diff --git a/launch/launch/actions/__init__.py b/launch/launch/actions/__init__.py
index ae0577e33..98da8e054 100644
--- a/launch/launch/actions/__init__.py
+++ b/launch/launch/actions/__init__.py
@@ -19,6 +19,7 @@
 from .emit_event import EmitEvent
 from .execute_local import ExecuteLocal
 from .execute_process import ExecuteProcess
+from .for_loop import ForLoop
 from .group_action import GroupAction
 from .include_launch_description import IncludeLaunchDescription
 from .log_info import LogInfo
@@ -45,6 +46,7 @@
     'EmitEvent',
     'ExecuteLocal',
     'ExecuteProcess',
+    'ForLoop',
     'GroupAction',
     'IncludeLaunchDescription',
     'LogInfo',
diff --git a/launch/launch/actions/for_loop.py b/launch/launch/actions/for_loop.py
new file mode 100644
index 000000000..edf0e1a0e
--- /dev/null
+++ b/launch/launch/actions/for_loop.py
@@ -0,0 +1,194 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Module for the ForLoop action."""
+
+from copy import deepcopy
+from typing import Callable
+from typing import List
+from typing import Optional
+from typing import Text
+
+
+from ..action import Action
+from ..actions.opaque_function import OpaqueFunction
+from ..frontend import Entity
+from ..frontend import expose_action
+from ..frontend import Parser
+from ..launch_context import LaunchContext
+from ..launch_description_entity import LaunchDescriptionEntity
+from ..logging import get_logger
+from ..some_substitutions_type import SomeSubstitutionsType
+from ..substitution import Substitution
+from ..utilities import perform_substitutions
+
+
+@expose_action('for')
+class ForLoop(Action):
+    """
+    Action that instantiates entities through a function N times based on a launch argument.
+
+    A DeclareLaunchArgument must be created before this action to define the number of iterations
+    in the for-loop, i.e., N iterations. For each loop iteration, the provided callback function is
+    called with the index value, going from 0 to N (exclusive).
+
+    Simple example:
+
+    .. code-block:: python
+
+        def for_i(i: int):
+            return [
+                LogInfo(msg=['i=', str(i)]),
+            ]
+
+        LaunchDescription([
+            DeclareLaunchArgument('num', default_value='2'),
+            ForLoop(LaunchConfiguration('num'), function=for_i),
+        ])
+
+    When using this action through a frontend, provide entities to be instantiated for each loop
+    iteration as child entities. Use an $(index) substitution with the index name of the for-loop.
+
+    Simple example:
+
+    .. code-block:: xml
+
+        <launch>
+            <arg name="num" default="2" />
+            <for len="$(var num)" name="i" >
+                <log message="i=$(index i)" />
+            </for>
+        </launch>
+
+    The above examples would ouput the following log messages by default:
+
+    .. code-block:: text
+
+        i=0
+        i=1
+
+    If the launch argument was set to 5 (num:=5), then it would output:
+
+    .. code-block:: text
+
+        i=0
+        i=1
+        i=2
+        i=3
+        i=4
+    """
+
+    def __init__(
+        self,
+        length: SomeSubstitutionsType,
+        *,
+        function: Callable[[int], Optional[List[LaunchDescriptionEntity]]],
+        name: Optional[SomeSubstitutionsType] = None,
+        **kwargs,
+    ) -> None:
+        """
+        Create a ForLoop.
+
+        :param length: the length of the for-loop
+        :param function: a function that receives an index value and returns entities
+        :param name: the for-loop name, used as the index name with the ForLoopIndex substitution
+        """
+        super().__init__(**kwargs)
+
+        from ..utilities import normalize_to_list_of_substitutions  # import here to avoid loop
+        self._length = normalize_to_list_of_substitutions(length)
+        self._function = function
+        self._name = normalize_to_list_of_substitutions(name) if name else []
+        self._logger = get_logger(__name__)
+
+    @property
+    def length(self) -> List[Substitution]:
+        return self._length
+
+    @property
+    def function(self) -> Callable[[int], Optional[List[LaunchDescriptionEntity]]]:
+        return self._function
+
+    @property
+    def name(self) -> List[Substitution]:
+        return self._name
+
+    def describe(self) -> Text:
+        return (
+            type(self).__name__ +
+            f"(length='{self._length}', name='{self._name}', function={self._function})"
+        )
+
+    @classmethod
+    def parse(cls, entity: Entity, parser: Parser):
+        """Return `ForLoop` action and kwargs for constructing it."""
