Move gzserver logic to its action (backport #646)

[mergify]

🦟 Bug fix

Summary

In a similar way of #628, this patch refactors the way we are launching gzserver. Now the logic lives in the action and all the launch files use this action.

How to test it?

You can try checking these launch files:

ros2 launch ros_gz_sim gz_server.launch.py world_sdf_file:=shapes.sdf use_composition:=True create_own_container:=True

ros2 launch ros_gz_sim gz_server.launch world_sdf_file:=shapes.sdf use_composition:=True create_own_container:=True

ros2 launch ros_gz_sim ros_gz_sim.launch.py bridge_name:=ros_gz_bridge config_file:=/home/caguero/ros_gz_ws/src/ros_gz/ros_gz_bridge/test/config/full.yaml world_sdf_file:=empty.sdf use_composition:=True create_own_container:=True

ros2 launch ros_gz_sim ros_gz_sim.launch bridge_name:=ros_gz_bridge config_file:=/home/caguero/ros_gz_ws/src/ros_gz/ros_gz_bridge/test/config/full.yaml world_sdf_file:=empty.sdf use_composition:=True create_own_container:=True

And check that there are no errors during launch.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

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This is an automatic backport of pull request #646 done by [Mergify](https://mergify.com).

[caguero]

Please, do not merge until we clarify #650 .

[caguero]

Please, do not merge until we clarify #650 .

Good to go!