diff --git a/rosbag2_tests/CMakeLists.txt b/rosbag2_tests/CMakeLists.txt
index 70aab1ca52..ad1724b068 100644
--- a/rosbag2_tests/CMakeLists.txt
+++ b/rosbag2_tests/CMakeLists.txt
@@ -20,7 +20,25 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 
+find_package(PkgConfig)
+if(PKG_CONFIG_FOUND)
+  find_package(ros1_bridge REQUIRED)
+  include(${ros1_bridge_DIR}/find_ros1_interface_packages.cmake)
+  include(${ros1_bridge_DIR}/find_ros1_package.cmake)
+  find_ros1_package(roscpp)
+  if(NOT ros1_roscpp_FOUND)
+    set(SKIP_ROS1_TESTS "SKIP_TEST")
+    message(WARNING "Skipping build of tests for rosbag_v2 plugin. ROS 1 not found")
+  endif()
+else()
+  set(SKIP_ROS1_TESTS "SKIP_TEST")
+  message(WARNING "Skipping build of tests for rosbag_v2 plugin. ROS 1 not found")
+endif()
+
 if(BUILD_TESTING)
+  include(cmake/skip_ros1_tests_if_necessary.cmake)
+  skip_ros1_tests_if_necessary()
+
   find_package(ament_cmake_gmock REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   find_package(rclcpp REQUIRED)
@@ -75,28 +93,28 @@ if(BUILD_TESTING)
       test_msgs)
   endif()
 
-  if(rosbag2_bag_v2_plugins_FOUND)
-    ament_add_gmock(test_rosbag2_play_rosbag_v2_end_to_end
-      test/rosbag2_tests/test_rosbag2_play_rosbag_v2_end_to_end.cpp
-      WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
-    if(TARGET test_rosbag2_play_rosbag_v2_end_to_end)
-      ament_target_dependencies(test_rosbag2_play_rosbag_v2_end_to_end
-        rosbag2_storage
-        rclcpp
-        rosbag2_test_common
-        std_msgs)
-    endif()
-
-    ament_add_gmock(test_rosbag2_info_rosbag_v2_end_to_end
-      test/rosbag2_tests/test_rosbag2_info_rosbag_v2_end_to_end.cpp
-      WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
-    if(TARGET test_rosbag2_info_rosbag_v2_end_to_end)
-      ament_target_dependencies(test_rosbag2_info_rosbag_v2_end_to_end
-        rosbag2_storage
-        rclcpp
-        rosbag2_test_common
-        std_msgs)
-    endif()
+  ament_add_gmock(test_rosbag2_play_rosbag_v2_end_to_end
+    test/rosbag2_tests/test_rosbag2_play_rosbag_v2_end_to_end.cpp
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+    ${SKIP_ROS1_TESTS})
+  if(TARGET test_rosbag2_play_rosbag_v2_end_to_end)
+    ament_target_dependencies(test_rosbag2_play_rosbag_v2_end_to_end
+      rosbag2_storage
+      rclcpp
+      rosbag2_test_common
+      std_msgs)
+  endif()
+
+  ament_add_gmock(test_rosbag2_info_rosbag_v2_end_to_end
+    test/rosbag2_tests/test_rosbag2_info_rosbag_v2_end_to_end.cpp
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+    ${SKIP_ROS1_TESTS})
+  if(TARGET test_rosbag2_info_rosbag_v2_end_to_end)
+    ament_target_dependencies(test_rosbag2_info_rosbag_v2_end_to_end
+      rosbag2_storage
+      rclcpp
+      rosbag2_test_common
+      std_msgs)
   endif()
 endif()
 
diff --git a/rosbag2_tests/cmake/skip_ros1_tests_if_necessary.cmake b/rosbag2_tests/cmake/skip_ros1_tests_if_necessary.cmake
new file mode 100644
index 0000000000..aaec62fe9b
--- /dev/null
+++ b/rosbag2_tests/cmake/skip_ros1_tests_if_necessary.cmake
@@ -0,0 +1,37 @@
+# Copyright 2018, Bosch Software Innovations GmbH.
+#
+# 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.
+
+# Macro to set variable SKIP_ROS1_TESTS if ros1 is not installed
+# Some end to end tests rely on the plugin to read rosbags from ROS 1.
+# Those tests should be marked with SKIP_ROS1_TESTS and will be skipped if the
+# plugin is not available
+
+macro(skip_ros1_tests_if_necessary)
+  find_package(PkgConfig)
+  if(PKG_CONFIG_FOUND)
+    find_package(ros1_bridge REQUIRED)
+    include(${ros1_bridge_DIR}/find_ros1_interface_packages.cmake)
+    include(${ros1_bridge_DIR}/find_ros1_package.cmake)
+    find_ros1_package(roscpp)
+    if(NOT ros1_roscpp_FOUND)
+      set(SKIP_ROS1_TESTS "SKIP_TEST")
+      message(WARNING
+        "Skipping build of tests for rosbag_v2 plugin. ROS 1 not found")
+    endif()
+  else()
+    set(SKIP_ROS1_TESTS "SKIP_TEST")
+    message(WARNING
+      "Skipping build of tests for rosbag_v2 plugin. ROS 1 not found")
+  endif()
+endmacro()
\ No newline at end of file