diff --git a/rcl/include/rcl/subscription.h b/rcl/include/rcl/subscription.h
index 1219499994..28bbf17134 100644
--- a/rcl/include/rcl/subscription.h
+++ b/rcl/include/rcl/subscription.h
@@ -53,6 +53,11 @@ typedef struct rcl_subscription_options_s
   rmw_subscription_options_t rmw_subscription_options;
 } rcl_subscription_options_t;
 
+typedef struct rcl_subscription_content_filter_options_s
+{
+  rmw_subscription_content_filter_options_t rmw_subscription_content_filter_options;
+} rcl_subscription_content_filter_options_t;
+
 /// Return a rcl_subscription_t struct with members set to `NULL`.
 /**
  * Should be called to get a null rcl_subscription_t before passing to
@@ -209,6 +214,225 @@ RCL_WARN_UNUSED
 rcl_subscription_options_t
 rcl_subscription_get_default_options(void);
 
+/// Reclaim resources held inside rcl_subscription_options_t structure.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] option The structure which its resources have to be deallocated.
+ * \return `RCL_RET_OK` if the memory was successfully freed, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if option is NULL, or
+ * \return `RCL_RET_BAD_ALLOC` if deallocating memory fails.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_subscription_options_fini(rcl_subscription_options_t * option);
+
+/// Set the content filter options for the given subscription options.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] filter_expression The filter expression is similar to the WHERE part of an SQL clause.
+ * \param[in] expression_parameters_argc The maximum of expression parameters argc is 100.
+ * \param[in] expression_parameter_argv The expression parameters argv are the tokens placeholder
+ * ‘parameters’ (i.e., "%n" tokens begin from 0) in the filter_expression.
+ *
+ * It can be NULL if there is no "%n" tokens placeholder in filter_expression.
+ * \param[out] options The subscription options to be set.
+ * \return `RCL_RET_OK` if set options successfully, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if arguments invalid, or
+ * \return `RCL_RET_BAD_ALLOC` if allocating memory fails.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_subscription_options_set_content_filter_options(
+  const char * filter_expression,
+  size_t expression_parameters_argc,
+  const char * expression_parameter_argv[],
+  rcl_subscription_options_t * options);
+
+/// Return the zero initialized subscription content filter options.
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_subscription_content_filter_options_t
+rcl_get_zero_initialized_subscription_content_filter_options(void);
+
+/// Initialize the content filter options for the given subscription options.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] subscription the handle to the subscription.
+ * \param[in] filter_expression The filter expression is similar to the WHERE part of an SQL clause,
+ * use empty ("") can reset (or clear) the content filter setting of a subscription.
+ * \param[in] expression_parameters_argc The maximum of expression parameters argc is 100.
+ * \param[in] expression_parameter_argv The expression parameters argv are the tokens placeholder
+ * ‘parameters’ (i.e., "%n" tokens begin from 0) in the filter_expression.
+ *
+ * It can be NULL if there is no "%n" tokens placeholder in filter_expression.
+ * \param[out] options The subscription options to be set.
+ * \return `RCL_RET_OK` if set options successfully, or
+ * \return `RCL_RET_SUBSCRIPTION_INVALID` if subscription is invalid, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if arguments invalid, or
+ * \return `RCL_RET_BAD_ALLOC` if allocating memory fails.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_subscription_content_filter_options_init(
+  const rcl_subscription_t * subscription,
+  const char * filter_expression,
+  size_t expression_parameters_argc,
+  const char * expression_parameter_argv[],
+  rcl_subscription_content_filter_options_t * options);
+
+/// Set the content filter options for the given subscription options.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] subscription the handle to the subscription.
+ * \param[in] filter_expression The filter expression is similar to the WHERE part of an SQL clause,
+ * use empty ("") can reset (or clear) the content filter setting of a subscription.
+ * \param[in] expression_parameters_argc The maximum of expression parameters argc is 100.
+ * \param[in] expression_parameter_argv The expression parameters argv are the tokens placeholder
+ * ‘parameters’ (i.e., "%n" tokens begin from 0) in the filter_expression.
+ *
+ * It can be NULL if there is no "%n" tokens placeholder in filter_expression.
+ * \param[out] options The subscription options to be set.
+ * \return `RCL_RET_OK` if set options successfully, or
+ * \return `RCL_RET_SUBSCRIPTION_INVALID` if subscription is invalid, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if arguments invalid, or
+ * \return `RCL_RET_BAD_ALLOC` if allocating memory fails.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_subscription_content_filter_options_set(
+  const rcl_subscription_t * subscription,
+  const char * filter_expression,
+  size_t expression_parameters_argc,
+  const char * expression_parameter_argv[],
+  rcl_subscription_content_filter_options_t * options);
+
+/// Reclaim rcl_subscription_content_filter_options_t structure.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] subscription the handle to the subscription.
+ * \param[in] options The structure which its resources have to be deallocated.
+ * \return `RCL_RET_OK` if the memory was successfully freed, or
+ * \return `RCL_RET_SUBSCRIPTION_INVALID` if subscription is invalid, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if option is NULL, or
+ *  if its allocator is invalid and the structure contains initialized memory.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_subscription_content_filter_options_fini(
+  const rcl_subscription_t * subscription,
+  rcl_subscription_content_filter_options_t * options);
+
+/// Check if the content filtered topic feature is enabled in the subscription.
+/**
+ * Depending on the middleware and whether cft is enabled in the subscription.
+ *
+ * \return `true` if the content filtered topic of `subscription` is enabled, otherwise `false`
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+bool
+rcl_subscription_is_cft_enabled(const rcl_subscription_t * subscription);
+
+/// Set the filter expression and expression parameters for the subscription.
+/**
+ * This function will set a filter expression and an array of expression parameters
+ * for the given subscription.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | Maybe [1]
+ * Lock-Free          | Maybe [1]
+ *
+ * \param[in] subscription The subscription to set content filter options.
+ * \param[in] options The rcl content filter options.
+ * \return `RCL_RET_OK` if the query was successful, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if `subscription` is NULL, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if `options` is NULL, or
+ * \return `RCL_RET_UNSUPPORTED` if the implementation does not support content filter topic, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_subscription_set_content_filter(
+  const rcl_subscription_t * subscription,
+  const rcl_subscription_content_filter_options_t * options
+);
+
+/// Retrieve the filter expression of the subscription.
