Emulators are indeed legal, but the spread of emulators for currently produced consoles is sketchy. Besides the quality of the emulator being iffy, the fact that you download an emulator of say, a DS that is still being manufactured, is getting kinda iffy, as you're blocking a sale given to the company. Same goes for currently produced games. I don't go for an emulator and games until that system and games tied to it are done being renewed and are only being spread around as used copies, creating no sale loss to the companies.
As for quality, most emulators I've used have an HD option that makes the games look much better than they used to, clearing up some of the large pixelation of creating too big of a screen. Smooths out the borders of characters and such, and makes it look semi-new.
Visual Boy Advance is what I use when I'm too lazy to search for my old Pokemon games, or feel like cheating the crap out of them :P