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I have finally managed to solve the problem by creating a function that reads the directory tree and includes the information in DATA_FILES. Here is an example in case someone finds it useful. In the code the "models/" and "worlds/" folders contain subfolders. If anyone knows a simpler way to do this I would be very grateful if you would share the information.

import os
from glob import glob
from setuptools import setup

package_name = 'myrobot_gazebo'

data_files=[
        ('share/ament_index/resource_index/packages',
            ['resource/' + package_name]),
        ('share/' + package_name, ['package.xml']),
    ]


def package_files(data_files, directory_list):

    paths_dict = {}

    for directory in directory_list:

        for (path, directories, filenames) in os.walk(directory):

            for filename in filenames:

                file_path = os.path.join(path, filename)
                install_path = os.path.join('share', package_name, path)

                if install_path in paths_dict.keys():
                    paths_dict[install_path].append(file_path)

                else:
                    paths_dict[install_path] = [file_path]

    for key in paths_dict.keys():
        data_files.append((key, paths_dict[key]))

    return data_files


setup(
    name=package_name,
    version='0.0.0',
    packages=[package_name],
    data_files=package_files(data_files, ['models/', 'launch/', 'worlds/']),
    install_requires=['setuptools'],
    zip_safe=True,
    maintainer='ros',
    maintainer_email='ros@todo.todo',
    description='TODO: Package description',
    license='TODO: License declaration',
    tests_require=['pytest'],
    entry_points={
        'console_scripts': [
        ],
    },
)

Best regards.