It is important that you as parents are comfortable about what you are doing with your children, as they will pick up your comfort or tensions about the situation. In other words, whatever situation you set up for your children, you must be willing to handle. If you are greatly confused and uncomfortable with what comes up for them or there is unresolved conflict between you and their Dad about bathing together, your children are likely to pick up on your tensions about the topic. In this case, your children could become vulnerable to internalizing unspoken tension, and even develop shame about their bodies, which could be damaging. On the other hand, if you feel positively about their experience and freely answer the questions that arise, they may develop a sense of acceptance and pride in their bodies.
Families vary in their levels of comfort with nudity, in general.
The guiding principal here is to be clear about your message. To do this, you must discuss and develop your own child-rearing philosophy. Talk with your husband. This will no doubt include separate bathing and maybe separate bedrooms as well. By adolescence, many parents who freely walked naked in front of their children have usually been asked not to by their embarrassed teenagers.