability: 2\n  durability: 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 100
+    - topic_metadata:
+        name: b_basictypes
+        type: test_msgs/msg/BasicTypes
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 1\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 50
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - rewriter_a_0.db3
+  files:
+    - path: rewriter_a_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 0
+      duration:
+        nanoseconds: 100000000
+      message_count: 150
diff --git a/rosbag2_py/test/resources/convert_a/rewriter_a_0.db3 b/rosbag2_py/test/resources/convert_a/rewriter_a_0.db3
new file mode 100644
index 0000000000..baaa015852
Binary files /dev/null and b/rosbag2_py/test/resources/convert_a/rewriter_a_0.db3 differ
diff --git a/rosbag2_py/test/resources/convert_b/metadata.yaml b/rosbag2_py/test/resources/convert_b/metadata.yaml
new file mode 100644
index 0000000000..333882eb8a
--- /dev/null
+++ b/rosbag2_py/test/resources/convert_b/metadata.yaml
@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 222000000
+  starting_time:
+    nanoseconds_since_epoch: 0
+  message_count: 75
+  topics_with_message_count:
+    - topic_metadata:
+        name: c_strings
+        type: test_msgs/msg/Strings
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 1\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 50
+    - topic_metadata:
+        name: a_empty
+        type: test_msgs/msg/Empty
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 1\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 25
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - rewriter_b_0.db3
+  files:
+    - path: rewriter_b_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 0
+      duration:
+        nanoseconds: 222000000
+      message_count: 75
diff --git a/rosbag2_py/test/resources/convert_b/rewriter_b_0.db3 b/rosbag2_py/test/resources/convert_b/rewriter_b_0.db3
new file mode 100644
index 0000000000..2fedfc6a58
Binary files /dev/null and b/rosbag2_py/test/resources/convert_b/rewriter_b_0.db3 differ
diff --git a/rosbag2_py/resources/reindex_test_bags/multiple_files/multiple_files_0.db3 b/rosbag2_py/test/resources/reindex_test_bags/multiple_files/multiple_files_0.db3
similarity index 100%
rename from rosbag2_py/resources/reindex_test_bags/multiple_files/multiple_files_0.db3
rename to rosbag2_py/test/resources/reindex_test_bags/multiple_files/multiple_files_0.db3
diff --git a/rosbag2_py/resources/reindex_test_bags/multiple_files/multiple_files_1.db3 b/rosbag2_py/test/resources/reindex_test_bags/multiple_files/multiple_files_1.db3
similarity index 100%
rename from rosbag2_py/resources/reindex_test_bags/multiple_files/multiple_files_1.db3
rename to rosbag2_py/test/resources/reindex_test_bags/multiple_files/multiple_files_1.db3
diff --git a/rosbag2_py/resources/reindex_test_bags/multiple_files/multiple_files_2.db3 b/rosbag2_py/test/resources/reindex_test_bags/multiple_files/multiple_files_2.db3
similarity index 100%
rename from rosbag2_py/resources/reindex_test_bags/multiple_files/multiple_files_2.db3
rename to rosbag2_py/test/resources/reindex_test_bags/multiple_files/multiple_files_2.db3
diff --git a/rosbag2_py/resources/talker/metadata.yaml b/rosbag2_py/test/resources/talker/metadata.yaml
similarity index 100%
rename from rosbag2_py/resources/talker/metadata.yaml
rename to rosbag2_py/test/resources/talker/metadata.yaml
diff --git a/rosbag2_py/resources/talker/talker.db3 b/rosbag2_py/test/resources/talker/talker.db3
similarity index 100%
rename from rosbag2_py/resources/talker/talker.db3
rename to rosbag2_py/test/resources/talker/talker.db3
diff --git a/rosbag2_py/resources/talker/talker.db3-shm b/rosbag2_py/test/resources/talker/talker.db3-shm
similarity index 100%
rename from rosbag2_py/resources/talker/talker.db3-shm
rename to rosbag2_py/test/resources/talker/talker.db3-shm
diff --git a/rosbag2_py/resources/talker/talker.db3-wal b/rosbag2_py/test/resources/talker/talker.db3-wal
similarity index 100%
rename from rosbag2_py/resources/talker/talker.db3-wal
rename to rosbag2_py/test/resources/talker/talker.db3-wal
diff --git a/rosbag2_py/resources/wbag/metadata.yaml b/rosbag2_py/test/resources/wbag/metadata.yaml
similarity index 100%
rename from rosbag2_py/resources/wbag/metadata.yaml
rename to rosbag2_py/test/resources/wbag/metadata.yaml
diff --git a/rosbag2_py/resources/wbag/wbag_0.db3 b/rosbag2_py/test/resources/wbag/wbag_0.db3
similarity index 100%
rename from rosbag2_py/resources/wbag/wbag_0.db3