+/**
+ * This function will return an filter expression by the given subscription.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | Maybe [1]
+ * Lock-Free          | Maybe [1]
+ *
+ * \param[in] subscription The subscription object to inspect.
+ * \param[out] options The rcl content filter options.
+ *   It is up to the caller to finalize this options later on, using
+ *   rcl_subscription_content_filter_options_fini().
+ * \return `RCL_RET_OK` if the query was successful, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if `subscription` is NULL, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if `options` is NULL, or
+ * \return `RCL_RET_BAD_ALLOC` if memory allocation fails, or
+ * \return `RCL_RET_UNSUPPORTED` if the implementation does not support content filter topic, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_subscription_get_content_filter(
+  const rcl_subscription_t * subscription,
+  rcl_subscription_content_filter_options_t * options
+);
+
 /// Take a ROS message from a topic using a rcl subscription.
 /**
  * It is the job of the caller to ensure that the type of the ros_message
diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
index 32c3ca7670..fd5984ded6 100644
--- a/rcl/src/rcl/subscription.c
+++ b/rcl/src/rcl/subscription.c
@@ -24,7 +24,10 @@ extern "C"
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
 #include "rcutils/logging_macros.h"
+#include "rcutils/strdup.h"
+#include "rcutils/types/string_array.h"
 #include "rmw/error_handling.h"
+#include "rmw/subscription_content_filter_options.h"
 #include "rmw/validate_full_topic_name.h"
 #include "tracetools/tracetools.h"
 
@@ -88,8 +91,8 @@ rcl_subscription_init(
     ROS_PACKAGE_NAME, "Expanded and remapped topic name '%s'", remapped_topic_name);
 
   // Allocate memory for the implementation struct.
-  subscription->impl = (rcl_subscription_impl_t *)allocator->allocate(
-    sizeof(rcl_subscription_impl_t), allocator->state);
+  subscription->impl = (rcl_subscription_impl_t *)allocator->zero_allocate(
+    1, sizeof(rcl_subscription_impl_t), allocator->state);
   RCL_CHECK_FOR_NULL_WITH_MSG(
     subscription->impl, "allocating memory failed", ret = RCL_RET_BAD_ALLOC; goto cleanup);
   // Fill out the implemenation struct.
@@ -138,6 +141,12 @@ rcl_subscription_init(
       }
     }
 
+    ret = rcl_subscription_options_fini(&subscription->impl->options);
+    if (RCL_RET_OK != ret) {
+      RCUTILS_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
+      RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
+    }
+
     allocator->deallocate(subscription->impl, allocator->state);
     subscription->impl = NULL;
   }
@@ -174,6 +183,13 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
       RCL_SET_ERROR_MSG(rmw_get_error_string().str);
       result = RCL_RET_ERROR;
     }
+    rcl_ret_t rcl_ret = rcl_subscription_options_fini(&subscription->impl->options);
+    if (RCL_RET_OK != rcl_ret) {
+      RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
+      RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
+      result = RCL_RET_ERROR;
+    }
+
     allocator.deallocate(subscription->impl, allocator.state);
     subscription->impl = NULL;
   }
@@ -193,6 +209,290 @@ rcl_subscription_get_default_options()
   return default_options;
 }
 
+rcl_ret_t
+rcl_subscription_options_fini(rcl_subscription_options_t * option)
+{
+  RCL_CHECK_ARGUMENT_FOR_NULL(option, RCL_RET_INVALID_ARGUMENT);
+  // fini rmw_subscription_options_t
+  const rcl_allocator_t * allocator = &option->allocator;
+  RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
+
+  if (option->rmw_subscription_options.content_filter_options) {
+    rmw_ret_t ret = rmw_subscription_content_filter_options_fini(
+      option->rmw_subscription_options.content_filter_options, allocator);
+    if (RCUTILS_RET_OK != ret) {
+      RCUTILS_SAFE_FWRITE_TO_STDERR("Failed to fini content filter options.\n");
+      return rcl_convert_rmw_ret_to_rcl_ret(ret);
+    }
+    allocator->deallocate(
+      option->rmw_subscription_options.content_filter_options, allocator->state);
+    option->rmw_subscription_options.content_filter_options = NULL;
+  }
+  return RCL_RET_OK;
+}
+
+rcl_ret_t
+rcl_subscription_options_set_content_filter_options(
+  const char * filter_expression,
+  size_t expression_parameters_argc,
+  const char * expression_parameter_argv[],
+  rcl_subscription_options_t * options)
+{
+  RCL_CHECK_ARGUMENT_FOR_NULL(filter_expression, RCL_RET_INVALID_ARGUMENT);
+  if (expression_parameters_argc > 100) {
+    RCL_SET_ERROR_MSG("The maximum of expression parameters argument number is 100");
+    return RCL_RET_INVALID_ARGUMENT;
+  }
+  RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
+  const rcl_allocator_t * allocator = &options->allocator;
+  RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
+
+  rcl_ret_t ret;
+  rmw_ret_t rmw_ret;
+  rmw_subscription_content_filter_options_t * original_content_filter_options =
+    options->rmw_subscription_options.content_filter_options;
+  rmw_subscription_content_filter_options_t content_filter_options_backup =
+    rmw_get_zero_initialized_content_filter_options();
+
+  if (original_content_filter_options) {
+    // make a backup, restore the data if failure happened
+    rmw_ret = rmw_subscription_content_filter_options_copy(
+      original_content_filter_options,
+      allocator,
+      &content_filter_options_backup
+    );
+    if (rmw_ret != RMW_RET_OK) {
+      return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+    }
+  } else {
+    options->rmw_subscription_options.content_filter_options =
+      allocator->allocate(
+      sizeof(rmw_subscription_content_filter_options_t), allocator->state);
+    if (!options->rmw_subscription_options.content_filter_options) {
+      RCL_SET_ERROR_MSG("failed to allocate memory");
+      return RCL_RET_BAD_ALLOC;
+    }
+    *options->rmw_subscription_options.content_filter_options =
+      rmw_get_zero_initialized_content_filter_options();
+  }
+
+  rmw_ret = rmw_subscription_content_filter_options_set(
+    filter_expression,
+    expression_parameters_argc,
+    expression_parameter_argv,
+    allocator,
+    options->rmw_subscription_options.content_filter_options
+  );
+
+  if (rmw_ret != RMW_RET_OK) {
+    ret = rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+    goto failed;
+  }
+
+  rmw_ret = rmw_subscription_content_filter_options_fini(
+    &content_filter_options_backup,
+    allocator
+  );
+  if (rmw_ret != RMW_RET_OK) {
+    return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+  }
+
+  return RMW_RET_OK;
+
+failed:
+
+  if (original_content_filter_options == NULL) {
+    if (options->rmw_subscription_options.content_filter_options) {
