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I had got the same problem while following the code from the tutorial from the construct site :2 wheeled robot using ROS

In the section 1.4, when i used the code given their.Unfortunately, It also got stuck at:

[INFO] [1569840617.521753, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1569840617.526059, 0.000000]: Waiting for service /gazebo/spawn_urdf_model

Then I added these few lines in my launch file after:

 <launch>

line.

<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>

<!-- We resume the logic in empty_world.launch -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
<!-- arg name="world_name" value="$(find task_1)/world/tutorial_testing.world"/ -->
</include>

After this my model runs in the gazebo and works fine.

Hope it may be helpful. Thanks.