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Well if u want to use gpsd_viewer u must have record yours bag file,and if u want to see yours map instead od ccny koordinates u must change them in code(http://www.ros.org/doc/api/gpsd_viewer/html/gpsd__viewer_8cpp_source.html) line 126: OsmGpsMapPoint ccny_coord = { 40.818551, -73.948674 }; (OsmGpsMapPoint yours_coordinates ={your_latitude, your_longitude};) - u must enter yours coordinates, that works fine for me In gpsd_viwer/demo u have demo.launch file so look it and then create yours examlpe.launch file with yours coordinates and execute command : $ roslaunch gpsd_viewer example.launch It is best that you keep example.bag file in gpsd_viewer/demo. I hope this helps you.