+      rmw_ret = rmw_subscription_content_filter_options_fini(
+        options->rmw_subscription_options.content_filter_options,
+        allocator
+      );
+
+      if (rmw_ret != RMW_RET_OK) {
+        return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+      }
+
+      allocator->deallocate(
+        options->rmw_subscription_options.content_filter_options, allocator->state);
+      options->rmw_subscription_options.content_filter_options = NULL;
+    }
+  } else {
+    rmw_ret = rmw_subscription_content_filter_options_copy(
+      &content_filter_options_backup,
+      allocator,
+      options->rmw_subscription_options.content_filter_options
+    );
+    if (rmw_ret != RMW_RET_OK) {
+      return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+    }
+
+    rmw_ret = rmw_subscription_content_filter_options_fini(
+      &content_filter_options_backup,
+      allocator
+    );
+    if (rmw_ret != RMW_RET_OK) {
+      return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+    }
+  }
+
+  return ret;
+}
+
+rcl_subscription_content_filter_options_t
+rcl_get_zero_initialized_subscription_content_filter_options()
+{
+  return (const rcl_subscription_content_filter_options_t) {
+           .rmw_subscription_content_filter_options =
+             rmw_get_zero_initialized_content_filter_options()
+  };  // NOLINT(readability/braces): false positive
+}
+
+rcl_ret_t
+rcl_subscription_content_filter_options_init(
+  const rcl_subscription_t * subscription,
+  const char * filter_expression,
+  size_t expression_parameters_argc,
+  const char * expression_parameter_argv[],
+  rcl_subscription_content_filter_options_t * options)
+{
+  if (!rcl_subscription_is_valid(subscription)) {
+    return RCL_RET_SUBSCRIPTION_INVALID;
+  }
+  RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
+  const rcl_allocator_t * allocator = &subscription->impl->options.allocator;
+  RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
+  if (expression_parameters_argc > 100) {
+    RCL_SET_ERROR_MSG("The maximum of expression parameters argument number is 100");
+    return RCL_RET_INVALID_ARGUMENT;
+  }
+
+  rmw_ret_t rmw_ret = rmw_subscription_content_filter_options_init(
+    filter_expression,
+    expression_parameters_argc,
+    expression_parameter_argv,
+    allocator,
+    &options->rmw_subscription_content_filter_options
+  );
+
+  return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+}
+
+rcl_ret_t
+rcl_subscription_content_filter_options_set(
+  const rcl_subscription_t * subscription,
+  const char * filter_expression,
+  size_t expression_parameters_argc,
+  const char * expression_parameter_argv[],
+  rcl_subscription_content_filter_options_t * options)
+{
+  if (!rcl_subscription_is_valid(subscription)) {
+    return RCL_RET_SUBSCRIPTION_INVALID;
+  }
+  if (expression_parameters_argc > 100) {
+    RCL_SET_ERROR_MSG("The maximum of expression parameters argument number is 100");
+    return RCL_RET_INVALID_ARGUMENT;
+  }
+  RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
+  const rcl_allocator_t * allocator = &subscription->impl->options.allocator;
+  RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
+
+  rmw_ret_t ret = rmw_subscription_content_filter_options_set(
+    filter_expression,
+    expression_parameters_argc,
+    expression_parameter_argv,
+    allocator,
+    &options->rmw_subscription_content_filter_options
+  );
+  return rcl_convert_rmw_ret_to_rcl_ret(ret);
+}
+
+rcl_ret_t
+rcl_subscription_content_filter_options_fini(
+  const rcl_subscription_t * subscription,
+  rcl_subscription_content_filter_options_t * options)
+{
+  if (!rcl_subscription_is_valid(subscription)) {
+    return RCL_RET_SUBSCRIPTION_INVALID;
+  }
+  RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
+  const rcl_allocator_t * allocator = &subscription->impl->options.allocator;
+  RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
+
+  rmw_ret_t ret = rmw_subscription_content_filter_options_fini(
+    &options->rmw_subscription_content_filter_options,
+    allocator
+  );
+
+  return rcl_convert_rmw_ret_to_rcl_ret(ret);
+}
+
+bool
+rcl_subscription_is_cft_enabled(const rcl_subscription_t * subscription)
+{
+  if (!rcl_subscription_is_valid(subscription)) {
+    return false;
+  }
+  return subscription->impl->rmw_handle->is_cft_enabled;
+}
+
+rcl_ret_t
+rcl_subscription_set_content_filter(
+  const rcl_subscription_t * subscription,
+  const rcl_subscription_content_filter_options_t * options
+)
+{
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_SUBSCRIPTION_INVALID);
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_INVALID_ARGUMENT);
+
+  if (!rcl_subscription_is_valid(subscription)) {
+    return RCL_RET_SUBSCRIPTION_INVALID;
+  }
+
+  RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
+  rmw_ret_t ret = rmw_subscription_set_content_filter(
+    subscription->impl->rmw_handle,
+    &options->rmw_subscription_content_filter_options);
+
+  if (ret != RMW_RET_OK) {
+    RCL_SET_ERROR_MSG(rmw_get_error_string().str);
+    return rcl_convert_rmw_ret_to_rcl_ret(ret);
+  }
+
+  // copy options into subscription_options
+  const rmw_subscription_content_filter_options_t * content_filter_options =
+    &options->rmw_subscription_content_filter_options;
+  return rcl_subscription_options_set_content_filter_options(
+    content_filter_options->filter_expression,
+    content_filter_options->expression_parameters.size,
+    (const char **)content_filter_options->expression_parameters.data,
+    &subscription->impl->options
+  );
+}
+
+rcl_ret_t
+rcl_subscription_get_content_filter(
+  const rcl_subscription_t * subscription,
+  rcl_subscription_content_filter_options_t * options
+)
+{
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_SUBSCRIPTION_INVALID);
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_INVALID_ARGUMENT);
+
+  if (!rcl_subscription_is_valid(subscription)) {
+    return RCL_RET_SUBSCRIPTION_INVALID;
+  }
+  RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
+  rcl_allocator_t * allocator = &subscription->impl->options.allocator;
+  RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
+
+  rmw_ret_t rmw_ret = rmw_subscription_get_content_filter(
+    subscription->impl->rmw_handle,
+    allocator,
+    &options->rmw_subscription_content_filter_options);
+
+  return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+}
+
 rcl_ret_t
 rcl_take(
   const rcl_subscription_t * subscription,
diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
index 91e9e44bfc..a9969f5795 100644
--- a/rcl/test/CMakeLists.txt
+++ b/rcl/test/CMakeLists.txt
@@ -245,6 +245,7 @@ function(test_target_function)
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers
     AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
+    TIMEOUT 120
   )
