diff --git a/rosbag2_py/CMakeLists.txt b/rosbag2_py/CMakeLists.txt
index e72dd233e9..91831730ac 100644
--- a/rosbag2_py/CMakeLists.txt
+++ b/rosbag2_py/CMakeLists.txt
@@ -118,12 +118,13 @@ if(BUILD_TESTING)
     set(set_env_vars "${set_env_vars} ROSBAG2_PY_TEST_WITH_RTLD_GLOBAL=True")
   endif()
 
-  # message(FATAL_ERROR "HELP I AM THE PATH ${CMAKE_CURRENT_SOURCE_DIR}")
-  ament_add_pytest_test(test_sequential_reader_py "test/test_sequential_reader.py"
+  ament_add_pytest_test(test_sequential_reader_py
+    "test/test_sequential_reader.py"
     APPEND_ENV "${append_env_vars}"
     ENV "${set_env_vars}"
   )
-  ament_add_pytest_test(test_sequential_reader_multiple_files_py "test/test_sequential_reader_multiple_files.py"
+  ament_add_pytest_test(test_sequential_reader_multiple_files_py
+    "test/test_sequential_reader_multiple_files.py"
     APPEND_ENV "${append_env_vars}"
     ENV "${set_env_vars}"
   )
@@ -147,6 +148,12 @@ if(BUILD_TESTING)
     APPEND_ENV "${append_env_vars}"
     ENV "${set_env_vars}"
   )
+
+  ament_add_pytest_test(test_storage_py
+    "test/test_storage.py"
+    APPEND_ENV "${append_env_vars}"
+    ENV "${set_env_vars}"
+  )
 endif()
 
 ament_package()
diff --git a/rosbag2_py/rosbag2_py/__init__.py b/rosbag2_py/rosbag2_py/__init__.py
index 82da7d3147..193944fef8 100644
--- a/rosbag2_py/rosbag2_py/__init__.py
+++ b/rosbag2_py/rosbag2_py/__init__.py
@@ -25,6 +25,7 @@
     )
     from rosbag2_py._storage import (
         ConverterOptions,
+        FileInformation,
         StorageFilter,
         StorageOptions,
         TopicMetadata,
@@ -55,6 +56,7 @@
 __all__ = [
     'bag_rewrite',
     'ConverterOptions',
+    'FileInformation',
     'get_registered_readers',
     'get_registered_writers',
     'get_registered_compressors',
diff --git a/rosbag2_py/src/rosbag2_py/_reader.cpp b/rosbag2_py/src/rosbag2_py/_reader.cpp
index c8f8445e06..a70a43f45c 100644
--- a/rosbag2_py/src/rosbag2_py/_reader.cpp
+++ b/rosbag2_py/src/rosbag2_py/_reader.cpp
@@ -45,7 +45,7 @@ class Reader
 
   void open(
     rosbag2_storage::StorageOptions & storage_options,
-    rosbag2_cpp::ConverterOptions & converter_options)
+    rosbag2_cpp::ConverterOptions & converter_options = rosbag2_cpp::ConverterOptions())
   {
     reader_->open(storage_options, converter_options);
   }
@@ -73,6 +73,11 @@ class Reader
     return reader_->get_all_topics_and_types();
   }
 
+  const rosbag2_storage::BagMetadata & get_metadata() const
+  {
+    return reader_->get_metadata();
+  }
+
   void set_filter(const rosbag2_storage::StorageFilter & storage_filter)
   {
     return reader_->set_filter(storage_filter);
@@ -108,44 +113,33 @@ std::unordered_set<std::string> get_registered_readers()
 
 }  // namespace rosbag2_py
 
+using PyReader = rosbag2_py::Reader<rosbag2_cpp::readers::SequentialReader>;
+using PyCompressionReader = rosbag2_py::Reader<rosbag2_compression::SequentialCompressionReader>;
+
 PYBIND11_MODULE(_reader, m) {
   m.doc() = "Python wrapper of the rosbag2_cpp reader API";
 
