Path planning for quadrocopter using GPS

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Is there any path planning node or implementation where I can set start's latitude and longitude and goal's latitude and longitude in ROS that I can reuse for use with quadrocopter? I am using tum_simulator as the simulator.

I read somewhere from ardrone_autonomy package which is one of tum_simulator dependencies has "SetGPSTarget.srv" service definition but then, the commit message is "GPS based navigation services added. not tested. not meant to be pushed." Is this functionality working by the way?

Thanks in advance.