Separate simulation and description bringup

src/hollander_bringup/launch/description.launch.py

+import os
+
+from launch_ros.actions import Node
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import Command, LaunchConfiguration
+from ament_index_python.packages import get_package_share_directory
+    
+
+def generate_launch_description():
+
+    # Get package dirs
+    package_dir = get_package_share_directory('hollander_description')
+
+    # Default values
+    default_model_path = os.path.join(package_dir, 'src/description/rollende_hollander.urdf')
+
+    configurable_parameters = [
+        {'name': 'model',     'default': default_model_path, 'description': 'Absolute path to robot urdf file'},
+        {'name': 'namespace', 'default': 'hollander',        'description': 'Namespace to avoide conflicts'},
+        {'name': 'log_level', 'default': 'info',             'description': 'debug log level [DEBUG|INFO|WARN|ERROR|FATAL]'},
+       ]
+
+    def declare_configurable_parameters(parameters):
+        return [DeclareLaunchArgument(param['name'], default_value=param['default'], description=param['description']) for param in parameters]
+
+
+    """ NODES """
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        namespace=LaunchConfiguration("namespace"),
+        parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}],
+        arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level')],
+        emulate_tty=True,
+    )
+
+    joint_state_publisher_node = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher',
+        namespace=LaunchConfiguration("namespace"),
+        arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level')],
+        emulate_tty=True,
+    )
+
+    return LaunchDescription(declare_configurable_parameters(configurable_parameters) + [
+        robot_state_publisher_node,
+        joint_state_publisher_node,
+    ])
\ No newline at end of file

src/hollander_bringup/launch/simulation.launch.py

 import os
 
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess
 from launch_ros.actions import Node
-from launch.substitutions import Command, LaunchConfiguration
+from launch import LaunchDescription
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
 from ament_index_python.packages import get_package_share_directory
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 def generate_launch_description():
 
     # Get package dirs
     launch_dir = get_package_share_directory('hollander_bringup')
-    package_dir = get_package_share_directory('hollander_description')
 
     # Default values
-    default_model_path = os.path.join(package_dir, 'src/description/rollende_hollander.urdf')
     default_rviz_config_path = os.path.join(launch_dir, 'rviz/urdf_config.rviz')
 
     # Parameters
     configurable_parameters = [
-        {'name': 'model',         'default': default_model_path,       'description': 'Absolute path to robot urdf file'},
         {'name': 'need_rviz',     'default': 'False',                  'description': 'Whether launch or not rviz'},
         {'name': 'rvizconfig',    'default': default_rviz_config_path, 'description': 'Absolute path to rviz config file'},
         {'name': 'use_sim_time',  'default': 'True',                   'description': 'Flag to enable use_sim_time'},
@@ -28,19 +27,12 @@ def generate_launch_description():
     def declare_configurable_parameters(parameters):
         return [DeclareLaunchArgument(param['name'], default_value=param['default'], description=param['description']) for param in parameters]
 
-    """ NODES """
-    robot_state_publisher_node = Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}]
-    )
-
-    joint_state_publisher_node = Node(
-        package='joint_state_publisher',
-        executable='joint_state_publisher',
-        name='joint_state_publisher',
+    description = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('hollander_bringup'), 'launch', 'description.launch.py')),
+        condition=IfCondition(LaunchConfiguration('need_description'))
     )
 
+    """ NODES """
     rviz_node = Node(
         package='rviz2',
         executable='rviz2',
@@ -56,21 +48,12 @@ def generate_launch_description():
         output='screen'
     )
 
-    robot_localization_node = Node(
-        package='robot_localization',
-        executable='ekf_node',
-        name='ekf_filter_node',
-        output='screen',
-        parameters=[os.path.join(launch_dir, 'config/simulation.ekf.yaml'), {'use_sim_time': LaunchConfiguration('use_sim_time')}]
-    )
-
     return LaunchDescription(declare_configurable_parameters(configurable_parameters) + [
 
         ExecuteProcess(cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'], output='screen'),
 
-        robot_state_publisher_node,
-        joint_state_publisher_node,
+        description,
+
         spawn_entity,
-        robot_localization_node,
         rviz_node,
     ])