-  pybind11::class_<rosbag2_py::Reader<rosbag2_cpp::readers::SequentialReader>>(
-    m, "SequentialReader")
+  pybind11::class_<PyReader>(m, "SequentialReader")
   .def(pybind11::init())
-  .def("open", &rosbag2_py::Reader<rosbag2_cpp::readers::SequentialReader>::open)
-  .def("read_next", &rosbag2_py::Reader<rosbag2_cpp::readers::SequentialReader>::read_next)
-  .def("has_next", &rosbag2_py::Reader<rosbag2_cpp::readers::SequentialReader>::has_next)
-  .def(
-    "get_all_topics_and_types",
-    &rosbag2_py::Reader<rosbag2_cpp::readers::SequentialReader>::get_all_topics_and_types)
-  .def("set_filter", &rosbag2_py::Reader<rosbag2_cpp::readers::SequentialReader>::set_filter)
-  .def("reset_filter", &rosbag2_py::Reader<rosbag2_cpp::readers::SequentialReader>::reset_filter)
-  .def("seek", &rosbag2_py::Reader<rosbag2_cpp::readers::SequentialReader>::seek);
-
-  pybind11::class_<rosbag2_py::Reader<rosbag2_compression::SequentialCompressionReader>>(
-    m, "SequentialCompressionReader")
+  .def("open", &PyReader::open)
+  .def("read_next", &PyReader::read_next)
+  .def("has_next", &PyReader::has_next)
+  .def("get_metadata", &PyReader::get_metadata)
+  .def("get_all_topics_and_types", &PyReader::get_all_topics_and_types)
+  .def("set_filter", &PyReader::set_filter)
+  .def("reset_filter", &PyReader::reset_filter)
+  .def("seek", &PyReader::seek);
+
+  pybind11::class_<PyCompressionReader>(m, "SequentialCompressionReader")
   .def(pybind11::init())
-  .def("open", &rosbag2_py::Reader<rosbag2_compression::SequentialCompressionReader>::open)
-  .def(
-    "read_next", &rosbag2_py::Reader<rosbag2_compression::SequentialCompressionReader>::read_next)
-  .def("has_next", &rosbag2_py::Reader<rosbag2_compression::SequentialCompressionReader>::has_next)
-  .def(
-    "get_all_topics_and_types",
-    &rosbag2_py::Reader<
-      rosbag2_compression::SequentialCompressionReader
-    >::get_all_topics_and_types)
-  .def(
-    "set_filter",
-    &rosbag2_py::Reader<rosbag2_compression::SequentialCompressionReader>::set_filter)
-  .def(
-    "reset_filter",
-    &rosbag2_py::Reader<rosbag2_compression::SequentialCompressionReader>::reset_filter)
-  .def(
-    "seek",
-    &rosbag2_py::Reader<rosbag2_compression::SequentialCompressionReader>::seek);
-
+  .def("open", &PyCompressionReader::open)
+  .def("read_next", &PyCompressionReader::read_next)
+  .def("has_next", &PyCompressionReader::has_next)
+  .def("get_metadata", &PyCompressionReader::get_metadata)
+  .def("get_all_topics_and_types", &PyCompressionReader::get_all_topics_and_types)
+  .def("set_filter", &PyCompressionReader::set_filter)
+  .def("reset_filter", &PyCompressionReader::reset_filter)
+  .def("seek", &PyCompressionReader::seek);
   m.def(
     "get_registered_readers",
     &rosbag2_py::get_registered_readers,
diff --git a/rosbag2_py/src/rosbag2_py/_storage.cpp b/rosbag2_py/src/rosbag2_py/_storage.cpp
index 6979b8bda8..d9ef48282b 100644
--- a/rosbag2_py/src/rosbag2_py/_storage.cpp
+++ b/rosbag2_py/src/rosbag2_py/_storage.cpp
@@ -25,14 +25,50 @@
 
 #include "./pybind11.hpp"
 
