ros2-jazzy，启动gz_sim 的标准launch格式是咋样的，我这改如何修改

[kingking]

from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution
import os
import xacro
from ament_index_python.packages import get_package_share_directory

def generate_launch_description():
share_dir = get_package_share_directory('robot_demo1_description')

xacro_file = os.path.join(share_dir, 'urdf', 'robot_demo1.xacro')
robot_description_config = xacro.process_file(xacro_file)
robot_urdf = robot_description_config.toxml()

robot_state_publisher_node = Node(
    package='robot_state_publisher',
    executable='robot_state_publisher',
    name='robot_state_publisher',
    parameters=[
        {'robot_description': robot_urdf}
    ]
)

joint_state_publisher_node = Node(
    package='joint_state_publisher',
    executable='joint_state_publisher',
    name='joint_state_publisher'
)

gazebo_server = IncludeLaunchDescription(
    PythonLaunchDescriptionSource([
        PathJoinSubstitution([
            FindPackageShare('gazebo_ros'),
            'launch',
            'gzserver.launch.py'
        ])
    ]),
    launch_arguments={
        'pause': 'true'
    }.items()
)

gazebo_client = IncludeLaunchDescription(
    PythonLaunchDescriptionSource([
        PathJoinSubstitution([
            FindPackageShare('gazebo_ros'),
            'launch',
            'gzclient.launch.py'
        ])
    ])
)

urdf_spawn_node = Node(
    package='gazebo_ros',
    executable='spawn_entity.py',
    arguments=[
        '-entity', 'robot_demo1',
        '-topic', 'robot_description'
    ],
    output='screen'
)

return LaunchDescription([
    robot_state_publisher_node,
    joint_state_publisher_node,
    gazebo_server,
    gazebo_client,
    urdf_spawn_node,
])