rename to rosbag2_py/test/resources/wbag/wbag_0.db3
diff --git a/rosbag2_py/resources/wbag/wbag_1.db3 b/rosbag2_py/test/resources/wbag/wbag_1.db3
similarity index 100%
rename from rosbag2_py/resources/wbag/wbag_1.db3
rename to rosbag2_py/test/resources/wbag/wbag_1.db3
diff --git a/rosbag2_py/resources/wbag/wbag_2.db3 b/rosbag2_py/test/resources/wbag/wbag_2.db3
similarity index 100%
rename from rosbag2_py/resources/wbag/wbag_2.db3
rename to rosbag2_py/test/resources/wbag/wbag_2.db3
diff --git a/rosbag2_py/resources/wbag/wbag_3.db3 b/rosbag2_py/test/resources/wbag/wbag_3.db3
similarity index 100%
rename from rosbag2_py/resources/wbag/wbag_3.db3
rename to rosbag2_py/test/resources/wbag/wbag_3.db3
diff --git a/rosbag2_py/resources/wbag/wbag_4.db3 b/rosbag2_py/test/resources/wbag/wbag_4.db3
similarity index 100%
rename from rosbag2_py/resources/wbag/wbag_4.db3
rename to rosbag2_py/test/resources/wbag/wbag_4.db3
diff --git a/rosbag2_py/test/test_convert.py b/rosbag2_py/test/test_convert.py
new file mode 100644
index 0000000000..03757cc51d
--- /dev/null
+++ b/rosbag2_py/test/test_convert.py
@@ -0,0 +1,100 @@
+# Copyright 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+#
+# 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.
+
+import os
+from pathlib import Path
+import sys
+import tempfile
+import unittest
+
+if os.environ.get('ROSBAG2_PY_TEST_WITH_RTLD_GLOBAL', None) is not None:
+    # This is needed on Linux when compiling with clang/libc++.
+    # TL;DR This makes class_loader work when using a python extension compiled with libc++.
+    #
+    # For the fun RTTI ABI details, see https://whatofhow.wordpress.com/2015/03/17/odr-rtti-dso/.
+    sys.setdlopenflags(os.RTLD_GLOBAL | os.RTLD_LAZY)
+
+from common import get_rosbag_options  # noqa
+import rosbag2_py  # noqa
+from rosbag2_py import (
+    bag_rewrite,
+    StorageOptions,
+)  # noqa
+
+RESOURCES_PATH = Path(os.environ['ROSBAG2_PY_TEST_RESOURCES_DIR'])
+
+
+class TestConvert(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(cls):
+        cls.tmpdir = tempfile.TemporaryDirectory()
+        cls.tmp_path = Path(cls.tmpdir.name)
+
+    @classmethod
+    def tearDownClass(cls):
+        try:
+            cls.tmpdir.cleanup()
+        except OSError:
+            pass
+
+    def test_no_toplevel_key(self):
+        output_options_path = self.tmp_path / 'no_toplevel_key.yml'
+        output_options_content = """
+- key: value
+"""
+        with output_options_path.open('w') as f:
+            f.write(output_options_content)
+        with self.assertRaises(RuntimeError):
+            bag_rewrite([], str(output_options_path))
+
+    def test_output_bags_not_a_list(self):
+        output_options_path = self.tmp_path / 'not_a_list.yml'
+        output_options_content = """
+output_bags:
+  key: value
+"""
+        with output_options_path.open('w') as f:
+            f.write(output_options_content)
+        with self.assertRaises(RuntimeError):
+            bag_rewrite([], str(output_options_path))
+
+    def test_basic_convert(self):
+        # This test is just to test that the rosbag2_py wrapper parses input
+        # It is not a comprehensive test of bag_rewrite.
+        bag_a_path = RESOURCES_PATH / 'convert_a'
+        bag_b_path = RESOURCES_PATH / 'convert_b'
+        output_uri_1 = self.tmp_path / 'converted_1'
+        output_uri_2 = self.tmp_path / 'converted_2'
+        input_options = [
+            StorageOptions(uri=str(bag_a_path)),
+            StorageOptions(uri=str(bag_b_path), storage_id='sqlite3'),
+        ]
+        output_options_path = self.tmp_path / 'simple_convert.yml'
+        output_options_content = f"""
+output_bags:
+- uri: {output_uri_1}
+  storage_id: sqlite3
+  topics: [a_empty]
+- uri: {output_uri_2}
+  storage_id: sqlite3
+  exclude: ".*empty.*"
+"""
+        with output_options_path.open('w') as f:
+            f.write(output_options_content)
+        bag_rewrite(input_options, str(output_options_path))
+        self.assertTrue(output_uri_1.exists() and output_uri_1.is_dir())
+        self.assertTrue((output_uri_1 / 'metadata.yaml').exists())
+        self.assertTrue(output_uri_2.exists() and output_uri_2.is_dir())
+        self.assertTrue((output_uri_2 / 'metadata.yaml').exists())
diff --git a/rosbag2_py/test/test_reindexer.py b/rosbag2_py/test/test_reindexer.py
index 296fb4e367..9ed386d307 100644
--- a/rosbag2_py/test/test_reindexer.py
+++ b/rosbag2_py/test/test_reindexer.py
@@ -34,9 +34,11 @@
 from common import get_rosbag_options  # noqa
 import rosbag2_py  # noqa
 