   # TODO(asorbini) Enable message timestamp tests for rmw_connextdds on Windows
   # once clock incompatibilities are resolved.
@@ -443,3 +444,10 @@ rcl_add_custom_gtest(test_log_level
   LIBRARIES ${PROJECT_NAME} mimick
   AMENT_DEPENDENCIES "osrf_testing_tools_cpp"
 )
+
+rcl_add_custom_gtest(test_subscription_content_filter_options
+  SRCS rcl/test_subscription_content_filter_options.cpp
+  APPEND_LIBRARY_DIRS ${extra_lib_dirs}
+  LIBRARIES ${PROJECT_NAME}
+  AMENT_DEPENDENCIES "osrf_testing_tools_cpp" "test_msgs"
+)
diff --git a/rcl/test/rcl/test_subscription.cpp b/rcl/test/rcl/test_subscription.cpp
index 6a6aa81c15..46bd152139 100644
--- a/rcl/test/rcl/test_subscription.cpp
+++ b/rcl/test/rcl/test_subscription.cpp
@@ -23,6 +23,7 @@
 #include "rmw/rmw.h"
 #include "rmw/validate_full_topic_name.h"
 
+#include "rcutils/strdup.h"
 #include "rcutils/testing/fault_injection.h"
 #include "test_msgs/msg/basic_types.h"
 #include "test_msgs/msg/strings.h"
@@ -885,6 +886,432 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_bad_return_l
     rcl_subscription_fini(&subscription, this->node_ptr)) << rcl_get_error_string().str;
 }
 
+/* A subscription with a content filtered topic setting.
+ */
+TEST_F(
+  CLASSNAME(
+    TestSubscriptionFixture,
+    RMW_IMPLEMENTATION), test_subscription_content_filtered) {
+  const char * filter_expression1 = "string_value = 'FilteredData'";
+  rcl_ret_t ret;
+  rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
+  const rosidl_message_type_support_t * ts =
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
+  constexpr char topic[] = "rcl_test_subscription_content_filtered_chatter";
+  rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
+  ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+  rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
+  rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
+
+  EXPECT_EQ(
+    RCL_RET_OK,
+    rcl_subscription_options_set_content_filter_options(
+      filter_expression1, 0, nullptr, &subscription_options)
+  );
+
+  ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+  bool is_cft_support = rcl_subscription_is_cft_enabled(&subscription);
+  ASSERT_TRUE(wait_for_established_subscription(&publisher, 10, 1000));
+
+  // publish with a non-filtered data
+  constexpr char test_string[] = "NotFilteredData";
+  {
+    test_msgs__msg__Strings msg;
+    test_msgs__msg__Strings__init(&msg);
+    ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_string));
+    ret = rcl_publish(&publisher, &msg, nullptr);
+    test_msgs__msg__Strings__fini(&msg);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  if (is_cft_support) {
+    ASSERT_FALSE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 1000));
+  } else {
+    ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 1000));
+
+    test_msgs__msg__Strings msg;
+    test_msgs__msg__Strings__init(&msg);
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      test_msgs__msg__Strings__fini(&msg);
+    });
+    ret = rcl_take(&subscription, &msg, nullptr, nullptr);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ASSERT_EQ(
+      std::string(test_string),
+      std::string(msg.string_value.data, msg.string_value.size));
+  }
+
+  constexpr char test_filtered_string[] = "FilteredData";
+  {
+    test_msgs__msg__Strings msg;
+    test_msgs__msg__Strings__init(&msg);
+    ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_filtered_string));
+    ret = rcl_publish(&publisher, &msg, nullptr);
+    test_msgs__msg__Strings__fini(&msg);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 1000));
+
+  {
+    test_msgs__msg__Strings msg;
+    test_msgs__msg__Strings__init(&msg);
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      test_msgs__msg__Strings__fini(&msg);
+    });
+    ret = rcl_take(&subscription, &msg, nullptr, nullptr);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ASSERT_EQ(
+      std::string(test_filtered_string),
+      std::string(msg.string_value.data, msg.string_value.size));
+  }
+
+  // set filter
+  const char * filter_expression2 = "string_value = %0";
+  const char * expression_parameters2[] = {"'FilteredOtherData'"};
+  size_t expression_parameters2_count = sizeof(expression_parameters2) / sizeof(char *);
+  {
+    rcl_subscription_content_filter_options_t options =
+      rcl_get_zero_initialized_subscription_content_filter_options();
+
+    EXPECT_EQ(
+      RCL_RET_OK,
+      rcl_subscription_content_filter_options_init(
+        &subscription,
+        filter_expression2, expression_parameters2_count, expression_parameters2,
+        &options)
+    );
+
+    ret = rcl_subscription_set_content_filter(
+      &subscription, &options);
+    if (is_cft_support) {
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+      // waiting to allow for filter propagation
