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You should see this message on the command line:

Warning [ModelDatabase.cc:356] Getting models from[http://gazebosim.org/models/]. This may take a few seconds.

It may take a minute or so to download the models.

If that doesn't work then you may need Gazebo 2.0. Since you are using ROS hydro, which relies on Gazebo 1.9.2, I would recommend against installing Gazebo 2.0. Instead, you can grab the models manually.

wget http://gazebosim.org/models/dumpster/model.tar.gz .
tar xvf model.tar.gz -C ~/.gazebo/models

Repeat that for cube_20k.