def generate_launch_description():
    bringup_dir = get_package_share_directory('kohm_gazebo')
    namespace = LaunchConfiguration('namespace')
    use_sim_time = LaunchConfiguration('use_sim_time', default=True)
    autostart = LaunchConfiguration('autostart')
    params_file = LaunchConfiguration('config')
    default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
    map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local')
    lifecycle_nodes = ['controller_server', 'planner_server', 'recoveries_server', 'bt_navigator', 'waypoint_follower']
    remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static'), ('/cmd_vel', '/nav_vel'), ('/odom', '/kohm/odom')]
    param_substitutions = {'use_sim_time': use_sim_time, 'default_bt_xml_filename': default_bt_xml_filename, 'autostart': autostart, 'map_subscribe_transient_local': map_subscribe_transient_local}
    configured_params = RewrittenYaml(source_file=params_file, root_key=namespace, param_rewrites=param_substitutions, convert_types=True)
    return LaunchDescription([SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), DeclareLaunchArgument('namespace', default_value='', description='Top-level namespace'), DeclareLaunchArgument('use_sim_time', default_value='false', description='Use simulation (Gazebo) clock if true'), DeclareLaunchArgument('autostart', default_value='true', description='Automatically startup the nav2 stack'), DeclareLaunchArgument('config', default_value=os.path.join(bringup_dir, 'config/navigation', 'nav2_params.yaml'), description='Full path to the ROS2 parameters file to use'), DeclareLaunchArgument('default_bt_xml_filename', default_value=os.path.join(get_package_share_directory('nav2_bt_navigator'), 'behavior_trees', 'navigate_w_replanning_and_recovery.xml'), description='Full path to the behavior tree xml file to use'), DeclareLaunchArgument('map_subscribe_transient_local', default_value='false', description='Whether to set the map subscriber QoS to transient local'), Node(package='nav2_controller', executable='controller_server', output='screen', parameters=[configured_params], remappings=remappings), Node(package='nav2_planner', executable='planner_server', name='planner_server', output='screen', parameters=[configured_params], remappings=remappings), Node(package='nav2_recoveries', executable='recoveries_server', name='recoveries_server', output='screen', parameters=[configured_params], remappings=remappings), Node(package='nav2_bt_navigator', executable='bt_navigator', name='bt_navigator', output='screen', parameters=[configured_params], remappings=remappings), Node(package='nav2_waypoint_follower', executable='waypoint_follower', name='waypoint_follower', output='screen', parameters=[configured_params], remappings=remappings), Node(package='nav2_lifecycle_manager', executable='lifecycle_manager', name='lifecycle_manager_navigation', output='screen', parameters=[{'use_sim_time': use_sim_time}, {'autostart': autostart}, {'node_names': lifecycle_nodes}])])
def generate_launch_description():
    bringup_dir = get_package_share_directory('kohm_gazebo')
    namespace = LaunchConfiguration('namespace')
    use_sim_time = LaunchConfiguration('use_sim_time', default=True)
    autostart = LaunchConfiguration('autostart')
    params_file = LaunchConfiguration('config')
    default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
    map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local')
    lifecycle_nodes = ['controller_server', 'planner_server', 'recoveries_server', 'bt_navigator', 'waypoint_follower']
    remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static'), ('/cmd_vel', '/nav_vel'), ('/odom', '/kohm/odom')]
    param_substitutions = {'use_sim_time': use_sim_time, 'default_bt_xml_filename': default_bt_xml_filename, 'autostart': autostart, 'map_subscribe_transient_local': map_subscribe_transient_local}
    configured_params = RewrittenYaml(source_file=params_file, root_key=namespace, param_rewrites=param_substitutions, convert_types=True)
    return LaunchDescription([SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), DeclareLaunchArgument('namespace', default_value=, description='Top-level namespace'), DeclareLaunchArgument('use_sim_time', default_value='false', description='Use simulation (Gazebo) clock if true'), DeclareLaunchArgument('autostart', default_value='true', description='Automatically startup the nav2 stack'), DeclareLaunchArgument('config', default_value=os.path.join(bringup_dir, 'config/navigation', 'nav2_params.yaml'), description='Full path to the ROS2 parameters file to use'), DeclareLaunchArgument('default_bt_xml_filename', default_value=os.path.join(get_package_share_directory('nav2_bt_navigator'), 'behavior_trees', 'navigate_w_replanning_and_recovery.xml'), description='Full path to the behavior tree xml file to use'), DeclareLaunchArgument('map_subscribe_transient_local', default_value='false', description='Whether to set the map subscriber QoS to transient local'), Node(package='nav2_controller', executable='controller_server', output='screen', parameters=[configured_params], remappings=remappings), Node(package='nav2_planner', executable='planner_server', name='planner_server', output='screen', parameters=[configured_params], remappings=remappings), Node(package='nav2_recoveries', executable='recoveries_server', name='recoveries_server', output='screen', parameters=[configured_params], remappings=remappings), Node(package='nav2_bt_navigator', executable='bt_navigator', name='bt_navigator', output='screen', parameters=[configured_params], remappings=remappings), Node(package='nav2_waypoint_follower', executable='waypoint_follower', name='waypoint_follower', output='screen', parameters=[configured_params], remappings=remappings), Node(package='nav2_lifecycle_manager', executable='lifecycle_manager', name='lifecycle_manager_navigation', output='screen', parameters=[{'use_sim_time': use_sim_time}, {'autostart': autostart}, {'node_names': lifecycle_nodes}])])