diff --git a/launch_ros/launch_ros/parameter_descriptions.py b/launch_ros/launch_ros/parameter_descriptions.py
index 46f226d3..dd071fac 100644
--- a/launch_ros/launch_ros/parameter_descriptions.py
+++ b/launch_ros/launch_ros/parameter_descriptions.py
@@ -171,7 +171,7 @@ def __init__(
         self,
         param_file: Union[FilePath, SomeSubstitutionsType],
         *,
-        allow_substs: [bool, SomeSubstitutionsType] = False
+        allow_substs: Union[bool, SomeSubstitutionsType] = False
     ) -> None:
         """
         Construct a parameter file description.
@@ -185,6 +185,8 @@ def __init__(
         # during cleanup, so make sure to initialize them here.
         self.__evaluated_param_file: Optional[Path] = None
         self.__created_tmp_file = False
+        self.__allow_substs: Union[bool, List[Substitution]] = False
+        self.__evaluated_allow_substs: Optional[bool] = None
 
         ensure_argument_type(
             param_file,
@@ -194,7 +196,7 @@ def __init__(
         )
         ensure_argument_type(
             allow_substs,
-            bool,
+            SomeSubstitutionsType_types_tuple + (bool,),
             'allow_subst',
             'ParameterFile()'
         )
@@ -202,7 +204,6 @@ def __init__(
         if isinstance(param_file, SomeSubstitutionsType_types_tuple):
             self.__param_file = normalize_to_list_of_substitutions(param_file)
         self.__allow_substs = normalize_typed_substitution(allow_substs, data_type=bool)
-        self.__evaluated_allow_substs: Optional[bool] = None
 
     @property
     def param_file(self) -> Union[FilePath, List[Substitution]]:
@@ -249,6 +250,7 @@ def evaluate(self, context: LaunchContext) -> Path:
                 h.write(parsed)
                 param_file_path = Path(h.name)
                 self.__created_tmp_file = True
+        self.__evaluated_allow_substs = allow_substs
         self.__evaluated_param_file = param_file_path
         return param_file_path
 
@@ -259,7 +261,12 @@ def cleanup(self):
                 os.unlink(self.__evaluated_param_file)
             except FileNotFoundError:
                 pass
+            self.__created_tmp_file = False
+            self.__evaluated_param_file = None
+            self.__evaluated_allow_substs = None
+        elif isinstance(self.__allow_substs, list):
             self.__evaluated_param_file = None
+            self.__evaluated_allow_substs = None
 
     def __del__(self):
         self.cleanup()
diff --git a/test_launch_ros/test/test_launch_ros/descriptions/test_parameter_file.py b/test_launch_ros/test/test_launch_ros/descriptions/test_parameter_file.py
index 80adc449..ebef189f 100644
--- a/test_launch_ros/test/test_launch_ros/descriptions/test_parameter_file.py
+++ b/test_launch_ros/test/test_launch_ros/descriptions/test_parameter_file.py
@@ -15,7 +15,9 @@
 """Tests for launch_ros.descriptions.ParameterFile."""
 
 from contextlib import contextmanager
+import gc
 import os
+import sys
 from tempfile import NamedTemporaryFile
 
 from launch import Substitution
@@ -52,6 +54,9 @@ def __init__(self, text):
     def perform(self, context):
         return self.__text
 
+    def set_text(self, text):
+        self.__text = text
+
 
 @expose_substitution('test')
 def parse_test_substitution(data):
@@ -136,3 +141,53 @@ def test_parameter_file_description(original_contents, expected_contents, allow_
         else:
             assert param_file.exists()
             assert os.fspath(desc.param_file) == os.fspath(file_name)
+
+
+def test_parameter_file_allow_substs_substitution():
+    lc = MockContext()
+    with get_parameter_file('{}') as file_name:
+        desc = ParameterFile(
+            file_name,
+            allow_substs=CustomSubstitution('true'),
+        )
+        assert isinstance(desc.allow_substs, list)
+        desc.evaluate(lc)
+        assert desc.allow_substs is True
+        desc.cleanup()
+        assert isinstance(desc.allow_substs, list)
+
+
+def test_parameter_file_invalid_allow_substs_does_not_fail_cleanup():
+    unraisable = []
+    original_unraisablehook = sys.unraisablehook
+    sys.unraisablehook = unraisable.append
+    try:
+        with pytest.raises(TypeError, match='allow_subst'):
+            ParameterFile('params.yaml', allow_substs=object())
+        gc.collect()
+    finally:
+        sys.unraisablehook = original_unraisablehook
+
+    assert not unraisable
+
+
+@pytest.mark.parametrize('first, second', [('false', 'true'), ('true', 'false')])
+def test_parameter_file_allow_substs_re_evaluates_after_cleanup(first, second):
+    lc = MockContext()
+    allow_substs = CustomSubstitution(first)
+    with get_parameter_file('{}') as file_name:
+        desc = ParameterFile(file_name, allow_substs=allow_substs)
+
+        first_path = desc.evaluate(lc)
+        assert desc.allow_substs is (first == 'true')
+        assert (os.fspath(first_path) != file_name) is (first == 'true')
+        desc.cleanup()
+        assert os.path.exists(file_name)
+
+        allow_substs.set_text(second)
+        second_path = desc.evaluate(lc)
+        assert desc.allow_substs is (second == 'true')
+        assert (os.fspath(second_path) != file_name) is (second == 'true')
+        desc.cleanup()
+        assert os.path.exists(file_name)
+        assert isinstance(desc.allow_substs, list)
diff --git a/test_launch_ros/test/test_launch_ros/frontend/test_node_frontend.py b/test_launch_ros/test/test_launch_ros/frontend/test_node_frontend.py
index 0bebb6d5..547de598 100644
--- a/test_launch_ros/test/test_launch_ros/frontend/test_node_frontend.py
+++ b/test_launch_ros/test/test_launch_ros/frontend/test_node_frontend.py
@@ -57,7 +57,7 @@ def test_launch_frontend_xml():
                     <param name="param14" value="'2', '5', '8'" value-sep=", " type="list_of_str"/>
                     <param name="param15" value="2, 5, 8" value-sep=", " type="list_of_str"/>
                 </param>
-                <param from="{}"/>
+                <param from="{}" allow_substs="$(eval False)"/>
                 <env name="var" value="1"/>
                 <remap from="foo" to="bar"/>
                 <remap from="baz" to="foobar"/>
@@ -131,6 +131,7 @@ def test_launch_frontend_yaml():
                             value: ['2', '5', '8']
                             type: list_of_str
                     -   from: {}
+                        allow_substs: $(eval False)
                 env:
                     -   name: var
                         value: '1'