how to move my robot model to a position in the map i created in rviz?

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Hi,

I am using a gps module that gives me nmea senstences as serial data, i have made a robot model urdf model a simple cuboid, i have made a map, and written the yaml code, i can see the model and the map in rviz. Now i want to localize the model in the map in rviz as i move which will change my latitude and longitude. As i move my lat and long will change so i want my robot model to move to that particular coordinate in the map. It shoud show me my current position in rviz, as the gps module is with me. How to do that..need help.

thanks