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For my case, SW urdf exporter made a few errors in launch files.

To fix i changed in gazebo.launch file:

file="$(find gazebo_worlds)/launch/empty_world.launch" /> replace with file="$(find gazebo_ros)/launch/empty_world.launch" />
<node name="spawn_model" pkg="gazebo" type="spawn_model" args="-file $(find ROBOTNAME)/robots/ROBOTNAME.URDF-urdf -model ROBOTNAME" output="screen" /> replace with <node name="spawn_model" pkg="gazebo_ros" type="spawn_model" args="-file $(find ROBOTNAME)/robots/ROBOTNAME.URDF -urdf -model ROBOTNAME" output="screen" />

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