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Hi,

you have two solutions to do this:

1) use mapviz http://wiki.ros.org/mapviz , which has a plugin to visualize GPS messages and another got maps such as google (I use also https://github.com/danielsnider/MapViz-Tile-Map-Google-Maps-Satellite )

2) You can do something similar on RViz using this plugin https://github.com/gareth-cross/rviz_satellite and http://wiki.ros.org/navsat_odometry