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Integration of GPS with robot_pose_ekf proved to be difficult for me when I tried it as well. Someone may have a good answer for you, but if it proves too difficult, I recently released the robot_localization package, which contains both an EKF localization node and a UTM transform node. The former can be used in place of robot_pose_ekf, and the latter allows for integration of GPS data. The tutorials page contains a tutorial that details how to integrate a GPS sensor.