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From experimentation, the -reference_frame option in spawn_model must be relative to a link in a model in the world. So in your case, the following modifications should work:

<!-- Extra objects -->
<model name='unit_cylinder_1'>
    <pose>0 0 2 3.141592 0 1.57</pose>
    <link name='my_link'>

And in your node args -reference_frame unit_cylinder_1::my_link