Creating a model population in Gazebo Garden

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Another alternative is to load an empty world, and spawn objects through the create service.

E.g. world.sdf :

<?xml version="1.0" ?>
<sdf version="1.9">
  <world name="empty_world">

    <!-- Light Source -->
    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.2 0.5 -0.9</direction>
    </light>

    <!-- Included model -->
    <include>
      <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane</uri>
    </include>

 </world>
</sdf>

Load above sdf with gz sim world.sdf and then in another terminal call the create service (or call it from a script, varying the <pose>, if you want to spawn many):

gz service -s /world/empty_world/create \
--reqtype gz.msgs.EntityFactory \
--reptype gz.msgs.Boolean \
--timeout 300 \
--req 'sdf: '\
'"<?xml version=\"1.0\" ?>'\
'<sdf version=\"1.6\">'\
'<include>'\
'<pose>1.6 0.15 0 0 0 0</pose>'\
'<name>Model1</name>'\
'<uri>model.sdf</uri>'\
'</include>'\
'</sdf>" '\
'allow_renaming: true'

model.sdf needs to be an sdf without world, e.g.:

<?xml version="1.0" ?>
<sdf version="1.9">
  <model name="rock">
     ...
  </model>
</sdf>
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