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I find a solution. The namespace has to be added as argument in the args field of the node, not as an attribute. In addition, I used namespace instead of ns:

<node name="spawn_quad0" pkg="gazebo" type="spawn_model" args="-urdf -param quad_urdf -model quad0 -x 0 -y 0 -z 3 -namespace quad0" respawn="false" output="screen"> </node>