+namespace
+{
+
+using pybind11::literals::operator""_a;
+
+pybind11::object to_rclpy_duration(std::chrono::nanoseconds duration)
+{
+  pybind11::object Duration = pybind11::module::import("rclpy.duration").attr("Duration");
+  return Duration("nanoseconds"_a = duration.count());
+}
+
+std::chrono::nanoseconds from_rclpy_duration(const pybind11::object & duration)
+{
+  pybind11::int_ nanos = duration.attr("nanoseconds");
+  return std::chrono::nanoseconds(nanos);
+}
+
+template<typename T>
+pybind11::object to_rclpy_time(T time)
+{
+  pybind11::object Time = pybind11::module::import("rclpy.time").attr("Time");
+  return Time(
+    "nanoseconds"_a = std::chrono::duration_cast<std::chrono::nanoseconds>(
+      time.time_since_epoch()).count());
+}
+
+std::chrono::time_point<std::chrono::high_resolution_clock> from_rclpy_time(
+  const pybind11::object & time)
+{
+  pybind11::int_ nanos = time.attr("nanoseconds");
+  return std::chrono::time_point<std::chrono::high_resolution_clock>(
+    std::chrono::nanoseconds(nanos));
+}
+
+}  // namespace
+
 PYBIND11_MODULE(_storage, m) {
   m.doc() = "Python wrapper of the rosbag2 utilities API";
 
   pybind11::class_<rosbag2_cpp::ConverterOptions>(m, "ConverterOptions")
   .def(
     pybind11::init<std::string, std::string>(),
-    pybind11::arg("input_serialization_format"),
-    pybind11::arg("output_serialization_format"))
+    pybind11::arg("input_serialization_format") = "",
+    pybind11::arg("output_serialization_format") = "")
   .def_readwrite(
     "input_serialization_format",
     &rosbag2_cpp::ConverterOptions::input_serialization_format)
@@ -81,9 +117,15 @@ PYBIND11_MODULE(_storage, m) {
 
   pybind11::class_<rosbag2_storage::StorageFilter>(m, "StorageFilter")
   .def(
-    pybind11::init<std::vector<std::string>>(),
-    pybind11::arg("topics"))
-  .def_readwrite("topics", &rosbag2_storage::StorageFilter::topics);
+    pybind11::init<std::vector<std::string>, std::string, std::string>(),
+    pybind11::arg("topics") = std::vector<std::string>(),
+    pybind11::arg("topics_regex") = "",
+    pybind11::arg("topics_regex_to_exclude") = "")
+  .def_readwrite("topics", &rosbag2_storage::StorageFilter::topics)
+  .def_readwrite("topics_regex", &rosbag2_storage::StorageFilter::topics_regex)
+  .def_readwrite(
+    "topics_regex_to_exclude",
+    &rosbag2_storage::StorageFilter::topics_regex_to_exclude);
 
   pybind11::class_<rosbag2_storage::TopicMetadata>(m, "TopicMetadata")
   .def(
@@ -112,57 +154,118 @@ PYBIND11_MODULE(_storage, m) {
 
   pybind11::class_<rosbag2_storage::FileInformation>(m, "FileInformation")
   .def(
-    pybind11::init<std::string,
-    std::chrono::time_point<std::chrono::high_resolution_clock>,
-    std::chrono::nanoseconds,
-    size_t>(),
+    pybind11::init(
+      [](
+        std::string path,
+        pybind11::object starting_time,
+        pybind11::object duration,
+        size_t message_count)
+      {
+        return rosbag2_storage::FileInformation{
+          path,
+          from_rclpy_time(starting_time),
+          from_rclpy_duration(duration),
+          message_count
+        };
+      }),
     pybind11::arg("path"),
     pybind11::arg("starting_time"),
     pybind11::arg("duration"),
-    pybind11::arg("message_count"))
+    pybind11::arg("message_count")
+  )
   .def_readwrite("path", &rosbag2_storage::FileInformation::path)
-  .def_readwrite("starting_time", &rosbag2_storage::FileInformation::starting_time)
+  .def_property(
+    "starting_time",
+    [](const rosbag2_storage::FileInformation & self) {
+      return to_rclpy_time(self.starting_time);
+    },
+    [](rosbag2_storage::FileInformation & self, const pybind11::object & value) {
+      self.starting_time = from_rclpy_time(value);
+    })
+  .def_property(
+    "duration",
+    [](const rosbag2_storage::FileInformation & self) {
+      return to_rclpy_duration(self.duration);
+    },
+    [](rosbag2_storage::FileInformation & self, const pybind11::object & value) {
+      self.duration = from_rclpy_duration(value);
+    })
   .def_readwrite("duration", &rosbag2_storage::FileInformation::duration)
   .def_readwrite("message_count", &rosbag2_storage::FileInformation::message_count);
 
