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The Spherical Coordinate and GPS plugin classes in Gazebo implement WGS84<-->local XYZ coordinates via the intermediate Earth Centered Earth Fixed frame (here's one of many refs on this conversion). This is compared to the equirectangular projection implemented by the Hector GPS plugin.

The local XYZ origin is located at the lat/long specified in the Gazebo world file and has an ENU (East-North-Up) orientation.

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