diff --git a/rcl/test/rcl/test_subscription.cpp b/rcl/test/rcl/test_subscription.cpp
index ba74e73fe..ea098a15e 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"
@@ -847,6 +848,388 @@ 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) {
+  bool is_vendor_support_cft
+    = (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0);
+
+  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();
+  subscription_options.rmw_subscription_options.filter_expression
+    = rcutils_strdup("string_value MATCH 'FilteredData'", subscription_options.allocator);
+  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;
+  });
+  if (is_vendor_support_cft) {
+    ASSERT_TRUE(rcl_subscription_is_cft_supported(&subscription));
+  } else {
+    ASSERT_FALSE(rcl_subscription_is_cft_supported(&subscription));
+  }
+  ASSERT_TRUE(wait_for_established_subscription(&publisher, 10, 100));
+  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_vendor_support_cft) {
+    ASSERT_FALSE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));
+  } else {
+    ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));
+
+    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, 100));
+
+  {
+    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
+  {
+    rcutils_string_array_t expression_parameters;
+    expression_parameters = rcutils_get_zero_initialized_string_array();
+    rcl_allocator_t allocator = rcl_get_default_allocator();
+    rcutils_ret_t rcutils_ret = rcutils_string_array_init(
+      &expression_parameters, 1, &allocator);
+    ASSERT_EQ(RCUTILS_RET_OK, rcutils_ret) << rcl_get_error_string().str;
+    expression_parameters.data[0] = rcutils_strdup("'FilteredOtherData'", allocator);
+
+    ret = rcl_subscription_set_cft_expression_parameters(
+      &subscription, "string_value MATCH %0", &expression_parameters);
+    if (is_vendor_support_cft) {
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    } else {
+      ASSERT_EQ(RCL_RET_UNSUPPORTED, ret);
+    }
+
+    rcutils_ret = rcutils_string_array_fini(&expression_parameters);
+    ASSERT_EQ(RCUTILS_RET_OK, rcutils_ret) << rcl_get_error_string().str;
+  }
+
+  // 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_vendor_support_cft) {
+    ASSERT_FALSE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));
+  } else {
+    ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));
+
+    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, 100));
+
+  {
+    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
+  char * filter_expression = nullptr;
+  rcutils_string_array_t expression_parameters;
+  expression_parameters = rcutils_get_zero_initialized_string_array();
+  ret = rcl_subscription_get_cft_expression_parameters(
+    &subscription, &filter_expression, &expression_parameters);
+  if (is_vendor_support_cft) {
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ASSERT_EQ(
+      std::string("string_value MATCH %0"),
+      std::string(filter_expression));
+    rcutils_allocator_t allocator = rcutils_get_default_allocator();
+    allocator.deallocate(filter_expression, allocator.state);
+    ASSERT_EQ(static_cast<size_t>(1), expression_parameters.size);
+    ASSERT_EQ(
+      std::string("'FilteredOtherData'"),
+      std::string(expression_parameters.data[0]));
+    ASSERT_EQ(RCUTILS_RET_OK, rcutils_string_array_fini(&expression_parameters));
+  } else {
+    ASSERT_EQ(RCL_RET_UNSUPPORTED, ret);
+  }
+
+  // reset filter
+  {
+    ret = rcl_subscription_set_cft_expression_parameters(
+      &subscription, "", NULL);
+    if (is_vendor_support_cft) {
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+      ASSERT_TRUE(wait_for_established_subscription(&publisher, 50, 100));
+      ASSERT_FALSE(rcl_subscription_is_cft_supported(&subscription));
+    } else {
+      ASSERT_EQ(RCL_RET_UNSUPPORTED, ret);
+    }
+  }
+
+  // publish no 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, 100));
+
+  {
+    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;
+
+    // it might take 'FilteredData' again, if so, contine to take data
+    std::string data = std::string(msg.string_value.data, msg.string_value.size);
+    if (is_vendor_support_cft) {
+      const int try_total_num = 3;
+      int i = 0;
+      while (data != test_string && i++ < try_total_num) {
+        ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));
+        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;
+        data = std::string(msg.string_value.data, msg.string_value.size);
+      }
+    }
+    ASSERT_EQ(std::string(test_string), data);
+  }
+}
+
+/* A subscription without a content filtered topic setting at beginning.
+ */
+TEST_F(
+  CLASSNAME(
+    TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_not_begin_content_filtered) {
+  bool is_vendor_support_cft
+    = (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0);
+
+  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_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_supported(&subscription));
+  ASSERT_TRUE(wait_for_established_subscription(&publisher, 10, 100));
+
+  // publish no 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;
+  }
+
+  ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));
+
+  {
+    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));
+  }
+
+  // set filter
+  {
+    ret = rcl_subscription_set_cft_expression_parameters(
+      &subscription, "string_value MATCH 'FilteredData'", NULL);
+    if (is_vendor_support_cft) {
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    } else {
+      ASSERT_EQ(RCL_RET_UNSUPPORTED, ret);
+    }
+  }
+
+  if (is_vendor_support_cft) {
+    ASSERT_TRUE(rcl_subscription_is_cft_supported(&subscription));
+  } else {
+    ASSERT_FALSE(rcl_subscription_is_cft_supported(&subscription));
+  }
+  // publish no 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;
+  }
+
+  if (is_vendor_support_cft) {
+    ASSERT_FALSE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));
+  } else {
+    ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 10, 100));
+
+    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));
+  }
+
+  // publish filtered data
+  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, 100));
+
+  {
+    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));
+  }
+}
+
 TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_get_options) {
   rcl_ret_t ret;
   const rosidl_message_type_support_t * ts =