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It turns out all my problems came out of a faulty configuration of my gazebo hector gps plugin.

I had to specify in the <frameId> tag and the <referenceHeading> tag in order to get the navsat_transform_node working correctly.

navsat_transform_node need the <frameId> of the GPS link to perform the transform from the GPS link to the base_link, in my case:

<frameId>gps_link</frameId>

And by default the hector gazebo gps plugin mesures yaw from the NORTH. So when we move along the x-axis in gazebo, the navsat_transform_node returns a gps odometry moving along the y-axis. In order to compensate we need to configure the <referenceHeading> to 90 in the hector gazebo gps plugin:

<referenceHeading>90</referenceHeading>

Now everything works!

It turns out all my problems came out of a faulty configuration of my gazebo hector gps plugin.

I had to specify in the <frameId> tag and the <referenceHeading> tag in order to get the navsat_transform_node working correctly.

navsat_transform_node need needs the <frameId> of the GPS link to perform the transform from the GPS link to the base_link, in my case:

<frameId>gps_link</frameId>

And by default the hector gazebo gps plugin mesures yaw from the NORTH. So when we move along the x-axis in gazebo, the navsat_transform_node returns a gps odometry moving along the y-axis. In order to compensate we need to configure the <referenceHeading> to 90 in the hector gazebo gps plugin:

<referenceHeading>90</referenceHeading>

Now everything works!