[ros-users] GPS measurements on PR2 Simulator in Gazebo

I am interested in publishing Odometry messages sent by the GPS sensor to
the ROS topic '/odom,' but the documentation on ROS wiki only provides
a generic
example <http://www.ros.org/wiki/robot_pose_ekf/Tutorials/AddingGpsSensor>of
how to add a GPS sensor input to the Robot Pose EKF Filter. Any
suggestions for more detailed information about obtaining/setting GPS
coordinates of PR2 would be much appreciated!

Tina