Minimal ROS2 launch file for Gazebo server and client using ExecuteProcess (command line arguments)

gazebo_simulation.launch.py

"""Launch Gazebo server and client with command line arguments."""

from launch import LaunchDescription
from launch.actions import ExecuteProcess


def generate_launch_description():

    return LaunchDescription([

        ExecuteProcess(
            cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'],
            output='screen')
    ])