+RESOURCES_PATH = Path(os.environ['ROSBAG2_PY_TEST_RESOURCES_DIR'])
+
 
 def test_reindexer_multiple_files():
-    bag_path = Path(__file__).parent.parent / 'resources' / 'reindex_test_bags' / 'multiple_files'
+    bag_path = RESOURCES_PATH / 'reindex_test_bags' / 'multiple_files'
     result_path = bag_path / 'metadata.yaml'
 
     storage_options, converter_options = get_rosbag_options(str(bag_path))
diff --git a/rosbag2_py/test/test_sequential_reader.py b/rosbag2_py/test/test_sequential_reader.py
index 2caa0416a7..3dc5d1f4b2 100644
--- a/rosbag2_py/test/test_sequential_reader.py
+++ b/rosbag2_py/test/test_sequential_reader.py
@@ -31,9 +31,11 @@
 from common import get_rosbag_options  # noqa
 import rosbag2_py  # noqa
 
+RESOURCES_PATH = Path(os.environ['ROSBAG2_PY_TEST_RESOURCES_DIR'])
+
 
 def test_sequential_reader():
-    bag_path = str(Path(__file__).parent.parent / 'resources' / 'talker')
+    bag_path = str(RESOURCES_PATH / 'talker')
     storage_options, converter_options = get_rosbag_options(bag_path)
 
     reader = rosbag2_py.SequentialReader()
@@ -81,7 +83,7 @@ def test_sequential_reader():
 
 
 def test_sequential_reader_seek():
-    bag_path = str(Path(__file__).parent.parent / 'resources' / 'talker')
+    bag_path = str(RESOURCES_PATH / 'talker')
     storage_options, converter_options = get_rosbag_options(bag_path)
 
     reader = rosbag2_py.SequentialReader()
diff --git a/rosbag2_py/test/test_sequential_reader_multiple_files.py b/rosbag2_py/test/test_sequential_reader_multiple_files.py
index f75a0da6e2..a478878498 100644
--- a/rosbag2_py/test/test_sequential_reader_multiple_files.py
+++ b/rosbag2_py/test/test_sequential_reader_multiple_files.py
@@ -27,9 +27,11 @@
 from common import get_rosbag_options  # noqa
 import rosbag2_py  # noqa
 
+RESOURCES_PATH = Path(os.environ['ROSBAG2_PY_TEST_RESOURCES_DIR'])
+
 
 def test_reset_filter():
-    bag_path = str(Path(__file__).parent.parent / 'resources' / 'wbag')
+    bag_path = str(RESOURCES_PATH / 'wbag')
     storage_options, converter_options = get_rosbag_options(bag_path)
 
     reader = rosbag2_py.SequentialReader()
@@ -74,7 +76,7 @@ def test_reset_filter():
 
 
 def test_seek_forward():
-    bag_path = str(Path(__file__).parent.parent / 'resources' / 'wbag')
+    bag_path = str(RESOURCES_PATH / 'wbag')
     storage_options, converter_options = get_rosbag_options(bag_path)
 
     reader = rosbag2_py.SequentialReader()
@@ -109,7 +111,7 @@ def test_seek_forward():
 
 
 def test_seek_backward():
-    bag_path = str(Path(__file__).parent.parent / 'resources' / 'wbag')
+    bag_path = str(RESOURCES_PATH / 'wbag')
     storage_options, converter_options = get_rosbag_options(bag_path)
 
     reader = rosbag2_py.SequentialReader()