[Python] How to include Collision monitor node in nav2 navigation launch?

Im using ROS2 humble on Ubuntu 22.04 and nav2. I have the navigation parameter file yaml file configure like this with the Collision monitor

collision_monitor:
ros__parameters:
use_sim_time: True
base_frame_id: "base_link"
odom_frame_id: "odom"
cmd_vel_in_topic: "cmd_vel_smoothed"
cmd_vel_out_topic: "cmd_vel_nav"
transform_tolerance: 0.2
source_timeout: 5.0
base_shift_correction: True
stop_pub_timeout: 2.0
# Polygons represent zone around the robot for "stop" and "slowdown" action types,
# and robot footprint for "approach" action type.
# Footprint could be "polygon" type with dynamically set footprint from footprint_topic
# or "circle" type with static footprint set by radius. "footprint_topic" parameter
# to be ignored in circular case.
polygons: [ "PolygonSlow", "FootprintApproach"]
PolygonSlow:
type: "polygon"
points: [0.6, 0.6, 0.6, -0.6, -0.6, -0.6, -0.6, 0.6]
action_type: "slowdown"
max_points: 3
slowdown_ratio: 0.9
visualize: True
polygon_pub_topic: "polygon_slowdown"
FootprintApproach:
type: "polygon"
action_type: "approach"
footprint_topic: "/local_costmap/footprint"
time_before_collision: 1.0
simulation_time_step: 0.1
max_points: 5
visualize: True
observation_sources: ["scan", "pointcloud"]
scan:
type: "scan"
topic: "/velodyne_points"
pointcloud:
type: "pointcloud"
topic: "/dept/color/points"
min_height: 0.1
max_height: 0.5


Then would like to include Collision monitor node into my nav2_navigation.launch.py file. My understanding is that has to be in the nav2_navigation.launch file and not into nav2_bringup.launch.py file.

So here is the nav2_navigation.launch.py file where collision monitor parts are included

lifecycle_nodes = ['controller_server',
'smoother_server',
'planner_server',
'behavior_server',
'bt_navigator',
'waypoint_follower',
'collision_monitor']
...
load_nodes = GroupAction(
condition=IfCondition(PythonExpression(['not ', use_composition])),
actions=[
Node(
package='nav2_controller',
executable='controller_server',
output='screen',
respawn=use_respawn,
respawn_delay=2.0,
parameters=[configured_params],
remappings=remappings),
Node(
package='nav2_collision_monitor',
executable='collision_monitor',
output='screen',
emulate_tty=True,
parameters=[configured_params])
...

load_composable_nodes = LoadComposableNodes(
condition=IfCondition(use_composition),
target_container=container_name,
composable_node_descriptions=[
ComposableNode(
package='nav2_controller',
plugin='nav2_controller::ControllerServer',
name='controller_server',
parameters=[configured_params],
remappings=remappings),
ComposableNode(
package='nav2_collision_monitor',
plugin='nav2_collision_monitor::CollisionMonitorNode',
name='collision_monitor',
parameters=[configured_params]),
remappings=remappings),


But still in the simulation I'm not able to visualize the polygons of the collision Monitor. Any help how to correctly implement collision Monitor node in ROS2 humble Nav2?

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