diff --git a/launch/launch/substitutions/python_expression.py b/launch/launch/substitutions/python_expression.py
index 3ee4fe957..0eeb214a3 100644
--- a/launch/launch/substitutions/python_expression.py
+++ b/launch/launch/substitutions/python_expression.py
@@ -15,6 +15,7 @@
 """Module for the PythonExpression substitution."""
 
 import collections.abc
+import itertools
 import math
 from typing import Iterable
 from typing import List
@@ -25,6 +26,8 @@
 from ..some_substitutions_type import SomeSubstitutionsType
 from ..substitution import Substitution
 from ..utilities import ensure_argument_type
+from ..utilities import normalize_to_list_of_substitutions
+from ..utilities import perform_substitutions
 
 
 @expose_substitution('eval')
@@ -47,15 +50,17 @@ def __init__(self, expression: SomeSubstitutionsType) -> None:
             'expression',
             'PythonExpression')
 
-        from ..utilities import normalize_to_list_of_substitutions
         self.__expression = normalize_to_list_of_substitutions(expression)
 
     @classmethod
     def parse(cls, data: Iterable[SomeSubstitutionsType]):
         """Parse `PythonExpression` substitution."""
-        if len(data) != 1:
-            raise TypeError('eval substitution expects 1 argument')
-        return cls, {'expression': data[0]}
+        if len(data) == 0:
+            raise TypeError('eval substitution expects 1 or more argument')
+        elif len(data) == 1:
+            return cls, {'expression': data[0]}
+        expression = normalize_to_list_of_substitutions(itertools.chain.from_iterable(data))
+        return cls, {'expression': expression}
 
     @property
     def expression(self) -> List[Substitution]:
@@ -68,5 +73,12 @@ def describe(self) -> Text:
 
     def perform(self, context: LaunchContext) -> Text:
         """Perform the substitution by evaluating the expression."""
-        from ..utilities import perform_substitutions
-        return str(eval(perform_substitutions(context, self.expression), {}, math.__dict__))
+        expressions = [perform_substitutions(context, [exp]) for exp in self.expression]
+
+        if len(expressions) == 3 and (expressions[1] in ['==', '!=']):
+            left = expressions[0]
+            right = expressions[2]
+            expression = f"'{left}' {expressions[1]} '{right}'"
+            return str(eval(expression, {}, math.__dict__))
+
+        return str(eval(''.join(expressions), {}, math.__dict__))
diff --git a/launch/test/launch/frontend/test_substitutions.py b/launch/test/launch/frontend/test_substitutions.py
index 9fabbc6a9..74220571f 100644
--- a/launch/test/launch/frontend/test_substitutions.py
+++ b/launch/test/launch/frontend/test_substitutions.py
@@ -21,6 +21,7 @@
 from launch import SomeSubstitutionsType
 from launch import Substitution
 from launch.actions import ExecuteProcess
+from launch.actions import SetLaunchConfiguration
 from launch.frontend.expose import expose_substitution
 from launch.frontend.parse_substitution import parse_if_substitutions
 from launch.frontend.parse_substitution import parse_substitution
@@ -205,6 +206,12 @@ def test_eval_subst():
     assert 'asdbsd' == expr.perform(LaunchContext())
 
 
+def test_eval_subst_empty():
+    from lark.visitors import VisitError
+    with pytest.raises(VisitError):
+        parse_substitution(r'$(eval)')
+
+
 def test_eval_subst_of_math_expr():
     subst = parse_substitution(r'$(eval "ceil(1.3)")')
     assert len(subst) == 1
@@ -213,6 +220,35 @@ def test_eval_subst_of_math_expr():
     assert '2' == expr.perform(LaunchContext())
 
 
+def test_eval_equal():
+    context = LaunchContext()
+    SetLaunchConfiguration('value', 'abc').execute(context)
+
+    subst = parse_substitution(r"$(eval $(var value) == 'abc')")
+    assert len(subst) == 1
+    expr = subst[0]
+    assert isinstance(expr, PythonExpression)
+    assert 'True' == expr.perform(context)
+
+    subst = parse_substitution(r"$(eval $(var value) == 'def')")
+    assert len(subst) == 1
+    expr = subst[0]
+    assert isinstance(expr, PythonExpression)
+    assert 'False' == expr.perform(context)
+
+    subst = parse_substitution(r"$(eval $(var value) != 'abc')")
+    assert len(subst) == 1
+    expr = subst[0]
+    assert isinstance(expr, PythonExpression)
+    assert 'False' == expr.perform(context)
+
+    subst = parse_substitution(r"$(eval $(var value) != 'def')")
+    assert len(subst) == 1
+    expr = subst[0]
+    assert isinstance(expr, PythonExpression)
+    assert 'True' == expr.perform(context)
+
+
 def expand_cmd_subs(cmd_subs: List[SomeSubstitutionsType]):
     return [perform_substitutions_without_context(x) for x in cmd_subs]