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The body name gps_link is unknown to gazebo due to the link lumping that happens in the urdf2gazebo parser. There is currently no simple solution to attach the sensor plugins to other bodies than the canonical one that are rigidly attached to it.

Your solution to replace the bodyName gps_link with base_footprint is a workaround, but the output of the sensor is not the same as it it would be attached to the gps_link if these two frames do not coincide.

See this question for a more detailed answer.

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