+      std::this_thread::sleep_for(std::chrono::seconds(10));
+    } else {
+      ASSERT_EQ(RCL_RET_UNSUPPORTED, ret);
+    }
+
+    EXPECT_EQ(
+      RCL_RET_OK,
+      rcl_subscription_content_filter_options_fini(
+        &subscription, &options)
+    );
+  }
+
+  // publish FilteredData again
+  {
+    test_msgs__msg__Strings msg;
+    test_msgs__msg__Strings__init(&msg);
+    ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_filtered_string));
+    ret = rcl_publish(&publisher, &msg, nullptr);
+    test_msgs__msg__Strings__fini(&msg);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  if (is_cft_support) {
+    ASSERT_FALSE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 1000));
+  } else {
+    ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 1000));
+
+    test_msgs__msg__Strings msg;
+    test_msgs__msg__Strings__init(&msg);
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      test_msgs__msg__Strings__fini(&msg);
+    });
+    ret = rcl_take(&subscription, &msg, nullptr, nullptr);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ASSERT_EQ(
+      std::string(test_filtered_string),
+      std::string(msg.string_value.data, msg.string_value.size));
+  }
+
+  constexpr char test_filtered_other_string[] = "FilteredOtherData";
+  {
+    test_msgs__msg__Strings msg;
+    test_msgs__msg__Strings__init(&msg);
+    ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_filtered_other_string));
+    ret = rcl_publish(&publisher, &msg, nullptr);
+    test_msgs__msg__Strings__fini(&msg);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 1000));
+
+  {
+    test_msgs__msg__Strings msg;
+    test_msgs__msg__Strings__init(&msg);
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      test_msgs__msg__Strings__fini(&msg);
+    });
+    ret = rcl_take(&subscription, &msg, nullptr, nullptr);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ASSERT_EQ(
+      std::string(test_filtered_other_string),
+      std::string(msg.string_value.data, msg.string_value.size));
+  }
+
+  // get filter
+  {
+    rcl_subscription_content_filter_options_t content_filter_options =
+      rcl_get_zero_initialized_subscription_content_filter_options();
+
+    ret = rcl_subscription_get_content_filter(
+      &subscription, &content_filter_options);
+    if (is_cft_support) {
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+      rmw_subscription_content_filter_options_t * options =
+        &content_filter_options.rmw_subscription_content_filter_options;
+      ASSERT_STREQ(filter_expression2, options->filter_expression);
+      ASSERT_EQ(expression_parameters2_count, options->expression_parameters.size);
+      for (size_t i = 0; i < expression_parameters2_count; ++i) {
+        EXPECT_STREQ(
+          options->expression_parameters.data[i],
+          expression_parameters2[i]);
+      }
+      EXPECT_EQ(
+        RCL_RET_OK,
+        rcl_subscription_content_filter_options_fini(
+          &subscription,
+          &content_filter_options)
+      );
+    } else {
+      ASSERT_EQ(RCL_RET_UNSUPPORTED, ret);
+    }
+  }
+
+  // reset filter
+  {
+    rcl_subscription_content_filter_options_t options =
+      rcl_get_zero_initialized_subscription_content_filter_options();
+
+    EXPECT_EQ(
+      RCL_RET_OK,
+      rcl_subscription_content_filter_options_init(
+        &subscription,
+        "", 0, nullptr,
+        &options)
+    );
+
+    ret = rcl_subscription_set_content_filter(
+      &subscription, &options);
+    if (is_cft_support) {
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+      // waiting to allow for filter propagation
+      std::this_thread::sleep_for(std::chrono::seconds(10));
+      ASSERT_TRUE(wait_for_established_subscription(&publisher, 10, 1000));
+      ASSERT_FALSE(rcl_subscription_is_cft_enabled(&subscription));
+    } else {
+      ASSERT_EQ(RCL_RET_UNSUPPORTED, ret);
+    }
+
+    EXPECT_EQ(
+      RCL_RET_OK,
+      rcl_subscription_content_filter_options_fini(
+        &subscription, &options)
+    );
+  }
+
+  // publish with a non-filtered data again
+  {
+    test_msgs__msg__Strings msg;
+    test_msgs__msg__Strings__init(&msg);
+    ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_string));
+    ret = rcl_publish(&publisher, &msg, nullptr);
+    test_msgs__msg__Strings__fini(&msg);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 1000));
+
+  {
+    test_msgs__msg__Strings msg;
+    test_msgs__msg__Strings__init(&msg);
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      test_msgs__msg__Strings__fini(&msg);
+    });
+    ret = rcl_take(&subscription, &msg, nullptr, nullptr);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ASSERT_EQ(
+      std::string(test_string),
+      std::string(msg.string_value.data, msg.string_value.size));
+  }
+}
+
+/* A subscription without a content filtered topic setting at beginning.
