# How to use NavSat plugin

**URL:** <https://discourse.openrobotics.org/t/how-to-use-navsat-plugin/49031>\
**Category:** Gazebo Help\
**Tags:** ignition, fortress\
**Created:** [January 10, 2024, 10:29am UTC](https://discourse.openrobotics.org/t/how-to-use-navsat-plugin/49031 "2024-01-10T10:29:38Z")\
**Posts on this page:** 2\
**Page:** 1

<div class="post-metadata">

**Author:** ![leets0429](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/leets0429/32/26849_2.png) [@leets0429](https://discourse.openrobotics.org/u/leets0429)\
**Post date:** [January 10, 2024, 10:29am UTC](https://discourse.openrobotics.org/t/how-to-use-navsat-plugin/49031/1 "2024-01-10T10:29:39Z")

</div>

I’m trying to use the Navsat plugin but I can’t get it working. I’m using ros-humble

I’ve been following the link below, but I am unable to see any navsat topic in gazebo  
[https://answers.gazebosim.org//question/28643/gps-sensor-plugin-in-ignition/](https://answers.gazebosim.org//question/28643/gps-sensor-plugin-in-ignition/)

In my robot urdf, I have the following code

```auto
    <link name="chassis">
            ....
      <plugin filename="ignition-gazebo-navsat-system" name="ignition::gazebo::systems::NavSat"/>
      <gazebo>
        <sensor name="navsat_sensor" type="navsat">
          <always_on>1</always_on>
          <update_rate>1</update_rate>
          <topic>navsat</topic>
        </sensor>
     </gazebo>
    </link>

```

On my world sdf, I also included

```auto
    <world name="field">
        ...
      <spherical_coordinates>
        <surface_model>EARTH_WGS84</surface_model>
        <world_frame_orientation>ENU</world_frame_orientation>
        <latitude_deg>-22.986687</latitude_deg>
        <longitude_deg>-43.202501</longitude_deg>
        <elevation>0</elevation>
        <heading_deg>0</heading_deg>
      </spherical_coordinates>
    </world>

```

---

<div class="post-metadata">

**Author:** ![peci1](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/peci1/32/10145_2.png) [@peci1](https://discourse.openrobotics.org/u/peci1)\
**Post date:** [January 10, 2024, 4:39pm UTC](https://discourse.openrobotics.org/t/how-to-use-navsat-plugin/49031/2 "2024-01-10T16:39:23Z")

</div>

This type of question seems better suited for [robotics.stackexchange.com](http://robotics.stackexchange.com) .