text: import launch
  from launch import LaunchDescription
  from launch.actions import IncludeLaunchDescription
  from launch.conditions import IfCondition
  from launch.substitutions import LaunchConfiguration
  from launch.launch_description_sources import PythonLaunchDescriptionSource
  from ament_index_python.packages import get_package_share_directory
  
  def generate_launch_description():
      husarion_nav2 = get_package_share_directory('husarion_nav2')
  
      use_sim_time = LaunchConfiguration('use_sim_time', default='false')
      
      slam_toolbox_conf = LaunchConfiguration('slam_toolbox_conf',
                              default=husarion_nav2+'/config/slam_toolbox.yaml')
      nav2_conf = LaunchConfiguration('nav2_conf',
                              default=husarion_nav2+'/config/nav2_params.yaml')
  
  
      return LaunchDescription([
          IncludeLaunchDescription(
              PythonLaunchDescriptionSource([husarion_nav2, '/launch/navigation2.launch.py']),
              launch_arguments = {'nav2_conf' : nav2_conf,
                                  'use_sim_time' : use_sim_time}.items(),
          ),
  
          IncludeLaunchDescription(
              PythonLaunchDescriptionSource([husarion_nav2, '/launch/slam_toolbox.launch.py']),
              launch_arguments = {'slam_toolbox_conf' : slam_toolbox_conf,
                                  'use_sim_time' : use_sim_time}.items(),
          )
      ])
  
  
  if __name__ == '__main__':
      generate_launch_description()