Ros2 add RViz launch

[rafal-gorecki]

Description

• Add rviz launch
• Hide transition_event topics in gazebo

Requirements

• Code style guidelines followed
• Documentation updated

Tests 🧪

• Robot
• Container
• Simulation

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[KmakD]

Shouldn't this be in simulation.launch.py? What's the point of argument that makes the same file do nothing, better make that decision on higher level

[rafal-gorecki]

This may seem strange, but we already have it done in other packages as well (on latest ros2-lynx-devel). Since the arguments are passed to the parent launch file, there is no need to specify this parameter in bringup.launch.py ​​and simulation.launch.py, which improves the readability of these two most important files.

The launch files are not ideal, but imo this solution is cleaner and reduce redundancy of declarated argument.

[KmakD]

That's not my point, this argument should be on simulation launch file level. There you decide if you should launch rviz or not, not inside rviz launching file. Why would you ever want to use rviz.launch file with argument that says "don't launch it"?
Picture that, If you go to simulation file you will see that rviz is called without any arguments so you assume that it is going to be launched. You don't have any indication that it should be otherwise. It's good to have arguments that are rviz specific "hidden" in simulation.launch, but this one refers to the way the simulation should be launched.