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launch and launch_testing are ROS agnostic and is used in the core libraries to do testing (e.g. before you have things like rclpy or rclcpp), but launch_ros and launch_testing_ros just add ROS specific concepts to launching and testing, leveraging dependencies like rclpy.

For now, I'd recommend using launch_ros as your dependency for just writing launch files. For testing, I'd recommend launch_testing_ros, but we're thinking about having a "ros2test" or similarly named package that collects all the parts for you in a single package.

This is issue describes the layout of the code a bit:

https://github.com/ros2/launch/issues/208