Not support for gazebo harmonic

from launch_ros.actions import Node

gz_sim_cmd = IncludeLaunchDescription(
    PythonLaunchDescriptionSource(
        os.path.join(
            get_package_share_directory('ros_gz_sim'),
            'launch',
            'gz_sim.launch.py'
        )
    ),
    launch_arguments={
        'gz_args': TextSubstitution(text=world['world_path'] + ' -r')
    }.items()
)

nodes_exec.append(gz_sim_cmd)