   pybind11::class_<rosbag2_storage::BagMetadata>(m, "BagMetadata")
   .def(
-    pybind11::init<
-      int,
-      uint64_t,
-      std::string,
-      std::vector<std::string>,
-      std::vector<rosbag2_storage::FileInformation>,
-      std::chrono::nanoseconds,
-      std::chrono::time_point<std::chrono::high_resolution_clock>,
-      uint64_t,
-      std::vector<rosbag2_storage::TopicInformation>,
-      std::string,
-      std::string>(),
-    pybind11::arg("version"),
-    pybind11::arg("bag_size"),
-    pybind11::arg("storage_identifier"),
-    pybind11::arg("relative_file_paths"),
-    pybind11::arg("files"),
-    pybind11::arg("duration"),
-    pybind11::arg("starting_time"),
-    pybind11::arg("message_count"),
-    pybind11::arg("topics_with_message_count"),
-    pybind11::arg("compression_format"),
-    pybind11::arg("compression_mode"))
+    pybind11::init(
+      [](
+        int version,
+        uint64_t bag_size,
+        std::string storage_identifier,
+        std::vector<std::string> relative_file_paths,
+        std::vector<rosbag2_storage::FileInformation> files,
+        pybind11::object duration,
+        pybind11::object starting_time,
+        uint64_t message_count,
+        std::vector<rosbag2_storage::TopicInformation> topics_with_message_count,
+        std::string compression_format,
+        std::string compression_mode,
+        std::unordered_map<std::string, std::string> custom_data)
+      {
+        return rosbag2_storage::BagMetadata{
+          version,
+          bag_size,
+          storage_identifier,
+          relative_file_paths,
+          files,
+          from_rclpy_duration(duration),
+          from_rclpy_time(starting_time),
+          message_count,
+          topics_with_message_count,
+          compression_format,
+          compression_mode,
+          custom_data
+        };
+      }),
+    pybind11::arg("version") = 6,
+    pybind11::arg("bag_size") = 0,
+    pybind11::arg("storage_identifier") = "",
+    pybind11::arg("relative_file_paths") = std::vector<std::string>(),
+    pybind11::arg("files") = std::vector<rosbag2_storage::FileInformation>(),
+    pybind11::arg("duration") = to_rclpy_duration(std::chrono::nanoseconds{0}),
+    pybind11::arg("starting_time") = to_rclpy_time(
+      std::chrono::time_point<std::chrono::high_resolution_clock>(std::chrono::nanoseconds{0})),
+    pybind11::arg("message_count") = 0,
+    pybind11::arg("topics_with_message_count") = std::vector<rosbag2_storage::TopicInformation>(),
+    pybind11::arg("compression_format") = "",
+    pybind11::arg("compression_mode") = "",
+    pybind11::arg("custom_data") = std::unordered_map<std::string, std::string>())
   .def_readwrite("version", &rosbag2_storage::BagMetadata::version)
   .def_readwrite("bag_size", &rosbag2_storage::BagMetadata::bag_size)
   .def_readwrite("storage_identifier", &rosbag2_storage::BagMetadata::storage_identifier)
   .def_readwrite("relative_file_paths", &rosbag2_storage::BagMetadata::relative_file_paths)
   .def_readwrite("files", &rosbag2_storage::BagMetadata::files)
-  .def_readwrite("duration", &rosbag2_storage::BagMetadata::duration)
-  .def_readwrite("starting_time", &rosbag2_storage::BagMetadata::starting_time)
+  .def_property(
+    "duration",
+    [](const rosbag2_storage::BagMetadata & self) {
+      return to_rclpy_duration(self.duration);
+    },
+    [](rosbag2_storage::BagMetadata & self, const pybind11::object & value) {
+      self.duration = from_rclpy_duration(value);
+    })
+  .def_property(
+    "starting_time",
+    [](const rosbag2_storage::BagMetadata & self) {
+      return to_rclpy_time(self.starting_time);
+    },
+    [](rosbag2_storage::BagMetadata & self, const pybind11::object & value) {
+      self.starting_time = from_rclpy_time(value);
+    })
   .def_readwrite("message_count", &rosbag2_storage::BagMetadata::message_count)
   .def_readwrite(
     "topics_with_message_count",
     &rosbag2_storage::BagMetadata::topics_with_message_count)
   .def_readwrite("compression_format", &rosbag2_storage::BagMetadata::compression_format)
   .def_readwrite("compression_mode", &rosbag2_storage::BagMetadata::compression_mode)
+  .def_readwrite("custom_data", &rosbag2_storage::BagMetadata::custom_data)
   .def(
     "__repr__", [](const rosbag2_storage::BagMetadata & metadata) {
       return format_bag_meta_data(metadata);
diff --git a/rosbag2_py/test/common.py b/rosbag2_py/test/common.py
index 70c0b8368a..f68210f7a8 100644
--- a/rosbag2_py/test/common.py
+++ b/rosbag2_py/test/common.py
@@ -12,12 +12,21 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
+import sys
 import time
 from typing import Callable
 
