diff --git a/launch/ros2/rtabmap.launch.py b/launch/ros2/rtabmap.launch.py
index c0141bf6..bb7bacd1 100644
--- a/launch/ros2/rtabmap.launch.py
+++ b/launch/ros2/rtabmap.launch.py
@@ -155,18 +155,18 @@ def launch_setup(context, *args, **kwargs):
                 "frame_id": LaunchConfiguration('frame_id'),
                 "odom_frame_id": LaunchConfiguration('vo_frame_id'),
                 "publish_tf": LaunchConfiguration('publish_tf_odom'),
-                "ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id'),
-                "ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id'),
+                "ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id').perform(context),
+                "ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id').perform(context),
                 "wait_for_transform": LaunchConfiguration('wait_for_transform'),
                 "wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
                 "approx_sync": LaunchConfiguration('approx_sync'),
-                "config_path": LaunchConfiguration('cfg'),
+                "config_path": LaunchConfiguration('cfg').perform(context),
                 "queue_size": LaunchConfiguration('queue_size'),
                 "qos": LaunchConfiguration('qos_image'),
                 "qos_camera_info": LaunchConfiguration('qos_camera_info'),
                 "qos_imu": LaunchConfiguration('qos_imu'),
                 "subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
-                "guess_frame_id": LaunchConfiguration('odom_guess_frame_id'),
+                "guess_frame_id": LaunchConfiguration('odom_guess_frame_id').perform(context),
                 "guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
                 "guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation')}],
             remappings=[
@@ -188,18 +188,18 @@ def launch_setup(context, *args, **kwargs):
                 "frame_id": LaunchConfiguration('frame_id'),
                 "odom_frame_id": LaunchConfiguration('vo_frame_id'),
                 "publish_tf": LaunchConfiguration('publish_tf_odom'),
-                "ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id'),
-                "ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id'),
+                "ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id').perform(context),
+                "ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id').perform(context),
                 "wait_for_transform": LaunchConfiguration('wait_for_transform'),
                 "wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
                 "approx_sync": LaunchConfiguration('approx_sync'),
-                "config_path": LaunchConfiguration('cfg'),
+                "config_path": LaunchConfiguration('cfg').perform(context),
                 "queue_size": LaunchConfiguration('queue_size'),
                 "qos": LaunchConfiguration('qos_image'),
                 "qos_camera_info": LaunchConfiguration('qos_camera_info'),
                 "qos_imu": LaunchConfiguration('qos_imu'),
                 "subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
-                "guess_frame_id": LaunchConfiguration('odom_guess_frame_id'),
+                "guess_frame_id": LaunchConfiguration('odom_guess_frame_id').perform(context),
                 "guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
                 "guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation')}],
             remappings=[
@@ -222,16 +222,16 @@ def launch_setup(context, *args, **kwargs):
                 "frame_id": LaunchConfiguration('frame_id'),
                 "odom_frame_id": LaunchConfiguration('vo_frame_id'),
                 "publish_tf": LaunchConfiguration('publish_tf_odom'),
-                "ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id'),
-                "ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id'),
+                "ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id').perform(context),
+                "ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id').perform(context),
                 "wait_for_transform": LaunchConfiguration('wait_for_transform'),
                 "wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
                 "approx_sync": LaunchConfiguration('approx_sync'),
-                "config_path": LaunchConfiguration('cfg'),
+                "config_path": LaunchConfiguration('cfg').perform(context),
                 "queue_size": LaunchConfiguration('queue_size'),
                 "qos": LaunchConfiguration('qos_image'),
                 "qos_imu": LaunchConfiguration('qos_imu'),
-                "guess_frame_id": LaunchConfiguration('odom_guess_frame_id'),
+                "guess_frame_id": LaunchConfiguration('odom_guess_frame_id').perform(context),
                 "guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
                 "guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation')}],
             remappings=[
@@ -256,17 +256,17 @@ def launch_setup(context, *args, **kwargs):
                 "subscribe_odom_info": ConditionalBool(True, False, IfCondition(PythonExpression(["'", LaunchConfiguration('icp_odometry'), "' == 'true' or '", LaunchConfiguration('visual_odometry'), "' == 'true'"]))._predicate_func(context)).perform(context),
                 "frame_id": LaunchConfiguration('frame_id'),
                 "map_frame_id": LaunchConfiguration('map_frame_id'),
-                "odom_frame_id": LaunchConfiguration('odom_frame_id'),
+                "odom_frame_id": LaunchConfiguration('odom_frame_id').perform(context),
                 "publish_tf": LaunchConfiguration('publish_tf_map'),
-                "ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id'),
-                "ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id'),
+                "ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id').perform(context),
+                "ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id').perform(context),
                 "odom_tf_angular_variance": LaunchConfiguration('odom_tf_angular_variance'),
                 "odom_tf_linear_variance": LaunchConfiguration('odom_tf_linear_variance'),
                 "odom_sensor_sync": LaunchConfiguration('odom_sensor_sync'),
                 "wait_for_transform": LaunchConfiguration('wait_for_transform'),
                 "database_path": LaunchConfiguration('database_path'),
                 "approx_sync": LaunchConfiguration('approx_sync'),
-                "config_path": LaunchConfiguration('cfg'),
+                "config_path": LaunchConfiguration('cfg').perform(context),
                 "queue_size": LaunchConfiguration('queue_size'),
                 "qos_image": LaunchConfiguration('qos_image'),
                 "qos_scan": LaunchConfiguration('qos_scan'),
@@ -315,7 +315,7 @@ def launch_setup(context, *args, **kwargs):
                 "subscribe_user_data": LaunchConfiguration('subscribe_user_data'),
                 "subscribe_odom_info": ConditionalBool(True, False, IfCondition(PythonExpression(["'", LaunchConfiguration('icp_odometry'), "' == 'true' or '", LaunchConfiguration('visual_odometry'), "' == 'true'"]))._predicate_func(context)).perform(context),
                 "frame_id": LaunchConfiguration('frame_id'),
-                "odom_frame_id": LaunchConfiguration('odom_frame_id'),
+                "odom_frame_id": LaunchConfiguration('odom_frame_id').perform(context),
                 "wait_for_transform": LaunchConfiguration('wait_for_transform'),
                 "approx_sync": LaunchConfiguration('approx_sync'),
                 "queue_size": LaunchConfiguration('queue_size'),