+ */
+TEST_F(
+  CLASSNAME(
+    TestSubscriptionFixture,
+    RMW_IMPLEMENTATION), test_subscription_not_initialized_with_content_filtering) {
+  rcl_ret_t ret;
+  rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
+  const rosidl_message_type_support_t * ts =
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
+  constexpr char topic[] = "rcl_test_subscription_not_begin_content_filtered_chatter";
+  rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
+  ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+  rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
+  // not to set filter expression
+  rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
+  ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+  ASSERT_FALSE(rcl_subscription_is_cft_enabled(&subscription));
+
+  // failed to get filter
+  {
+    rcl_subscription_content_filter_options_t content_filter_options =
+      rcl_get_zero_initialized_subscription_content_filter_options();
+
+    ret = rcl_subscription_get_content_filter(
+      &subscription, &content_filter_options);
+    ASSERT_NE(RCL_RET_OK, ret);
+  }
+
+  ASSERT_TRUE(wait_for_established_subscription(&publisher, 10, 1000));
+
+  // publish with a non-filtered data
+  int32_t test_value = 3;
+  {
+    test_msgs__msg__BasicTypes msg;
+    test_msgs__msg__BasicTypes__init(&msg);
+    msg.int32_value = test_value;
+    ret = rcl_publish(&publisher, &msg, nullptr);
+    test_msgs__msg__BasicTypes__fini(&msg);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 1000));
+
+  {
+    test_msgs__msg__BasicTypes msg;
+    test_msgs__msg__BasicTypes__init(&msg);
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      test_msgs__msg__BasicTypes__fini(&msg);
+    });
+    ret = rcl_take(&subscription, &msg, nullptr, nullptr);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ASSERT_TRUE(test_value == msg.int32_value);
+  }
+
+  // set filter
+  const char * filter_expression2 = "int32_value = %0";
+  const char * expression_parameters2[] = {"4"};
+  size_t expression_parameters2_count = sizeof(expression_parameters2) / sizeof(char *);
+  bool is_cft_support =
+    (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0 ||
+    std::string(rmw_get_implementation_identifier()).find("rmw_fastrtps_cpp") == 0);
+  {
+    rcl_subscription_content_filter_options_t options =
+      rcl_get_zero_initialized_subscription_content_filter_options();
+
+    EXPECT_EQ(
+      RCL_RET_OK,
+      rcl_subscription_content_filter_options_init(
+        &subscription,
+        filter_expression2, expression_parameters2_count, expression_parameters2,
+        &options)
+    );
+
+    ret = rcl_subscription_set_content_filter(
+      &subscription, &options);
+    if (!is_cft_support) {
+      ASSERT_EQ(RCL_RET_UNSUPPORTED, ret);
+    } else {
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+      // waiting to allow for filter propagation
+      std::this_thread::sleep_for(std::chrono::seconds(10));
+    }
+
+    EXPECT_EQ(
+      RCL_RET_OK,
+      rcl_subscription_content_filter_options_fini(
+        &subscription, &options)
+    );
+  }
+
+  // publish no filtered data again
+  {
+    test_msgs__msg__BasicTypes msg;
+    test_msgs__msg__BasicTypes__init(&msg);
+    msg.int32_value = test_value;
+    ret = rcl_publish(&publisher, &msg, nullptr);
+    test_msgs__msg__BasicTypes__fini(&msg);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  if (is_cft_support) {
+    ASSERT_FALSE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 1000));
+  } else {
+    ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 1000));
+
+    test_msgs__msg__BasicTypes msg;
+    test_msgs__msg__BasicTypes__init(&msg);
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      test_msgs__msg__BasicTypes__fini(&msg);
+    });
+    ret = rcl_take(&subscription, &msg, nullptr, nullptr);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ASSERT_TRUE(test_value == msg.int32_value);
+  }
+
+  // publish filtered data
+  int32_t test_filtered_value = 4;
+  {
+    test_msgs__msg__BasicTypes msg;
+    test_msgs__msg__BasicTypes__init(&msg);
+    msg.int32_value = test_filtered_value;
+    ret = rcl_publish(&publisher, &msg, nullptr);
+    test_msgs__msg__BasicTypes__fini(&msg);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 1000));
+
+  {
+    test_msgs__msg__BasicTypes msg;
+    test_msgs__msg__BasicTypes__init(&msg);
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      test_msgs__msg__BasicTypes__fini(&msg);
+    });
+    ret = rcl_take(&subscription, &msg, nullptr, nullptr);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ASSERT_TRUE(test_filtered_value == msg.int32_value);
+  }
+}
+
 TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_get_options) {
   rcl_ret_t ret;
   const rosidl_message_type_support_t * ts =
@@ -1125,6 +1552,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscrip
   rcl_reset_error();
   EXPECT_EQ(NULL, rcl_subscription_get_options(nullptr));
   rcl_reset_error();
+  EXPECT_FALSE(rcl_subscription_is_cft_enabled(nullptr));
+  rcl_reset_error();
 
   EXPECT_EQ(NULL, rcl_subscription_get_actual_qos(&subscription_zero_init));
   rcl_reset_error();
@@ -1136,6 +1565,116 @@ TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscrip
   rcl_reset_error();
   EXPECT_EQ(NULL, rcl_subscription_get_options(&subscription_zero_init));
   rcl_reset_error();
+  EXPECT_FALSE(rcl_subscription_is_cft_enabled(&subscription_zero_init));
+  rcl_reset_error();
+}
+
+/* Test for all failure modes in rcl_subscription_set_content_filter function.
+ */
+TEST_F(
+  CLASSNAME(
+    TestSubscriptionFixtureInit,
+    RMW_IMPLEMENTATION), test_bad_rcl_subscription_set_content_filter) {
+  EXPECT_EQ(
+    RCL_RET_SUBSCRIPTION_INVALID,
+    rcl_subscription_set_content_filter(nullptr, nullptr));
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_SUBSCRIPTION_INVALID,
+    rcl_subscription_set_content_filter(&subscription_zero_init, nullptr));
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_subscription_set_content_filter(&subscription, nullptr));
+  rcl_reset_error();
+
+  // an options used later
+  rcl_subscription_content_filter_options_t options =
+    rcl_get_zero_initialized_subscription_content_filter_options();
+  EXPECT_EQ(
+    RCL_RET_OK,
+    rcl_subscription_content_filter_options_init(
+      &subscription,
+      "data = '0'",
+      0,
+      nullptr,
+      &options
+    )
+  );
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    EXPECT_EQ(
+      RCL_RET_OK,
+      rcl_subscription_content_filter_options_fini(&subscription, &options)
+    );
+  });
+
+  {
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rcl", rmw_subscription_set_content_filter, RMW_RET_UNSUPPORTED);
+    EXPECT_EQ(
+      RMW_RET_UNSUPPORTED,
+      rcl_subscription_set_content_filter(
+        &subscription, &options));
+    rcl_reset_error();
+  }
+
+  {
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rcl", rmw_subscription_set_content_filter, RMW_RET_ERROR);
+    EXPECT_EQ(
+      RMW_RET_ERROR,
+      rcl_subscription_set_content_filter(
+        &subscription, &options));
+    rcl_reset_error();
+  }
+}
+
+/* Test for all failure modes in rcl_subscription_get_content_filter function.
