diff --git a/test/rosidl_runtime_py/test_set_message.py b/test/rosidl_runtime_py/test_set_message.py
index 9c39f09..56c78f3 100644
--- a/test/rosidl_runtime_py/test_set_message.py
+++ b/test/rosidl_runtime_py/test_set_message.py
@@ -14,11 +14,12 @@
 
 import builtins
 import copy
+import yaml
 
 from builtin_interfaces.msg import Time
 import pytest
 import rosidl_parser.definition
-from rosidl_runtime_py import set_message_fields
+from rosidl_runtime_py import set_message_fields, message_to_yaml
 from std_msgs.msg import Header
 from test_msgs import message_fixtures
 
@@ -140,6 +141,22 @@ def test_set_message_fields_partial():
             assert getattr(modified_msg, attr) == getattr(original_msg, attr)
 
 
+def test_set_message_fields_from_yaml():
+    original_msg = message_fixtures.get_msg_basic_types()[1]
+    original_yaml = message_to_yaml(original_msg)
+    values = yaml.safe_load(original_yaml)
+
+    modified_msg = message_fixtures.get_msg_basic_types()[0]
+    set_message_fields(modified_msg, values)
+
+    for attr in original_msg.get_fields_and_field_types().keys():
+        # Remove underscore prefix
+        if attr in values:
+            assert getattr(modified_msg, attr) == values[attr]
+        else:
+            assert getattr(modified_msg, attr) == getattr(original_msg, attr)
+
+
 def test_set_message_fields_full():
     msg_list = message_fixtures.get_msg_basic_types()
     msg0 = msg_list[0]