what's wrong with my gps_controller and utm_odometry_node

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Hello,

I'm quite new to ROS and I want to use gps message to calculate an odom topic.

In the beginning, I have a urdf file and I add a gps_controller in it so I can get gps message by gazebo. Below is my code:

n="1.0"?>
<robot name="mrobot" xmlns:xacro="http://www.ros.org/wiki/xacro">

    <!-- Defining the colors used in this robot -->
    <material name="Black">
        <color rgba="0 0 0 1"/>
    </material>

    <material name="White">
        <color rgba="1 1 1 1"/>
    </material>

    <material name="Blue">
        <color rgba="0 0 1 1"/>
    </material>

    <material name="Red">
        <color rgba="1 0 0 1"/>
    </material>

    <!-- PROPERTY LIST -->
    <!--All units in m-kg-s-radians unit system -->
    <xacro:property name="M_PI" value="3.1415926535897931" />

    <!-- Main body length, width, height and mass -->
    <xacro:property name="base_mass"        value="0.5" /> 
    <xacro:property name="base_link_radius" value="0.13"/>
    <xacro:property name="base_link_length" value="0.005"/>

    <xacro:property name="motor_x" value="-0.05"/>

    <!-- Caster radius and mass -->
    <xacro:property name="caster_radius"          value="0.016" /> 
    <xacro:property name="caster_mass"            value="0.01" /> 
    <xacro:property name="caster_joint_origin_x"  value="-0.12" />

    <!-- Wheel radius, height and mass -->
    <xacro:property name="wheel_radius" value="0.033" /> 
    <xacro:property name="wheel_height" value="0.017" />
    <xacro:property name="wheel_mass"   value="0.1" />

    <!-- plate height and mass -->
    <xacro:property name="plate_mass"   value="0.05"/>
    <xacro:property name="plate_height" value="0.07"/>
    <xacro:property name="standoff_x"   value="0.12"/>
    <xacro:property name="standoff_y"   value="0.10"/>

    <!-- Macro for inertia matrix -->
    <xacro:macro name="sphere_inertial_matrix" params="m r">
        <inertial>
            <mass value="${m}" />
            <inertia ixx="${2*m*r*r/5}" ixy="0" ixz="0"
                iyy="${2*m*r*r/5}" iyz="0" 
                izz="${2*m*r*r/5}" />
        </inertial>
    </xacro:macro>

    <xacro:macro name="cylinder_inertial_matrix" params="m r h">
        <inertial>
            <mass value="${m}" />
            <inertia ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
                iyy="${m*(3*r*r+h*h)/12}" iyz = "0"
                izz="${m*r*r/2}" /> 
        </inertial>
    </xacro:macro>

    <xacro:macro name="box_inertial_matrix" params="m w h d">
        <inertial>
            <mass value="${m}" />
            <inertia ixx="${m*(h*h+d*d)/12}" ixy = "0" ixz = "0"
                iyy="${m*(w*w+d*d)/12}" iyz = "0"
                izz="${m*(w*w+h*h)/12}" /> 
        </inertial>
    </xacro:macro>

    <!-- Macro for wheel joint -->
    <xacro:macro name="wheel" params="lr translateY">
        <!-- lr: left, right -->
        <link name="wheel_${lr}_link">
            <visual>
                <origin xyz="0 0 0" rpy="${M_PI/2} 0  0 " /> 
                <geometry>
                    <cylinder length="${wheel_height}" radius="${wheel_radius}" />
                </geometry>
                <material name="Black" />
            </visual>
            <collision>
                <origin xyz="0 0 0" rpy="${M_PI/2} 0 0 " />
                <geometry>
                    <cylinder length="${wheel_height}" radius="${wheel_radius}" />
                </geometry>
            </collision>
            <cylinder_inertial_matrix  m="${wheel_mass}" r="${wheel_radius}" h="${wheel_height}" />
        </link>

        <gazebo reference="wheel_${lr}_link">
            <material>Gazebo/Black</material>
        </gazebo>

        <joint name="base_to_wheel_${lr}_joint" type="continuous">
            <parent link="base_link"/>
            <child link="wheel_${lr}_link"/>
            <origin xyz="${motor_x} ${translateY * base_link_radius} 0" rpy="0 0 0" /> 
            <axis xyz="0 1 0" rpy="0  0" />
        </joint>

        <!-- Transmission is important to link the joints and the controller -->
        <transmission name="wheel_${lr}_joint_trans">
            <type>transmission_interface/SimpleTransmission ...