+ */
+TEST_F(
+  CLASSNAME(
+    TestSubscriptionFixtureInit,
+    RMW_IMPLEMENTATION), test_bad_rcl_subscription_get_content_filter) {
+  EXPECT_EQ(
+    RCL_RET_SUBSCRIPTION_INVALID,
+    rcl_subscription_get_content_filter(nullptr, nullptr));
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_SUBSCRIPTION_INVALID,
+    rcl_subscription_get_content_filter(&subscription_zero_init, nullptr));
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_subscription_get_content_filter(&subscription, nullptr));
+  rcl_reset_error();
+
+  rcl_subscription_content_filter_options_t options =
+    rcl_get_zero_initialized_subscription_content_filter_options();
+
+  {
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rcl", rmw_subscription_get_content_filter, RMW_RET_UNSUPPORTED);
+    EXPECT_EQ(
+      RMW_RET_UNSUPPORTED,
+      rcl_subscription_get_content_filter(
+        &subscription, &options));
+    rcl_reset_error();
+  }
+
+  {
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rcl", rmw_subscription_get_content_filter, RMW_RET_ERROR);
+    EXPECT_EQ(
+      RMW_RET_ERROR,
+      rcl_subscription_get_content_filter(
+        &subscription, &options));
+    rcl_reset_error();
+  }
 }
 
 TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_init_fini_maybe_fail)
diff --git a/rcl/test/rcl/test_subscription_content_filter_options.cpp b/rcl/test/rcl/test_subscription_content_filter_options.cpp
new file mode 100644
index 0000000000..163bf3db72
--- /dev/null
+++ b/rcl/test/rcl/test_subscription_content_filter_options.cpp
@@ -0,0 +1,354 @@
+// Copyright 2022 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#include <gtest/gtest.h>
+
+#include "rcl/error_handling.h"
+#include "rcl/node.h"
+#include "rcl/rcl.h"
+#include "rcl/subscription.h"
+
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+#include "test_msgs/msg/basic_types.h"
+
+
+TEST(TestSubscriptionOptionsContentFilter, subscription_options_failure) {
+  rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
+
+  const char * filter_expression1 = "filter=1";
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_subscription_options_set_content_filter_options(
+      nullptr, 0, nullptr, nullptr)
+  );
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_subscription_options_set_content_filter_options(
+      filter_expression1, 0, nullptr, nullptr)
+  );
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_subscription_options_set_content_filter_options(
+      filter_expression1, 1, nullptr, &subscription_options)
+  );
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_subscription_options_fini(
+      nullptr)
+  );
+  rcl_reset_error();
+}
+
+TEST(TestSubscriptionOptionsContentFilter, subscription_options_success)
+{
+  rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
+
+  const char * filter_expression1 = "filter=1";
+
+  {
+    EXPECT_EQ(
+      RCL_RET_OK,
+      rcl_subscription_options_set_content_filter_options(
+        filter_expression1, 0, nullptr, &subscription_options)
+    );
+
+    rmw_subscription_content_filter_options_t * content_filter_options =
+      subscription_options.rmw_subscription_options.content_filter_options;
+    ASSERT_NE(nullptr, content_filter_options);
+    EXPECT_STREQ(filter_expression1, content_filter_options->filter_expression);
+    EXPECT_EQ(0u, content_filter_options->expression_parameters.size);
+    EXPECT_EQ(nullptr, content_filter_options->expression_parameters.data);
+  }
+
+  const char * filter_expression2 = "(filter1=%0 OR filter1=%1) AND filter2=%2";
+  const char * expression_parameters2[] = {
+    "1", "2", "3",
+  };
+  size_t expression_parameters_count2 = sizeof(expression_parameters2) / sizeof(char *);
+
+  {
+    EXPECT_EQ(
+      RCL_RET_OK,
+      rcl_subscription_options_set_content_filter_options(
+        filter_expression2, expression_parameters_count2,
+        expression_parameters2, &subscription_options)
+    );
+
+    rmw_subscription_content_filter_options_t * content_filter_options =
+      subscription_options.rmw_subscription_options.content_filter_options;
+    ASSERT_NE(nullptr, content_filter_options);
+    EXPECT_STREQ(filter_expression2, content_filter_options->filter_expression);
+    ASSERT_EQ(
+      expression_parameters_count2,
+      content_filter_options->expression_parameters.size);
+    for (size_t i = 0; i < expression_parameters_count2; ++i) {
+      EXPECT_STREQ(
+        content_filter_options->expression_parameters.data[i],
+        expression_parameters2[i]);
+    }
+  }
+
+  EXPECT_EQ(
+    RCL_RET_OK,
+    rcl_subscription_options_fini(&subscription_options)
+  );
+}
+
+
+class TestSubscriptionContentFilterOptions : public ::testing::Test
+{
+public:
+  rcl_context_t * context_ptr;
+  rcl_node_t * node_ptr;
+  rcl_subscription_t * subscription_ptr;
+  void SetUp()
+  {
+    rcl_ret_t ret;
+    {
+      rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+      ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+      OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+      {
+        EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
+      });
+      this->context_ptr = new rcl_context_t;
+      *this->context_ptr = rcl_get_zero_initialized_context();
+      ret = rcl_init(0, nullptr, &init_options, this->context_ptr);
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    }
+    this->node_ptr = new rcl_node_t;
+    *this->node_ptr = rcl_get_zero_initialized_node();
+    constexpr char name[] = "test_subscription_content_filter_options_node";
+    rcl_node_options_t node_options = rcl_node_get_default_options();
+    ret = rcl_node_init(this->node_ptr, name, "", this->context_ptr, &node_options);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+    const rosidl_message_type_support_t * ts =
+      ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
+    constexpr char topic[] = "chatter";
+
+    this->subscription_ptr = new rcl_subscription_t;
+    *this->subscription_ptr = rcl_get_zero_initialized_subscription();
+    rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
+    ret = rcl_subscription_init(
+      this->subscription_ptr, this->node_ptr, ts, topic, &subscription_options);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  void TearDown()
+  {
+    rcl_ret_t ret = rcl_subscription_fini(this->subscription_ptr, this->node_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_node_fini(this->node_ptr);
+    delete this->node_ptr;
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_shutdown(this->context_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_context_fini(this->context_ptr);
