text: from launch import LaunchDescription
  from launch_ros.actions import Node
  from launch.substitutions import LaunchConfiguration
  from launch.actions import DeclareLaunchArgument
  
  
  def generate_launch_description():
  
      default_traj_type = "1.0sin1.0"
      default_move_plan = ""
      default_num_of_subs = "1.0"
      default_step_size = "0.1"
      default_length = "3.2"
      default_path_topic = "/path"
      default_reverse = "False"
  
      traj_type = LaunchConfiguration('traj_type', default=default_traj_type)
      move_plan = LaunchConfiguration('move_plan', default=default_move_plan)
      num_of_subs = LaunchConfiguration('num_of_subs', default=default_num_of_subs)
      path_topic = LaunchConfiguration('path_topic', default=default_path_topic)
      step_size = LaunchConfiguration('step_size', default=default_step_size)
      length = LaunchConfiguration('length', default=default_length)
      reverse = LaunchConfiguration('reverse', default=default_reverse)
      
      
      return LaunchDescription([
  
          DeclareLaunchArgument('traj_type', default_value=default_traj_type, description='1.0sin2.0 / 2.0spiral / polygon / from_file'),
          DeclareLaunchArgument('move_plan', default_value=default_move_plan, description="Path to file with a plan of movement"),
          DeclareLaunchArgument('num_of_subs', default_value=default_num_of_subs, description="Number of subcribers to the path_topic which is necessary to start publishing a message"),
          DeclareLaunchArgument('path_topic', default_value=default_path_topic, description="Name of the path topic"),
          DeclareLaunchArgument('step_size', default_value=default_step_size, description="path step length"),
          DeclareLaunchArgument('length', default_value=default_length, description="path length"),
          DeclareLaunchArgument('reverse', default_value=default_reverse, description="is trajectory reversed"),
  
  
          Node(
              package='rosbot_controller',
              executable='path_publisher',
              name='path_publisher',
              output='screen',
              parameters=[
                  {"traj_type": traj_type},
                  {"move_plan": move_plan},
                  {"num_of_subs": num_of_subs},
                  {"path_topic": path_topic},
                  {"step_size": step_size},
                  {"length": length},
                  {"reverse": reverse},
              ]
          ),
  
      ])
  