Spawning urdf with a launch file & PID controls

Hi, I am trying to launch my world file with my custom robot spawned at launch, I follow the urdf tutorial at Gazebo main page, but the model won't spawn. The launch file runs 'correctly' but there is no robot model, I think this piece of log from console might be connected: process[rosout-1]: started with pid [7932] started core service [/rosout] process[gazebo-2]: started with pid [7940] process[gazebo_gui-3]: started with pid [7950] process[spawn_urdf-4]: started with pid [7958] SpawnModel script started No handlers could be found for logger "rosout" [ INFO] [1507552317.153725427]: Finished loading Gazebo ROS API Plugin. [ INFO] [1507552317.154071045]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [spawn_urdf-4] process has finished cleanly I can spawn the robot model using rosrun command rosrun gazebo_ros spawn_model -file `rospack find kuka_kr3_description`/urdf/model.urdf -urdf -x 0 -y 0 -z 1 -model kuka_kr3 but this isn't exactly what I want. I am also wondering if that may cause problems that I have with a controller - the values of PID from controller aren't the same as the ones in Gazebo, and I think that causes problems when I try to control it from Moveit.