diff --git a/test/test_type_database.py b/test/test_type_database.py
index 6979111a..f52aba70 100644
--- a/test/test_type_database.py
+++ b/test/test_type_database.py
@@ -141,3 +141,20 @@ def check(name: str, md5sum_expected: str) -> None:
     check('mavros_msgs/State', '9e3d873fae342c8f48a8bd64c53d991e')
     check('mavros_msgs/Mavlink', '6dd71a38b8541fdc2de89a548c7dbc2f')
     check('rosgraph_msgs/Log', 'acffd30cd6b6de30f120938c17c593fb')
+
+
+def test_encode_and_decode():
+    db_type = load_mavros_type_db()
+    Waypoint = db_type['mavros_msgs/Waypoint']
+    wp = Waypoint(frame=3,
+                  command=82,
+                  is_current=False,
+                  autocontinue=True,
+                  param1=2.545384369178356,
+                  param2=0.0,
+                  param3=0.0,
+                  param4=0.0,
+                  x_lat=-35.36326497378809,
+                  y_long=149.1652387253908,
+                  z_alt=3.45551165104657)
+    assert wp == Waypoint.decode(wp.encode())