+        _, kwargs = super().parse(entity, parser)
+        length = entity.get_attr('len')
+        if length is not None:
+            kwargs['length'] = parser.parse_substitution(length)
+        name = entity.get_attr('name')
+        kwargs['name'] = name
+        parsed_children = [parser.parse_action(e) for e in entity.children]
+
+        def for_i(i: int):
+            return [
+                # Push and pop locals to avoid having the index local leak
+                OpaqueFunction(function=cls._push_locals),
+                # Set a local equal to i so that it can be used as a unique value by the entities
+                # through the ForLoopIndex substitution
+                OpaqueFunction(function=cls._set_index_local, args=(name, i)),
+                # Include a deep copy of parsed child entities
+                *deepcopy(parsed_children),
+                OpaqueFunction(function=cls._pop_locals),
+            ]
+        kwargs['function'] = for_i
+        return cls, kwargs
+
+    def execute(self, context: LaunchContext) -> Optional[List[LaunchDescriptionEntity]]:
+        # Get the for-loop length and convert to int
+        length = int(perform_substitutions(context, self._length))
+        self._logger.debug(f'for-loop length={length}')
+
+        entities = []
+        for i in range(length):
+            i_entities = self._function(i)
+            if i_entities:
+                entities.extend(i_entities)
+        return entities
+
+    @classmethod
+    def _push_locals(
+        cls,
+        context: LaunchContext,
+    ) -> Optional[List[LaunchDescriptionEntity]]:
+        context._push_locals()
+        return None
+
+    @classmethod
+    def _pop_locals(
+        cls,
+        context: LaunchContext,
+    ) -> Optional[List[LaunchDescriptionEntity]]:
+        context._pop_locals()
+        return None
+
+    @classmethod
+    def _set_index_local(
+        cls,
+        context: LaunchContext,
+        local_name: str,
+        index: int,
+    ) -> Optional[List[LaunchDescriptionEntity]]:
+        context.extend_locals({local_name: str(index)})
+        return None
diff --git a/launch/launch/substitutions/__init__.py b/launch/launch/substitutions/__init__.py
index 1622debaa..231349f2c 100644
--- a/launch/launch/substitutions/__init__.py
+++ b/launch/launch/substitutions/__init__.py
@@ -25,6 +25,7 @@
 from .equals_substitution import EqualsSubstitution
 from .file_content import FileContent
 from .find_executable import FindExecutable
+from .for_loop_index import ForLoopIndex
 from .if_else_substitution import IfElseSubstitution
 from .launch_configuration import LaunchConfiguration
 from .launch_log_dir import LaunchLogDir
@@ -47,6 +48,7 @@
     'EnvironmentVariable',
     'FileContent',
     'FindExecutable',
+    'ForLoopIndex',
     'IfElseSubstitution',
     'LaunchConfiguration',
     'LaunchLogDir',
diff --git a/launch/launch/substitutions/for_loop_index.py b/launch/launch/substitutions/for_loop_index.py
new file mode 100644
index 000000000..005a31881
--- /dev/null
+++ b/launch/launch/substitutions/for_loop_index.py
@@ -0,0 +1,70 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Module for the ForLoopIndex substitution."""
+
+from typing import List
+from typing import Sequence
+from typing import Text
+
+from .local_substitution import LocalSubstitution
+from ..frontend import expose_substitution
+from ..launch_context import LaunchContext
+from ..logging import get_logger
+from ..some_substitutions_type import SomeSubstitutionsType
+from ..substitution import Substitution
+from ..utilities import perform_substitutions
+
+
+@expose_substitution('index')
+class ForLoopIndex(Substitution):
+    """Substitution for a ForLoop iteration index value."""
+
+    def __init__(
+        self,
+        name: SomeSubstitutionsType,
+    ) -> None:
+        """
+        Create a ForLoopIndex.
+
+        :param name: the name of the ForLoop index which this substitution is part of
+        """
+        super().__init__()
+
+        from ..utilities import normalize_to_list_of_substitutions  # import here to avoid loop
+        self._name = normalize_to_list_of_substitutions(name)
+        self._logger = get_logger(__name__)
+
+    @property
+    def name(self) -> List[Substitution]:
+        return self._name
+
+    def describe(self) -> Text:
+        return f"ForLoopIndex(name={' + '.join([sub.describe() for sub in self._name])})"
+
+    @classmethod
+    def parse(cls, data: Sequence[SomeSubstitutionsType]):
+        if len(data) != 1:
+            raise ValueError('ForLoopIndex substitution expects 1 argument')
+        kwargs = {}
+        kwargs['name'] = data[0]
+        return cls, kwargs
+
+    def perform(self, context: LaunchContext) -> Text:
+        name = perform_substitutions(context, self._name)
+        self._logger.debug('name=' + name)
+        index_substitution = LocalSubstitution(name)
+        index = perform_substitutions(context, [index_substitution])
+        self._logger.debug('index=' + index)
+        return index
diff --git a/launch/test/launch/actions/test_for_loop.py b/launch/test/launch/actions/test_for_loop.py
new file mode 100644
index 000000000..9c45e8a61
--- /dev/null
+++ b/launch/test/launch/actions/test_for_loop.py
@@ -0,0 +1,95 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Tests for the ForLoop action."""
