Select rows for which a column takes one of several values

Question

I want to select rows from a data frame that have one of several values in a specified column.

My simulated data:

df <- structure(list(value = c("1", "0", "3", "2", "3", "1"), 
             id = c("id1", "id1", "id2", "id2", "id3", "id3"), 
        .Names = c("value", "id"), 
        row.names = c(NA, 6L), 
        class = "data.frame")

Which looks like:

> df
value  id
1     1 id1
2     0 id1
3     3 id2
4     2 id2
5     3 id3
6     1 id3

The vector of values that should be matched is defined as:

ids <- c("id1", "id2")

Now, I know how to select rows that match one value, as discussed elsewhere on SO, namely like this:

df[df$id == "id2", ]

But I did not manage to adapt this code to go through all values contained in vector ids.