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There is a hack to be able to have the simulated gps in another frame than base_link.

You can use a revolute joint instead of a fixed joint.

  <link name="navsat_link">
    <inertial>
      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
      <mass value="0.015" />  <!-- [kg] -->
      <origin xyz="0 0 0" rpy="0 0 0" />
    </inertial>
  </link>

  <joint name="navsat_joint" type="revolute">
    <origin xyz="${-wheelbase/2} 0 0.3" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="navsat_link" />
    <limit upper="0" lower="0" effort="0" velocity="0" />
  </joint>

Then you have to use the joint_state_publisher node to publish a fixed (zero) position.

This is inspired by the PR in this repo : https://github.com/ethz-asl/rotors_simulator/pull/300/files