+
+from typing import Callable
+from typing import List
+from typing import Optional
+
+from launch import Action
+from launch import LaunchContext
+from launch import LaunchDescriptionEntity
+from launch.actions import DeclareLaunchArgument
+from launch.actions import ForLoop
+from launch.substitutions import LaunchConfiguration
+
+
+def for_i(
+    returned_entities: List[LaunchDescriptionEntity],
+    i_collector: Optional[List[int]] = None,
+) -> Callable[[int], Optional[List[LaunchDescriptionEntity]]]:
+    def f(i: int):
+        if i_collector is not None:
+            i_collector.append(i)
+        return returned_entities
+    return f
+
+
+def test_for_loop_constructors():
+    """Test the constructors for the ForLoop class."""
+    ForLoop('2', function=for_i([]))
+    ForLoop(LaunchConfiguration('num'), function=for_i([]))
+
+
+def test_for_loop_execute():
+    """Test the execute() of the ForLoop class."""
+    context = LaunchContext()
+    i_values = []
+
+    result = ForLoop('0', function=for_i([], i_values)).visit(context)
+    assert len(result) == 0
+    assert i_values == []
+    i_values.clear()
+
+    result = ForLoop('0', function=for_i(None, i_values)).visit(context)
+    assert len(result) == 0
+    assert i_values == []
+    i_values.clear()
+
+    result = ForLoop('2', function=for_i([], i_values)).visit(context)
+    assert len(result) == 0
+    assert i_values == [0, 1]
+    i_values.clear()
+
+    result = ForLoop('0', function=for_i([Action()], i_values)).visit(context)
+    assert len(result) == 0
+    assert i_values == []
+    i_values.clear()
+
+    result = ForLoop('2', function=for_i([Action()], i_values)).visit(context)
+    assert len(result) == 2
+    assert isinstance(result[0], Action)
+    assert isinstance(result[1], Action)
+    assert i_values == [0, 1]
+    i_values.clear()
+
+    # Use launch arg, first with default value then non-default value
+    DeclareLaunchArgument('num', default_value='4').visit(context)
+    result = ForLoop(
+        LaunchConfiguration('num'),
+        function=for_i([Action()], i_values),
+    ).visit(context)
+    assert len(result) == 4
+    assert i_values == [0, 1, 2, 3]
+    i_values.clear()
+    context.launch_configurations['num'] = '5'
+    result = ForLoop(
+        LaunchConfiguration('num'),
+        function=for_i([Action()], i_values),
+    ).visit(context)
+    assert len(result) == 5
+    assert i_values == [0, 1, 2, 3, 4]
+    i_values.clear()
+    context.launch_configurations.clear()
diff --git a/launch_xml/test/launch_xml/test_for_loop.py b/launch_xml/test/launch_xml/test_for_loop.py
new file mode 100644
index 000000000..feff26550
--- /dev/null
+++ b/launch_xml/test/launch_xml/test_for_loop.py
@@ -0,0 +1,78 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Test parsing a ForLoop action and a ForLoopIndex substitution."""
