diff --git a/tools/compare/Dockerfile b/tools/compare/Dockerfile
new file mode 100644
index 00000000..9e5fb59e
--- /dev/null
+++ b/tools/compare/Dockerfile
@@ -0,0 +1,11 @@
+FROM ros:rolling
+
+RUN apt-get update \
+ && apt-get upgrade -y \
+ && apt-get install -y \
+      python3-pip \
+      python3-rosbag
+
+COPY tools/compare/compare.py /
+
+CMD ["/usr/bin/python3", "/compare.py", "/rosbag1", "/rosbag2"]
diff --git a/tools/compare/README.rst b/tools/compare/README.rst
new file mode 100644
index 00000000..8b581e53
--- /dev/null
+++ b/tools/compare/README.rst
@@ -0,0 +1,11 @@
+=======
+Compare
+=======
+
+Check if the contents of a ``rosbag1`` and ``rosbag2`` file are identical. The provided Dockerfile creates an execution environment for the script. Run from the root of this repository::
+
+  $ docker build -t rosbags/compare -f tools/compare/Dockerfile .
+
+The docker image expects that the rosbag1 and rosbag2 files to be mounted ``/rosbag1`` and ``/rosbag2`` respectively::
+
+  $ docker run --rm -v /path/to/rosbag1.bag:/rosbag1 -v /path/to/rosbag2:/rosbag2 rosbags/compare
diff --git a/tools/compare/compare.py b/tools/compare/compare.py
new file mode 100644
index 00000000..d79ba820
--- /dev/null
+++ b/tools/compare/compare.py
@@ -0,0 +1,138 @@
+# Copyright 2020-2021  Ternaris.
+# SPDX-License-Identifier: Apache-2.0
+"""Tool checking if Rosbag1 and Rosbag2 contents are equal."""
+
+# pylint: disable=import-error
+
+from __future__ import annotations
+
+import array
+import math
+import sys
+from typing import TYPE_CHECKING
+from unittest.mock import Mock
+
+import genpy  # type: ignore
+import rosgraph_msgs.msg  # type: ignore
+from rclpy.serialization import deserialize_message  # type: ignore
+from rosbag2_py import ConverterOptions, SequentialReader, StorageOptions  # type: ignore
+from rosidl_runtime_py.utilities import get_message  # type: ignore
+
+rosgraph_msgs.msg.Log = Mock()
+rosgraph_msgs.msg.TopicStatistics = Mock()
+
+import rosbag.bag  # type:ignore  # noqa: E402  pylint: disable=wrong-import-position
+
+if TYPE_CHECKING:
+    from typing import Any, List
+
+    from rosbag.bag import _Connection_Info
+
+
+class Reader:  # pylint: disable=too-few-public-methods
+    """Mimimal shim using rosbag2_py to emulate rosbag2 API."""
+
+    def __init__(self, path: str):
+        """Initialize reader shim."""
+        self.reader = SequentialReader()
+        self.reader.open(StorageOptions(path, 'sqlite3'), ConverterOptions('', ''))
+        self.typemap = {x.name: x.type for x in self.reader.get_all_topics_and_types()}
+
+    def messages(self):
+        """Expose rosbag2 like generator behavior."""
+        while self.reader.has_next():
+            topic, data, timestamp = self.reader.read_next()
+            pytype = get_message(self.typemap[topic])
+            yield topic, timestamp, deserialize_message(data, pytype)
+
+
+def fixup_ros1(conns: List[_Connection_Info]):
+    """Monkeypatch ROS2 fieldnames onto ROS1 objects.
+
+    Args:
+        conns: Rosbag1 connections.
+
+    """
+    genpy.Time.sec = property(lambda x: x.secs)
+    genpy.Time.nanosec = property(lambda x: x.nsecs)
+    genpy.Duration.sec = property(lambda x: x.secs)
+    genpy.Duration.nanosec = property(lambda x: x.nsecs)
+
+    if conn := next((x for x in conns if x.datatype == 'sensor_msgs/CameraInfo'), None):
+        print('Patching CameraInfo')  # noqa: T001
+        # pylint: disable=assignment-from-no-return,too-many-function-args
+        cls = rosbag.bag._get_message_type(conn)  # pylint: disable=protected-access
+        cls.d = property(lambda x: x.D, lambda x, y: setattr(x, 'D', y))  # noqa: B010
+        cls.k = property(lambda x: x.K, lambda x, y: setattr(x, 'K', y))  # noqa: B010
+        cls.r = property(lambda x: x.R, lambda x, y: setattr(x, 'R', y))  # noqa: B010
+        cls.p = property(lambda x: x.P, lambda x, y: setattr(x, 'P', y))  # noqa: B010
+
+
+def compare(ref: Any, msg: Any):
+    """Compare message to its reference.
+
+    Args:
+        ref: Reference ROS1 message.
+        msg: Converted ROS2 message.
+
+    Return:
+        True if messages are identical.
+
+    """
+    if hasattr(msg, 'get_fields_and_field_types'):
+        for name in msg.get_fields_and_field_types():
+            refval = getattr(ref, name)
+            msgval = getattr(msg, name)
+            compare(refval, msgval)
+
+    elif isinstance(msg, array.array):
+        if isinstance(ref, bytes):
+            assert msg.tobytes() == ref
+        else:
+            assert (msg == ref).all()
+
+    elif isinstance(msg, list):
+        assert len(msg) == len(ref)
+        for refitem, msgitem in zip(ref, msg):
+            compare(refitem, msgitem)
+
+    elif isinstance(msg, str):
+        assert msg == ref
+
+    elif isinstance(msg, float) and math.isnan(ref):
+        assert math.isnan(msg)
+
+    else:
+        assert ref == msg
+
+
+def main(path1: str, path2: str):
+    """Compare rosbag1 to rosbag2 message by message.
+
+    Args:
+        path1: Rosbag1 filename.
+        path2: Rosbag2 filename.
+
+    """
+    reader1 = rosbag.bag.Bag(path1)
+    src1 = reader1.read_messages()
+    src2 = Reader(path2).messages()
+
+    fixup_ros1(reader1._connections.values())  # pylint: disable=protected-access
+
+    for msg1, msg2 in zip(src1, src2):
+        assert msg1.topic == msg2[0]
+        assert msg1.timestamp.to_nsec() == msg2[1]
+        compare(msg1.message, msg2[2])
+
+    assert next(src1, None) is None
+    assert next(src2, None) is None
+
+    print('Bags are identical.')  # noqa: T001
+
+
+if __name__ == '__main__':
+    if len(sys.argv) != 3:
+        print(f'Usage: {sys.argv} [rosbag1] [rosbag2]')  # noqa: T001
+        sys.exit(1)
+    main(sys.argv[1], sys.argv[2])