diff --git a/launch/launch/substitutions/__init__.py b/launch/launch/substitutions/__init__.py
index 1622debaa..fd5770807 100644
--- a/launch/launch/substitutions/__init__.py
+++ b/launch/launch/substitutions/__init__.py
@@ -31,6 +31,7 @@
 from .local_substitution import LocalSubstitution
 from .not_equals_substitution import NotEqualsSubstitution
 from .path_join_substitution import PathJoinSubstitution
+from .path_join_substitution import PathSubstitution
 from .python_expression import PythonExpression
 from .substitution_failure import SubstitutionFailure
 from .text_substitution import TextSubstitution
@@ -55,6 +56,7 @@
     'NotEqualsSubstitution',
     'OrSubstitution',
     'PathJoinSubstitution',
+    'PathSubstitution',
     'PythonExpression',
     'SubstitutionFailure',
     'TextSubstitution',
diff --git a/launch/launch/substitutions/path_join_substitution.py b/launch/launch/substitutions/path_join_substitution.py
index 27f83328d..6868f1eeb 100644
--- a/launch/launch/substitutions/path_join_substitution.py
+++ b/launch/launch/substitutions/path_join_substitution.py
@@ -21,13 +21,56 @@
 
 from ..launch_context import LaunchContext
 from ..substitution import Substitution
+<<<<<<< HEAD
+=======
+from ..utilities import normalize_to_list_of_substitutions
+from ..utilities import perform_substitutions
+>>>>>>> e716d1f (Add a `/` path join operator for `PathJoinSubstitution` (#868))
 
 
 class PathJoinSubstitution(Substitution):
     """Substitution that join paths, in a platform independent way."""
 
+<<<<<<< HEAD
     def __init__(self, substitutions: Iterable[Union[Text, Substitution]]) -> None:
         """Create a PathJoinSubstitution."""
+=======
+    This takes in a list of path components as substitutions. The substitutions for each path
+    component are performed and concatenated, and then all path components are joined.
+
+    For example:
+
+    .. code-block:: python
+
+        PathJoinSubstitution([
+            EnvironmentVariable('SOME_DIR'),
+            'cfg',
+            ['config_', LaunchConfiguration('map'), '.yml']
+        ])
+
+    Or:
+
+    .. code-block:: python
+
+        cfg_dir = PathJoinSubstitution([EnvironmentVariable('SOME_DIR'), 'cfg'])
+        cfg_file = cfg_dir / ['config_', LaunchConfiguration('map'), '.yml']
+
+    If the ``SOME_DIR`` environment variable was set to ``/home/user/dir`` and the ``map`` launch
+    configuration was set to ``my_map``, this would result in a path equal equivalent to (depending
+    on the platform):
+
+    .. code-block:: python
+
+        '/home/user/dir/cfg/config_my_map.yml'
+    """
+
+    def __init__(self, substitutions: Iterable[SomeSubstitutionsType]) -> None:
+        """
+        Create a PathJoinSubstitution.
+
+        :param substitutions: the list of path component substitutions to join
+        """
+>>>>>>> e716d1f (Add a `/` path join operator for `PathJoinSubstitution` (#868))
         from ..utilities import normalize_to_list_of_substitutions
         self.__substitutions = normalize_to_list_of_substitutions(substitutions)
 
@@ -41,6 +84,46 @@ def describe(self) -> Text:
         return f"PathJoin('{' + '.join([s.describe() for s in self.substitutions])}')"
 
     def perform(self, context: LaunchContext) -> Text:
+<<<<<<< HEAD
         """Perform the substitution by retrieving the local variable."""
         performed_substitutions = [sub.perform(context) for sub in self.__substitutions]
         return os.path.join(*performed_substitutions)
+=======
+        """Perform the substitutions and join into a path."""
+        path_components = [
+            perform_substitutions(context, component_substitutions)
+            for component_substitutions in self.substitutions
+        ]
+        return os.path.join(*path_components)
+
+    def __truediv__(self, additional_path: SomeSubstitutionsType) -> 'PathJoinSubstitution':
+        """Join path substitutions using the / operator, mimicking pathlib.Path operation."""
+        return PathJoinSubstitution(
+            self.substitutions + [normalize_to_list_of_substitutions(additional_path)])
+
+
+class PathSubstitution(PathJoinSubstitution):
+    """
+    Thin wrapper on PathJoinSubstitution for more pathlib.Path-like construction.
+
+    .. code-block:: python
+
+        PathSubstitution(LaunchConfiguration('base_dir')) / 'sub_dir' / 'file_name'
+
+    Which, for ``base_dir:=/my_dir``, results in (depending on the platform):
+
+    .. code-block:: python
+
+        /my_dir/sub_dir/file_name
+
+    """
+
+    def __init__(self, path: SomeSubstitutionsType):
+        """
+        Create a PathSubstitution.
+
+        :param path: May be a single text or Substitution element,
+        or an Iterable of them which are then joined
+        """
+        super().__init__(normalize_to_list_of_substitutions(path))
+>>>>>>> e716d1f (Add a `/` path join operator for `PathJoinSubstitution` (#868))
diff --git a/launch/test/launch/substitutions/test_path_join_substitution.py b/launch/test/launch/substitutions/test_path_join_substitution.py
index 0838c7e7c..6e128eb46 100644
--- a/launch/test/launch/substitutions/test_path_join_substitution.py
+++ b/launch/test/launch/substitutions/test_path_join_substitution.py
@@ -16,10 +16,30 @@
 
 import os
 
+<<<<<<< HEAD
 from launch.substitutions import PathJoinSubstitution
+=======
+from launch import LaunchContext
+from launch.substitutions import PathJoinSubstitution, PathSubstitution
+from launch.substitutions import TextSubstitution
+>>>>>>> e716d1f (Add a `/` path join operator for `PathJoinSubstitution` (#868))
 
 
 def test_path_join():
     path = ['asd', 'bsd', 'cds']
     sub = PathJoinSubstitution(path)
+<<<<<<< HEAD
     assert sub.perform(None) == os.path.join(*path)
+=======
+    assert sub.perform(context) == os.path.join(*path)
+
+    path = ['path', ['to'], ['my_', TextSubstitution(text='file'), '.yaml']]
+    sub = PathJoinSubstitution(path)
+    assert sub.perform(context) == os.path.join('path', 'to', 'my_file.yaml')
+
+    sub = PathSubstitution('some') / 'path'
+    sub = sub / PathJoinSubstitution(['to', 'some', 'dir'])
+    sub = sub / (TextSubstitution(text='my_model'), '.xacro')
+    assert sub.perform(context) == os.path.join(
+        'some', 'path', 'to', 'some', 'dir', 'my_model.xacro')
+>>>>>>> e716d1f (Add a `/` path join operator for `PathJoinSubstitution` (#868))