text: import os
  
  from launch import LaunchDescription
  from ament_index_python.packages import get_package_share_directory
  from launch_ros.actions import Node
  from launch.substitutions import LaunchConfiguration
  
  def generate_launch_description():
      robot_name = LaunchConfiguration('robot_name', default="tb0")
      total_robot_num = LaunchConfiguration('total_robot_num', default="2")
      multi_robot_simple_param_file_name = 'multi_robot_simple_params.yaml'
      multi_robot_simple_param_dir = LaunchConfiguration(
          'params',
          default=os.path.join(
              get_package_share_directory('multi_robot_explore'),
              multi_robot_simple_param_file_name))
  
      robot_track_publisher_param_file_name = 'robot_track_publish_params.yaml'
      robot_track_publisher_param_dir = LaunchConfiguration(
          'params',
          default=os.path.join(
              get_package_share_directory('multi_robot_explore'),
              robot_track_publisher_param_file_name))
  
      get_map_value_param_file_name = 'get_map_value_params.yaml'
      get_map_value_param_dir = LaunchConfiguration(
          'params',
          default=os.path.join(
              get_package_share_directory('multi_robot_explore'),
              get_map_value_param_file_name))
      return LaunchDescription([
          Node(
              package='multi_robot_explore',
              executable='multi_explorer_simple',
              output='screen',
              emulate_tty=True,
              parameters=[multi_robot_simple_param_dir],
              arguments=[robot_name, total_robot_num]
          ),
  
          Node(
              package='multi_robot_explore',
              executable='robot_track_publisher',
              # name='robot_registry',
              output='screen',
              emulate_tty=True,
              parameters=[robot_track_publisher_param_dir],
              arguments=[robot_name]         
  
          ),
  
          Node(
              package='multi_robot_explore',
              executable='get_map_value_node',
              # name='robot_registry',
              output='screen',
              emulate_tty=True,
              parameters=[get_map_value_param_dir],
              arguments=[robot_name]         
  
          ),
  
      ])