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Hi! I had the same problem, with the same output from the terminal.

In my case the problem was due to the urdf file that i was using. It seems like the urdf had some deprecated functions from old versions of gazebo, so the parser just gave an error and didnt spawn the model. The "queue error" i think was because the spawn node just send the model and waits for Gazebo to generate it in the simulation. Since Gazebo cant do that, it just says that he is just "waiting to be published".

My solution was to just delete that unused old fuctions from the urdf and it worked fine!. Anyway if this is your case, you should see some parse error about the urdf in the terminal where you are running Gazebo.

I hope this answer help you!