<gazebo>
      <plugin name="gps_plugin_${name}" filename="libnmea_gps_plugin.so">
        <updateRate>15.0</updateRate>
        <alwaysOn>true</alwaysOn>
        <bodyName>${name}_link</bodyName>
        <frameId>${name}_link</frameId>
        <topicName>nmea_sentence</topicName>
        <!--<velocityTopicName>gps/fix_velocity</velocityTopicName>-->
        <!-- Location of origin of Gazebo Sand Island map -->
        <referenceLatitude>21.30996</referenceLatitude>
        <referenceLongitude>-157.8901</referenceLongitude>
        <referenceAltitude>0</referenceAltitude>
        <referenceHeading>90</referenceHeading>
        <velocityGaussiaNoise>0.05</velocityGaussiaNoise>
        <orientationGaussiaNoise>0.05</orientationGaussiaNoise>
        <positionGaussiaNoise>0.05</positionGaussiaNoise>        
      </plugin>
    </gazebo>