text: import os
  from ament_index_python.packages import get_package_share_directory
  from launch import LaunchDescription
  from launch.actions import DeclareLaunchArgument
  from launch.substitutions import LaunchConfiguration
  from launch_ros.actions import Node
  
  
  def generate_launch_description():
      # Find the grid_map_demos package share directory
      package_dir = get_package_share_directory('vox_nav_utilities')
  
      planner_benchmarking_node_config = LaunchConfiguration(
          'planner_benchmarking_node_config')
  
      planner_benchmarking_node_config_cmd = DeclareLaunchArgument(
          'planner_benchmarking_node_config',
          default_value=os.path.join(package_dir, 'config',
                                     'planner_benchmarking.yaml'),
          description='Full path to the pcl2octomap rclcpp node config')
  
      # Declare node actions
      planner_benchmarking_rclcpp_node = Node(
          package='vox_nav_utilities',
          executable='planner_benchmarking_node',
          name='planner_benchmarking_rclcpp_node',
          output='screen',
          #prefix=['xterm -e gdb -ex run --args'],
          parameters=[planner_benchmarking_node_config])
  
      # Create the launch description and populate
      ld = LaunchDescription()
      ld.add_action(planner_benchmarking_node_config_cmd)
      ld.add_action(planner_benchmarking_rclcpp_node)
  
      return ld
  