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This line:

https://github.com/ros-planning/navigation2/blob/e5c2e71ca75c8bf8db6df833f6a91dd2dd4f56a4/nav2_bringup/launch/tb3_simulation_launch.py#L154

And this:

https://github.com/ros-planning/navigation2/blob/e5c2e71ca75c8bf8db6df833f6a91dd2dd4f56a4/nav2_bringup/launch/tb3_simulation_launch.py#L192

Show what you wanted, I think - how to invoke a Python script from a launch file.

I would rethink your use case though, as @christophebedard commented. What do you want is really similar to the role of launch files.

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