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I think I have a fairly good answer now which I found in the official documentation, a bit hidden in my oppinion.

Here is the link: https://docs.ros.org/en/foxy/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html

And here is my solution:

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.actions import GroupAction
from launch_ros.actions import PushRosNamespace

ROBOT_NAMESPACE="leorover"

def generate_launch_description():
    leorover_realsense_node = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([os.path.join(
            get_package_share_directory('leorover_realsense'), 'launch'),
            '/d455_launch.py'])
    )
    leorover_imu_filter_node = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([os.path.join(
            get_package_share_directory('leorover_imu_filter'), 'launch'),
            '/imu_filter.launch.py'])
    )
    leorover_rtabmap_node = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([os.path.join(
            get_package_share_directory('leorover_rtabmap'), 'launch'),
            '/realsense_d455.launch.py'])
    )

    bringup_with_namespace = GroupAction(
        actions=[
            PushRosNamespace(ROBOT_NAMESPACE),
            leorover_realsense_node,
            leorover_imu_filter_node,
            leorover_rtabmap_node
        ]
    )

    return LaunchDescription([
    bringup_with_namespace
    ])

Any comments and tips to further improve it would be appreciated. But with that, I think I answered my own question. Sorry for bothering anyone and I hope this actually helps other people that could not find the solution right away.