+    delete this->context_ptr;
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+};
+
+TEST_F(TestSubscriptionContentFilterOptions, content_filter_options_failure) {
+  rcl_subscription_content_filter_options_t content_filter_options =
+    rcl_get_zero_initialized_subscription_content_filter_options();
+
+  const char * filter_expression1 = "filter=1";
+  EXPECT_EQ(
+    RCL_RET_SUBSCRIPTION_INVALID,
+    rcl_subscription_content_filter_options_init(
+      nullptr, nullptr, 0, nullptr, nullptr)
+  );
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_subscription_content_filter_options_init(
+      this->subscription_ptr, nullptr, 0, nullptr, nullptr)
+  );
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_subscription_content_filter_options_init(
+      this->subscription_ptr, filter_expression1, 0, nullptr, nullptr)
+  );
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_subscription_content_filter_options_init(
+      this->subscription_ptr, filter_expression1, 1, nullptr, &content_filter_options)
+  );
+  rcl_reset_error();
+
+  // set
+  EXPECT_EQ(
+    RCL_RET_SUBSCRIPTION_INVALID,
+    rcl_subscription_content_filter_options_set(
+      nullptr, nullptr, 0, nullptr, nullptr)
+  );
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_subscription_content_filter_options_set(
+      this->subscription_ptr, nullptr, 0, nullptr, nullptr)
+  );
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_subscription_content_filter_options_set(
+      this->subscription_ptr, filter_expression1, 0, nullptr, nullptr)
+  );
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_subscription_content_filter_options_set(
+      this->subscription_ptr, filter_expression1, 1, nullptr, &content_filter_options)
+  );
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_SUBSCRIPTION_INVALID,
+    rcl_subscription_content_filter_options_fini(
+      nullptr, nullptr)
+  );
+  rcl_reset_error();
+
+  EXPECT_EQ(
+    RCL_RET_INVALID_ARGUMENT,
+    rcl_subscription_content_filter_options_fini(
+      this->subscription_ptr, nullptr)
+  );
+  rcl_reset_error();
+}
+
+TEST_F(TestSubscriptionContentFilterOptions, content_filter_options_success)
+{
+  rmw_subscription_content_filter_options_t * content_filter_options;
+  const char * filter_expression1 = "filter=1";
+  const char * filter_expression1_update = "filter=2";
+
+  rcl_subscription_content_filter_options_t subscription_content_filter_options =
+    rcl_get_zero_initialized_subscription_content_filter_options();
+  {
+    // init with filter_expression1
+    EXPECT_EQ(
+      RCL_RET_OK,
+      rcl_subscription_content_filter_options_init(
+        this->subscription_ptr, filter_expression1, 0, nullptr,
+        &subscription_content_filter_options)
+    );
+
+    content_filter_options =
+      &subscription_content_filter_options.rmw_subscription_content_filter_options;
+    EXPECT_STREQ(filter_expression1, content_filter_options->filter_expression);
+    EXPECT_EQ(0u, content_filter_options->expression_parameters.size);
+    EXPECT_EQ(nullptr, content_filter_options->expression_parameters.data);
+
+    // set with filter_expression1_update
+    EXPECT_EQ(
+      RCL_RET_OK,
+      rcl_subscription_content_filter_options_set(
+        this->subscription_ptr, filter_expression1_update, 0, nullptr,
+        &subscription_content_filter_options)
+    );
+
+    content_filter_options =
+      &subscription_content_filter_options.rmw_subscription_content_filter_options;
+    EXPECT_STREQ(filter_expression1_update, content_filter_options->filter_expression);
+    EXPECT_EQ(0u, content_filter_options->expression_parameters.size);
+    EXPECT_EQ(nullptr, content_filter_options->expression_parameters.data);
+  }
+
+  const char * filter_expression2 = "(filter1=%0 OR filter1=%1) AND filter2=%2";
+  const char * expression_parameters2[] = {
+    "1", "2", "3",
+  };
+  size_t expression_parameters_count2 = sizeof(expression_parameters2) / sizeof(char *);
+
+  const char * filter_expression2_update = "(filter1=%0 AND filter1=%1) OR filter2=%2";
+  const char * expression_parameters2_update[] = {
+    "11", "22", "33",
+  };
+  size_t expression_parameters_count2_update = sizeof(expression_parameters2) / sizeof(char *);
+
+  rcl_subscription_content_filter_options_t subscription_content_filter_options2 =
+    rcl_get_zero_initialized_subscription_content_filter_options();
+  {
+    // init with filter_expression2 and expression_parameters2
+    EXPECT_EQ(
+      RCL_RET_OK,
+      rcl_subscription_content_filter_options_init(
+        this->subscription_ptr, filter_expression2, expression_parameters_count2,
+        expression_parameters2, &subscription_content_filter_options2)
+    );
+
+    content_filter_options =
+      &subscription_content_filter_options2.rmw_subscription_content_filter_options;
+    ASSERT_NE(nullptr, content_filter_options);
+    EXPECT_STREQ(filter_expression2, content_filter_options->filter_expression);
+    ASSERT_EQ(
+      expression_parameters_count2,
+      content_filter_options->expression_parameters.size);
+    for (size_t i = 0; i < expression_parameters_count2; ++i) {
+      EXPECT_STREQ(
+        content_filter_options->expression_parameters.data[i],
+        expression_parameters2[i]);
+    }
+
+    // set with filter_expression2_update and expression_parameters2_update
+    EXPECT_EQ(
+      RCL_RET_OK,
+      rcl_subscription_content_filter_options_set(
+        this->subscription_ptr, filter_expression2_update, expression_parameters_count2_update,
+        expression_parameters2_update, &subscription_content_filter_options2)
+    );
+
+    content_filter_options =
+      &subscription_content_filter_options2.rmw_subscription_content_filter_options;
+    ASSERT_NE(nullptr, content_filter_options);
+    EXPECT_STREQ(filter_expression2_update, content_filter_options->filter_expression);
+    ASSERT_EQ(
+      expression_parameters_count2_update,
+      content_filter_options->expression_parameters.size);
+    for (size_t i = 0; i < expression_parameters_count2_update; ++i) {
+      EXPECT_STREQ(
+        content_filter_options->expression_parameters.data[i],
+        expression_parameters2_update[i]);
+    }
+  }
+
+  EXPECT_EQ(
+    RCL_RET_OK,
+    rcl_subscription_content_filter_options_fini(
+      this->subscription_ptr, &subscription_content_filter_options)
+  );
+  EXPECT_EQ(
+    RCL_RET_OK,
+    rcl_subscription_content_filter_options_fini(
+      this->subscription_ptr, &subscription_content_filter_options2)
+  );
+}