diff --git a/launch/doc/source/architecture.rst b/launch/doc/source/architecture.rst
index c76aef835..74f064e60 100644
--- a/launch/doc/source/architecture.rst
+++ b/launch/doc/source/architecture.rst
@@ -128,6 +128,11 @@ There are many possible variations of a substitution, but here are some of the c
   - This substitution will evaluate a python expression and get the result as a string.
   - You may pass a list of Python modules to the constructor to allow the use of those modules in the evaluated expression.
 
+- :class:`launch.substitutions.StringStripSubstitution`
+
+  - This substitution removes leading and trailing whitespace from the result of one or more substitutions.
+  - It can remove a newline terminator from command output before composition, for example ``$(string-strip $(command 'hostname'))``.
+
 - :class:`launch.substitutions.LaunchConfiguration`
 
   - This substitution gets a launch configuration value, as a string, by name.
diff --git a/launch/launch/substitutions/__init__.py b/launch/launch/substitutions/__init__.py
index 7fa7170e7..12aebaa25 100644
--- a/launch/launch/substitutions/__init__.py
+++ b/launch/launch/substitutions/__init__.py
@@ -36,6 +36,7 @@
 from .path_join_substitution import PathSubstitution
 from .python_expression import PythonExpression
 from .string_join_substitution import StringJoinSubstitution
+from .string_strip_substitution import StringStripSubstitution
 from .substitution_failure import SubstitutionFailure
 from .text_substitution import TextSubstitution
 from .this_launch_file import ThisLaunchFile
@@ -64,6 +65,7 @@
     'PathSubstitution',
     'PythonExpression',
     'StringJoinSubstitution',
+    'StringStripSubstitution',
     'SubstitutionFailure',
     'TextSubstitution',
     'ThisLaunchFile',
diff --git a/launch/launch/substitutions/string_strip_substitution.py b/launch/launch/substitutions/string_strip_substitution.py
new file mode 100644
index 000000000..e1fa05608
--- /dev/null
+++ b/launch/launch/substitutions/string_strip_substitution.py
@@ -0,0 +1,90 @@
+# Copyright 2026 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.
+
+"""Module for the StringStripSubstitution substitution."""
+
+from typing import Any
+from typing import Dict
+from typing import List
+from typing import Sequence
+from typing import Text
+from typing import Tuple
+from typing import Type
+
+from ..frontend.expose import expose_substitution
+from ..launch_context import LaunchContext
+from ..some_substitutions_type import SomeSubstitutionsType
+from ..substitution import Substitution
+from ..utilities import normalize_to_list_of_substitutions
+from ..utilities import perform_substitutions
+
+
+@expose_substitution('string-strip')
+class StringStripSubstitution(Substitution):
+    """
+    Substitution that removes leading and trailing whitespace from a string.
+
+    For example, command output can be stripped before it is composed with
+    other substitutions:
+
+    .. code-block:: python
+
+        hostname = StringStripSubstitution(Command('hostname'))
+
+    .. code-block:: xml
+
+        <let name="hostname" value="$(string-strip $(command 'hostname'))"/>
+
+    .. code-block:: yaml
+
+        - let:
+            name: hostname
+            value: "$(string-strip $(command 'hostname'))"
+
+    This strips whitespace only; it does not otherwise escape or transform the
+    value for use in another language or expression.
+    """
+
+    def __init__(self, value: SomeSubstitutionsType) -> None:
+        """
+        Create a StringStripSubstitution.
+
+        :param value: string or substitutions whose leading and trailing
+            whitespace is removed
+        """
+        super().__init__()
+        self.__value = normalize_to_list_of_substitutions(value)
+
+    @classmethod
+    def parse(
+        cls, data: Sequence[SomeSubstitutionsType]
+    ) -> Tuple[Type['StringStripSubstitution'], Dict[str, Any]]:
+        """Parse `StringStripSubstitution` substitution."""
+        if len(data) != 1:
+            raise TypeError('string-strip substitution expects 1 argument')
+        return cls, {'value': data[0]}
+
+    @property
+    def value(self) -> List[Substitution]:
+        """Getter for the value to strip."""
+        return self.__value
+
+    def describe(self) -> Text:
+        """Return a description of this substitution as a string."""
+        return 'StringStrip({})'.format(
+            ' + '.join([sub.describe() for sub in self.value]))
+
+    def perform(self, context: LaunchContext) -> Text:
+        """Perform substitutions and remove leading and trailing whitespace."""
+        return perform_substitutions(context, self.value).strip()
diff --git a/launch/test/launch/frontend/test_substitutions.py b/launch/test/launch/frontend/test_substitutions.py
index 99dd26e33..8c35f5697 100644
--- a/launch/test/launch/frontend/test_substitutions.py
+++ b/launch/test/launch/frontend/test_substitutions.py
@@ -27,6 +27,7 @@
 from launch.frontend.parse_substitution import parse_substitution
 from launch.substitutions import EnvironmentVariable
 from launch.substitutions import PythonExpression
+from launch.substitutions import StringStripSubstitution
 from launch.substitutions import TextSubstitution
 from launch.substitutions import ThisLaunchFileDir
 from launch.utilities import normalize_to_list_of_substitutions
@@ -208,6 +209,14 @@ def test_eval_subst():
     assert 'asdbsd' == expr.perform(LaunchContext())
 
