diff --git a/launch/launch/utilities/type_utils.py b/launch/launch/utilities/type_utils.py
index 17e1a7341..9fd795e3a 100644
--- a/launch/launch/utilities/type_utils.py
+++ b/launch/launch/utilities/type_utils.py
@@ -275,7 +275,12 @@ def convert_as_yaml(value, error_msg):
             else:
                 raise
 
-    if type_obj is not bool:
+    if type_obj is bool:  # For bool coercion, allow '1' and '0' to be truthy and falsy
+        if value == '1':
+            value = 'true'
+        elif value == '0':
+            value = 'false'
+    else:
         raise ValueError(
             'data_type is invalid. Expected one of: '
             'int, float, str, bool, List[int], List[float], List[str], List[bool]'
diff --git a/launch/test/launch/substitutions/test_boolean_substitution.py b/launch/test/launch/substitutions/test_boolean_substitution.py
index edd39cfb2..86725ffc1 100644
--- a/launch/test/launch/substitutions/test_boolean_substitution.py
+++ b/launch/test/launch/substitutions/test_boolean_substitution.py
@@ -28,6 +28,8 @@ def test_not_substitution():
     lc = LaunchContext()
     assert NotSubstitution('true').perform(lc) == 'false'
     assert NotSubstitution('false').perform(lc) == 'true'
+    assert NotSubstitution('1').perform(lc) == 'false'
+    assert NotSubstitution('0').perform(lc) == 'true'
     with pytest.raises(SubstitutionFailure):
         NotSubstitution('not-condition-expression').perform(lc)
 
@@ -38,6 +40,22 @@ def test_and_substitution():
     assert AndSubstitution('true', 'false').perform(lc) == 'false'
     assert AndSubstitution('false', 'true').perform(lc) == 'false'
     assert AndSubstitution('false', 'false').perform(lc) == 'false'
+
+    assert AndSubstitution('true', '1').perform(lc) == 'true'
+    assert AndSubstitution('true', '0').perform(lc) == 'false'
+    assert AndSubstitution('false', '1').perform(lc) == 'false'
+    assert AndSubstitution('false', '0').perform(lc) == 'false'
+
+    assert AndSubstitution('1', 'true').perform(lc) == 'true'
+    assert AndSubstitution('1', 'false').perform(lc) == 'false'
+    assert AndSubstitution('0', 'true').perform(lc) == 'false'
+    assert AndSubstitution('0', 'false').perform(lc) == 'false'
+
+    assert AndSubstitution('1', '1').perform(lc) == 'true'
+    assert AndSubstitution('1', '0').perform(lc) == 'false'
+    assert AndSubstitution('0', '1').perform(lc) == 'false'
+    assert AndSubstitution('0', '0').perform(lc) == 'false'
+
     with pytest.raises(SubstitutionFailure):
         AndSubstitution('not-condition-expression', 'true').perform(lc)
     with pytest.raises(SubstitutionFailure):
@@ -50,6 +68,22 @@ def test_or_substitution():
     assert OrSubstitution('true', 'false').perform(lc) == 'true'
     assert OrSubstitution('false', 'true').perform(lc) == 'true'
     assert OrSubstitution('false', 'false').perform(lc) == 'false'
+
+    assert OrSubstitution('true', '1').perform(lc) == 'true'
+    assert OrSubstitution('true', '0').perform(lc) == 'true'
+    assert OrSubstitution('false', '1').perform(lc) == 'true'
+    assert OrSubstitution('false', '0').perform(lc) == 'false'
+
+    assert OrSubstitution('1', 'true').perform(lc) == 'true'
+    assert OrSubstitution('1', 'false').perform(lc) == 'true'
+    assert OrSubstitution('0', 'true').perform(lc) == 'true'
+    assert OrSubstitution('0', 'false').perform(lc) == 'false'
+
+    assert OrSubstitution('1', '1').perform(lc) == 'true'
+    assert OrSubstitution('1', '0').perform(lc) == 'true'
+    assert OrSubstitution('0', '1').perform(lc) == 'true'
+    assert OrSubstitution('0', '0').perform(lc) == 'false'
+
     with pytest.raises(SubstitutionFailure):
         OrSubstitution('not-condition-expression', 'true').perform(lc)
     with pytest.raises(SubstitutionFailure):
diff --git a/launch/test/launch/utilities/test_type_utils.py b/launch/test/launch/utilities/test_type_utils.py
index 788d9b070..1e7f9cafe 100644
--- a/launch/test/launch/utilities/test_type_utils.py
+++ b/launch/test/launch/utilities/test_type_utils.py
@@ -234,6 +234,8 @@ def test_coercions_given_specific_type(coerce_to_type_impl):
     assert coerce_to_type_impl('on', data_type=bool) is True
     assert coerce_to_type_impl('off', data_type=bool) is False
     assert coerce_to_type_impl('True', data_type=bool) is True
+    assert coerce_to_type_impl('1', data_type=bool) is True
+    assert coerce_to_type_impl('0', data_type=bool) is False
 
     assert coerce_to_type_impl('[.2, .1, .1]', data_type=List[float]) == [.2, .1, .1]
     assert coerce_to_type_impl('[asd, bsd, csd]', data_type=List[str]) == ['asd', 'bsd', 'csd']
@@ -283,8 +285,6 @@ def test_coercion_raises_value_error(coerce_to_type_impl):
         coerce_to_type_impl('', data_type=bool)
     with pytest.raises(ValueError):
         coerce_to_type_impl('Bsd', data_type=bool)
-    with pytest.raises(ValueError):
-        coerce_to_type_impl('1', data_type=bool)
 
     with pytest.raises(ValueError):
         coerce_to_type_impl('', data_type=List[float])