Okay I found the answer by myself.
There is a ROS SERVICE called /gazebo/spawn_sdf_model.
We need some parameters for this service and I wrote a MATLAB .m test file to spawn and remove all models I need (for test purposes).
If you need to write a Python Script for that, check out this answer:
https://answers.ros.org/question/3370...
Heres my MATLAB script:
% initlize ROS in MATLAB
rosinit;
disp("Initilizing ROS, wait please ...")
pause(2)
disp("Connected to ROS Master\n\n")
% List with all file name numbers
model_num_list = ["001", "002","003","004"];
% iterate through every track
for n_track = 1:length(model_num_list)
% model name
me_track = "MA_" + string(model_num_list(n_track));
% path to model editor model sdf
sdf_path = "/home/amo/model_editor_models/" + me_track + "/model.sdf";
% read sdf as textfile
sdf_table = table2array(readtable(sdf_path, 'FileType', "text"));
% we need to send the sdf in string format --> empty string
sdf_string = "";
% iterate through every line of the sdf
for n_sdf = 1:length(sdf_table)
% attach line to string
sdf_string = strcat(sdf_string, sdf_table{n_sdf}, "\n");
end
% initiate spawn service
track_spawn_client = rossvcclient('/gazebo/spawn_sdf_model');
track_spawn_service = rosmessage(track_spawn_client);
% Parameters of service
track_spawn_service.ModelName = me_track; % model name
track_spawn_service.ModelXml = sdf_string; % created string of sdf
track_spawn_service.RobotNamespace = "/" + me_track; % namespace of robot
track_spawn_service.ReferenceFrame = 'world'; % referenceframe
response = call(track_spawn_client,track_spawn_service); % call service
input("ENTER to remove Track")
%%% REMOVE SPAWNED TRACK %%%
% initiate spawn service
track_remove_client = rossvcclient('/gazebo/delete_model');
track_remove_service = rosmessage(track_remove_client);
% Parameters of service
track_remove_service.ModelName = me_track; % model name
call(track_remove_client, track_remove_service); % call service
end
