This is a story mission and therefore the trophy can not be missed. You will obtain this for completing mission 6 in the story named "Where do the bees sleep?"
The objective is to find a rocket launcher. When I reached the objective base I snuck my way through as best I could and found a prisoner. When I extracted him, I was given information to the rocket launcher and therefore a marker appeared on the map.
This was extremely useful and I hit a dead end in a cave and couldn't find it. Turns out in that cave you can climb up to get further in which is where I got to the launcher.