diff --git a/launch_testing/launch_testing/__init__.py b/launch_testing/launch_testing/__init__.py
index 54bd71d6a..6e4892fd5 100644
--- a/launch_testing/launch_testing/__init__.py
+++ b/launch_testing/launch_testing/__init__.py
@@ -26,8 +26,10 @@ class InMemoryHandler(LineOutput):
     :param filtered_prefixes: A list of byte strings representing prefixes that will cause output
         lines to be ignored if they start with one of the prefixes. By default lines starting with
         the process ID (`b'pid'`) and return code (`b'rc'`) will be ignored.
+    :param filtered_patterns: A list of byte strings representing regexes that will cause output
+        lines to be ignored if they match one of the regexes.
     :param filtered_rmw_implementation: RMW implementation for which the output will be ignored
-        in addition to the default/`filtered_prefixes`.
+        in addition to the `filtered_prefixes`/`filtered_patterns`.
     :param exit_on_match: If True, then when its output is matched, this handler
         will terminate; otherwise it will simply keep track of the match.
     :raises: :py:class:`UnmatchedOutputError` if :py:meth:`check` does not find that the output
@@ -40,17 +42,18 @@ class InMemoryHandler(LineOutput):
 
     def __init__(
         self, name, launch_descriptor, expected_lines, regex_match=False,
-        filtered_prefixes=None, filtered_rmw_implementation=None, exit_on_match=True
+        filtered_prefixes=None, filtered_patterns=None, filtered_rmw_implementation=None,
+        exit_on_match=True,
     ):
         super(LineOutput, self).__init__()
-        if filtered_prefixes is None:
-            self.filtered_prefixes = get_default_filtered_prefixes()
-        else:
-            self.filtered_prefixes = filtered_prefixes
+        self.filtered_prefixes = filtered_prefixes or get_default_filtered_prefixes()
+        self.filtered_patterns = filtered_patterns or get_default_filtered_patterns()
 
         if filtered_rmw_implementation:
-            rmw_output_filter = get_rmw_output_filter(filtered_rmw_implementation)
-            self.filtered_prefixes.extend(rmw_output_filter)
+            self.filtered_prefixes.extend(
+                get_rmw_output_filter(filtered_rmw_implementation, 'prefixes'))
+            self.filtered_patterns.extend(
+                get_rmw_output_filter(filtered_rmw_implementation, 'patterns'))
 
         self.name = name
         self.launch_descriptor = launch_descriptor
@@ -70,8 +73,11 @@ def on_stdout_lines(self, lines):
 
         for line in lines.splitlines():
             # Filter out stdout that comes from underlying DDS implementation
+            # Note: we do not currently support matching filters across multiple stdout lines.
             if any(line.startswith(prefix) for prefix in self.filtered_prefixes):
                 continue
+            if any(re.match(pattern, line) for pattern in self.filtered_patterns):
+                continue
             self.stdout_data.write(line + b'\n')
             if not self.regex_match and not self.matched:
                 output_lines = self.stdout_data.getvalue().splitlines()
@@ -112,21 +118,30 @@ def get_default_filtered_prefixes():
     ]
 
 
-def get_rmw_output_filter(rmw_implementation):
+def get_default_filtered_patterns():
+    return []
+
+
+def get_rmw_output_filter(rmw_implementation, filter_type):
+    supported_filter_types = ['prefixes', 'patterns']
+    if filter_type not in supported_filter_types:
+        raise TypeError(
+            'Unsupported filter_type "{0}". Supported types: {1}'
+            .format(filter_type, supported_filter_types))
+    resource_name = 'rmw_output_' + filter_type
     prefix_with_resource = ament_index_python.has_resource(
-        'rmw_output_filter', rmw_implementation)
+        resource_name, rmw_implementation)
     if not prefix_with_resource:
         return []
 
-    rmw_output_filter, _ = ament_index_python.get_resource('rmw_output_filter', rmw_implementation)
-    additional_filtered_prefixes = [
-        str.encode(l) for l in rmw_output_filter.splitlines()]
-    return additional_filtered_prefixes
+    # Treat each line of the resource as an independent filter.
+    rmw_output_filter, _ = ament_index_python.get_resource(resource_name, rmw_implementation)
+    return [str.encode(l) for l in rmw_output_filter.splitlines()]
 
 
 def create_handler(
     name, launch_descriptor, output_file, exit_on_match=True, filtered_prefixes=None,
-    filtered_rmw_implementation=None
+    filtered_patterns=None, filtered_rmw_implementation=None
 ):
     literal_file = output_file + '.txt'
     if os.path.isfile(literal_file):
@@ -134,7 +149,8 @@ def create_handler(
             expected_output = f.read().splitlines()
         return InMemoryHandler(
             name, launch_descriptor, expected_output, regex_match=False,
-            exit_on_match=exit_on_match, filtered_prefixes=filtered_prefixes,
+            exit_on_match=exit_on_match,
+            filtered_prefixes=filtered_prefixes, filtered_patterns=filtered_patterns,
             filtered_rmw_implementation=filtered_rmw_implementation)
     regex_file = output_file + '.regex'
     if os.path.isfile(regex_file):
@@ -142,7 +158,8 @@ def create_handler(
             expected_output = f.read().splitlines()
         return InMemoryHandler(
             name, launch_descriptor, expected_output, regex_match=True,
-            exit_on_match=exit_on_match, filtered_prefixes=filtered_prefixes,
+            exit_on_match=exit_on_match,
+            filtered_prefixes=filtered_prefixes, filtered_patterns=filtered_patterns,
             filtered_rmw_implementation=filtered_rmw_implementation)
     py_file = output_file + '.py'
     if os.path.isfile(py_file):