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I tried hector gps too but i had some errors. But when i simply added this plugin in my URDF:

      <!-- GPS Sensor -->
    <plugin name="novatel_gps_sim" filename="">
      <drift>5.0 5.0 5.0</drift>
      <gaussianNoise>0.1 0.1 0.1</gaussianNoise>
      <velocityDrift>0 0 0</velocityDrift>
      <velocityGaussianNoise>0.1 0.1 0.1</velocityGaussianNoise>

my problem solved. Base_footprint is a link that the gps is attached to in this users URDF file. Hope this helps.