#include <ros/ros.h>
#include <gazebo_msgs/SpawnModel.h>
#include <iostream>
#include <fstream>

int main(int argc, char** argv)
{
  ros::init(argc, argv, "my_node");
  ros::NodeHandle nh;
  ros::ServiceClient gazebo_spawn_clt = nh.serviceClient<gazebo_msgs::SpawnModel> ("/gazebo/spawn_urdf_model");

  gazebo_msgs::SpawnModel model;
  std::ifstream file("/opt/ros/electric/stacks/simulator_gazebo/gazebo_worlds/objects/coke_can.urdf");
  std::string line;

   while(!file.eof()) // Parse the contents of the given urdf in a string
    {
      std::getline(file,line);
      model.request.model_xml+=line;
    }
  file.close();

  model.request.model_name="my_model";
  model.request.reference_frame="world";
  gazebo_spawn_clt.call(model); //Call the service
  return 0;
}