 
+def test_string_strip_subst():
+    subst = parse_substitution("$(string-strip '  $(test asd)  ')")
+    assert len(subst) == 1
+    string_strip = subst[0]
+    assert isinstance(string_strip, StringStripSubstitution)
+    assert string_strip.perform(LaunchContext()) == 'asd'
+
+
 def test_eval_subst_of_math_expr():
     # Math module is included by default
     subst = parse_substitution(r'$(eval "ceil(1.3)")')
diff --git a/launch/test/launch/substitutions/test_command.py b/launch/test/launch/substitutions/test_command.py
index dbb19eced..0d0e80376 100644
--- a/launch/test/launch/substitutions/test_command.py
+++ b/launch/test/launch/substitutions/test_command.py
@@ -19,6 +19,8 @@
 
 from launch.launch_context import LaunchContext
 from launch.substitutions import Command
+from launch.substitutions import PythonExpression
+from launch.substitutions import StringStripSubstitution
 from launch.substitutions.substitution_failure import SubstitutionFailure
 
 import pytest
@@ -48,6 +50,18 @@ def test_command(commands):
     assert output == 'asd bsd csd\n'
 
 
+def test_command_output_can_be_stripped_in_python_expression(commands):
+    """Test composing a newline-emitting command with a Python expression."""
+    context = LaunchContext()
+    command = StringStripSubstitution(Command(commands['normal']))
+    expression = PythonExpression([
+        "'",
+        command,
+        "' == 'asd bsd csd'",
+    ])
+    assert expression.perform(context) == 'True'
+
+
 def test_missing_command_raises(commands):
     """Test that a command that doesn't exist raises."""
     context = LaunchContext()
diff --git a/launch/test/launch/substitutions/test_string_strip_substitution.py b/launch/test/launch/substitutions/test_string_strip_substitution.py
new file mode 100644
index 000000000..3e7ec74b7
--- /dev/null
+++ b/launch/test/launch/substitutions/test_string_strip_substitution.py
@@ -0,0 +1,59 @@
+# Copyright 2026 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.
+
+"""Tests for the StringStripSubstitution substitution class."""
+
+from launch import LaunchContext
+from launch.substitutions import StringStripSubstitution
+from launch.substitutions import TextSubstitution
+
+import pytest
+
+
+@pytest.mark.parametrize(
+    ('value', 'expected'),
+    [
+        ('', ''),
+        ('robot', 'robot'),
+        (' \trobot\r\n', 'robot'),
+        (' \t\r\n', ''),
+    ],
+)
+def test_string_strip(value, expected):
+    """Test stripping leading and trailing whitespace."""
+    substitution = StringStripSubstitution(value)
+    assert substitution.perform(LaunchContext()) == expected
+
+
+def test_string_strip_nested_substitutions():
+    """Test stripping a value assembled from multiple substitutions."""
+    substitution = StringStripSubstitution([
+        ' \t',
+        TextSubstitution(text='robot'),
+        TextSubstitution(text=' name'),
+        '\r\n',
+    ])
+    assert substitution.perform(LaunchContext()) == 'robot name'
+
+
+def test_string_strip_parse():
+    """Test the frontend parser contract."""
+    substitution_type, kwargs = StringStripSubstitution.parse([' value '])
+    assert substitution_type is StringStripSubstitution
+    assert kwargs == {'value': ' value '}
+
+    with pytest.raises(TypeError, match='expects 1 argument'):
