Using one boiler for both hot water and heating is the normal configuration in most cases. There's many ways to do this depending on your heating requirements. Options include oversized water heaters with space heating capabilities (e.g. Polaris), on-demand water heaters rated for space heating (e.g. Takagi JR), space heating boilers that can act as on-demand water heaters (e.g. Trinity Ti series combi), and, finally, piping a space heating boiler to heat potable water through a heat exchanger.
Ideally, a good plumber will figure out what's best for your application, but good plumbers are extremely rare. Spend as long as it takes to research the options so you can compare notes with potential contractors. You really don't want to hire anyone who knows less than you do.
After encountering the wealth of ignorance out there, I no longer rely on "heating & plumbing" on the side of the truck counting for anything. Lately I've been leaning more toward recommending paying an expert to design the system, then put it out for bid between competing heating & plumbing installers rather than letting the installer design the system. Of course, that means you also have to figure out the competence of the designer...
At my own home I ended up designing it myself- the installer's designer gave dire warnings that it wasn't going to work, even putting up a cash bet, which he promptly lost.

YMMV
On a rehab project, unless the boiler is in bad shape or running very inefficiently it's hard to make an economic rationale for buying whole new system to run radiant & hot water. There are many many retrofit radiant systems built around reverse-indirects that look roughly like this:
With the boiler slaved to the tank as it's only zone and the heating zones running off their own pumps this is a classic primary/secondary configuration with a couple of twists- the hydraulic separator has significant (and insulated) thermal mass, and an internal heat exchanger for potable hot water. The only significant difference between this and many buffered primary/secondary systems is the internal heat exchanger. The mass of the tank allows the designer to micro-zone the system with abandon rather than trying to balance the radiation across a large single zone (which can be difficult or impossible to do well in many homes), since it now can't short-cycle even under the tiniest zone's load. Also the domestic hot water load shares gracefully with the heating load: As the temp in the tank falls, the radiation emits less, so a larger share is available for the domestic hot water. In most homes this will have only slightly lower hot water capacity than a priority-zoned indirect that turns off heating zones during hot water heating calls. Note the architectural similarty of the reverse-indirect buffered system to this standard-buffer as hydraulic separator:
There's at least one contractor in NJ who has installed hundreds of systems using a Takagi hot water heaters as the boiler, with reverse indirects as the point of hydraulic separation as sort of his "signature system". If you need higher radiation temps you need to pick your tankless water heater carefully or use a different configuration, since some have safety limits that turn the flame off when incoming water temp exceeds ~130F. (eg. Takagi TK1 & TK2).
If retrofitted to a gas-fired cast iron boiler setting up a reverse indirect for 140F hot water + radiation is dead-simple. You probably don't want to drop it much below 125F ever for hot-water reasons, but if you do you'd need to add a small "boiler bypass" loop to protect the boiler, but it's not a big deal. Most under-floor staple ups/plated radiant systems will likely need water temps in that range anyway (a bit higher, if unplated). If your using an above-the-subfloor system (eg WarmBoard tm) the temps can be much lower and thermostatic mixing valves can mix down the 125-140F water to whatever the radiation temp requirements are, and you'd still have pretty much endless hot water while maxing out the efficiency of the boiler.
You can spent a whole lot of money for a higher efficiency condensing system and save at most $100-150/year in ~4800 heating degree-day climates like NJ. If there's a functional non-decrepit boiler already there that has a 78% AFUE or higher test rating, use it, and configure the system with an ErgoMax/TurboMax/Everhot-EA or other as a hydraulic separator. When the boiler finally gives up 10-15-25 years down the road, the system is relatively insensitive to the heat source, and can easily accomodate a higher efficiency (or different fuel) boiler. There's nothing special about lower temp radiation like radiant floors that requires a different boiler, but if the temps are low enough it can take advantage of condensing boiler for higher operating efficiency, but in relatively mild heating climates like NJ the payback on fuel savings will take a very long time, even for new construction.