$orderNumber = '00000001';
$order = $this->orderFactory->loadByIncrementId($orderNumber);

if($order->hasInvoices()){

if($order->canShip()){

$shipment = $this->orderModel->toShipment($order);

foreach ($order->getAllItems() AS $orderItem) {

    if (!$orderItem->getQtyToShip() || $orderItem->getIsVirtual()) {
        continue;
    }
    $qtyShipped = $orderItem->getQtyToShip();

    $shipmentItem = $this->orderModel->itemToShipmentItem($orderItem)->setQty($qtyShipped);

    $shipment->addItem($shipmentItem);

}

$shipment->register();
$shipment->getOrder()->setIsInProcess(true);

try {

    $trackingIds = array(
            '0'=>array('carrier_code'=>'fedex','title' => 'Federal Express','number'=>'3131331230')
    );

    /*You can Add Multiple tracking information*/
    foreach ($trackingIds as $trackingId) {
        $data = array(
            'carrier_code' => $trackingId['carrier_code'],
            'title' => $trackingId['title'],
            'number' => $trackingId['number'],
        );
        $track = $this->trackFactory->create()->addData($data);
        $shipment->addTrack($track)->save();
    }

    $shipment->save();
    $shipment->getOrder()->save();

    // Send email
    $this->shipmentFactory->notify($shipment);
    $shipment->save();

} catch (Exception $e) {
    $this->logger->info($e->getMessage());
}
}else{
$this->logger->info('You can not create an shipment:' . $orderNumber);
}

}else {
$this->logger->info('Invoice is not created for order:' . $orderNumber);
}