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How to spawn sdf object in Ignition Gazebo?

How can I spawn a model into a running simulation in Ignition Gazebo? I'm looking for something like rosrun gazebo spawn_model but for Ignition.

This was the closest thing I found but I couldn't get it working so far: https://github.com/ignitionrobotics/ros_ign/issues/27#issuecomment-510046123