+
+import io
+import textwrap
+
+from launch.actions import DeclareLaunchArgument
+from launch.actions import ForLoop
+from launch.actions import LogInfo
+from launch.actions import OpaqueFunction
+from launch.frontend import Parser
+from launch.launch_context import LaunchContext
+from launch.substitutions import ForLoopIndex
+from launch.utilities import perform_substitutions
+
+
+def test_for_loop():
+    xml_file = textwrap.dedent(
+        """
+        <launch>
+            <arg name="num_i" default="2" />
+            <for len="$(var num_i)" name="i" >
+                <log message="index=$(index i)" />
+            </for>
+        </launch>
+        """
+    )
+    root_entity, parser = Parser.load(io.StringIO(xml_file))
+    ld = parser.parse_description(root_entity)
+
+    assert len(ld.entities) == 2
+    assert isinstance(ld.entities[0], DeclareLaunchArgument)
+    assert isinstance(ld.entities[1], ForLoop)
+
+    lc = LaunchContext()
+    ld.entities[0].visit(lc)
+    actions = ld.entities[1].visit(lc)
+    # For each iteration:
+    #   2 OpaqueFunction
+    #   N user-defined entities
+    #   1 OpaqueFunction
+    # = 3 + N entitites/iteration
+    assert len(actions) == 2 * (3 + 1)
+    assert isinstance(actions[0], OpaqueFunction)
+    assert isinstance(actions[1], OpaqueFunction)
+    assert isinstance(actions[2], LogInfo)
+    assert isinstance(actions[3], OpaqueFunction)
+    assert isinstance(actions[4], OpaqueFunction)
+    assert isinstance(actions[5], OpaqueFunction)
+    assert isinstance(actions[6], LogInfo)
+    assert isinstance(actions[7], OpaqueFunction)
+    actions[0].visit(lc)
+    actions[1].visit(lc)
+    actions[2].visit(lc)
+    assert isinstance(actions[2].msg[1], ForLoopIndex)
+    assert perform_substitutions(lc, actions[2].msg[1].name) == 'i'
+    assert perform_substitutions(lc, actions[2].msg) == 'index=0'
+    actions[3].visit(lc)
+    actions[4].visit(lc)
+    actions[5].visit(lc)
+    actions[6].visit(lc)
+    assert isinstance(actions[6].msg[1], ForLoopIndex)
+    assert perform_substitutions(lc, actions[6].msg[1].name) == 'i'
+    assert perform_substitutions(lc, actions[6].msg) == 'index=1'
+    actions[7].visit(lc)
diff --git a/launch_yaml/test/launch_yaml/test_for_loop.py b/launch_yaml/test/launch_yaml/test_for_loop.py
new file mode 100644
index 000000000..ed8b4fd80
--- /dev/null
+++ b/launch_yaml/test/launch_yaml/test_for_loop.py
@@ -0,0 +1,82 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Test parsing a ForLoop action and a ForLoopIndex substitution."""
+
+import io
+import textwrap
+
+from launch.actions import DeclareLaunchArgument
+from launch.actions import ForLoop
+from launch.actions import LogInfo
+from launch.actions import OpaqueFunction
+from launch.frontend import Parser
+from launch.launch_context import LaunchContext
+from launch.substitutions import ForLoopIndex
+from launch.utilities import perform_substitutions
+
+
+def test_for_loop():
+    yaml_file = textwrap.dedent(
+        """
+        launch:
+            - arg:
+                name: num_i
+                default: '2'
+            - for:
+                len: $(var num_i)
+                name: i
+                children:
+                    - log:
+                        message: index=$(index i)
+        """
+    )
+    root_entity, parser = Parser.load(io.StringIO(yaml_file))
+    ld = parser.parse_description(root_entity)
+
+    assert len(ld.entities) == 2
+    assert isinstance(ld.entities[0], DeclareLaunchArgument)
+    assert isinstance(ld.entities[1], ForLoop)
+
+    lc = LaunchContext()
+    ld.entities[0].visit(lc)
+    actions = ld.entities[1].visit(lc)
+    # For each iteration:
+    #   2 OpaqueFunction
+    #   N user-defined entities
+    #   1 OpaqueFunction
+    # = 3 + N entitites/iteration
+    assert len(actions) == 2 * (3 + 1)
+    assert isinstance(actions[0], OpaqueFunction)
+    assert isinstance(actions[1], OpaqueFunction)
+    assert isinstance(actions[2], LogInfo)
+    assert isinstance(actions[3], OpaqueFunction)
+    assert isinstance(actions[4], OpaqueFunction)
+    assert isinstance(actions[5], OpaqueFunction)
+    assert isinstance(actions[6], LogInfo)
+    assert isinstance(actions[7], OpaqueFunction)
+    actions[0].visit(lc)
+    actions[1].visit(lc)
+    actions[2].visit(lc)
+    assert isinstance(actions[2].msg[1], ForLoopIndex)
+    assert perform_substitutions(lc, actions[2].msg[1].name) == 'i'
+    assert perform_substitutions(lc, actions[2].msg) == 'index=0'
+    actions[3].visit(lc)
+    actions[4].visit(lc)
+    actions[5].visit(lc)
+    actions[6].visit(lc)
+    assert isinstance(actions[6].msg[1], ForLoopIndex)
+    assert perform_substitutions(lc, actions[6].msg[1].name) == 'i'
+    assert perform_substitutions(lc, actions[6].msg) == 'index=1'
+    actions[7].visit(lc)