+        StringStripSubstitution.parse([])
+    with pytest.raises(TypeError, match='expects 1 argument'):
+        StringStripSubstitution.parse(['one', 'two'])
diff --git a/launch_xml/test/launch_xml/test_string_strip_substitution.py b/launch_xml/test/launch_xml/test_string_strip_substitution.py
new file mode 100644
index 000000000..d508b2516
--- /dev/null
+++ b/launch_xml/test/launch_xml/test_string_strip_substitution.py
@@ -0,0 +1,48 @@
+# Copyright 2026 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.
+
+"""Test parsing a StringStripSubstitution in an XML launch file."""
+
+import io
+import textwrap
+
+from launch.actions import DeclareLaunchArgument
+from launch.actions import SetLaunchConfiguration
+from launch.frontend import Parser
+from launch.launch_context import LaunchContext
+from launch.substitutions import StringStripSubstitution
+
+
+def test_nested():
+    xml_file = textwrap.dedent(
+        """
+        <launch>
+            <arg name="robot_name" default="  rover  "/>
+            <let name="trimmed" value="$(string-strip $(var robot_name))"/>
+        </launch>
+        """
+    )
+    root_entity, parser = Parser.load(io.StringIO(xml_file))
+    launch_description = parser.parse_description(root_entity)
+
+    assert len(launch_description.entities) == 2
+    assert isinstance(launch_description.entities[0], DeclareLaunchArgument)
+    assert isinstance(launch_description.entities[1], SetLaunchConfiguration)
+
+    context = LaunchContext()
+    launch_description.entities[0].visit(context)
+
+    let = launch_description.entities[1]
+    assert isinstance(let.value[0], StringStripSubstitution)
+    assert let.value[0].perform(context) == 'rover'
diff --git a/launch_yaml/test/launch_yaml/test_string_strip_substitution.py b/launch_yaml/test/launch_yaml/test_string_strip_substitution.py
new file mode 100644
index 000000000..86118572a
--- /dev/null
+++ b/launch_yaml/test/launch_yaml/test_string_strip_substitution.py
@@ -0,0 +1,51 @@
+# Copyright 2026 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.
+
+"""Test parsing a StringStripSubstitution in a YAML launch file."""
+
+import io
+import textwrap
+
+from launch.actions import DeclareLaunchArgument
+from launch.actions import SetLaunchConfiguration
+from launch.frontend import Parser
+from launch.launch_context import LaunchContext
+from launch.substitutions import StringStripSubstitution
+
+
+def test_nested():
+    yaml_file = textwrap.dedent(
+        """
+        launch:
+            - arg:
+                name: robot_name
+                default: "  rover  "
+            - let:
+                name: trimmed
+                value: "$(string-strip $(var robot_name))"
+        """
+    )
+    root_entity, parser = Parser.load(io.StringIO(yaml_file))
+    launch_description = parser.parse_description(root_entity)
+
+    assert len(launch_description.entities) == 2
+    assert isinstance(launch_description.entities[0], DeclareLaunchArgument)
+    assert isinstance(launch_description.entities[1], SetLaunchConfiguration)
+
+    context = LaunchContext()
+    launch_description.entities[0].visit(context)
+
+    let = launch_description.entities[1]
+    assert isinstance(let.value[0], StringStripSubstitution)
+    assert let.value[0].perform(context) == 'rover'