-from rclpy.clock import Clock, ClockType
-from rclpy.duration import Duration
-import rosbag2_py
+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 rclpy.clock import Clock, ClockType  # noqa
+from rclpy.duration import Duration  # noqa
+import rosbag2_py  # noqa
 
 
 def get_rosbag_options(path, serialization_format='cdr'):
diff --git a/rosbag2_py/test/test_convert.py b/rosbag2_py/test/test_convert.py
index 03757cc51d..541247cd35 100644
--- a/rosbag2_py/test/test_convert.py
+++ b/rosbag2_py/test/test_convert.py
@@ -14,23 +14,14 @@
 
 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
+import common  # noqa
 from rosbag2_py import (
     bag_rewrite,
     StorageOptions,
-)  # noqa
+)
 
 RESOURCES_PATH = Path(os.environ['ROSBAG2_PY_TEST_RESOURCES_DIR'])
 
diff --git a/rosbag2_py/test/test_reindexer.py b/rosbag2_py/test/test_reindexer.py
index 9c895f8856..463116472f 100644
--- a/rosbag2_py/test/test_reindexer.py
+++ b/rosbag2_py/test/test_reindexer.py
@@ -22,17 +22,9 @@
 
 import os
 from pathlib import Path
-import sys
 
-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 common import get_rosbag_options
+import rosbag2_py
 
 RESOURCES_PATH = Path(os.environ['ROSBAG2_PY_TEST_RESOURCES_DIR'])
 
diff --git a/rosbag2_py/test/test_sequential_reader.py b/rosbag2_py/test/test_sequential_reader.py
index 3dc5d1f4b2..7a8ca2e3bf 100644
--- a/rosbag2_py/test/test_sequential_reader.py
+++ b/rosbag2_py/test/test_sequential_reader.py
@@ -14,22 +14,15 @@
 
 import os
 from pathlib import Path
-import sys
+
+from common import get_rosbag_options
 
 from rcl_interfaces.msg import Log
 from rclpy.serialization import deserialize_message
+import rosbag2_py
 from rosidl_runtime_py.utilities import get_message
 from std_msgs.msg import String
 
-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
 
 RESOURCES_PATH = Path(os.environ['ROSBAG2_PY_TEST_RESOURCES_DIR'])
 
diff --git a/rosbag2_py/test/test_sequential_reader_multiple_files.py b/rosbag2_py/test/test_sequential_reader_multiple_files.py
index a478878498..835ea156e2 100644
--- a/rosbag2_py/test/test_sequential_reader_multiple_files.py
+++ b/rosbag2_py/test/test_sequential_reader_multiple_files.py
@@ -14,18 +14,9 @@
 
 import os
 from pathlib import Path
-import sys
 
-
-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 common import get_rosbag_options
+import rosbag2_py
 
