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I use launch.actions.ExecuteProcess to launch Gazebo.

So let's say your normal Gazebo process looks like this: ```

...
gz_process = ExecuteProcess(cmd=`gazebo`, '--verbose', LaunchConfiguration('world'),
                                '-s', 'libgazebo_ros_factory.so'], output='screen')
...
   return LaunchDescription([
     ...
        DeclareLaunchArgument(name='world', default_value=default_world_path,
                              description='Absolute path to SDF world file'),
        gz_process,
     ...
    ])

```

Instead of calling gazebo there, you can call gzserver. You can do this using a Launch Argument or just a seperate launch file all together.