Where can i find the launch arguments for the costmap2d in the nav2_bringup package?

I managed to start the nav2_bringup and everything works fine.
However while trying to understand the launchfiles i got stuck on finding the launch code for the costmap2d node.

So far i understood that the following files are used to launch the example

1. tb3simulationlaunch.py
   
2. From there Rviz2 and bringup_launch.py is launched.
   
3. In 2. then localization_launch.py and navigation_launch.py is launched.
   

I can find the arguments to launch mapserver, planner... however not the costmap in these files. The config file nav2_params.yaml includes specifications for the global and local costmap. Somewhere the costmapnode has to be launched to use these specifications.