 RESOURCES_PATH = Path(os.environ['ROSBAG2_PY_TEST_RESOURCES_DIR'])
 
diff --git a/rosbag2_py/test/test_sequential_writer.py b/rosbag2_py/test/test_sequential_writer.py
index 3ad7fcc167..61012bc47e 100644
--- a/rosbag2_py/test/test_sequential_writer.py
+++ b/rosbag2_py/test/test_sequential_writer.py
@@ -12,23 +12,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
-import sys
+from common import get_rosbag_options
 
 from rclpy.serialization import deserialize_message, serialize_message
+import rosbag2_py
 from rosidl_runtime_py.utilities import get_message
 from std_msgs.msg import String
 
-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
-
 
 def create_topic(writer, topic_name, topic_type, serialization_format='cdr'):
     """
diff --git a/rosbag2_py/test/test_storage.py b/rosbag2_py/test/test_storage.py
new file mode 100644
index 0000000000..39c6995b05
--- /dev/null
+++ b/rosbag2_py/test/test_storage.py
@@ -0,0 +1,111 @@
+# Copyright 2022, Foxglove Technologies. 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 unittest
+
+import common  # noqa
+
+from rclpy.duration import Duration
+from rclpy.time import Time
+from rosbag2_py import (
+    BagMetadata,
+    ConverterOptions,
+    FileInformation,
+    StorageFilter,
+    StorageOptions,
+    TopicInformation,
+    TopicMetadata,
+)
+
+
+class TestStorageStructs(unittest.TestCase):
+
+    def test_bag_metadata_default_ctor(self):
+        metadata = BagMetadata()
+        assert metadata
+
+    def test_converter_options_ctor(self):
+        converter_options = ConverterOptions()
+        assert converter_options
+
+    def test_file_information_ctor(self):
+        file_information = FileInformation(
+            path='test_path',
+            starting_time=Time(nanoseconds=1000),
+            duration=Duration(),
+            message_count=1234,
+        )
+        assert file_information
+
+    def test_storage_options_ctor(self):
+        storage_options = StorageOptions(uri='path')
+        assert storage_options
+
+    def test_storage_filter_ctor(self):
+        storage_filter = StorageFilter()
+        assert storage_filter
+
+    def test_topic_metadata_ctor(self):
+        topic_metadata = TopicMetadata(
+            name='topic',
+            type='msgs/Msg',
+            serialization_format='format'
+        )
+        assert topic_metadata
+
+    def test_topic_information_ctor(self):
+        topic_information = TopicInformation(
+            topic_metadata=TopicMetadata(
+                name='topic',
+                type='msgs/Msg',
+                serialization_format='format'),
+            message_count=10
+        )
+        assert topic_information
+
+    def test_bag_metadata_ctor_named_args(self):
+        duration = Duration(nanoseconds=200)
+        starting_time = Time(nanoseconds=100)
+
+        file_information = FileInformation(
+            path='something',
+            starting_time=starting_time,
+            duration=duration,
+            message_count=12)
+        topic_information = TopicInformation(
+            topic_metadata=TopicMetadata(
+                name='topic',
+                type='msgs/Msg',
+                serialization_format='format'),
+            message_count=10
+        )
+
+        metadata = BagMetadata(
+            version=1,
+            bag_size=2,
+            storage_identifier='foo',
+            relative_file_paths=['bar', 'baz'],
+            files=[file_information],
+            duration=duration,
+            starting_time=starting_time,
+            message_count=12,
+            topics_with_message_count=[topic_information],
+            compression_format='aaaa',
+            compression_mode='bbbbb',
+            custom_data={
+                'keya': 'valuea',
+                'keyb': 'valueb'
+            }
+        )
+        assert metadata
diff --git a/rosbag2_py/test/test_transport.py b/rosbag2_py/test/test_transport.py
index 176d7e9fe2..b11612fc35 100644
--- a/rosbag2_py/test/test_transport.py
+++ b/rosbag2_py/test/test_transport.py
@@ -13,25 +13,15 @@
 # limitations under the License.
 
 import datetime
-import os
 from pathlib import Path
-import sys
 import threading
 
-
 from common import get_rosbag_options, wait_for
 import rclpy
 from rclpy.qos import QoSProfile
 import rosbag2_py
 from std_msgs.msg import String
 
-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)
-
 
 def test_options_qos_conversion():
     # Tests that the to-and-from C++ conversions are working properly in the pybind structs